+ python -m lidar_slam --no-model /working/ca7839dc-a585-45c2-803d-b45cec4266d4 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/ca7839dc-a585-45c2-803d-b45cec4266d4 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.022755096 Adjusted end_distance from 9.223372036854776e+18 to 736.542755096 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022755096 meters 0.06509594506913136 Centerline is valid? [0, True] SLAMing on 0.082755096 meters 0.07142474506759316 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:-0.00 [[ 9.99999971e-01 6.79663099e-05 -2.30992344e-04 6.11310880e-02] [-6.79629920e-05 9.99999998e-01 1.43713848e-05 3.05509161e-04] [ 2.30993320e-04 -1.43556855e-05 9.99999973e-01 -1.78212376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.142755096 meters 0.12258560004966192 Centerline is valid? [True, False] Translation: X:0.06, Y:0.00, Z:-0.00 [[ 9.99999196e-01 -9.65405357e-04 -8.22554055e-04 6.34933320e-02] [ 9.64500362e-04 9.99998930e-01 -1.09991217e-03 2.20508066e-03] [ 8.23615036e-04 1.09911794e-03 9.99999057e-01 -3.40194566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.202755096 meters 0.14244924796741765 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.01 [[ 0.99999572 -0.00132331 0.00261115 0.08482782] [ 0.00134154 0.99997465 -0.00699259 0.00448091] [-0.00260183 0.00699606 0.99997214 -0.00822502] [ 0. 0. 0. 1. ]] SLAMing on 0.26275509599999997 meters 0.14477510012837672 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:-0.01 [[ 0.99999601 0.0021322 0.00185408 0.08724853] [-0.00212652 0.99999305 -0.00306194 0.0042379 ] [-0.00186059 0.00305798 0.99999359 -0.00934866] [ 0. 0. 0. 1. ]] SLAMing on 0.32275509599999996 meters 0.1750587827013257 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.01 [[ 0.99999829 0.00124564 0.00136588 0.08914019] [-0.00123966 0.99998969 -0.00436791 0.00798937] [-0.00137131 0.00436621 0.99998953 -0.01046851] [ 0. 0. 0. 1. ]] SLAMing on 0.38275509599999996 meters 0.19799539240372133 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.01 [[ 9.99998789e-01 9.68869071e-04 1.21776132e-03 8.99069403e-02] [-9.62759197e-04 9.99986997e-01 -5.00791235e-03 1.01598526e-02] [-1.22259750e-03 5.00673388e-03 9.99986719e-01 -1.10436408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44275509599999996 meters 0.20816957397169375 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.01 [[ 9.99987793e-01 4.86559690e-03 8.59705065e-04 9.08732396e-02] [-4.86483681e-03 9.99987776e-01 -8.84017408e-04 1.00896467e-02] [-8.63995828e-04 8.79824292e-04 9.99999240e-01 -1.11531671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.502755096 meters 0.22643326251003212 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.01 [[ 9.99962753e-01 8.62010640e-03 4.31798330e-04 9.22076025e-02] [-8.62139631e-03 9.99958091e-01 3.08024791e-03 1.06727404e-02] [-4.05228169e-04 -3.08385589e-03 9.99995163e-01 -1.14085214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5627550960000001 meters 0.24593732515920633 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.01 [[ 9.99969635e-01 7.79279361e-03 -2.84494559e-05 9.43489949e-02] [-7.79271212e-03 9.99967214e-01 2.20108182e-03 1.25614989e-02] [ 4.56010995e-05 -2.20079328e-03 9.99997577e-01 -1.27800983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.622755096 meters 0.2576727886779336 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.01 [[ 9.99977570e-01 6.65419258e-03 -7.62630522e-04 9.71880057e-02] [-6.65317333e-03 9.99976981e-01 1.33132246e-03 1.44439908e-02] [ 7.71471843e-04 -1.32621868e-03 9.99998823e-01 -1.40825786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.682755096 meters 0.26545707684567016 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.02 [[ 0.99999539 0.00267349 -0.00144241 0.10189557] [-0.00267643 0.99999433 -0.00204259 0.01624984] [ 0.00143694 0.00204644 0.99999687 -0.0172887 ] [ 0. 0. 0. 1. ]] SLAMing on 0.742755096 meters 0.2832431372455044 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.02 [[ 0.99996462 -0.00786089 -0.00299384 0.1078557 ] [ 0.00782669 0.99990587 -0.01126909 0.01789741] [ 0.00308215 0.01124526 0.99993202 -0.01952918] [ 0. 0. 0. 1. ]] SLAMing on 0.8027550960000001 meters 0.2940452333968607 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.02 [[ 0.99978669 -0.01990838 -0.00549759 0.11853114] [ 0.01979732 0.99961254 -0.01956637 0.02078042] [ 0.005885 0.01945336 0.99979345 -0.02201547] [ 0. 0. 0. 1. ]] SLAMing on 0.862755096 meters 0.29116033463867236 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.02 [[ 0.99962747 -0.02616715 -0.00775847 0.12730504] [ 0.02599281 0.99942487 -0.02177864 0.02412132] [ 0.00832389 0.02156886 0.99973271 -0.02254498] [ 0. 0. 0. 1. ]] SLAMing on 0.9227550959999999 meters 0.27810989261614383 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.02 [[ 0.99957137 -0.02793063 -0.00877192 0.12996371] [ 0.02772562 0.99935818 -0.02268315 0.02757421] [ 0.00939985 0.02243022 0.99970422 -0.02184382] [ 0. 0. 0. 1. ]] SLAMing on 0.982755096 meters 0.2680960629532851 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.02 [[ 0.99965596 -0.02455782 -0.00921331 0.13048734] [ 0.02437895 0.99952128 -0.01904918 0.02983264] [ 0.0096767 0.01881802 0.9997761 -0.02096345] [ 0. 0. 0. 1. ]] SLAMing on 1.042755096 meters 0.23555905080728992 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.02 [[ 0.99979887 -0.0174861 -0.0098211 0.1295671 ] [ 0.01736409 0.99977266 -0.01237367 0.0371761 ] [ 0.01003523 0.01220065 0.99987521 -0.01781464] [ 0. 0. 0. 1. ]] SLAMing on 1.102755096 meters 0.1994717028528167 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.01 [[ 0.99992738 -0.00682077 -0.00993579 0.12617453] [ 0.00679528 0.99997354 -0.00259772 0.04511704] [ 0.00995325 0.00253001 0.99994726 -0.01331949] [ 0. 0. 0. 1. ]] SLAMing on 1.162755096 meters 0.1853605385152641 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.01 [[ 9.99946060e-01 -2.96296845e-03 -9.95479072e-03 1.25756337e-01] [ 2.96663233e-03 9.99995537e-01 3.53304991e-04 4.91571642e-02] [ 9.95369946e-03 -3.82818137e-04 9.99950387e-01 -1.29001160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.222755096 meters 0.14007339331913202 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.01 [[ 9.99942438e-01 6.00433999e-03 -8.89207148e-03 1.21611549e-01] [-6.01059500e-03 9.99981707e-01 -6.76880259e-04 7.14692564e-02] [ 8.88784460e-03 7.30287936e-04 9.99960236e-01 -1.07883251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.282755096 meters 0.12518440259633232 Centerline is valid? [False, False] Translation: X:0.12, Y:0.08, Z:-0.01 [[ 0.9999151 0.00955871 -0.00885561 0.12048034] [-0.00956871 0.99995363 -0.0010878 0.08492998] [ 0.0088448 0.00117244 0.9999602 -0.01033286] [ 0. 0. 0. 1. ]] SLAMing on 1.3427550959999999 meters 0.1072193818720011 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:-0.01 [[ 0.99979083 0.0179627 -0.00977977 0.120686 ] [-0.017995 0.99983288 -0.00322433 0.10855703] [ 0.00972022 0.00339964 0.99994698 -0.00874667] [ 0. 0. 0. 1. ]] SLAMing on 1.402755096 meters 0.09847360477559049 Centerline is valid? [False, True] Translation: X:0.12, Y:0.13, Z:-0.01 [[ 0.99962396 0.02582157 -0.0092299 0.11861549] [-0.02586278 0.99965593 -0.00437435 0.13021099] [ 0.00911378 0.00461141 0.99994784 -0.00705653] [ 0. 0. 0. 1. ]] SLAMing on 1.462755096 meters 0.09610233837055344 Centerline is valid? [True, True] Translation: X:0.18, Y:0.14, Z:-0.00 [[ 9.99422488e-01 3.25457344e-02 -9.77069029e-03 1.79954854e-01] [-3.25400374e-02 9.99470158e-01 7.41513793e-04 1.39658931e-01] [ 9.78964648e-03 -4.23146932e-04 9.99951991e-01 -2.17247103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.522755096 meters 0.0904108251486986 Centerline is valid? [True, True] Translation: X:0.24, Y:0.16, Z:-0.00 [[ 9.99106293e-01 3.94255589e-02 -1.52394455e-02 2.40931351e-01] [-3.94124984e-02 9.99222356e-01 1.15652001e-03 1.56030026e-01] [ 1.52731910e-02 -5.54861801e-04 9.99883204e-01 -3.36943020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.582755096 meters 0.08761319585981273 Centerline is valid? [True, True] Translation: X:0.30, Y:0.17, Z:-0.00 [[ 9.98991736e-01 4.10571653e-02 -1.81609900e-02 2.99779669e-01] [-4.10388944e-02 9.99156600e-01 1.37775298e-03 1.66743680e-01] [ 1.82022396e-02 -6.31056894e-04 9.99834126e-01 -3.31295887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.642755096 meters 0.08435525863788725 Centerline is valid? [True, True] Translation: X:0.36, Y:0.17, Z:-0.00 [[ 9.98980111e-01 4.05257024e-02 -1.99099518e-02 3.59357364e-01] [-4.05036787e-02 9.99178251e-01 1.50834354e-03 1.68889455e-01] [ 1.99547175e-02 -7.00378901e-04 9.99800639e-01 -2.23869367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.702755096 meters 0.08429345511716606 Centerline is valid? [True, True] Translation: X:0.42, Y:0.17, Z:-0.00 [[ 9.99042462e-01 3.81566709e-02 -2.14062519e-02 4.18139331e-01] [-3.81307088e-02 9.99271447e-01 1.61983270e-03 1.73231527e-01] [ 2.14524637e-02 -8.02046096e-04 9.99769548e-01 -1.87593667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.762755096 meters 0.07643126612601521 Centerline is valid? [True, True] Translation: X:0.48, Y:0.18, Z:-0.00 [[ 0.99907722 0.03418818 -0.02599771 0.47811096] [-0.03414863 0.99941484 0.00196402 0.180547 ] [ 0.02604965 -0.00107442 0.99966007 -0.00223237] [ 0. 0. 0. 1. ]] SLAMing on 1.8227550959999999 meters 0.07257253480516275 Centerline is valid? [True, True] Translation: X:0.54, Y:0.18, Z:-0.01 [[ 0.99901731 0.03098034 -0.03169602 0.53703661] [-0.03092001 0.999519 0.00239192 0.17963257] [ 0.03175488 -0.00140953 0.99949469 -0.00542841] [ 0. 0. 0. 1. ]] SLAMing on 1.882755096 meters 0.07405045692788986 Centerline is valid? [True, True] Translation: X:0.60, Y:0.18, Z:-0.01 [[ 0.99877486 0.03057614 -0.03890868 0.59674803] [-0.03048497 0.99953092 0.00293446 0.17917668] [ 0.03898015 -0.00174473 0.99923846 -0.00866925] [ 0. 0. 0. 1. ]] SLAMing on 1.942755096 meters 0.07140396628809312 Centerline is valid? [True, True] Translation: X:0.66, Y:0.18, Z:-0.01 [[ 0.9984039 0.02993526 -0.04789085 0.65784621] [-0.0297964 0.99954947 0.00361096 0.18192912] [ 0.04797737 -0.00217822 0.99884605 -0.01173593] [ 0. 0. 0. 1. ]] SLAMing on 2.002755096 meters 0.06840933554038202 Centerline is valid? [True, True] Translation: X:0.72, Y:0.19, Z:-0.01 [[ 0.99818012 0.02908928 -0.05282286 0.71897978] [-0.02891912 0.99957382 0.00398283 0.185005 ] [ 0.05291621 -0.00244799 0.99859596 -0.01089483] [ 0. 0. 0. 1. ]] SLAMing on 2.062755096 meters 0.0680302159428674 Centerline is valid? [True, True] Translation: X:0.78, Y:0.18, Z:-0.01 [[ 0.99788249 0.02817466 -0.05862354 0.77773915] [-0.0279635 0.99959918 0.00441934 0.18199738] [ 0.05872456 -0.00277067 0.99827038 -0.0115341 ] [ 0. 0. 0. 1. ]] SLAMing on 2.122755096 meters 0.06318656633038931 Centerline is valid? [True, True] Translation: X:0.84, Y:0.19, Z:-0.01 [[ 0.99789569 0.02781977 -0.05856839 0.83562898] [-0.0276092 0.9996091 0.0044015 0.1863525 ] [ 0.05866795 -0.00277521 0.9982737 -0.00500172] [ 0. 0. 0. 1. ]] SLAMing on 2.182755096 meters 0.06399308811739915 Centerline is valid? [True, True] Translation: X:0.89, Y:0.18, Z:-0.01 [[ 0.99785231 0.03014676 -0.05815451 0.89400944] [-0.02994365 0.99954207 0.00436101 0.18221133] [ 0.05825935 -0.00261029 0.99829807 -0.00634174] [ 0. 0. 0. 1. ]] SLAMing on 2.242755096 meters 0.056830302732690366 Centerline is valid? [True, True] Translation: X:0.95, Y:0.19, Z:0.00 [[ 0.99791871 0.03133353 -0.05636 0.95355583] [-0.03114494 0.99950596 0.00422173 0.18835568] [ 0.05646443 -0.00245762 0.99840159 0.00307782] [ 0. 0. 0. 1. ]] SLAMing on 2.302755096 meters 0.0563674842403854 Centerline is valid? [True, True] Translation: X:1.01, Y:0.19, Z:0.00 [[ 0.99789243 0.03256357 -0.05612771 1.01197738] [-0.03237918 0.99946687 0.00419163 0.1861517 ] [ 0.05623428 -0.00236543 0.9984148 0.00428604] [ 0. 0. 0. 1. ]] SLAMing on 2.362755096 meters 0.05598701035738383 Centerline is valid? [True, True] Translation: X:1.07, Y:0.18, Z:0.01 [[ 0.99822979 0.02873613 -0.05207223 1.06930655] [-0.02857271 0.99958419 0.00388014 0.17630963] [ 0.05216208 -0.00238543 0.99863578 0.00793693] [ 0. 0. 0. 1. ]] SLAMing on 2.422755096 meters 0.05670502327159535 Centerline is valid? [True, True] Translation: X:1.13, Y:0.16, Z:0.01 [[ 0.99859175 0.02206468 -0.04824584 1.12829894] [-0.02191677 0.99975334 0.00359261 0.16454381] [ 0.04831321 -0.00253016 0.99882903 0.01100716] [ 0. 0. 0. 1. ]] SLAMing on 2.482755096 meters 0.056762149102645154 Centerline is valid? [True, True] Translation: X:1.19, Y:0.16, Z:0.01 [[ 0.99866721 0.02063714 -0.04730654 1.18649919] [-0.0204935 0.99978379 0.00351939 0.16092961] [ 0.04736895 -0.00254523 0.99887422 0.0137645 ] [ 0. 0. 0. 1. ]] SLAMing on 2.542755096 meters 0.05658739545558671 Centerline is valid? [True, True] Translation: X:1.24, Y:0.16, Z:0.02 [[ 0.99873342 0.021468 -0.04550479 1.24392843] [-0.02133617 0.99976664 0.00338087 0.15633975] [ 0.04556675 -0.00240569 0.9989584 0.01510431] [ 0. 0. 0. 1. ]] SLAMing on 2.602755096 meters 0.05470268733033684 Centerline is valid? [True, True] Translation: X:1.30, Y:0.15, Z:0.02 [[ 0.99877677 0.02282596 -0.04386271 1.30321989] [-0.022705 0.99973691 0.00325388 0.15285474] [ 0.04392544 -0.002254 0.99903227 0.01577868] [ 0. 0. 0. 1. ]] SLAMing on 2.6627550959999997 meters 0.053658881317634195 Centerline is valid? [True, True] Translation: X:1.36, Y:0.15, Z:0.02 [[ 0.99893649 0.02291633 -0.04000915 1.36254486] [-0.02281609 0.9997353 0.00296047 0.15131941] [ 0.04006641 -0.00204447 0.99919493 0.02054667] [ 0. 0. 0. 1. ]] SLAMing on 2.7227550959999998 meters 0.053995093930237784 Centerline is valid? [True, True] Translation: X:1.42, Y:0.15, Z:0.02 [[ 0.99885251 0.02401434 -0.04143647 1.42064553] [-0.02390805 0.99970948 0.00305904 0.1501921 ] [ 0.04149789 -0.00206486 0.99913646 0.02042493] [ 0. 0. 0. 1. ]] SLAMing on 2.782755096 meters 0.05558723997643582 Centerline is valid? [True, True] Translation: X:1.48, Y:0.14, Z:0.02 [[ 0.99895834 0.02167103 -0.04015717 1.47892569] [-0.02156961 0.99976298 0.00295723 0.14423075] [ 0.04021174 -0.00208797 0.999189 0.02223971] [ 0. 0. 0. 1. ]] SLAMing on 2.842755096 meters 0.056965686812654216 Centerline is valid? [True, True] Translation: X:1.54, Y:0.14, Z:0.02 [[ 0.99907485 0.02005113 -0.03804471 1.53657873] [-0.01995918 0.99979689 0.00279522 0.14124146] [ 0.03809303 -0.00203329 0.99927213 0.02430565] [ 0. 0. 0. 1. ]] SLAMing on 2.902755096 meters 0.05794234405049431 Centerline is valid? [True, True] Translation: X:1.60, Y:0.14, Z:0.03 [[ 0.99917795 0.01880058 -0.03591612 1.59505373] [-0.01871805 0.99982134 0.00263281 0.1409336 ] [ 0.0359592 -0.00195836 0.99935134 0.02696174] [ 0. 0. 0. 1. ]] SLAMing on 2.962755096 meters 0.05761401710967359 Centerline is valid? [True, True] Translation: X:1.65, Y:0.14, Z:0.03 [[ 0.99919246 0.01959402 -0.03507837 1.65413535] [-0.01951609 0.99980626 0.00256292 0.13684673] [ 0.0351218 -0.00187626 0.99938128 0.02956024] [ 0. 0. 0. 1. ]] SLAMing on 3.022755096 meters 0.058901514082529534 Centerline is valid? [True, True] Translation: X:1.71, Y:0.13, Z:0.03 [[ 0.99929716 0.0181841 -0.03278 1.71237622] [-0.01811554 0.99983305 0.00238743 0.1308943 ] [ 0.03281794 -0.00179193 0.99945974 0.03303359] [ 0. 0. 0. 1. ]] SLAMing on 3.082755096 meters 0.05960365444281446 Centerline is valid? [True, True] Translation: X:1.77, Y:0.13, Z:0.03 [[ 0.9993083 0.01761078 -0.0327533 1.77068663] [-0.01754229 0.9998433 0.0023774 0.12709986] [ 0.03279004 -0.00180119 0.99946064 0.03423182] [ 0. 0. 0. 1. ]] SLAMing on 3.142755096 meters 0.060789816829304046 Centerline is valid? [True, True] Translation: X:1.83, Y:0.12, Z:0.04 [[ 9.99300994e-01 1.75126464e-02 -3.30277392e-02 1.82790021e+00] [-1.74431573e-02 9.99844998e-01 2.39094471e-03 1.22349521e-01] [ 3.30644916e-02 -1.81316537e-03 9.99451576e-01 3.54616328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2027550959999997 meters 0.06264300977472176 Centerline is valid? [True, True] Translation: X:1.89, Y:0.12, Z:0.04 [[ 9.99333150e-01 1.60995480e-02 -3.27728496e-02 1.88584354e+00] [-1.60304837e-02 9.99868697e-01 2.36904438e-03 1.16442251e-01] [ 3.28066869e-02 -1.84209995e-03 9.99460018e-01 3.74631123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.262755096 meters 0.057773588744991215 Centerline is valid? [True, True] Translation: X:1.95, Y:0.12, Z:0.04 [[ 0.99937847 0.01221304 -0.03306845 1.94606386] [-0.01214067 0.99992345 0.00238853 0.11708399] [ 0.03309509 -0.00198557 0.99945024 0.04146942] [ 0. 0. 0. 1. ]] SLAMing on 3.322755096 meters 0.06456222912434548 Centerline is valid? [True, True] Translation: X:2.00, Y:0.10, Z:0.04 [[ 0.99946342 0.00594028 -0.03221167 2.00455567] [-0.00586838 0.99998008 0.00232621 0.10313992] [ 0.03222484 -0.00213593 0.99947836 0.04367946] [ 0. 0. 0. 1. ]] SLAMing on 3.382755096 meters 0.06851061004871112 Centerline is valid? [True, True] Translation: X:2.06, Y:0.09, Z:0.05 [[ 9.99480954e-01 1.74110412e-03 -3.21681792e-02 2.06419686e+00] [-1.66723909e-03 9.99995912e-01 2.32289446e-03 9.31013049e-02] [ 3.21720922e-02 -2.26805673e-03 9.99479771e-01 4.55704848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.442755096 meters 0.07337141866485374 Centerline is valid? [True, True] Translation: X:2.12, Y:0.08, Z:0.05 [[ 9.99536364e-01 -1.42945390e-03 -3.04140379e-02 2.12230135e+00] [ 1.49692500e-03 9.99996469e-01 2.19576643e-03 7.99444673e-02] [ 3.04107917e-02 -2.24027593e-03 9.99534974e-01 4.91564348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.502755096 meters 0.07175212038968587 Centerline is valid? [True, True] Translation: X:2.18, Y:0.08, Z:0.05 [[ 9.99556203e-01 2.81385299e-03 -2.96560017e-02 2.18150583e+00] [-2.75158872e-03 9.99993924e-01 2.14015082e-03 7.94130449e-02] [ 2.96618436e-02 -2.05759991e-03 9.99557873e-01 5.26545969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.562755096 meters 0.06793544690713643 Centerline is valid? [True, True] Translation: X:2.24, Y:0.08, Z:0.05 [[ 9.99539701e-01 7.34664680e-03 -2.94348770e-02 2.24242498e+00] [-7.28727737e-03 9.99971192e-01 2.12374310e-03 8.05797559e-02] [ 2.94496314e-02 -1.90826543e-03 9.99564444e-01 5.47216775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6227550959999997 meters 0.05828565289918094 Centerline is valid? [True, True] Translation: X:2.30, Y:0.09, Z:0.06 [[ 9.99530500e-01 1.26002608e-02 -2.79286985e-02 2.30370458e+00] [-1.25488599e-02 9.99919230e-01 2.01494515e-03 8.71773548e-02] [ 2.79518315e-02 -1.66352581e-03 9.99607887e-01 5.88244022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6827550959999997 meters 0.06391916995644845 Centerline is valid? [True, True] Translation: X:2.36, Y:0.08, Z:0.06 [[ 9.99517971e-01 1.32415687e-02 -2.80799861e-02 2.36076371e+00] [-1.31898880e-02 9.99910959e-01 2.02491369e-03 7.53619629e-02] [ 2.81042989e-02 -1.65356575e-03 9.99603628e-01 5.82573270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.742755096 meters 0.06834799493335078 Centerline is valid? [True, True] Translation: X:2.42, Y:0.06, Z:0.06 [[ 9.99530503e-01 1.05839998e-02 -2.87533017e-02 2.41918621e+00] [-1.05287664e-02 9.99942425e-01 2.07166704e-03 6.33313174e-02] [ 2.87735728e-02 -1.76795760e-03 9.99584392e-01 5.70989326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.802755096 meters 0.06533990742827045 Centerline is valid? [True, True] Translation: X:2.48, Y:0.06, Z:0.06 [[ 9.99596759e-01 7.61537983e-03 -2.73555351e-02 2.47961186e+00] [-7.56428540e-03 9.99969448e-01 1.97078917e-03 5.99813306e-02] [ 2.73697076e-02 -1.76306940e-03 9.99623825e-01 6.03540424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.862755096 meters 0.0716475613097158 Centerline is valid? [True, True] Translation: X:2.54, Y:0.04, Z:0.06 [[ 9.99669655e-01 3.07650690e-03 -2.55169704e-02 2.53773545e+00] [-3.03058325e-03 9.99993718e-01 1.83820658e-03 4.07365775e-02] [ 2.55224653e-02 -1.76026803e-03 9.99672699e-01 6.32475454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.922755096 meters 0.07377781208003893 Centerline is valid? [True, True] Translation: X:2.60, Y:0.03, Z:0.07 [[ 9.99688193e-01 1.81823729e-03 -2.49040140e-02 2.59630798e+00] [-1.77415060e-03 9.99996820e-01 1.79224525e-03 3.25967400e-02] [ 2.49071936e-02 -1.74750294e-03 9.99688240e-01 6.53054707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.982755096 meters 0.07381874274675765 Centerline is valid? [True, True] Translation: X:2.65, Y:0.03, Z:0.07 [[ 9.99694615e-01 3.89619160e-03 -2.44027974e-02 2.65443690e+00] [-3.85459110e-03 9.99991037e-01 1.75154981e-03 2.55125295e-02] [ 2.44094031e-02 -1.65695211e-03 9.99700673e-01 6.63669904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.042755096 meters 0.06919212518842585 Centerline is valid? [True, True] Translation: X:2.71, Y:0.02, Z:0.07 [[ 9.99682518e-01 9.41652932e-03 -2.33707604e-02 2.71446354e+00] [-9.37989801e-03 9.99954602e-01 1.67652979e-03 2.16106319e-02] [ 2.33854865e-02 -1.45678218e-03 9.99725461e-01 6.82502300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.102755096 meters 0.06394366549749896 Centerline is valid? [True, True] Translation: X:2.78, Y:0.02, Z:0.07 [[ 9.99646464e-01 1.42146381e-02 -2.24697735e-02 2.77517434e+00] [-1.41819895e-02 9.99898132e-01 1.61169455e-03 2.18633372e-02] [ 2.24903942e-02 -1.29245867e-03 9.99746224e-01 7.07888878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.162755096 meters 0.05845344307441762 Centerline is valid? [True, True] Translation: X:2.84, Y:0.02, Z:0.07 [[ 9.99521573e-01 2.17015956e-02 -2.20378413e-02 2.83500422e+00] [-2.16720067e-02 9.99763885e-01 1.58061534e-03 2.20655454e-02] [ 2.20669397e-02 -1.10225489e-03 9.99755888e-01 7.14301525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.222755096 meters 0.05142276633699063 Centerline is valid? [True, True] Translation: X:2.90, Y:0.02, Z:0.07 [[ 9.99360689e-01 2.84167572e-02 -2.16956523e-02 2.89505115e+00] [-2.83896654e-02 9.99595722e-01 1.55576344e-03 2.09807235e-02] [ 2.17310909e-02 -9.38836516e-04 9.99763411e-01 7.13866911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.282755096 meters 0.03970248692240478 Centerline is valid? [True, True] Translation: X:2.96, Y:0.02, Z:0.07 [[ 9.99199968e-01 3.36873804e-02 -2.15541975e-02 2.95514941e+00] [-3.36618752e-02 9.99432084e-01 1.54513283e-03 2.39077220e-02] [ 2.15940080e-02 -8.18341966e-04 9.99766487e-01 7.19757391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.342755096 meters 0.03879571463140598 Centerline is valid? [True, True] Translation: X:3.01, Y:0.01, Z:0.07 [[ 9.99101703e-01 3.61421010e-02 -2.21254617e-02 3.01260309e+00] [-3.61158411e-02 9.99346353e-01 1.58543296e-03 1.26975507e-02] [ 2.21683003e-02 -7.84929112e-04 9.99753945e-01 7.18996996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.402755096 meters 0.03744046869772757 Centerline is valid? [True, True] Translation: X:3.07, Y:0.00, Z:0.08 [[ 9.99066029e-01 3.81658911e-02 -2.02591617e-02 3.07055050e+00] [-3.81443239e-02 9.99271188e-01 1.45006452e-03 3.92440456e-04] [ 2.02997396e-02 -6.75938178e-04 9.99793711e-01 7.50186928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4627550959999995 meters 0.033773457090169635 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.01, Z:0.08 [[ 9.99064449e-01 3.84241945e-02 -1.98445980e-02 3.12930486e+00] [-3.84035793e-02 9.99261303e-01 1.41902041e-03 -6.25132466e-03] [ 1.98844636e-02 -6.55589251e-04 9.99802070e-01 7.61207473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.522755096 meters 0.03609041830582442 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.02, Z:0.08 [[ 9.99124269e-01 3.66622706e-02 -2.01636647e-02 3.18592946e+00] [-3.66406605e-02 9.99327468e-01 1.44026146e-03 -2.48830876e-02] [ 2.02029072e-02 -7.00190185e-04 9.99795655e-01 7.68813207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.582755096 meters 0.038828973010934 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.04, Z:0.08 [[ 9.99210787e-01 3.42548020e-02 -2.01099771e-02 3.24404713e+00] [-3.42328570e-02 9.99412854e-01 1.43458510e-03 -4.09171712e-02] [ 2.01473111e-02 -7.45030933e-04 9.99796745e-01 7.74339738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.642755096 meters 0.04438109269682277 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.07, Z:0.08 [[ 9.99408954e-01 2.92095211e-02 -1.81258318e-02 3.30132732e+00] [-2.91908868e-02 9.99573020e-01 1.29183578e-03 -6.88714696e-02] [ 1.81558264e-02 -7.61963138e-04 9.99834879e-01 8.06265179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.702755096 meters 0.047178814191923775 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.08, Z:0.08 [[ 9.99487222e-01 2.66571242e-02 -1.77395504e-02 3.36009908e+00] [-2.66388857e-02 9.99644323e-01 1.26367481e-03 -8.45557428e-02] [ 1.77669268e-02 -7.90464973e-04 9.99841843e-01 8.17559975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.762755096 meters 0.04040958520748382 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.09, Z:0.08 [[ 9.99545013e-01 2.45954495e-02 -1.74594221e-02 3.41851710e+00] [-2.45774784e-02 9.99697155e-01 1.24316502e-03 -8.99289718e-02] [ 1.74847108e-02 -8.13490823e-04 9.99846800e-01 8.14046292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.822755096 meters 0.05196661421737982 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.12, Z:0.08 [[ 9.99545013e-01 2.40910112e-02 -1.81491116e-02 3.47484081e+00] [-2.40715372e-02 9.99709405e-01 1.29072578e-03 -1.18256542e-01] [ 1.81749324e-02 -8.53261500e-04 9.99834458e-01 8.07583129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8827550959999995 meters 0.05341409292781956 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.13, Z:0.08 [[ 9.99565822e-01 2.38967633e-02 -1.72369340e-02 3.53167735e+00] [-2.38791980e-02 9.99714102e-01 1.22417880e-03 -1.32301927e-01] [ 1.72612599e-02 -8.12043125e-04 9.99850684e-01 8.16290436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.942755096 meters 0.05392144459042859 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.14, Z:0.08 [[ 9.99575144e-01 2.38195449e-02 -1.67976673e-02 3.59047599e+00] [-2.38028766e-02 9.99715961e-01 1.19156055e-03 -1.39667768e-01] [ 1.68212785e-02 -7.91221508e-04 9.99858199e-01 8.30111715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.002755096 meters 0.04023553547230361 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.13, Z:0.08 [[ 9.99589268e-01 2.42590212e-02 -1.52576513e-02 3.65010517e+00] [-2.42453337e-02 9.99705454e-01 1.08145404e-03 -1.34187626e-01] [ 1.52793922e-02 -7.11083004e-04 9.99883010e-01 8.45535046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.062755096 meters 0.04001582413367256 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.15, Z:0.09 [[ 9.99566087e-01 2.61415366e-02 -1.35741866e-02 3.70726905e+00] [-2.61308887e-02 9.99658068e-01 9.61221099e-04 -1.45831850e-01] [ 1.35946729e-02 -6.06098454e-04 9.99907404e-01 8.76651995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.122755096 meters 0.03858241498143761 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.15, Z:0.09 [[ 9.99513158e-01 2.83345215e-02 -1.30614577e-02 3.76643384e+00] [-2.83248689e-02 9.99598344e-01 9.23445752e-04 -1.51779921e-01] [ 1.30823769e-02 -5.53032104e-04 9.99914269e-01 8.88275680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.182755096 meters 0.03140249551993831 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.15, Z:0.09 [[ 9.99331297e-01 3.45122798e-02 -1.20773223e-02 3.82679371e+00] [-3.45044842e-02 9.99404179e-01 8.53306484e-04 -1.52181600e-01] [ 1.20995759e-02 -4.36014098e-04 9.99926702e-01 9.01117120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.242755096 meters 0.02885568351295497 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.16, Z:0.09 [[ 9.99113947e-01 4.00357819e-02 -1.29791060e-02 3.88669980e+00] [-4.00272497e-02 9.99198168e-01 9.16587302e-04 -1.58373037e-01] [ 1.30053952e-02 -3.96257242e-04 9.99915348e-01 9.03937055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.302755095999999 meters 0.02908221727552921 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.17, Z:0.09 [[ 9.99105527e-01 4.00015042e-02 -1.37122159e-02 3.94648087e+00] [-3.99919776e-02 9.99199532e-01 9.68359685e-04 -1.67862650e-01] [ 1.37399755e-02 -4.19114883e-04 9.99905514e-01 9.07548311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.362755096 meters 0.03178944247140472 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.18, Z:0.09 [[ 9.99230280e-01 3.66059531e-02 -1.41015114e-02 4.00693505e+00] [-3.65955428e-02 9.99329663e-01 9.95662874e-04 -1.81371475e-01] [ 1.41285059e-02 -4.78844026e-04 9.99900073e-01 9.22315761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4227550959999995 meters 0.03725021456049222 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.20, Z:0.09 [[ 9.99498544e-01 2.85690166e-02 -1.36554824e-02 4.06652852e+00] [-2.85584954e-02 9.99591657e-01 9.64893376e-04 -2.02069168e-01] [ 1.36774723e-02 -5.74429494e-04 9.99906294e-01 9.36455175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.482755096 meters 0.038091551602544876 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.21, Z:0.09 [[ 9.99656531e-01 2.21416067e-02 -1.40202867e-02 4.12629260e+00] [-2.21298837e-02 9.99754613e-01 9.90757012e-04 -2.14837062e-01] [ 1.40387832e-02 -6.80149405e-04 9.99901220e-01 9.37854083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.542755096 meters 0.04227017929152945 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.23, Z:0.09 [[ 9.99671258e-01 2.04443919e-02 -1.54726384e-02 4.18352913e+00] [-2.04299077e-02 9.99790690e-01 1.09361907e-03 -2.31384802e-01] [ 1.54917582e-02 -7.77154978e-04 9.99879693e-01 9.31080025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.602755096 meters 0.04075042191170021 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.24, Z:0.09 [[ 9.99644885e-01 2.08119574e-02 -1.66423259e-02 4.24155001e+00] [-2.07952772e-02 9.99783065e-01 1.17471705e-03 -2.40921310e-01] [ 1.66631637e-02 -8.28218111e-04 9.99860817e-01 9.32611434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.662755096 meters 0.04091072352907191 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.25, Z:0.09 [[ 9.99622992e-01 2.11496359e-02 -1.75090510e-02 4.30005326e+00] [-2.11312522e-02 9.99775948e-01 1.23431522e-03 -2.48852918e-01] [ 1.75312334e-02 -8.63861697e-04 9.99845943e-01 9.37506064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.722755096 meters 0.04007338045423873 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.26, Z:0.09 [[ 9.99569202e-01 2.26693207e-02 -1.86416939e-02 4.35845398e+00] [-2.26487763e-02 9.99742622e-01 1.31247966e-03 -2.57404554e-01] [ 1.86666490e-02 -8.89702687e-04 9.99825367e-01 9.47053185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.782755096 meters 0.03648611187875039 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.26, Z:0.10 [[ 9.99516891e-01 2.55001119e-02 -1.77687767e-02 4.41742449e+00] [-2.54819188e-02 9.99674502e-01 1.24957555e-03 -2.63653085e-01] [ 1.77948573e-02 -7.96189341e-04 9.99841342e-01 9.83831591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.842755095999999 meters 0.03658674668205987 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.27, Z:0.10 [[ 9.99399218e-01 2.96058498e-02 -1.80193210e-02 4.47563399e+00] [-2.95878281e-02 9.99561383e-01 1.26597087e-03 -2.72736199e-01] [ 1.80488976e-02 -7.32057722e-04 9.99836837e-01 9.99874251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.902755096 meters 0.0346048696625072 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.28, Z:0.10 [[ 9.99288527e-01 3.29062850e-02 -1.84286647e-02 4.53502561e+00] [-3.28879999e-02 9.99458205e-01 1.29448093e-03 -2.77661427e-01] [ 1.84612767e-02 -6.87478025e-04 9.99829340e-01 1.00824907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9627550959999995 meters 0.02737704697382596 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.28, Z:0.10 [[ 9.99024479e-01 3.92561915e-02 -2.02247854e-02 4.59486270e+00] [-3.92354844e-02 9.99228983e-01 1.41979167e-03 -2.79040532e-01] [ 2.02649273e-02 -6.24877382e-04 9.99794450e-01 1.01375865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.022755096 meters 0.02301377113991489 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.28, Z:0.10 [[ 9.98652597e-01 4.69473540e-02 -2.21118860e-02 4.65492823e+00] [-4.69244952e-02 9.98897234e-01 1.55179199e-03 -2.81891272e-01] [ 2.21603542e-02 -5.12112012e-04 9.99754298e-01 1.01682958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.082755096 meters 0.021017930214298614 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.29, Z:0.10 [[ 9.98367296e-01 5.27736975e-02 -2.18558907e-02 4.71457654e+00] [-5.27527677e-02 9.98606426e-01 1.53347553e-03 -2.88246924e-01] [ 2.19063601e-02 -3.78013098e-04 9.99759955e-01 1.03096073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.142755096 meters 0.01943479298228855 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.30, Z:0.11 [[ 9.98215627e-01 5.50660750e-02 -2.30930554e-02 4.77562846e+00] [-5.50433173e-02 9.98482653e-01 1.62045277e-03 -2.98351246e-01] [ 2.31472472e-02 -3.46442900e-04 9.99732007e-01 1.05212744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202755096 meters 0.021063905253005673 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.31, Z:0.10 [[ 9.98267747e-01 5.38491109e-02 -2.37018581e-02 4.83604848e+00] [-5.38247583e-02 9.98549009e-01 1.66468943e-03 -3.12447683e-01] [ 2.37571090e-02 -3.86058988e-04 9.99717686e-01 1.04931181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262755096 meters 0.02232741578656049 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.33, Z:0.11 [[ 9.98471382e-01 4.98531995e-02 -2.38654260e-02 4.89656517e+00] [-4.98272957e-02 9.98756437e-01 1.67921600e-03 -3.28373190e-01] [ 2.39194621e-02 -4.87499486e-04 9.99713770e-01 1.07853237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322755096 meters 0.023940182419000276 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.34, Z:0.11 [[ 9.98727915e-01 4.49319703e-02 -2.28838318e-02 4.95662640e+00] [-4.49068436e-02 9.98989880e-01 1.61097623e-03 -3.44861972e-01] [ 2.29331008e-02 -5.81286273e-04 9.99736833e-01 1.10944683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3827550959999995 meters 0.02614412462536633 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.36, Z:0.11 [[ 9.98848705e-01 4.16267888e-02 -2.38426923e-02 5.01614364e+00] [-4.15985509e-02 9.99132994e-01 1.67931694e-03 -3.59032761e-01] [ 2.38919251e-02 -6.85562100e-04 9.99714312e-01 1.11208753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.442755096 meters 0.026756592084223617 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.37, Z:0.11 [[ 9.98867112e-01 4.05068831e-02 -2.49736778e-02 5.07635301e+00] [-4.04755431e-02 9.99178981e-01 1.75934301e-03 -3.70303937e-01] [ 2.50244394e-02 -7.46526704e-04 9.99686561e-01 1.11666396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.502755096 meters 0.023470222150381442 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.37, Z:0.11 [[ 9.98602920e-01 4.62765177e-02 -2.55086736e-02 5.13586108e+00] [-4.62457071e-02 9.98928479e-01 1.79677321e-03 -3.71484566e-01] [ 2.55644889e-02 -6.14596331e-04 9.99672986e-01 1.12532602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.562755096 meters 0.021317215049635515 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.37, Z:0.11 [[ 9.98299268e-01 5.23950360e-02 -2.55603647e-02 5.19584451e+00] [-5.23661224e-02 9.98626332e-01 1.79969971e-03 -3.72214943e-01] [ 2.56195486e-02 -4.58141714e-04 9.99671661e-01 1.13076079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622755096 meters 0.019417771163281916 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.37, Z:0.11 [[ 9.97998964e-01 5.75085729e-02 -2.62836896e-02 5.25773472e+00] [-5.74797637e-02 9.98344956e-01 1.85092409e-03 -3.70935882e-01] [ 2.63466330e-02 -3.36440059e-04 9.99652811e-01 1.13561578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.682755096 meters 0.020188770461314093 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.38, Z:0.11 [[ 9.97998757e-01 5.69251189e-02 -2.75320097e-02 5.31821735e+00] [-5.68932271e-02 9.98378382e-01 1.94094835e-03 -3.77434440e-01] [ 2.75978520e-02 -3.70679168e-04 9.99619038e-01 1.12596227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742755096 meters 0.021694492321326697 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.39, Z:0.12 [[ 9.98320291e-01 5.17664279e-02 -2.60160408e-02 5.37930502e+00] [-5.17361228e-02 9.98659100e-01 1.83706294e-03 -3.85717426e-01] [ 2.60762540e-02 -4.88008125e-04 9.99659838e-01 1.15224319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.802755095999999 meters 0.02550909096931063 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.40, Z:0.12 [[ 9.98863342e-01 4.11379223e-02 -2.40768675e-02 5.43953116e+00] [-4.11088624e-02 9.99153226e-01 1.70089070e-03 -3.95947514e-01] [ 2.41264509e-02 -7.09184737e-04 9.99708663e-01 1.17616178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862755096 meters 0.029228796721365077 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.41, Z:0.12 [[ 9.99157365e-01 3.43114554e-02 -2.25229683e-02 5.49943658e+00] [-3.42842844e-02 9.99410854e-01 1.59151885e-03 -4.06830151e-01] [ 2.25643063e-02 -8.17993933e-04 9.99745059e-01 1.20278716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9227550959999995 meters 0.032647941525033294 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.42, Z:0.12 [[ 9.99348574e-01 2.83934771e-02 -2.22764091e-02 5.55927517e+00] [-2.83654233e-02 9.99596381e-01 1.57438224e-03 -4.16376028e-01] [ 2.23121201e-02 -9.41476869e-04 9.99750610e-01 1.21865436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.982755096 meters 0.03482287911588551 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.42, Z:0.12 [[ 9.99522129e-01 2.23371131e-02 -2.13674135e-02 5.61937138e+00] [-2.23099293e-02 9.99749963e-01 1.50977295e-03 -4.23133749e-01] [ 2.13957948e-02 -1.03234599e-03 9.99770551e-01 1.23341327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.042755096 meters 0.03734413175629273 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.43, Z:0.12 [[ 9.99592255e-01 1.86563313e-02 -2.16163311e-02 5.67940676e+00] [-1.86276560e-02 9.99825324e-01 1.52717274e-03 -4.30839615e-01] [ 2.16410467e-02 -1.12388846e-03 9.99765173e-01 1.23923394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.102755096 meters 0.03957844576746534 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.44, Z:0.13 [[ 9.99665757e-01 1.51077433e-02 -2.09792848e-02 5.73929166e+00] [-1.50799553e-02 9.99885193e-01 1.48212293e-03 -4.37598190e-01] [ 2.09992677e-02 -1.16526087e-03 9.99778812e-01 1.25903200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162755096 meters 0.040555657627779386 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.44, Z:0.13 [[ 9.99694397e-01 1.46701360e-02 -1.98972187e-02 5.79770320e+00] [-1.46450632e-02 9.99891768e-01 1.40525208e-03 -4.40188065e-01] [ 1.99156804e-02 -1.11342660e-03 9.99801043e-01 1.28377149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222755095999999 meters 0.04008920137366497 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.44, Z:0.13 [[ 9.99621237e-01 1.71915477e-02 -2.14903177e-02 5.85786359e+00] [-1.71629128e-02 9.99851557e-01 1.51619725e-03 -4.42135703e-01] [ 2.15131934e-02 -1.14678652e-03 9.99767907e-01 1.28237398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282755096 meters 0.03636474700936553 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.44, Z:0.13 [[ 9.99578293e-01 1.85760488e-02 -2.23196401e-02 5.91715816e+00] [-1.85455191e-02 9.99826778e-01 1.57407060e-03 -4.40556943e-01] [ 2.23450138e-02 -1.15947749e-03 9.99749647e-01 1.29238375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342755095999999 meters 0.0370225181259275 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.44, Z:0.13 [[ 9.99593620e-01 1.85930585e-02 -2.16077058e-02 5.97549320e+00] [-1.85644847e-02 9.99826506e-01 1.52224400e-03 -4.44743481e-01] [ 2.16322602e-02 -1.12048947e-03 9.99765367e-01 1.31619374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.402755096 meters 0.03609192307715195 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.45, Z:0.13 [[ 9.99589105e-01 1.79795131e-02 -2.23239376e-02 6.03472916e+00] [-1.79488999e-02 9.99837671e-01 1.57094524e-03 -4.45314163e-01] [ 2.23485586e-02 -1.16960963e-03 9.99749556e-01 1.32782593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4627550959999995 meters 0.036566619855826654 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.45, Z:0.13 [[ 9.99581667e-01 1.79528536e-02 -2.26756496e-02 6.09280551e+00] [-1.79213052e-02 9.99838130e-01 1.59375946e-03 -4.51462779e-01] [ 2.27005916e-02 -1.18671550e-03 9.99741604e-01 1.34715897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.522755096 meters 0.03429468836484566 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.45, Z:0.14 [[ 9.99554353e-01 1.92435702e-02 -2.28206263e-02 6.15148760e+00] [-1.92120095e-02 9.99814150e-01 1.60144928e-03 -4.51996478e-01] [ 2.28472027e-02 -1.16230550e-03 9.99738293e-01 1.35554287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.582755096 meters 0.03598952710577627 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.46, Z:0.14 [[ 9.99558132e-01 1.86618276e-02 -2.31360704e-02 6.20907100e+00] [-1.86292774e-02 9.99825145e-01 1.62165704e-03 -4.57924542e-01] [ 2.31622881e-02 -1.18993221e-03 9.99731010e-01 1.35622550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.642755096 meters 0.037035219528644844 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.47, Z:0.14 [[ 9.99579639e-01 1.73274251e-02 -2.32444686e-02 6.26729565e+00] [-1.72942599e-02 9.99849119e-01 1.62708070e-03 -4.65551099e-01] [ 2.32691546e-02 -1.22440085e-03 9.99728487e-01 1.37460988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.702755096 meters 0.03641426768558241 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.47, Z:0.14 [[ 9.99640997e-01 1.58250298e-02 -2.16204677e-02 6.32572650e+00] [-1.57960214e-02 9.99874092e-01 1.51184031e-03 -4.70858130e-01] [ 2.16416704e-02 -1.16978018e-03 9.99765107e-01 1.41201629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762755095999999 meters 0.03861282016827656 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.48, Z:0.14 [[ 9.99647758e-01 1.58501871e-02 -2.12868815e-02 6.38369937e+00] [-1.58221104e-02 9.99873717e-01 1.48675434e-03 -4.77421022e-01] [ 2.13077587e-02 -1.14942726e-03 9.99772303e-01 1.41770623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.822755096 meters 0.0359752808697872 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.48, Z:0.14 [[ 9.99540802e-01 1.99379179e-02 -2.28180592e-02 6.44380224e+00] [-1.99067761e-02 9.99800574e-01 1.59114446e-03 -4.78914969e-01] [ 2.28452328e-02 -1.13617981e-03 9.99738368e-01 1.43490755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8827550959999995 meters 0.03096213573215682 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.48, Z:0.14 [[ 9.99408080e-01 2.48185685e-02 -2.38228641e-02 6.50370571e+00] [-2.47860197e-02 9.99691400e-01 1.66063791e-03 -4.76072824e-01] [ 2.38567270e-02 -1.06918096e-03 9.99714816e-01 1.44069601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.942755096 meters 0.032975146091083755 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.48, Z:0.14 [[ 9.99306358e-01 2.77015845e-02 -2.48882490e-02 6.56127104e+00] [-2.76669851e-02 9.99615693e-01 1.73352631e-03 -4.83060084e-01] [ 2.49267057e-02 -1.04374105e-03 9.99688737e-01 1.43888400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.002755096 meters 0.031753253753040986 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.49, Z:0.14 [[ 9.99158653e-01 3.11001427e-02 -2.67351373e-02 6.62152976e+00] [-3.10614942e-02 9.99515745e-01 1.85978533e-03 -4.86896194e-01] [ 2.67800302e-02 -1.02778729e-03 9.99640822e-01 1.43801748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.062755095999998 meters 0.027429004964238862 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.48, Z:0.15 [[ 9.99003536e-01 3.63197602e-02 -2.59385643e-02 6.68147163e+00] [-3.62851696e-02 9.99339850e-01 1.80314380e-03 -4.83420668e-01] [ 2.59869307e-02 -8.60161828e-04 9.99661913e-01 1.46955622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122755095999999 meters 0.028033890319864262 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.49, Z:0.15 [[ 9.98998698e-01 3.60280197e-02 -2.65251270e-02 6.74031092e+00] [-3.59917785e-02 9.99350387e-01 1.84261342e-03 -4.89124671e-01] [ 2.65742816e-02 -8.86081910e-04 9.99646449e-01 1.47362858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.182755096 meters 0.030719008735088555 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.50, Z:0.15 [[ 9.99132790e-01 3.29866418e-02 -2.54076625e-02 6.79823703e+00] [-3.29524520e-02 9.99455365e-01 1.76327938e-03 -4.99646953e-01] [ 2.54519892e-02 -9.24505471e-04 9.99675618e-01 1.50140698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242755095999998 meters 0.028956357768017926 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.50, Z:0.15 [[ 9.99227200e-01 3.01300130e-02 -2.52425082e-02 6.85833304e+00] [-3.00953885e-02 9.99545498e-01 1.75053865e-03 -5.00014984e-01] [ 2.52837792e-02 -9.89502744e-04 9.99679824e-01 1.52323671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302755095999999 meters 0.0342142238426624 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.51, Z:0.15 [[ 9.99382529e-01 2.55392659e-02 -2.41310199e-02 6.91651677e+00] [-2.55063059e-02 9.99673262e-01 1.67273168e-03 -5.11397504e-01] [ 2.41658557e-02 -1.05620564e-03 9.99707405e-01 1.54528830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362755095999999 meters 0.03261554268694145 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.51, Z:0.16 [[ 9.99502606e-01 2.05726306e-02 -2.39020263e-02 6.97705995e+00] [-2.05388785e-02 9.99787682e-01 1.65676690e-03 -5.13444860e-01] [ 2.39310355e-02 -1.16502202e-03 9.99712933e-01 1.58203475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422755096 meters 0.035009938136809006 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.52, Z:0.16 [[ 9.99519477e-01 1.85005558e-02 -2.48705753e-02 7.03486518e+00] [-1.84633843e-02 9.99828052e-01 1.72341885e-03 -5.19894837e-01] [ 2.48981831e-02 -1.26339571e-03 9.99689194e-01 1.57600091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.482755095999998 meters 0.034278883813263446 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.52, Z:0.16 [[ 9.99479330e-01 1.85804432e-02 -2.63786899e-02 7.09299669e+00] [-1.85387184e-02 9.99826477e-01 1.82545972e-03 -5.21424491e-01] [ 2.64080304e-02 -1.33548215e-03 9.99650355e-01 1.57221540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.542755095999999 meters 0.032586018753439874 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.52, Z:0.16 [[ 9.99415504e-01 2.14290435e-02 -2.66354192e-02 7.15290046e+00] [-2.13875794e-02 9.99769565e-01 1.84067221e-03 -5.23179106e-01] [ 2.66687253e-02 -1.26992920e-03 9.99643520e-01 1.58778518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.602755096 meters 0.031472549705402066 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.52, Z:0.16 [[ 9.99299987e-01 2.60370351e-02 -2.68627824e-02 7.21181096e+00] [-2.59965496e-02 9.99660311e-01 1.85531678e-03 -5.24336871e-01] [ 2.69019644e-02 -1.15567838e-03 9.99637409e-01 1.59722187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.662755096 meters 0.027661702505284626 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.52, Z:0.16 [[ 9.99199288e-01 2.99414403e-02 -2.65385359e-02 7.27154402e+00] [-2.99033285e-02 9.99551117e-01 1.83188498e-03 -5.22473924e-01] [ 2.65814725e-02 -1.03682761e-03 9.99646113e-01 1.62343796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.722755095999998 meters 0.028816529063815124 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.53, Z:0.17 [[ 9.99180238e-01 3.19449413e-02 -2.48670993e-02 7.32864760e+00] [-3.19121326e-02 9.99489207e-01 1.71518950e-03 -5.29675543e-01] [ 2.49091890e-02 -9.20221276e-04 9.99689294e-01 1.65352943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.782755095999999 meters 0.029478007371554604 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.54, Z:0.17 [[ 9.99189847e-01 3.20530690e-02 -2.43362146e-02 7.38746711e+00] [-3.20217333e-02 9.99485767e-01 1.67632729e-03 -5.35155651e-01] [ 2.43774316e-02 -8.95681435e-04 9.99702425e-01 1.67379638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.842755096 meters 0.02852317621482103 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.54, Z:0.17 [[ 9.99234028e-01 3.16036286e-02 -2.30774145e-02 7.44583016e+00] [-3.15753707e-02 9.99500112e-01 1.58793666e-03 -5.37376352e-01] [ 2.31160629e-02 -8.58042428e-04 9.99732420e-01 1.69091538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902755095999998 meters 0.02905993500018668 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.54, Z:0.17 [[ 9.99294819e-01 3.05923687e-02 -2.17709037e-02 7.50476985e+00] [-3.05670147e-02 9.99531599e-01 1.49648667e-03 -5.42184618e-01] [ 2.18064872e-02 -8.29959849e-04 9.99761866e-01 1.71408768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.962755095999999 meters 0.029310330449343006 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.55, Z:0.17 [[ 9.99358057e-01 2.86284267e-02 -2.15380293e-02 7.56441693e+00] [-2.86031825e-02 9.99589751e-01 1.47929278e-03 -5.47978661e-01] [ 2.15715431e-02 -8.62286982e-04 9.99766935e-01 1.72790336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022755096 meters 0.03151470879480966 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.56, Z:0.17 [[ 9.99418976e-01 2.57066338e-02 -2.23803462e-02 7.62405671e+00] [-2.56786650e-02 9.99669068e-01 1.53624015e-03 -5.55136583e-01] [ 2.24124314e-02 -9.60650144e-04 9.99748348e-01 1.71992398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082755096 meters 0.0342900625319974 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.56, Z:0.17 [[ 9.99472938e-01 2.23445732e-02 -2.35492476e-02 7.68338701e+00] [-2.23126968e-02 9.99749735e-01 1.61552982e-03 -5.61966731e-01] [ 2.35794523e-02 -1.08923112e-03 9.99721373e-01 1.71306397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142755095999998 meters 0.03559742679757341 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.57, Z:0.17 [[ 9.99506008e-01 2.08480385e-02 -2.35180682e-02 7.74217119e+00] [-2.08158584e-02 9.99782026e-01 1.61231651e-03 -5.68512620e-01] [ 2.35465555e-02 -1.12197126e-03 9.99722112e-01 1.71945323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202755095999999 meters 0.03745241494490787 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.58, Z:0.17 [[ 9.99512213e-01 1.95352305e-02 -2.43661973e-02 7.80090697e+00] [-1.95003438e-02 9.99808458e-01 1.66857847e-03 -5.75296958e-01] [ 2.43941262e-02 -1.19261533e-03 9.99701708e-01 1.72896026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262755096 meters 0.0377353381764163 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.58, Z:0.17 [[ 9.99450982e-01 2.19443259e-02 -2.48229797e-02 7.85884056e+00] [-2.19089088e-02 9.99758529e-01 1.69788722e-03 -5.77560112e-01] [ 2.48542447e-02 -1.15311065e-03 9.99690421e-01 1.72948145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322755095999998 meters 0.03446734634248685 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.58, Z:0.17 [[ 9.99288381e-01 2.80961303e-02 -2.51662202e-02 7.91951157e+00] [-2.80617173e-02 9.99604713e-01 1.71961293e-03 -5.76625762e-01] [ 2.52045868e-02 -1.01218186e-03 9.99681802e-01 1.73992470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382755095999999 meters 0.031686477718802245 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.58, Z:0.18 [[ 9.99113312e-01 3.33673115e-02 -2.56751465e-02 7.97947922e+00] [-3.33332348e-02 9.99442754e-01 1.75419105e-03 -5.75941800e-01] [ 2.57193718e-02 -8.96799943e-04 9.99668800e-01 1.75195289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442755095999999 meters 0.02730888005912385 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.57, Z:0.18 [[ 9.98888814e-01 3.90200382e-02 -2.64305332e-02 8.04015935e+00] [-3.89859150e-02 9.99238129e-01 1.80531889e-03 -5.70922352e-01] [ 2.64808401e-02 -7.72894328e-04 9.99649022e-01 1.76270148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502755096 meters 0.026271081022348722 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.57, Z:0.18 [[ 9.98793206e-01 4.15779549e-02 -2.61420219e-02 8.09979787e+00] [-4.15454639e-02 9.99135020e-01 1.78500861e-03 -5.74062820e-01] [ 2.61936266e-02 -6.96772047e-04 9.99656645e-01 1.78319562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562755095999998 meters 0.027819132553318148 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.58, Z:0.18 [[ 9.98889891e-01 3.98334031e-02 -2.51452879e-02 8.15838059e+00] [-3.98028128e-02 9.99206080e-01 1.71607635e-03 -5.82808439e-01] [ 2.51936817e-02 -7.13318132e-04 9.99682334e-01 1.81506759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622755095999999 meters 0.030099747027233458 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.59, Z:0.18 [[ 9.99046468e-01 3.64822837e-02 -2.39832841e-02 8.21871583e+00] [-3.64535064e-02 9.99334011e-01 1.63614221e-03 -5.89379948e-01] [ 2.40270017e-02 -7.60307294e-04 9.99711021e-01 1.82760230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682755096 meters 0.02882732953401197 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.59, Z:0.19 [[ 9.99255997e-01 3.02854775e-02 -2.38797349e-02 8.27826622e+00] [-3.02551832e-02 9.99540880e-01 1.62897720e-03 -5.93858144e-01] [ 2.39181055e-02 -9.05279481e-04 9.99713511e-01 1.85101535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.742755095999998 meters 0.031789575812056464 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.60, Z:0.19 [[ 9.99467838e-01 2.25418107e-02 -2.35776755e-02 8.33810589e+00] [-2.25101358e-02 9.99745322e-01 1.60800366e-03 -6.04443937e-01] [ 2.36079181e-02 -1.07641127e-03 9.99720715e-01 1.86518526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802755095999999 meters 0.034392304877138964 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.61, Z:0.19 [[ 9.99540858e-01 1.91325666e-02 -2.34950844e-02 8.39685262e+00] [-1.91001809e-02 9.99816291e-01 1.60206200e-03 -6.10465480e-01] [ 2.35214197e-02 -1.15256607e-03 9.99722669e-01 1.86585540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862755095999999 meters 0.03582340739719679 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.62, Z:0.19 [[ 9.99556628e-01 1.66597612e-02 -2.46779236e-02 8.45606107e+00] [-1.66233170e-02 9.99860410e-01 1.68121867e-03 -6.16068536e-01] [ 2.47024875e-02 -1.27024431e-03 9.99694040e-01 1.85762984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922755096 meters 0.03539085164276896 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.62, Z:0.19 [[ 9.99538803e-01 1.69556903e-02 -2.51929665e-02 8.51442658e+00] [-1.69178431e-02 9.99855413e-01 1.71468717e-03 -6.19204068e-01] [ 2.52183977e-02 -1.28768570e-03 9.99681136e-01 1.86288436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982755095999998 meters 0.03499668737095017 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.62, Z:0.19 [[ 9.99492998e-01 2.02975054e-02 -2.45307625e-02 8.57357426e+00] [-2.02626665e-02 9.99793300e-01 1.66797120e-03 -6.20028732e-01] [ 2.45595476e-02 -1.17006687e-03 9.99697684e-01 1.87895853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042755095999999 meters 0.03318441413553916 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.62, Z:0.19 [[ 9.99434979e-01 2.53319328e-02 -2.20910691e-02 8.63267994e+00] [-2.53049246e-02 9.99678652e-01 1.50131330e-03 -6.18784951e-01] [ 2.21220013e-02 -9.41452189e-04 9.99754835e-01 1.91315720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102755096 meters 0.028349377022667797 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.61, Z:0.19 [[ 9.99335383e-01 3.00850619e-02 -2.05835297e-02 8.69306915e+00] [-3.00626352e-02 9.99547039e-01 1.39817993e-03 -6.14227995e-01] [ 2.06162705e-02 -7.78455532e-04 9.99787159e-01 1.93717545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162755095999998 meters 0.02727761456631495 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.61, Z:0.19 [[ 9.99272077e-01 3.19927253e-02 -2.07793332e-02 8.75256638e+00] [-3.19702911e-02 9.99487824e-01 1.41102635e-03 -6.14784771e-01] [ 2.08138331e-02 -7.45677899e-04 9.99783091e-01 1.93887846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222755095999998 meters 0.02854887387957817 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.62, Z:0.19 [[ 9.99302779e-01 3.10255043e-02 -2.07695365e-02 8.81132546e+00] [-3.10029005e-02 9.99518301e-01 1.40950068e-03 -6.19976514e-01] [ 2.08032623e-02 -7.64602072e-04 9.99783296e-01 1.93999466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282755095999999 meters 0.03160125475606316 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.63, Z:0.20 [[ 9.99470596e-01 2.61358272e-02 -1.93764344e-02 8.87074821e+00] [-2.61152570e-02 9.99658075e-01 1.31392790e-03 -6.30487824e-01] [ 1.94041497e-02 -8.07211741e-04 9.99811396e-01 1.96341294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342755096 meters 0.03410451445751819 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.64, Z:0.20 [[ 9.99658310e-01 1.95242478e-02 -1.73801014e-02 8.93042217e+00] [-1.95067066e-02 9.99809032e-01 1.17823806e-03 -6.38886193e-01] [ 1.73997866e-02 -8.38806928e-04 9.99848260e-01 1.98174469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402755095999998 meters 0.03815363716396829 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.65, Z:0.20 [[ 9.99726628e-01 1.58649123e-02 -1.71747935e-02 8.98941736e+00] [-1.58472451e-02 9.99873747e-01 1.16428667e-03 -6.48361105e-01] [ 1.71910964e-02 -8.91795226e-04 9.99851824e-01 1.98500979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462755095999999 meters 0.0381674156871413 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.65, Z:0.20 [[ 9.99751342e-01 1.21159248e-02 -1.87205432e-02 9.04995845e+00] [-1.20942858e-02 9.99926057e-01 1.26868272e-03 -6.52113771e-01] [ 1.87345303e-02 -1.04195565e-03 9.99823950e-01 1.97641110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522755096 meters 0.0398601495327522 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.66, Z:0.20 [[ 9.99732035e-01 1.08860120e-02 -2.04292198e-02 9.10813743e+00] [-1.08599898e-02 9.99940070e-01 1.38428397e-03 -6.57822166e-01] [ 2.04430648e-02 -1.16205191e-03 9.99790343e-01 1.97462060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582755095999998 meters 0.04000860024283428 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.66, Z:0.20 [[ 9.99706674e-01 1.23411220e-02 -2.08389629e-02 9.16737517e+00] [-1.23144113e-02 9.99923181e-01 1.40961184e-03 -6.61755208e-01] [ 2.08547583e-02 -1.15257880e-03 9.99781852e-01 1.99251612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642755095999998 meters 0.038714137877809404 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.66, Z:0.20 [[ 9.99702330e-01 1.34500342e-02 -2.03555435e-02 9.22661789e+00] [-1.34248271e-02 9.99908938e-01 1.37449110e-03 -6.63044194e-01] [ 2.03721769e-02 -1.10081231e-03 9.99791860e-01 2.00273253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702755095999999 meters 0.037117600179154234 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.66, Z:0.20 [[ 9.99603876e-01 1.92375148e-02 -2.05428799e-02 9.28614134e+00] [-1.92130905e-02 9.99814451e-01 1.38566641e-03 -6.62869857e-01] [ 2.05657250e-02 -9.90425307e-04 9.99788013e-01 2.00829133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762755096 meters 0.030672560267040714 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.66, Z:0.20 [[ 9.99485529e-01 2.52393148e-02 -1.97902556e-02 9.34675510e+00] [-2.52178295e-02 9.99681089e-01 1.33449816e-03 -6.56975087e-01] [ 1.98176261e-02 -8.34744308e-04 9.99803263e-01 2.02875936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822755095999998 meters 0.027628238276109822 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.66, Z:0.20 [[ 9.99375246e-01 2.96229001e-02 -1.92769457e-02 9.40673869e+00] [-2.96033310e-02 9.99560880e-01 1.29978452e-03 -6.55066658e-01] [ 1.93069842e-02 -7.28310665e-04 9.99813338e-01 2.04141706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882755095999999 meters 0.026440429692805884 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.66, Z:0.21 [[ 9.99186960e-01 3.53714099e-02 -1.93463945e-02 9.46575719e+00] [-3.53527905e-02 9.99374044e-01 1.30368948e-03 -6.56030932e-01] [ 1.93803978e-02 -6.18680500e-04 9.99811991e-01 2.05812871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.942755095999999 meters 0.024131883389639428 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.66, Z:0.21 [[ 9.99088376e-01 3.79932704e-02 -1.94660943e-02 9.52611477e+00] [-3.79749314e-02 9.99277832e-01 1.31101402e-03 -6.55857424e-01] [ 1.95018462e-02 -5.70595269e-04 9.99809658e-01 2.07138397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002755096 meters 0.024958555401956833 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.66, Z:0.21 [[ 9.99061463e-01 3.85098756e-02 -1.98288426e-02 9.58671313e+00] [-3.84909479e-02 9.99258056e-01 1.33546647e-03 -6.60267134e-01] [ 1.98655594e-02 -5.70982138e-04 9.99802497e-01 2.08369146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.062755095999998 meters 0.02670672329752918 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.67, Z:0.21 [[ 9.99209761e-01 3.50043650e-02 -1.88294637e-02 9.64776347e+00] [-3.49866689e-02 9.99386974e-01 1.26851157e-03 -6.65916990e-01] [ 1.88623242e-02 -6.08728931e-04 9.99821905e-01 2.10661689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122755095999999 meters 0.026947479810496187 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.67, Z:0.21 [[ 9.99364264e-01 2.99148076e-02 -1.93951451e-02 9.70799317e+00] [-2.98950603e-02 9.99552188e-01 1.30736115e-03 -6.70324574e-01] [ 1.94255691e-02 -7.26710983e-04 9.99811042e-01 2.11763340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182755096 meters 0.029906600545960723 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.68, Z:0.21 [[ 9.99391721e-01 2.75103732e-02 -2.14328659e-02 9.76668222e+00] [-2.74857025e-02 9.99621153e-01 1.44485636e-03 -6.78545905e-01] [ 2.14644946e-02 -8.54880107e-04 9.99769246e-01 2.11102501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242755095999998 meters 0.030057554744633043 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.68, Z:0.21 [[ 9.99410722e-01 2.50503227e-02 -2.34667766e-02 9.82592820e+00] [-2.50200514e-02 9.99685697e-01 1.58273441e-03 -6.79760745e-01] [ 2.34990489e-02 -9.94661783e-04 9.99723364e-01 2.09610128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302755095999999 meters 0.031107115526432486 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.68, Z:0.21 [[ 9.99442897e-01 2.31008469e-02 -2.40882927e-02 9.88431343e+00] [-2.30684259e-02 9.99732571e-01 1.62297129e-03 -6.83317137e-01] [ 2.41193428e-02 -1.06638813e-03 9.99708518e-01 2.09819022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362755095999999 meters 0.032303939657779286 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.69, Z:0.21 [[ 9.99494194e-01 2.15877455e-02 -2.33522019e-02 9.94285504e+00] [-2.15569146e-02 9.99766388e-01 1.57121336e-03 -6.88942757e-01] [ 2.33806655e-02 -1.06701721e-03 9.99726065e-01 2.12306328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422755096 meters 0.03329685578365577 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.69, Z:0.21 [[ 9.99511846e-01 2.14784694e-02 -2.26880096e-02 1.00003150e+01] [-2.14493809e-02 9.99768773e-01 1.52471420e-03 -6.92043384e-01] [ 2.27155120e-02 -1.03732615e-03 9.99741431e-01 2.14923563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482755095999998 meters 0.030755409135637422 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.69, Z:0.22 [[ 9.99472532e-01 2.47552136e-02 -2.10199200e-02 1.00601799e+01] [-2.47310061e-02 9.99693146e-01 1.41085201e-03 -6.89817320e-01] [ 2.10483959e-02 -8.90264059e-04 9.99778062e-01 2.19067931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542755095999999 meters 0.03106212385380212 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.69, Z:0.22 [[ 9.99403800e-01 2.79307736e-02 -2.02957290e-02 1.01186324e+01] [-2.79088755e-02 9.99609544e-01 1.36144750e-03 -6.91510248e-01] [ 2.03258307e-02 -7.94204829e-04 9.99793094e-01 2.21578372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602755096 meters 0.027986499521899823 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.69, Z:0.22 [[ 9.99262614e-01 3.23883678e-02 -2.06209246e-02 1.01794274e+01] [-3.23667333e-02 9.99475104e-01 1.38212846e-03 -6.86433945e-01] [ 2.06548656e-02 -7.13677328e-04 9.99786411e-01 2.22402701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662755095999998 meters 0.025913252548301326 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.68, Z:0.22 [[ 9.99209209e-01 3.36467195e-02 -2.11861854e-02 1.02385083e+01] [-3.36241768e-02 9.99433540e-01 1.41945533e-03 -6.84774237e-01] [ 2.12219443e-02 -7.05964797e-04 9.99774540e-01 2.23569398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722755095999998 meters 0.026001174688590874 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.69, Z:0.22 [[ 9.99228297e-01 3.29187733e-02 -2.14281526e-02 1.02976533e+01] [-3.28955821e-02 9.99457765e-01 1.43395776e-03 -6.87046251e-01] [ 2.14637377e-02 -7.27959614e-04 9.99769362e-01 2.24984676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782755095999999 meters 0.028285833024377226 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.69, Z:0.23 [[ 9.99330609e-01 2.91578023e-02 -2.20942642e-02 1.03571810e+01] [-2.91322655e-02 9.99574474e-01 1.47686605e-03 -6.91470209e-01] [ 2.21279247e-02 -8.32221479e-04 9.99754801e-01 2.25536442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842755096 meters 0.03360376281850122 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.70, Z:0.23 [[ 9.99487569e-01 2.27186610e-02 -2.25491083e-02 1.04158723e+01] [-2.26904456e-02 9.99741404e-01 1.50639148e-03 -7.01547484e-01] [ 2.25775003e-02 -9.93970248e-04 9.99744602e-01 2.26824729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902755095999998 meters 0.03210076305760185 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.70, Z:0.23 [[ 9.99592959e-01 1.76452019e-02 -2.24179368e-02 1.04764086e+01] [-1.76160567e-02 9.99843705e-01 1.49691844e-03 -7.00343478e-01] [ 2.24408464e-02 -1.10139348e-03 9.99747566e-01 2.29472286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962755095999999 meters 0.03377426994879214 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.70, Z:0.23 [[ 9.99617423e-01 1.52206573e-02 -2.30941386e-02 1.05360379e+01] [-1.51890947e-02 9.99883451e-01 1.54150149e-03 -7.04737108e-01] [ 2.31149097e-02 -1.19013269e-03 9.99732106e-01 2.29970181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022755096 meters 0.0465580435055715 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.72, Z:0.23 [[ 9.99619495e-01 1.30935790e-02 -2.42780306e-02 1.05931284e+01] [-1.30581002e-02 9.99913428e-01 1.61931800e-03 -7.22997090e-01] [ 2.42971315e-02 -1.30167689e-03 9.99703934e-01 2.28805481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082755095999998 meters 0.04685162432068925 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.72, Z:0.23 [[ 9.99621696e-01 1.39614441e-02 -2.36968857e-02 1.06521531e+01] [-1.39279291e-02 9.99901755e-01 1.57878814e-03 -7.22815540e-01] [ 2.37165998e-02 -1.24814233e-03 9.99717943e-01 2.30170153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142755095999998 meters 0.042838208469115915 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.72, Z:0.23 [[ 9.99574550e-01 1.73790414e-02 -2.34240765e-02 1.07121243e+01] [-1.73472688e-02 9.99848309e-01 1.55894218e-03 -7.18270366e-01] [ 2.34476162e-02 -1.15193518e-03 9.99724403e-01 2.33007884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202755095999999 meters 0.04055320702982368 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.72, Z:0.23 [[ 9.99520722e-01 2.06024526e-02 -2.31055292e-02 1.07725434e+01] [-2.05724171e-02 9.99787184e-01 1.53690140e-03 -7.16826406e-01] [ 2.31322759e-02 -1.06082822e-03 9.99731850e-01 2.34578673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262755096 meters 0.03395704546179428 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.71, Z:0.24 [[ 9.99400237e-01 2.59546556e-02 -2.29242826e-02 1.08330125e+01] [-2.59265076e-02 9.99662690e-01 1.52427952e-03 -7.07755995e-01] [ 2.29561122e-02 -9.29018723e-04 9.99736042e-01 2.36536579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322755095999998 meters 0.03202715257520885 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.71, Z:0.24 [[ 9.99246498e-01 3.08401596e-02 -2.35652469e-02 1.08922933e+01] [-3.08117967e-02 9.99523977e-01 1.56582474e-03 -7.06714341e-01] [ 2.36023196e-02 -8.38557290e-04 9.99721075e-01 2.37725813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382755095999999 meters 0.027521605563090964 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.70, Z:0.24 [[ 9.99092510e-01 3.52711223e-02 -2.38768423e-02 1.09523054e+01] [-3.52432920e-02 9.99377505e-01 1.58551642e-03 -7.02753424e-01] [ 2.39179020e-02 -7.42579058e-04 9.99713650e-01 2.39265596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442755095999999 meters 0.02331131444534989 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.70, Z:0.24 [[ 9.98975197e-01 3.79687950e-02 -2.46358558e-02 1.10112251e+01] [-3.79400194e-02 9.99278681e-01 1.63456769e-03 -6.99619939e-01] [ 2.46801481e-02 -6.98207729e-04 9.99695155e-01 2.40816699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502755096 meters 0.023590347099209007 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.70, Z:0.24 [[ 9.98832748e-01 4.14226956e-02 -2.48455413e-02 1.10701368e+01] [-4.13945495e-02 9.99141522e-01 1.64631029e-03 -7.03277663e-01] [ 2.48924066e-02 -6.15918642e-04 9.99689946e-01 2.40739060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562755095999998 meters 0.021992309846142165 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.70, Z:0.24 [[ 9.98795092e-01 4.21480796e-02 -2.51377037e-02 1.11278999e+01] [-4.21195552e-02 9.99111193e-01 1.66336140e-03 -7.04975139e-01] [ 2.51854686e-02 -6.02568309e-04 9.99682614e-01 2.42642678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622755095999999 meters 0.023930967873764378 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.71, Z:0.24 [[ 9.98827897e-01 4.13567015e-02 -2.51486590e-02 1.11866619e+01] [-4.13279622e-02 9.99144253e-01 1.66167861e-03 -7.14123487e-01] [ 2.51958597e-02 -6.20388122e-04 9.99682341e-01 2.43052331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682755096 meters 0.026595565109284142 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.72, Z:0.24 [[ 9.98974602e-01 3.76749881e-02 -2.51065865e-02 1.12442763e+01] [-3.76452260e-02 9.99289793e-01 1.65718879e-03 -7.24681817e-01] [ 2.51511902e-02 -7.10346392e-04 9.99683406e-01 2.43462951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742755095999998 meters 0.028500905846991127 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.73, Z:0.24 [[ 9.99061880e-01 3.48435749e-02 -2.57154593e-02 1.13026971e+01] [-3.48114709e-02 9.99392459e-01 1.69518612e-03 -7.33634599e-01] [ 2.57589024e-02 -7.98402874e-04 9.99667866e-01 2.43789032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802755095999999 meters 0.0293084444578331 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.74, Z:0.24 [[ 9.99182795e-01 3.00512403e-02 -2.70308243e-02 1.13604127e+01] [-3.00140714e-02 9.99547892e-01 1.77982564e-03 -7.42756229e-01] [ 2.70720895e-02 -9.67066070e-04 9.99633016e-01 2.44895518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862755095999999 meters 0.034966429270542373 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.76, Z:0.24 [[ 9.99278231e-01 2.64384417e-02 -2.72768522e-02 1.14193912e+01] [-2.63992850e-02 9.99649867e-01 1.79470567e-03 -7.57213311e-01] [ 2.73147508e-02 -1.07332092e-03 9.99626306e-01 2.44782337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922755096 meters 0.033615619283851074 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.76, Z:0.25 [[ 9.99368911e-01 2.16272040e-02 -2.81787947e-02 1.14789484e+01] [-2.15835325e-02 9.99765331e-01 1.85307322e-03 -7.64010569e-01] [ 2.82122588e-02 -1.24370583e-03 9.99601181e-01 2.47087167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982755095999998 meters 0.03698850066468241 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.78, Z:0.25 [[ 9.99447066e-01 1.86349336e-02 -2.75372890e-02 1.15366460e+01] [-1.85921193e-02 9.99825513e-01 1.81001843e-03 -7.77107351e-01] [ 2.75662137e-02 -1.29704104e-03 9.99619138e-01 2.48564959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042755095999999 meters 0.042949150180853546 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.79, Z:0.25 [[ 9.99488077e-01 1.86650886e-02 -2.59845847e-02 1.15948662e+01] [-1.86270316e-02 9.99825046e-01 1.70589998e-03 -7.92037037e-01] [ 2.60118794e-02 -1.22101102e-03 9.99660888e-01 2.49915333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102755096 meters 0.033085116150591204 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.79, Z:0.25 [[ 9.99468845e-01 2.07724582e-02 -2.51104177e-02 1.16538930e+01] [-2.07376637e-02 9.99783598e-01 1.64530141e-03 -7.86099735e-01] [ 2.51391607e-02 -1.12369610e-03 9.99683330e-01 2.53850476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162755095999998 meters 0.030861520558508555 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.79, Z:0.26 [[ 9.99402765e-01 2.47937318e-02 -2.40703826e-02 1.17138101e+01] [-2.47629632e-02 9.99692109e-01 1.57555335e-03 -7.90091575e-01] [ 2.41020354e-02 -9.78558374e-04 9.99709025e-01 2.55998619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222755095999998 meters 0.030016738599485067 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.79, Z:0.26 [[ 9.99320272e-01 2.79456678e-02 -2.40423221e-02 1.17722351e+01] [-2.79158957e-02 9.99609038e-01 1.57312572e-03 -7.94073982e-01] [ 2.40768845e-02 -9.00893461e-04 9.99709704e-01 2.56485921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282755095999999 meters 0.028075744754341242 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.80, Z:0.26 [[ 9.99201375e-01 3.24093671e-02 -2.33719060e-02 1.18316827e+01] [-3.23824746e-02 9.99474382e-01 1.52828852e-03 -7.97530535e-01] [ 2.34091522e-02 -7.70227834e-04 9.99725672e-01 2.57627063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342755096 meters 0.02693153512697347 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.80, Z:0.26 [[ 9.99095042e-01 3.58886380e-02 -2.28276930e-02 1.18898978e+01] [-3.58639113e-02 9.99355570e-01 1.49179885e-03 -8.03576488e-01] [ 2.28665207e-02 -6.71758479e-04 9.99738301e-01 2.59673614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402755095999998 meters 0.025330137538607283 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.81, Z:0.26 [[ 9.99095625e-01 3.63481938e-02 -2.20622160e-02 1.19483899e+01] [-3.63252374e-02 9.99338983e-01 1.44053024e-03 -8.07837593e-01] [ 2.20999932e-02 -6.37812224e-04 9.99755562e-01 2.61607175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462755095999999 meters 0.027976708699859867 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.82, Z:0.26 [[ 9.99136599e-01 3.53379521e-02 -2.18468587e-02 1.20077164e+01] [-3.53152323e-02 9.99375207e-01 1.42501088e-03 -8.17925003e-01] [ 2.18835659e-02 -6.52253633e-04 9.99760313e-01 2.62369640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522755096 meters 0.02729098782381739 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.83, Z:0.26 [[ 9.99245083e-01 3.26064952e-02 -2.11206414e-02 1.20670011e+01] [-3.25846606e-02 9.99468030e-01 1.37721484e-03 -8.25711165e-01] [ 2.11543120e-02 -6.87966223e-04 9.99775986e-01 2.63979070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582755095999998 meters 0.029208971542643045 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.84, Z:0.26 [[ 9.99330778e-01 3.00085374e-02 -2.09161340e-02 1.21260168e+01] [-2.99865716e-02 9.99549372e-01 1.36309927e-03 -8.35468760e-01] [ 2.09476132e-02 -7.34983904e-04 9.99780305e-01 2.64898648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642755095999998 meters 0.03257716474030361 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.85, Z:0.26 [[ 9.99442143e-01 2.57383624e-02 -2.12823526e-02 1.21850770e+01] [-2.57146699e-02 9.99668362e-01 1.38621065e-03 -8.47683783e-01] [ 2.13109733e-02 -8.38168669e-04 9.99772544e-01 2.64381757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702755095999999 meters 0.02937128937227189 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.85, Z:0.27 [[ 9.99489870e-01 2.33911227e-02 -2.17452142e-02 1.22450156e+01] [-2.33658439e-02 9.99725979e-01 1.41588796e-03 -8.50983612e-01] [ 2.17723747e-02 -9.07070396e-04 9.99762542e-01 2.65669434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.762755096 meters 0.030340296661042026 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.86, Z:0.27 [[ 9.99504099e-01 2.25399448e-02 -2.19888111e-02 1.23036453e+01] [-2.25139131e-02 9.99745506e-01 1.43073169e-03 -8.59267026e-01] [ 2.20154637e-02 -9.34968002e-04 9.99757193e-01 2.66889036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822755095999998 meters 0.030884309269238748 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.86, Z:0.27 [[ 9.99515338e-01 2.30140841e-02 -2.09628378e-02 1.23611578e+01] [-2.29905637e-02 9.99734754e-01 1.36234431e-03 -8.64770967e-01] [ 2.09886306e-02 -8.79736572e-04 9.99779327e-01 2.68838799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882755095999999 meters 0.030108201022487784 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.87, Z:0.27 [[ 9.99473982e-01 2.51833750e-02 -2.04342039e-02 1.24202761e+01] [-2.51615170e-02 9.99682519e-01 1.32611779e-03 -8.68707936e-01] [ 2.04611125e-02 -8.11264661e-04 9.99790320e-01 2.70168809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942755095999999 meters 0.026919162468635034 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.87, Z:0.27 [[ 9.99384989e-01 2.82990924e-02 -2.07076179e-02 1.24796921e+01] [-2.82773383e-02 9.99599214e-01 1.34264921e-03 -8.67759463e-01] [ 2.07373144e-02 -7.56267151e-04 9.99784673e-01 2.70712751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002755095999998 meters 0.0268591266938428 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.87, Z:0.27 [[ 9.99323987e-01 3.05345235e-02 -2.04746761e-02 1.25386561e+01] [-3.05137487e-02 9.99533467e-01 1.32638020e-03 -8.71477780e-01] [ 2.05056244e-02 -7.00724432e-04 9.99789492e-01 2.71650924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062755095999998 meters 0.02562003108232646 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.87, Z:0.27 [[ 9.99248893e-01 3.30233226e-02 -2.02758693e-02 1.25979785e+01] [-3.30034771e-02 9.99454375e-01 1.31271106e-03 -8.73579370e-01] [ 2.03081564e-02 -6.42550886e-04 9.99793562e-01 2.73484583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122755095999999 meters 0.02551349079746096 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.88, Z:0.27 [[ 9.99226807e-01 3.32009526e-02 -2.10590973e-02 1.26579453e+01] [-3.31796012e-02 9.99448477e-01 1.36257001e-03 -8.77621667e-01] [ 2.10927213e-02 -6.62784028e-04 9.99777304e-01 2.74062480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182755096 meters 0.025830441362632222 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.88, Z:0.27 [[ 9.99248993e-01 3.23330547e-02 -2.13547305e-02 1.27178741e+01] [-3.23109197e-02 9.99476912e-01 1.38085436e-03 -8.82527503e-01] [ 2.13882073e-02 -6.89826345e-04 9.99771008e-01 2.74749240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242755095999998 meters 0.026953749288868543 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.89, Z:0.28 [[ 9.99314895e-01 3.00952401e-02 -2.15410502e-02 1.27775942e+01] [-3.00722160e-02 9.99546759e-01 1.39205362e-03 -8.88708535e-01] [ 2.15731811e-02 -7.43312800e-04 9.99766996e-01 2.75719228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302755095999999 meters 0.029375590674779604 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.90, Z:0.28 [[ 9.99363868e-01 2.81067717e-02 -2.19515070e-02 1.28358205e+01] [-2.80824027e-02 9.99604606e-01 1.41766582e-03 -8.96822475e-01] [ 2.19826735e-02 -8.00312936e-04 9.99758032e-01 2.77306573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362755095999999 meters 0.027392835605734925 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.90, Z:0.28 [[ 9.99382528e-01 2.65682085e-02 -2.29933073e-02 1.28954268e+01] [-2.65410917e-02 9.99646622e-01 1.48376208e-03 -8.97622240e-01] [ 2.30246028e-02 -8.72578422e-04 9.99734518e-01 2.78135704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422755095999998 meters 0.028497027252381606 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.90, Z:0.28 [[ 9.99423840e-01 2.50591212e-02 -2.28916697e-02 1.29541225e+01] [-2.50318731e-02 9.99685564e-01 1.47612231e-03 -9.01859096e-01] [ 2.29214620e-02 -9.02250456e-04 9.99736862e-01 2.78907739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.482755095999998 meters 0.029573671687457035 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.91, Z:0.28 [[ 9.99433171e-01 2.42021836e-02 -2.34006825e-02 1.30124293e+01] [-2.41735198e-02 9.99706642e-01 1.50705606e-03 -9.06750617e-01] [ 2.34302917e-02 -9.40524960e-04 9.99725031e-01 2.79971394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542755095999999 meters 0.030049052027619202 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.91, Z:0.28 [[ 9.99417551e-01 2.40319168e-02 -2.42285976e-02 1.30714823e+01] [-2.40011857e-02 9.99710715e-01 1.55842944e-03 -9.08596075e-01] [ 2.42590406e-02 -9.76006670e-04 9.99705230e-01 2.80316382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602755096 meters 0.029427528727882072 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.91, Z:0.28 [[ 9.99389906e-01 2.46791400e-02 -2.47134558e-02 1.31306847e+01] [-2.46474120e-02 9.99694946e-01 1.58766761e-03 -9.09401006e-01] [ 2.47450991e-02 -9.77576258e-04 9.99693315e-01 2.81366035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662755095999998 meters 0.02689321024771396 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.91, Z:0.28 [[ 9.99371569e-01 2.58162380e-02 -2.42896865e-02 1.31900700e+01] [-2.57859702e-02 9.99666272e-01 1.55855776e-03 -9.06726280e-01] [ 2.43218165e-02 -9.31245177e-04 9.99703747e-01 2.83517733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722755095999998 meters 0.028988078210902317 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.91, Z:0.28 [[ 9.99346319e-01 2.66221252e-02 -2.44580684e-02 1.32477757e+01] [-2.65917288e-02 9.99645149e-01 1.56725331e-03 -9.11925500e-01] [ 2.44911130e-02 -9.15846502e-04 9.99699628e-01 2.84702680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782755095999999 meters 0.025799501666685744 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.91, Z:0.29 [[ 9.99254168e-01 2.94041273e-02 -2.50300632e-02 1.33072993e+01] [-2.93732243e-02 9.99567231e-01 1.60148258e-03 -9.07453691e-01] [ 2.50663212e-02 -8.65074481e-04 9.99685416e-01 2.85733282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842755096 meters 0.024098999254684415 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.91, Z:0.29 [[ 9.99165652e-01 3.26723448e-02 -2.45054774e-02 1.33660678e+01] [-3.26437531e-02 9.99465824e-01 1.56598452e-03 -9.07169622e-01] [ 2.45435515e-02 -7.64727196e-04 9.99698469e-01 2.88441060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902755095999998 meters 0.02431210888620882 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.91, Z:0.29 [[ 9.99101549e-01 3.45727570e-02 -2.45116084e-02 1.34235253e+01] [-3.45447727e-02 9.99401927e-01 1.56432245e-03 -9.10332473e-01] [ 2.45510317e-02 -7.16169045e-04 9.99698321e-01 2.90618079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962755095999999 meters 0.02324230885984654 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.91, Z:0.29 [[ 9.99074647e-01 3.54196805e-02 -2.43986812e-02 1.34819840e+01] [-3.53922598e-02 9.99372288e-01 1.55490743e-03 -9.11404461e-01] [ 2.44384402e-02 -6.89944127e-04 9.99701099e-01 2.91929383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022755096 meters 0.024171731979223995 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.92, Z:0.29 [[ 9.99050673e-01 3.56273624e-02 -2.50687753e-02 1.35403687e+01] [-3.55985305e-02 9.99364898e-01 1.59558869e-03 -9.15111685e-01] [ 2.51097007e-02 -7.01662387e-04 9.99684456e-01 2.92419250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082755095999998 meters 0.024159931677434333 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.92, Z:0.29 [[ 9.99070262e-01 3.48879816e-02 -2.53266818e-02 1.35993113e+01] [-3.48583666e-02 9.99390966e-01 1.61000883e-03 -9.19130133e-01] [ 2.53674270e-02 -7.25665182e-04 9.99677932e-01 2.94381295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142755095999998 meters 0.0256380403859124 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.93, Z:0.30 [[ 9.99143588e-01 3.28495955e-02 -2.51593711e-02 1.36584658e+01] [-3.28197676e-02 9.99460009e-01 1.59768153e-03 -9.25066595e-01] [ 2.51982685e-02 -7.70588549e-04 9.99682176e-01 2.95715313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202755095999999 meters 0.02954231704740005 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.93, Z:0.29 [[ 9.99205556e-01 2.95688082e-02 -2.67197111e-02 1.37162455e+01] [-2.95340212e-02 9.99562337e-01 1.69571432e-03 -9.32644186e-01] [ 2.67581571e-02 -9.05226658e-04 9.99641527e-01 2.94733024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262755096 meters 0.029723023456911458 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.94, Z:0.30 [[ 9.99247848e-01 2.81926819e-02 -2.66253685e-02 1.37743432e+01] [-2.81576914e-02 9.99602068e-01 1.68825889e-03 -9.37498654e-01] [ 2.66623700e-02 -9.37280153e-04 9.99644056e-01 2.97008790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322755095999998 meters 0.026933461960363773 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.94, Z:0.30 [[ 9.99223680e-01 2.70460993e-02 -2.86451708e-02 1.38336132e+01] [-2.70052065e-02 9.99633648e-01 1.81353667e-03 -9.35936531e-01] [ 2.86837257e-02 -1.03856003e-03 9.99587998e-01 2.97660736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382755095999999 meters 0.02644891610660718 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.94, Z:0.30 [[ 9.99220109e-01 2.68835535e-02 -2.89214197e-02 1.38922073e+01] [-2.68418677e-02 9.99638020e-01 1.82868582e-03 -9.37266809e-01] [ 2.89601123e-02 -1.05095472e-03 9.99580016e-01 2.99928923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442755095999999 meters 0.02673742377493289 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.94, Z:0.30 [[ 9.99255044e-01 2.62395783e-02 -2.82991425e-02 1.39514447e+01] [-2.61994736e-02 9.99655137e-01 1.78709092e-03 -9.39753773e-01] [ 2.83362757e-02 -1.04433698e-03 9.99597902e-01 3.02023612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502755095999998 meters 0.025964921368203366 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.94, Z:0.31 [[ 9.99258945e-01 2.67464932e-02 -2.76800817e-02 1.40098903e+01] [-2.67083796e-02 9.99641743e-01 1.74579818e-03 -9.40367415e-01] [ 2.77168591e-02 -1.00521431e-03 9.99615309e-01 3.05114650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562755095999998 meters 0.02558864495368342 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.94, Z:0.31 [[ 9.99194696e-01 2.90888228e-02 -2.76369194e-02 1.40683574e+01] [-2.90517843e-02 9.99576392e-01 1.74085011e-03 -9.40963178e-01] [ 2.76758514e-02 -9.36546376e-04 9.99616512e-01 3.06640956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622755095999999 meters 0.02431938031246967 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.94, Z:0.31 [[ 9.99054776e-01 3.43689742e-02 -2.66144512e-02 1.41279331e+01] [-3.43365440e-02 9.99408924e-01 1.67470042e-03 -9.38529322e-01] [ 2.66562778e-02 -7.59269177e-04 9.99644370e-01 3.08028945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682755096 meters 0.021963814523254126 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.94, Z:0.31 [[ 9.98890602e-01 3.87666995e-02 -2.67340131e-02 1.41869902e+01] [-3.87355870e-02 9.99248082e-01 1.68086558e-03 -9.35708663e-01] [ 2.67790729e-02 -6.43443137e-04 9.99641169e-01 3.09492998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742755095999998 meters 0.020270420225175098 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.94, Z:0.31 [[ 9.98746161e-01 4.21964588e-02 -2.69362914e-02 1.42463286e+01] [-4.21661726e-02 9.99109179e-01 1.69163241e-03 -9.35294182e-01] [ 2.69836768e-02 -5.53711070e-04 9.99635721e-01 3.10994586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802755095999999 meters 0.019832143255478656 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.94, Z:0.31 [[ 9.98714907e-01 4.33276516e-02 -2.62916258e-02 1.43050567e+01] [-4.32992338e-02 9.99060787e-01 1.64947640e-03 -9.36958234e-01] [ 2.63384003e-02 -5.08949418e-04 9.99652955e-01 3.12445876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862755095999999 meters 0.018945459027943735 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.94, Z:0.31 [[ 9.98734018e-01 4.29914751e-02 -2.61169485e-02 1.43638542e+01] [-4.29633729e-02 9.99075308e-01 1.63645572e-03 -9.38353264e-01] [ 2.61631520e-02 -5.12311794e-04 9.99657555e-01 3.14484036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922755095999998 meters 0.01984558926000587 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.95, Z:0.32 [[ 9.98808601e-01 4.11247939e-02 -2.62703219e-02 1.44224918e+01] [-4.10957656e-02 9.99153859e-01 1.64415220e-03 -9.45140742e-01] [ 2.63157089e-02 -5.62594365e-04 9.99653523e-01 3.15546493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982755095999998 meters 0.02048113478348451 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.95, Z:0.32 [[ 9.98867531e-01 3.90629632e-02 -2.71613909e-02 1.44815279e+01] [-3.90312050e-02 9.99236548e-01 1.69863110e-03 -9.51799416e-01] [ 2.72070080e-02 -6.36565635e-04 9.99629618e-01 3.16145765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042755096 meters 0.02265444156728981 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.96, Z:0.32 [[ 9.98931222e-01 3.68267334e-02 -2.79321558e-02 1.45390701e+01] [-3.67923205e-02 9.99321410e-01 1.74513802e-03 -9.60109725e-01] [ 2.79774691e-02 -7.15584030e-04 9.99608298e-01 3.15280313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102755096 meters 0.02209340607918015 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.96, Z:0.32 [[ 9.98967296e-01 3.56086217e-02 -2.82199868e-02 1.45980952e+01] [-3.55730849e-02 9.99365527e-01 1.76047528e-03 -9.64992363e-01] [ 2.82647701e-02 -7.54785243e-04 9.99600187e-01 3.16424272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162755096 meters 0.022148786342710627 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.97, Z:0.32 [[ 9.98982566e-01 3.48433779e-02 -2.86316451e-02 1.46569793e+01] [-3.48065492e-02 9.99392477e-01 1.78382867e-03 -9.70472814e-01] [ 2.86764053e-02 -7.85444979e-04 9.99588439e-01 3.17617336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222755096 meters 0.022919635001183093 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.98, Z:0.32 [[ 9.99067191e-01 3.25605309e-02 -2.83647768e-02 1.47156122e+01] [-3.25235311e-02 9.99469412e-01 1.76492749e-03 -9.78248158e-01] [ 2.84071938e-02 -8.40758450e-04 9.99596081e-01 3.19328365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282755096 meters 0.024520893783744804 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.99, Z:0.32 [[ 9.99183265e-01 2.96796492e-02 -2.74211826e-02 1.47740194e+01] [-2.96440465e-02 9.99559066e-01 1.70405514e-03 -9.86467803e-01] [ 2.74596674e-02 -8.89788569e-04 9.99622516e-01 3.22017044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342755096 meters 0.026205756014264555 Centerline is valid? [True, True] Translation: X:14.83, Y:-1.00, Z:0.33 [[ 9.99284864e-01 2.74361158e-02 -2.60196150e-02 1.48314472e+01] [-2.74033591e-02 9.99623153e-01 1.61473118e-03 -9.96054634e-01] [ 2.60541115e-02 -9.00551578e-04 9.99660128e-01 3.25931475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402755096 meters 0.025935723540561884 Centerline is valid? [True, True] Translation: X:14.89, Y:-1.00, Z:0.33 [[ 9.99307992e-01 2.69329880e-02 -2.56544591e-02 1.48901565e+01] [-2.69010453e-02 9.99636838e-01 1.58948529e-03 -1.00015361e+00] [ 2.56879520e-02 -8.98253585e-04 9.99669607e-01 3.27926095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462755096 meters 0.025887807914134354 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.00, Z:0.33 [[ 9.99319919e-01 2.70943154e-02 -2.50119306e-02 1.49487677e+01] [-2.70640521e-02 9.99632503e-01 1.54773841e-03 -1.00391384e+00] [ 2.50446738e-02 -8.69761633e-04 9.99685955e-01 3.29701750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522755096 meters 0.025038040086060746 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.01, Z:0.33 [[ 9.99197092e-01 2.98733774e-02 -2.66974179e-02 1.50080920e+01] [-2.98399418e-02 9.99553328e-01 1.64999684e-03 -1.00559048e+00] [ 2.67347839e-02 -8.52022653e-04 9.99642199e-01 3.28928299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582755096 meters 0.02259652858357908 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.01, Z:0.33 [[ 9.99083483e-01 3.31902573e-02 -2.70296246e-02 1.50666888e+01] [-3.31572447e-02 9.99448754e-01 1.66875693e-03 -1.00659362e+00] [ 2.70701111e-02 -7.70999608e-04 9.99633240e-01 3.30805679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642755096000002 meters 0.021467639680339354 Centerline is valid? [True, True] Translation: X:15.13, Y:-1.01, Z:0.33 [[ 9.98999351e-01 3.55046356e-02 -2.71977594e-02 1.51255177e+01] [-3.54721274e-02 9.99369259e-01 1.67694690e-03 -1.00859975e+00] [ 2.72401440e-02 -7.10506479e-04 9.99628666e-01 3.32713862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702755096 meters 0.02071250703904449 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.01, Z:0.33 [[ 9.98909414e-01 3.82822673e-02 -2.67292242e-02 1.51844573e+01] [-3.82519200e-02 9.99266772e-01 1.64593795e-03 -1.01137317e+00] [ 2.67726358e-02 -6.21698765e-04 9.99641355e-01 3.34481724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762755096 meters 0.020071620816384687 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.02, Z:0.34 [[ 9.98865297e-01 3.98463109e-02 -2.60842682e-02 1.52426946e+01] [-3.98179969e-02 9.99205661e-01 1.60418740e-03 -1.01557555e+00] [ 2.61274694e-02 -5.63743809e-04 9.99658460e-01 3.36755521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822755096 meters 0.019266760779208244 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.02, Z:0.34 [[ 9.98830908e-01 4.09596303e-02 -2.56734577e-02 1.53019457e+01] [-4.09326285e-02 9.99160665e-01 1.57660653e-03 -1.01850150e+00] [ 2.57164863e-02 -5.23881228e-04 9.99669139e-01 3.38130629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882755096 meters 0.019144633557350244 Centerline is valid? [True, True] Translation: X:15.36, Y:-1.02, Z:0.34 [[ 9.98801261e-01 4.14610528e-02 -2.60196371e-02 1.53615585e+01] [-4.14335565e-02 9.99139988e-01 1.59523014e-03 -1.02291985e+00] [ 2.60633998e-02 -5.15231778e-04 9.99660159e-01 3.39370375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942755096 meters 0.018572859014024706 Centerline is valid? [True, True] Translation: X:15.42, Y:-1.03, Z:0.34 [[ 9.98824991e-01 4.14178617e-02 -2.51634124e-02 1.54212290e+01] [-4.13921566e-02 9.99141788e-01 1.54175780e-03 -1.02846697e+00] [ 2.52056731e-02 -4.98378311e-04 9.99682162e-01 3.42152630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002755096 meters 0.0188479796316418 Centerline is valid? [True, True] Translation: X:15.48, Y:-1.03, Z:0.34 [[ 9.98823626e-01 4.11563661e-02 -2.56421266e-02 1.54802687e+01] [-4.11296142e-02 9.99152586e-01 1.57004128e-03 -1.03428362e+00] [ 2.56850143e-02 -5.13543550e-04 9.99669954e-01 3.43243617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062755096 meters 0.019752015774943225 Centerline is valid? [True, True] Translation: X:15.54, Y:-1.04, Z:0.34 [[ 9.98816352e-01 4.07718916e-02 -2.65244721e-02 1.55392379e+01] [-4.07431557e-02 9.99168335e-01 1.62314090e-03 -1.03961945e+00] [ 2.65685911e-02 -5.40528980e-04 9.99646847e-01 3.42056241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122755096 meters 0.019965102742736312 Centerline is valid? [True, True] Translation: X:15.60, Y:-1.05, Z:0.34 [[ 9.98851581e-01 3.89478892e-02 -2.79030487e-02 1.55989261e+01] [-3.89153973e-02 9.99241051e-01 1.70675425e-03 -1.04620278e+00] [ 2.79483462e-02 -6.18935957e-04 9.99609177e-01 3.43034155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182755096 meters 0.020934633321576253 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.05, Z:0.35 [[ 9.98909809e-01 3.74050300e-02 -2.79295117e-02 1.56576530e+01] [-3.73719143e-02 9.99299968e-01 1.70692235e-03 -1.05338601e+00] [ 2.79738076e-02 -6.61282158e-04 9.99608438e-01 3.45270197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242755096 meters 0.020674410677567364 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.06, Z:0.35 [[ 9.98999140e-01 3.60506688e-02 -2.64776811e-02 1.57158165e+01] [-3.60204848e-02 9.99349745e-01 1.61620312e-03 -1.05889288e+00] [ 2.65187291e-02 -6.60846616e-04 9.99648098e-01 3.49154703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302755096000002 meters 0.021493632101890394 Centerline is valid? [True, True] Translation: X:15.77, Y:-1.06, Z:0.35 [[ 9.99022482e-01 3.57903947e-02 -2.59446952e-02 1.57733176e+01] [-3.57613839e-02 9.99359106e-01 1.58145221e-03 -1.06375894e+00] [ 2.59846681e-02 -6.52088109e-04 9.99662129e-01 3.49988603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362755096 meters 0.021616541856168493 Centerline is valid? [True, True] Translation: X:15.83, Y:-1.07, Z:0.35 [[ 9.99040218e-01 3.54568355e-02 -2.57187850e-02 1.58316973e+01] [-3.54282817e-02 9.99370996e-01 1.56518852e-03 -1.06772297e+00] [ 2.57581044e-02 -6.52513919e-04 9.99667992e-01 3.50079357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422755096 meters 0.02272283525820902 Centerline is valid? [True, True] Translation: X:15.89, Y:-1.07, Z:0.35 [[ 9.99066408e-01 3.54365981e-02 -2.47095003e-02 1.58892786e+01] [-3.54102839e-02 9.99371731e-01 1.50181757e-03 -1.07356500e+00] [ 2.47471954e-02 -6.25445066e-04 9.99693546e-01 3.50558454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482755096 meters 0.019830227106197224 Centerline is valid? [True, True] Translation: X:15.95, Y:-1.07, Z:0.35 [[ 9.99096989e-01 3.59551487e-02 -2.26369867e-02 1.59481693e+01] [-3.59332413e-02 9.99353248e-01 1.37391761e-03 -1.07312521e+00] [ 2.26717456e-02 -5.59256639e-04 9.99742807e-01 3.53785801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542755096 meters 0.02092306076397377 Centerline is valid? [True, True] Translation: X:16.01, Y:-1.08, Z:0.36 [[ 9.99083409e-01 3.68470749e-02 -2.17861264e-02 1.60066948e+01] [-3.68270299e-02 9.99320782e-01 1.32070986e-03 -1.07930879e+00] [ 2.18199932e-02 -5.17180984e-04 9.99761782e-01 3.55169298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602755096 meters 0.019383402886370554 Centerline is valid? [True, True] Translation: X:16.07, Y:-1.08, Z:0.36 [[ 9.99094104e-01 3.74301368e-02 -2.02473825e-02 1.60673503e+01] [-3.74129568e-02 9.99299137e-01 1.22676933e-03 -1.08051320e+00] [ 2.02791100e-02 -4.68143557e-04 9.99794248e-01 3.55619052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662755096 meters 0.0195561486785117 Centerline is valid? [True, True] Translation: X:16.13, Y:-1.08, Z:0.36 [[ 9.99094470e-01 3.81984520e-02 -1.87381683e-02 1.61276395e+01] [-3.81838730e-02 9.99270085e-01 1.13532782e-03 -1.08345606e+00] [ 1.87678588e-02 -4.18803903e-04 9.99823781e-01 3.55517352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722755096 meters 0.019181618933856923 Centerline is valid? [True, True] Translation: X:16.19, Y:-1.09, Z:0.36 [[ 9.99071662e-01 3.92667057e-02 -1.77183504e-02 1.61891202e+01] [-3.92538373e-02 9.99228694e-01 1.07360942e-03 -1.08731995e+00] [ 1.77468412e-02 -3.77099502e-04 9.99842441e-01 3.57276785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782755096 meters 0.01956695976224807 Centerline is valid? [True, True] Translation: X:16.25, Y:-1.09, Z:0.36 [[ 9.99074548e-01 3.94834947e-02 -1.70616703e-02 1.62515638e+01] [-3.94715184e-02 9.99220157e-01 1.03825036e-03 -1.09232043e+00] [ 1.70893586e-02 -3.63839472e-04 9.99853900e-01 3.57262038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842755096 meters 0.021800338360317344 Centerline is valid? [True, True] Translation: X:16.31, Y:-1.10, Z:0.36 [[ 9.99089522e-01 3.94167768e-02 -1.63231381e-02 1.63130915e+01] [-3.94057257e-02 9.99222794e-01 9.98229446e-04 -1.10011162e+00] [ 1.63497986e-02 -3.54095480e-04 9.99866270e-01 3.56753479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902755096 meters 0.021300823140653877 Centerline is valid? [True, True] Translation: X:16.38, Y:-1.10, Z:0.36 [[ 9.99112762e-01 3.94148572e-02 -1.48377026e-02 1.63759582e+01] [-3.94056699e-02 9.99222880e-01 9.11152564e-04 -1.10434970e+00] [ 1.48620849e-02 -3.25654545e-04 9.99889500e-01 3.57966599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962755096 meters 0.021998919909534433 Centerline is valid? [True, True] Translation: X:16.44, Y:-1.11, Z:0.36 [[ 9.99136619e-01 3.90385646e-02 -1.42129499e-02 1.64381036e+01] [-3.90300374e-02 9.99237653e-01 8.76951020e-04 -1.10967091e+00] [ 1.42363496e-02 -3.21461912e-04 9.99898606e-01 3.58501476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022755096 meters 0.023309186680999107 Centerline is valid? [True, True] Translation: X:16.50, Y:-1.12, Z:0.36 [[ 9.99191530e-01 3.76280226e-02 -1.41568851e-02 1.64985024e+01] [-3.76193683e-02 9.99291756e-01 8.77208641e-04 -1.11684004e+00] [ 1.41798661e-02 -3.43926371e-04 9.99899401e-01 3.58708348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082755096 meters 0.021592086085542257 Centerline is valid? [True, True] Translation: X:16.56, Y:-1.12, Z:0.36 [[ 9.99240829e-01 3.65657958e-02 -1.34427726e-02 1.65601337e+01] [-3.65578600e-02 9.99331189e-01 8.35679626e-04 -1.11946460e+00] [ 1.34643392e-02 -3.43606203e-04 9.99909293e-01 3.59599942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142755096000002 meters 0.02307594099970998 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.13, Z:0.36 [[ 9.99332295e-01 3.47654424e-02 -1.12395725e-02 1.66219927e+01] [-3.47597553e-02 9.99395451e-01 7.00999178e-04 -1.12649586e+00] [ 1.12571482e-02 -3.09846328e-04 9.99936588e-01 3.61716232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202755096 meters 0.024518168607853906 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.13, Z:0.36 [[ 9.99396844e-01 3.30763576e-02 -1.05784342e-02 1.66841052e+01] [-3.30711978e-02 9.99452779e-01 6.62366604e-04 -1.13348249e+00] [ 1.05945541e-02 -3.12125606e-04 9.99943827e-01 3.63377996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262755096 meters 0.025170057147014632 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.14, Z:0.36 [[ 9.99415179e-01 3.25979408e-02 -1.03283332e-02 1.67455154e+01] [-3.25929586e-02 9.99468497e-01 6.50380151e-04 -1.13863350e+00] [ 1.03440447e-02 -3.13368857e-04 9.99946450e-01 3.64549344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322755096 meters 0.026529650426455397 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.14, Z:0.37 [[ 9.99421996e-01 3.24371834e-02 -1.01736773e-02 1.68061472e+01] [-3.24323347e-02 9.99473728e-01 6.41253688e-04 -1.14476747e+00] [ 1.01891236e-02 -3.10926933e-04 9.99948041e-01 3.65190008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382755096 meters 0.02688264075992982 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.15, Z:0.36 [[ 9.99401301e-01 3.28443989e-02 -1.08759210e-02 1.68684424e+01] [-3.28388506e-02 9.99460422e-01 6.88379985e-04 -1.14845827e+00] [ 1.08926621e-02 -3.30815106e-04 9.99940618e-01 3.64855311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442755096 meters 0.024404642885599605 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.15, Z:0.36 [[ 9.99373815e-01 3.37456335e-02 -1.06400550e-02 1.69303595e+01] [-3.37403478e-02 9.99430404e-01 6.75932002e-04 -1.14809092e+00] [ 1.06568043e-02 -3.16509585e-04 9.99943165e-01 3.64885563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502755096 meters 0.02419771672019979 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.15, Z:0.37 [[ 9.99333695e-01 3.51073561e-02 -9.98194650e-03 1.69928837e+01] [-3.51027329e-02 9.99383505e-01 6.38036105e-04 -1.15122799e+00] [ 9.99819245e-03 -2.87217377e-04 9.99949976e-01 3.66533529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562755096 meters 0.02390425141835558 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.15, Z:0.37 [[ 9.99279761e-01 3.65679662e-02 -1.01362484e-02 1.70549132e+01] [-3.65632786e-02 9.99331130e-01 6.47448709e-04 -1.15377553e+00] [ 1.01531444e-02 -2.76367918e-04 9.99948417e-01 3.67396289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622755096 meters 0.02427181811696597 Centerline is valid? [True, True] Translation: X:17.12, Y:-1.16, Z:0.37 [[ 9.99232714e-01 3.77618430e-02 -1.03936243e-02 1.71157199e+01] [-3.77569470e-02 9.99286730e-01 6.66950526e-04 -1.15785907e+00] [ 1.04113961e-02 -2.74007261e-04 9.99945762e-01 3.68453797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682755096 meters 0.021053565589136423 Centerline is valid? [True, True] Translation: X:17.18, Y:-1.16, Z:0.37 [[ 9.99152452e-01 3.97616357e-02 -1.06484372e-02 1.71781605e+01] [-3.97565849e-02 9.99209159e-01 6.85665435e-04 -1.15559781e+00] [ 1.06672792e-02 -2.61738803e-04 9.99943069e-01 3.67246234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742755096 meters 0.02052831599106957 Centerline is valid? [True, True] Translation: X:17.24, Y:-1.16, Z:0.37 [[ 9.99078391e-01 4.15408981e-02 -1.08037860e-02 1.72400563e+01] [-4.15357691e-02 9.99136773e-01 6.98783628e-04 -1.15820351e+00] [ 1.08234879e-02 -2.49396064e-04 9.99941393e-01 3.67927460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802755096 meters 0.020020522280761063 Centerline is valid? [True, True] Translation: X:17.30, Y:-1.16, Z:0.37 [[ 9.98987055e-01 4.36018112e-02 -1.11240968e-02 1.73025576e+01] [-4.35964647e-02 9.99048961e-01 7.22776488e-04 -1.15978205e+00] [ 1.11450317e-02 -2.37073061e-04 9.99937864e-01 3.68470834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862755096 meters 0.020173933706849733 Centerline is valid? [True, True] Translation: X:17.36, Y:-1.16, Z:0.37 [[ 9.98960469e-01 4.41148150e-02 -1.14832670e-02 1.73649523e+01] [-4.41091160e-02 9.99026438e-01 7.49211962e-04 -1.16350974e+00] [ 1.15051387e-02 -2.41916376e-04 9.99933784e-01 3.68806636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922755096 meters 0.020371036710625023 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.17, Z:0.37 [[ 9.98987320e-01 4.34779046e-02 -1.15760859e-02 1.74269322e+01] [-4.34720244e-02 9.99054356e-01 7.59217245e-04 -1.16668225e+00] [ 1.15981482e-02 -2.55212512e-04 9.99932707e-01 3.69119067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982755096 meters 0.021831345650303254 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.17, Z:0.37 [[ 9.99040772e-01 4.20034145e-02 -1.23793408e-02 1.74878151e+01] [-4.19965195e-02 9.99117423e-01 8.16523109e-04 -1.17311731e+00] [ 1.24027119e-02 -2.95850649e-04 9.99923040e-01 3.70484659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042755096 meters 0.023971509660999004 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.18, Z:0.37 [[ 9.99152151e-01 3.91431003e-02 -1.27591746e-02 1.75481674e+01] [-3.91355089e-02 9.99233556e-01 8.44210920e-04 -1.18007825e+00] [ 1.27824404e-02 -3.44158367e-04 9.99918242e-01 3.71419677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102755096 meters 0.02412827528457227 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.18, Z:0.37 [[ 9.99239795e-01 3.64996813e-02 -1.36969203e-02 1.76104176e+01] [-3.64906931e-02 9.99333583e-01 9.05648008e-04 -1.18486445e+00] [ 1.37208483e-02 -4.05149414e-04 9.99905783e-01 3.71590510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162755096 meters 0.02832672278130238 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.19, Z:0.37 [[ 9.99306765e-01 3.45440058e-02 -1.38816503e-02 1.76709115e+01] [-3.45345295e-02 9.99403080e-01 9.21846763e-04 -1.19452372e+00] [ 1.39052083e-02 -4.41811446e-04 9.99903220e-01 3.72856250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222755096 meters 0.02584445335015435 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.19, Z:0.37 [[ 9.99315303e-01 3.41506878e-02 -1.42357307e-02 1.77332289e+01] [-3.41406311e-02 9.99416588e-01 9.48936132e-04 -1.19423175e+00] [ 1.42598322e-02 -4.62269567e-04 9.99898217e-01 3.72437459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282755096 meters 0.026642208626999595 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.20, Z:0.37 [[ 9.99294343e-01 3.44350623e-02 -1.50014125e-02 1.77944763e+01] [-3.44238621e-02 9.99406819e-01 1.00426900e-03 -1.19965187e+00] [ 1.50270960e-02 -4.87153776e-04 9.99886968e-01 3.73498068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342755096 meters 0.02700067855696142 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.20, Z:0.38 [[ 9.99260829e-01 3.52918660e-02 -1.52407055e-02 1.78567945e+01] [-3.52803357e-02 9.99376930e-01 1.02483115e-03 -1.20406546e+00] [ 1.52673777e-02 -4.86376414e-04 9.99883329e-01 3.75020478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402755096 meters 0.027151604396573426 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.21, Z:0.38 [[ 9.99214091e-01 3.64706043e-02 -1.55272411e-02 1.79177588e+01] [-3.64587128e-02 9.99334610e-01 1.04832385e-03 -1.20694108e+00] [ 1.55551424e-02 -4.81396739e-04 9.99878896e-01 3.75455288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462755096 meters 0.02463381212382248 Centerline is valid? [True, True] Translation: X:17.98, Y:-1.21, Z:0.38 [[ 9.99171737e-01 3.74568874e-02 -1.59003702e-02 1.79801373e+01] [-3.74444814e-02 9.99298129e-01 1.07733102e-03 -1.20675838e+00] [ 1.59295637e-02 -4.81057590e-04 9.99873001e-01 3.76493945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522755096 meters 0.02607346985989081 Centerline is valid? [True, True] Translation: X:18.04, Y:-1.21, Z:0.38 [[ 9.99114453e-01 3.89195614e-02 -1.59868209e-02 1.80407146e+01] [-3.89071355e-02 9.99242239e-01 1.08766198e-03 -1.21233345e+00] [ 1.60170380e-02 -4.64697401e-04 9.99871611e-01 3.78389832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582755096 meters 0.02634729844806558 Centerline is valid? [True, True] Translation: X:18.10, Y:-1.22, Z:0.38 [[ 9.99089781e-01 3.95638696e-02 -1.59470968e-02 1.81028118e+01] [-3.95515240e-02 9.99216939e-01 1.08892959e-03 -1.21662334e+00] [ 1.59776915e-02 -4.57206443e-04 9.99872244e-01 3.79446609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642755096000002 meters 0.02297832734094551 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.22, Z:0.38 [[ 9.99061845e-01 3.99524098e-02 -1.67103478e-02 1.81655867e+01] [-3.99388284e-02 9.99201470e-01 1.14581607e-03 -1.21686745e+00] [ 1.67427822e-02 -4.77349403e-04 9.99859716e-01 3.80444482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702755096 meters 0.022986247499986366 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.22, Z:0.38 [[ 9.99015653e-01 4.10712954e-02 -1.67593089e-02 1.82272080e+01] [-4.10577690e-02 9.99156112e-01 1.15052006e-03 -1.22070735e+00] [ 1.67924193e-02 -4.61287714e-04 9.99858891e-01 3.81667605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762755096 meters 0.022333341039288482 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.22, Z:0.38 [[ 9.98948965e-01 4.21789631e-02 -1.79415790e-02 1.82890370e+01] [-4.21635431e-02 9.99109957e-01 1.23703082e-03 -1.22410705e+00] [ 1.79777868e-02 -4.79250121e-04 9.99838272e-01 3.81702343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822755096 meters 0.023441406966848495 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.23, Z:0.38 [[ 9.98940056e-01 4.20218891e-02 -1.87862853e-02 1.83506330e+01] [-4.20048511e-02 9.99116560e-01 1.30078857e-03 -1.23178294e+00] [ 1.88243504e-02 -5.10294693e-04 9.99822676e-01 3.82342542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882755096 meters 0.025590775784837316 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.24, Z:0.38 [[ 9.98974677e-01 4.09056030e-02 -1.93991203e-02 1.84126905e+01] [-4.08871100e-02 9.99162862e-01 1.34912438e-03 -1.23776384e+00] [ 1.94380673e-02 -5.54567123e-04 9.99810909e-01 3.81635555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942755096 meters 0.024672170260909995 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.24, Z:0.38 [[ 9.99001631e-01 4.01515688e-02 -1.95855114e-02 1.84749108e+01] [-4.01324689e-02 9.99193432e-01 1.36743759e-03 -1.24179237e+00] [ 1.96246191e-02 -5.80057456e-04 9.99807250e-01 3.84173871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002755096 meters 0.025429753125392505 Centerline is valid? [True, True] Translation: X:18.54, Y:-1.25, Z:0.39 [[ 9.99031333e-01 3.93827296e-02 -1.96314979e-02 1.85360043e+01] [-3.93632901e-02 9.99224018e-01 1.37580255e-03 -1.24818359e+00] [ 1.96704470e-02 -6.01709508e-04 9.99806337e-01 3.85294050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062755096 meters 0.02564484417250623 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.25, Z:0.39 [[ 9.99062908e-01 3.84413290e-02 -1.98889394e-02 1.85970516e+01] [-3.84211746e-02 9.99260661e-01 1.39461521e-03 -1.25272933e+00] [ 1.99278456e-02 -6.29151917e-04 9.99801223e-01 3.86594941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122755096 meters 0.0249791275364354 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.25, Z:0.39 [[ 9.99058856e-01 3.85853763e-02 -1.98133794e-02 1.86583554e+01] [-3.85653879e-02 9.99255112e-01 1.39008000e-03 -1.25472615e+00] [ 1.98522574e-02 -6.24661070e-04 9.99802729e-01 3.87746762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182755096 meters 0.02687453241645787 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.26, Z:0.39 [[ 9.99002995e-01 3.97592275e-02 -2.03031750e-02 1.87179698e+01] [-3.97384619e-02 9.99209099e-01 1.42536064e-03 -1.26124786e+00] [ 2.03437884e-02 -6.17122602e-04 9.99792853e-01 3.87860099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242755096 meters 0.024155279850176972 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.26, Z:0.39 [[ 9.98951310e-01 4.08570429e-02 -2.06635507e-02 1.87798146e+01] [-4.08357257e-02 9.99164818e-01 1.45271068e-03 -1.26121153e+00] [ 2.07056464e-02 -6.07376152e-04 9.99785431e-01 3.89198554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302755096 meters 0.024983928712436806 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.27, Z:0.39 [[ 9.98936584e-01 4.11995961e-02 -2.06952819e-02 1.88401465e+01] [-4.11782708e-02 9.99150755e-01 1.45571143e-03 -1.26689695e+00] [ 2.07376812e-02 -6.01967483e-04 9.99784770e-01 3.90022434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362755096 meters 0.024819570043644816 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.27, Z:0.39 [[ 9.98951787e-01 4.11592351e-02 -2.00310835e-02 1.89017166e+01] [-4.11392408e-02 9.99152429e-01 1.40938974e-03 -1.27059228e+00] [ 2.00721151e-02 -5.83848833e-04 9.99798364e-01 3.91271845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422755096 meters 0.02517224292481033 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.28, Z:0.39 [[ 9.98982547e-01 4.10652712e-02 -1.86417317e-02 1.89623404e+01] [-4.10479260e-02 9.99156317e-01 1.31229778e-03 -1.27623217e+00] [ 1.86798939e-02 -5.45758154e-04 9.99825367e-01 3.93750961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482755096 meters 0.026010257958031895 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.28, Z:0.40 [[ 9.98971387e-01 4.14573203e-02 -1.83700452e-02 1.90236139e+01] [-4.14405316e-02 9.99140135e-01 1.29380521e-03 -1.28243774e+00] [ 1.84078871e-02 -5.31209945e-04 9.99830419e-01 3.95166712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542755096 meters 0.025323980265453065 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.29, Z:0.40 [[ 9.98932254e-01 4.24743954e-02 -1.81735601e-02 1.90858305e+01] [-4.24580718e-02 9.99097425e-01 1.28327820e-03 -1.28542566e+00] [ 1.82116636e-02 -5.10293664e-04 9.99834024e-01 3.95861691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602755096 meters 0.02565569200703207 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.29, Z:0.40 [[ 9.98854140e-01 4.41094232e-02 -1.85678695e-02 1.91472925e+01] [-4.40925739e-02 9.99026583e-01 1.31605295e-03 -1.28982743e+00] [ 1.86078456e-02 -4.95839776e-04 9.99826736e-01 3.95596545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662755096 meters 0.02522362796872669 Centerline is valid? [True, True] Translation: X:19.21, Y:-1.29, Z:0.39 [[ 9.98752439e-01 4.57240077e-02 -2.00718856e-02 1.92096035e+01] [-4.57045328e-02 9.98953981e-01 1.42816092e-03 -1.29412785e+00] [ 2.01161913e-02 -5.09003050e-04 9.99797519e-01 3.94704843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722755096 meters 0.02214877446360236 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.29, Z:0.40 [[ 9.98681047e-01 4.72586664e-02 -2.00695164e-02 1.92714655e+01] [-4.72394048e-02 9.98882568e-01 1.43301477e-03 -1.29351097e+00] [ 2.01148124e-02 -4.83052677e-04 9.99797560e-01 3.95634148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782755096 meters 0.022197322117767915 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.30, Z:0.40 [[ 9.98652447e-01 4.80953135e-02 -1.94969575e-02 1.93330818e+01] [-4.80771935e-02 9.98842646e-01 1.39730897e-03 -1.29758762e+00] [ 1.95415967e-02 -4.58067020e-04 9.99808940e-01 3.97084490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842755096 meters 0.022866930397944473 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.30, Z:0.40 [[ 9.98654302e-01 4.79712941e-02 -1.97063282e-02 1.93943059e+01] [-4.79526520e-02 9.98848604e-01 1.41771414e-03 -1.30388880e+00] [ 1.97516480e-02 -4.70835629e-04 9.99804806e-01 3.98256760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902755096 meters 0.023821321854287716 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.31, Z:0.40 [[ 9.98674514e-01 4.73528587e-02 -2.01722961e-02 1.94554613e+01] [-4.73330804e-02 9.98878099e-01 1.45706677e-03 -1.31022359e+00] [ 2.02186611e-02 -5.00318536e-04 9.99795457e-01 3.99225718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962755096 meters 0.024600722541145894 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.32, Z:0.40 [[ 9.98687512e-01 4.71744639e-02 -1.99455200e-02 1.95174916e+01] [-4.71549961e-02 9.98886539e-01 1.44549891e-03 -1.31607872e+00] [ 1.99915021e-02 -5.03070792e-04 9.99800023e-01 4.00651062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022755096 meters 0.02217203295126989 Centerline is valid? [True, True] Translation: X:19.58, Y:-1.32, Z:0.40 [[ 9.98675163e-01 4.73325245e-02 -2.01878869e-02 1.95803070e+01] [-4.73124979e-02 9.98879057e-01 1.46874456e-03 -1.31641150e+00] [ 2.02347769e-02 -5.11659350e-04 9.99795125e-01 4.02193014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082755096 meters 0.022987363776187916 Centerline is valid? [True, True] Translation: X:19.64, Y:-1.32, Z:0.40 [[ 9.98651806e-01 4.76475325e-02 -2.05981553e-02 1.96414728e+01] [-4.76266105e-02 9.98864075e-01 1.50537184e-03 -1.32419588e+00] [ 2.06464846e-02 -5.22321983e-04 9.99786702e-01 4.03448085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142755096 meters 0.022477031808156845 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.33, Z:0.40 [[ 9.98637142e-01 4.77629808e-02 -2.10370319e-02 1.97039517e+01] [-4.77410468e-02 9.98858553e-01 1.54391046e-03 -1.32771646e+00] [ 2.10867611e-02 -5.37476400e-04 9.99777505e-01 4.04319015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202755096 meters 0.02392637657917815 Centerline is valid? [True, True] Translation: X:19.77, Y:-1.34, Z:0.41 [[ 9.98676417e-01 4.71684802e-02 -2.05073060e-02 1.97651114e+01] [-4.71473832e-02 9.98886801e-01 1.51129664e-03 -1.33506665e+00] [ 2.05557629e-02 -5.42430493e-04 9.99788561e-01 4.06364410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262755096 meters 0.025093850917344895 Centerline is valid? [True, True] Translation: X:19.83, Y:-1.34, Z:0.41 [[ 9.98709590e-01 4.64503576e-02 -2.05309233e-02 1.98260387e+01] [-4.64289533e-02 9.98920441e-01 1.51823282e-03 -1.34258784e+00] [ 2.05792815e-02 -5.63044394e-04 9.99788066e-01 4.08944235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322755096 meters 0.02530831381597986 Centerline is valid? [True, True] Translation: X:19.89, Y:-1.35, Z:0.41 [[ 9.98681181e-01 4.70420367e-02 -2.05656358e-02 1.98877388e+01] [-4.70205816e-02 9.98892755e-01 1.52583323e-03 -1.34818676e+00] [ 2.06146429e-02 -5.56812772e-04 9.99787341e-01 4.10548668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382755096 meters 0.022855757275246354 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.35, Z:0.41 [[ 9.98628376e-01 4.81400511e-02 -2.05888963e-02 1.99495796e+01] [-4.81186709e-02 9.98840450e-01 1.53286696e-03 -1.34856624e+00] [ 2.06388148e-02 -5.40054115e-04 9.99786851e-01 4.12339012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442755096 meters 0.02287566113196948 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.35, Z:0.41 [[ 9.98567545e-01 4.91247653e-02 -2.12041462e-02 2.00111375e+01] [-4.91021835e-02 9.98792503e-01 1.58461947e-03 -1.35327793e+00] [ 2.12563863e-02 -5.41179694e-04 9.99773911e-01 4.13363378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502755096 meters 0.02122505628443728 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.36, Z:0.41 [[ 9.98465073e-01 5.08794853e-02 -2.18809330e-02 2.00734466e+01] [-5.08557255e-02 9.98704662e-01 1.64130970e-03 -1.35540446e+00] [ 2.19360988e-02 -5.26019690e-04 9.99759236e-01 4.14560051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562755096 meters 0.021511244401488685 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.36, Z:0.42 [[ 9.98410709e-01 5.17392523e-02 -2.23406856e-02 2.01343896e+01] [-5.17145572e-02 9.98660490e-01 1.68210302e-03 -1.35971540e+00] [ 2.23977908e-02 -5.24091001e-04 9.99749001e-01 4.15317346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622755096 meters 0.02127719052530189 Centerline is valid? [True, True] Translation: X:20.20, Y:-1.36, Z:0.42 [[ 9.98441110e-01 5.12356586e-02 -2.21417437e-02 2.01961004e+01] [-5.12111506e-02 9.98686447e-01 1.67285043e-03 -1.36452565e+00] [ 2.21983690e-02 -5.36338466e-04 9.99753442e-01 4.17235404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682755096 meters 0.022041080368687203 Centerline is valid? [True, True] Translation: X:20.26, Y:-1.37, Z:0.42 [[ 9.98490830e-01 5.04996368e-02 -2.15835562e-02 2.02567047e+01] [-5.04760503e-02 9.98723931e-01 1.63654365e-03 -1.37035533e+00] [ 2.16386590e-02 -5.44621162e-04 9.99765708e-01 4.18958387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742755096 meters 0.021641955195963354 Centerline is valid? [True, True] Translation: X:20.32, Y:-1.37, Z:0.42 [[ 9.98503747e-01 5.03111535e-02 -2.14255769e-02 2.03199443e+01] [-5.02877461e-02 9.98733440e-01 1.63022692e-03 -1.37319850e+00] [ 2.14804587e-02 -5.50343718e-04 9.99769117e-01 4.20780716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802755096 meters 0.02229903062881316 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.38, Z:0.42 [[ 9.98510947e-01 5.02626986e-02 -2.12025712e-02 2.03815983e+01] [-5.02396207e-02 9.98735879e-01 1.62004637e-03 -1.37934581e+00] [ 2.12571965e-02 -5.52424898e-04 9.99773888e-01 4.21923356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862755096 meters 0.02299426658431193 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.39, Z:0.42 [[ 9.98505320e-01 5.03578906e-02 -2.12416538e-02 2.04446071e+01] [-5.03346121e-02 9.98731081e-01 1.62946266e-03 -1.38531123e+00] [ 2.12967561e-02 -5.57836732e-04 9.99773043e-01 4.22758271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922755096 meters 0.022751929225030137 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.39, Z:0.42 [[ 9.98469601e-01 5.09611831e-02 -2.14805399e-02 2.05078774e+01] [-5.09373705e-02 9.98700479e-01 1.65461281e-03 -1.38864362e+00] [ 2.15369465e-02 -5.57918368e-04 9.99767897e-01 4.23919431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982755096 meters 0.02194455867305545 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.39, Z:0.43 [[ 9.98444806e-01 5.13791102e-02 -2.16369083e-02 2.05703511e+01] [-5.13548974e-02 9.98679064e-01 1.67358111e-03 -1.39146001e+00] [ 2.16943145e-02 -5.59817164e-04 9.99764494e-01 4.25025388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042755096 meters 0.023814191766305934 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.40, Z:0.43 [[ 9.98495786e-01 5.04041185e-02 -2.15775553e-02 2.06309372e+01] [-5.03796629e-02 9.98728733e-01 1.67582942e-03 -1.39971537e+00] [ 2.16345932e-02 -5.86238653e-04 9.99765773e-01 4.25989093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102755096 meters 0.023011938932216515 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.40, Z:0.43 [[ 9.98519283e-01 4.99775186e-02 -2.14822935e-02 2.06928190e+01] [-4.99530585e-02 9.98750164e-01 1.67406210e-03 -1.40359319e+00] [ 2.15391096e-02 -5.98477018e-04 9.99767827e-01 4.27856118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162755096 meters 0.02318753320175862 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.41, Z:0.43 [[ 9.98500989e-01 5.04512138e-02 -2.12238195e-02 2.07555031e+01] [-5.04273177e-02 9.98726354e-01 1.65993974e-03 -1.40836936e+00] [ 2.12805338e-02 -5.87191182e-04 9.99773371e-01 4.29271715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222755096 meters 0.023604816382815315 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.41, Z:0.43 [[ 9.98452047e-01 5.13518112e-02 -2.13658978e-02 2.08165132e+01] [-5.13276559e-02 9.98680458e-01 1.67777823e-03 -1.41392357e+00] [ 2.14238615e-02 -5.78519655e-04 9.99770315e-01 4.29996985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282755096 meters 0.02266186524703333 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.42, Z:0.43 [[ 9.98297310e-01 5.43069169e-02 -2.12894166e-02 2.08789942e+01] [-5.42834984e-02 9.98524156e-01 1.67679498e-03 -1.41649383e+00] [ 2.13490583e-02 -5.18275902e-04 9.99771949e-01 4.31050319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342755096 meters 0.021839603708552247 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.42, Z:0.43 [[ 9.98132787e-01 5.73998291e-02 -2.08853686e-02 2.09401579e+01] [-5.73779191e-02 9.98351171e-01 1.64729156e-03 -1.41918226e+00] [ 2.09454865e-02 -4.45856724e-04 9.99780520e-01 4.32940974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402755096 meters 0.01967104011447583 Centerline is valid? [True, True] Translation: X:21.00, Y:-1.42, Z:0.43 [[ 9.97839662e-01 6.20063680e-02 -2.17075886e-02 2.10031828e+01] [-6.19836734e-02 9.98075686e-01 1.71739757e-03 -1.41822106e+00] [ 2.17723060e-02 -3.68171326e-04 9.99762887e-01 4.33053524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462755096 meters 0.01891704462110098 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.42, Z:0.43 [[ 9.97658083e-01 6.47133969e-02 -2.21478137e-02 2.10654880e+01] [-6.46903552e-02 9.97903840e-01 1.75599519e-03 -1.42115875e+00] [ 2.22150248e-02 -3.19132857e-04 9.99753165e-01 4.33511046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522755096 meters 0.018456889262364138 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.43, Z:0.44 [[ 9.97610613e-01 6.55755529e-02 -2.17465473e-02 2.11271047e+01] [-6.55534185e-02 9.97847562e-01 1.72991013e-03 -1.42564064e+00] [ 2.18131790e-02 -3.00216195e-04 9.99762019e-01 4.35361571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582755096 meters 0.01827762398884407 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.43, Z:0.44 [[ 9.97550268e-01 6.64025108e-02 -2.20038346e-02 2.11902092e+01] [-6.63799136e-02 9.97792875e-01 1.75658310e-03 -1.42999609e+00] [ 2.20719110e-02 -2.91667300e-04 9.99756343e-01 4.36286537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642755096 meters 0.018218985612260874 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.43, Z:0.44 [[ 9.97475582e-01 6.74626969e-02 -2.21641071e-02 2.12526236e+01] [-6.74398750e-02 9.97721759e-01 1.77638642e-03 -1.43481794e+00] [ 2.22334518e-02 -2.77157459e-04 9.99752768e-01 4.36785891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702755096 meters 0.018306131918605865 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.44, Z:0.44 [[ 9.97534917e-01 6.67082657e-02 -2.17737792e-02 2.13149329e+01] [-6.66859149e-02 9.97772479e-01 1.75178888e-03 -1.44070429e+00] [ 2.18421364e-02 -2.95466187e-04 9.99761388e-01 4.37890158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762755096 meters 0.018785641470219556 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.45, Z:0.44 [[ 9.97588671e-01 6.57609228e-02 -2.21888573e-02 2.13761856e+01] [-6.57373233e-02 9.97835353e-01 1.79210325e-03 -1.44759703e+00] [ 2.22586767e-02 -3.29145814e-04 9.99752191e-01 4.38769644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822755096 meters 0.019242128615702493 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.45, Z:0.44 [[ 9.97625515e-01 6.50800623e-02 -2.25370095e-02 2.14376781e+01] [-6.50554098e-02 9.97879982e-01 1.82609186e-03 -1.45458390e+00] [ 2.26080728e-02 -3.55601449e-04 9.99744342e-01 4.39700161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882755096 meters 0.0191117667074343 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.46, Z:0.44 [[ 9.97649172e-01 6.46645843e-02 -2.26852427e-02 2.14998117e+01] [-6.46393543e-02 9.97906986e-01 1.84446139e-03 -1.46114708e+00] [ 2.27570335e-02 -3.73765942e-04 9.99740955e-01 4.40766793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942755096 meters 0.019633881892491357 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.47, Z:0.44 [[ 9.97676323e-01 6.44396342e-02 -2.21243824e-02 2.15615117e+01] [-6.44154304e-02 9.97921536e-01 1.80565686e-03 -1.46862995e+00] [ 2.21947535e-02 -3.76309485e-04 9.99753595e-01 4.42299583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.002755096 meters 0.019939619249062308 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.48, Z:0.44 [[ 9.97708573e-01 6.40486102e-02 -2.18031740e-02 2.16242871e+01] [-6.40248718e-02 9.97946705e-01 1.78579692e-03 -1.47503043e+00] [ 2.18727834e-02 -3.85759476e-04 9.99760688e-01 4.44179643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.062755096 meters 0.019775214267643008 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.48, Z:0.45 [[ 9.97684075e-01 6.45043229e-02 -2.15795867e-02 2.16869000e+01] [-6.44810321e-02 9.97917356e-01 1.77410890e-03 -1.48147112e+00] [ 2.16490818e-02 -3.78526179e-04 9.99765560e-01 4.45223738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.122755096 meters 0.019286660828861955 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.49, Z:0.45 [[ 9.97619378e-01 6.54159732e-02 -2.18249132e-02 2.17494653e+01] [-6.53922159e-02 9.97858013e-01 1.80121083e-03 -1.48709127e+00] [ 2.18959925e-02 -3.69743389e-04 9.99760186e-01 4.46704903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.182755096 meters 0.018808146331528275 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.49, Z:0.45 [[ 9.97523932e-01 6.68981514e-02 -2.16942729e-02 2.18112003e+01] [-6.68748812e-02 9.97759751e-01 1.79717514e-03 -1.49106102e+00] [ 2.17659000e-02 -3.41923292e-04 9.99763036e-01 4.48002900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.242755096 meters 0.019014750489659397 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.50, Z:0.45 [[ 9.97398956e-01 6.86126244e-02 -2.20823456e-02 2.18717294e+01] [-6.85887967e-02 9.97643327e-01 1.83552250e-03 -1.49657677e+00] [ 2.21562448e-02 -3.16146711e-04 9.99754470e-01 4.48730109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.302755096 meters 0.01861733464527485 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.50, Z:0.45 [[ 9.97379598e-01 6.89024002e-02 -2.20543994e-02 2.19348624e+01] [-6.88785743e-02 9.97623356e-01 1.83903984e-03 -1.50118623e+00] [ 2.21286982e-02 -3.15145230e-04 9.99755081e-01 4.50134453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.362755096 meters 0.018578686010554266 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.51, Z:0.45 [[ 9.97431796e-01 6.85316494e-02 -2.08140733e-02 2.19978839e+01] [-6.85102162e-02 9.97648894e-01 1.74191518e-03 -1.50695961e+00] [ 2.08845135e-02 -3.11464927e-04 9.99781846e-01 4.52238201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.422755096 meters 0.01930908558210321 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.51, Z:0.45 [[ 9.97516557e-01 6.74520826e-02 -2.02715329e-02 2.20582721e+01] [-6.74314003e-02 9.97722460e-01 1.70285586e-03 -1.51318550e+00] [ 2.03402249e-02 -3.31689066e-04 9.99793061e-01 4.54213570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.482755096 meters 0.020261577190563044 Centerline is valid? [True, True] Translation: X:22.12, Y:-1.52, Z:0.46 [[ 9.97549597e-01 6.69542502e-02 -2.02960779e-02 2.21200556e+01] [-6.69333062e-02 9.97755986e-01 1.71024674e-03 -1.52052244e+00] [ 2.03650415e-02 -3.47572350e-04 9.99792551e-01 4.55108199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.542755096 meters 0.02047744274822959 Centerline is valid? [True, True] Translation: X:22.18, Y:-1.53, Z:0.46 [[ 9.97605171e-01 6.62052890e-02 -2.00195507e-02 2.21816279e+01] [-6.61846462e-02 9.97805957e-01 1.69266542e-03 -1.52509981e+00] [ 2.00876904e-02 -3.63624895e-04 9.99798156e-01 4.55782400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.602755096 meters 0.020295760606533618 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.53, Z:0.46 [[ 9.97556033e-01 6.68887943e-02 -2.01953215e-02 2.22440758e+01] [-6.68678160e-02 9.97760372e-01 1.71302083e-03 -1.52958749e+00] [ 2.02646734e-02 -3.58417223e-04 9.99794586e-01 4.56777801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.662755096 meters 0.01987049296450652 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.53, Z:0.46 [[ 9.97549093e-01 6.68634710e-02 -2.06175407e-02 2.23072624e+01] [-6.68414682e-02 9.97762064e-01 1.75524850e-03 -1.53396174e+00] [ 2.06887619e-02 -3.72839863e-04 9.99785895e-01 4.57566581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.722755096 meters 0.020337896045293413 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.54, Z:0.46 [[ 9.97508167e-01 6.74740792e-02 -2.06083746e-02 2.23689527e+01] [-6.74520923e-02 9.97720960e-01 1.76094192e-03 -1.54050339e+00] [ 2.06802252e-02 -3.66475968e-04 9.99786074e-01 4.58736826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.782755096 meters 0.020020190708938252 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.54, Z:0.46 [[ 9.97440083e-01 6.82413631e-02 -2.13634573e-02 2.24314367e+01] [-6.82177845e-02 9.97668773e-01 1.83136783e-03 -1.54490409e+00] [ 2.14386292e-02 -3.69311955e-04 9.99770098e-01 4.59913113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.842755096 meters 0.019897599349332648 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.55, Z:0.46 [[ 9.97369350e-01 6.93982359e-02 -2.09347578e-02 2.24929356e+01] [-6.93757997e-02 9.97588978e-01 1.79696582e-03 -1.54935236e+00] [ 2.10089899e-02 -3.39873069e-04 9.99779229e-01 4.61689968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.902755096 meters 0.01901825962839233 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.55, Z:0.46 [[ 9.97151364e-01 7.23872256e-02 -2.11954514e-02 2.25551494e+01] [-7.23647817e-02 9.97376563e-01 1.82499305e-03 -1.55147994e+00] [ 2.12719526e-02 -2.85990093e-04 9.99773686e-01 4.63461132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.962755096 meters 0.018812202836062393 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.56, Z:0.46 [[ 9.97001310e-01 7.40726535e-02 -2.23971107e-02 2.26160984e+01] [-7.40478820e-02 9.97252811e-01 1.93447596e-03 -1.55650201e+00] [ 2.24788733e-02 -2.70216456e-04 9.99747282e-01 4.63958275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.022755096 meters 0.018238967648816818 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.56, Z:0.47 [[ 9.96964453e-01 7.45543549e-02 -2.24394315e-02 2.26788183e+01] [-7.45294849e-02 9.97216916e-01 1.94375339e-03 -1.56076566e+00] [ 2.25218960e-02 -2.65453759e-04 9.99746315e-01 4.65521162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.082755096 meters 0.01823063120947257 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.57, Z:0.47 [[ 9.96918369e-01 7.50940746e-02 -2.26857808e-02 2.27409512e+01] [-7.50686345e-02 9.97176419e-01 1.97214696e-03 -1.56599486e+00] [ 2.27698222e-02 -2.63078944e-04 9.99740699e-01 4.66647427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.142755096 meters 0.018032449825866555 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.57, Z:0.47 [[ 9.96915000e-01 7.49918796e-02 -2.31668238e-02 2.28039148e+01] [-7.49651603e-02 9.97184106e-01 2.02089249e-03 -1.57117744e+00] [ 2.32531390e-02 -2.77953376e-04 9.99729571e-01 4.68174386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.202755096 meters 0.019442387838049607 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.58, Z:0.47 [[ 9.97049406e-01 7.30020199e-02 -2.37315448e-02 2.28643273e+01] [-7.29732555e-02 9.97331735e-01 2.07698671e-03 -1.58096746e+00] [ 2.38198470e-02 -3.39090286e-04 9.99716210e-01 4.68594814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.262755096 meters 0.02090604302022936 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.59, Z:0.47 [[ 9.97249966e-01 7.00128972e-02 -2.43043064e-02 2.29255830e+01] [-6.99817357e-02 9.97545996e-01 2.13138159e-03 -1.59096163e+00] [ 2.43938878e-02 -4.24662665e-04 9.99702335e-01 4.69662535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.322755096 meters 0.020610157803573507 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.60, Z:0.47 [[ 9.97321247e-01 6.91339649e-02 -2.38919412e-02 2.29875388e+01] [-6.91034547e-02 9.97607286e-01 2.10127101e-03 -1.59670871e+00] [ 2.39800438e-02 -4.44626552e-04 9.99712339e-01 4.72232249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.382755096 meters 0.02092517436107108 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.60, Z:0.47 [[ 9.97395944e-01 6.83572453e-02 -2.29917061e-02 2.30489461e+01] [-6.83286485e-02 9.97660806e-01 2.02801485e-03 -1.60348200e+00] [ 2.30765535e-02 -4.51741585e-04 9.99733599e-01 4.74741719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.442755096 meters 0.02069104406550689 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.61, Z:0.48 [[ 9.97462631e-01 6.76896888e-02 -2.20546067e-02 2.31108474e+01] [-6.76630859e-02 9.97706320e-01 1.95109033e-03 -1.61009194e+00] [ 2.21360892e-02 -4.53856948e-04 9.99754864e-01 4.76893564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.502755096 meters 0.020741407682068443 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.62, Z:0.48 [[ 9.97469744e-01 6.74784280e-02 -2.23779199e-02 2.31736783e+01] [-6.74508415e-02 9.97720622e-01 1.98613206e-03 -1.61681104e+00] [ 2.24609332e-02 -4.71697111e-04 9.99747610e-01 4.78105884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.562755096 meters 0.020925364697224468 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.62, Z:0.48 [[ 9.97487347e-01 6.73339164e-02 -2.20258112e-02 2.32364054e+01] [-6.73070021e-02 9.97730384e-01 1.96185001e-03 -1.62452506e+00] [ 2.21079202e-02 -4.74429239e-04 9.99755477e-01 4.79902445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.622755096 meters 0.020923526308306635 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.63, Z:0.48 [[ 9.97484886e-01 6.71606396e-02 -2.26572356e-02 2.32991233e+01] [-6.71319455e-02 9.97742050e-01 2.02554240e-03 -1.63215584e+00] [ 2.27421134e-02 -4.99423626e-04 9.99741240e-01 4.81423931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.682755096 meters 0.02083037244666495 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.64, Z:0.48 [[ 9.97443181e-01 6.74465291e-02 -2.36234220e-02 2.33614289e+01] [-6.74152267e-02 9.97722754e-01 2.11986932e-03 -1.64038101e+00] [ 2.37126035e-02 -5.21870850e-04 9.99718680e-01 4.82745430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.742755096 meters 0.020773591286271546 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.65, Z:0.48 [[ 9.97393066e-01 6.82580070e-02 -2.34076298e-02 2.34233499e+01] [-6.82273231e-02 9.97667574e-01 2.10791758e-03 -1.64710741e+00] [ 2.34969155e-02 -5.05382450e-04 9.99723782e-01 4.83797487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.802755096 meters 0.02109912861828982 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.66, Z:0.48 [[ 9.97354487e-01 6.90323934e-02 -2.27718296e-02 2.34839993e+01] [-6.90034123e-02 9.97614303e-01 2.05693219e-03 -1.65550220e+00] [ 2.28594979e-02 -4.80156597e-04 9.99738572e-01 4.84962672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.862755096 meters 0.02124213799513903 Centerline is valid? [True, True] Translation: X:23.54, Y:-1.66, Z:0.49 [[ 9.97326246e-01 6.96880905e-02 -2.19983884e-02 2.35446135e+01] [-6.96610816e-02 9.97568726e-01 1.99263162e-03 -1.66336055e+00] [ 2.20837670e-02 -4.54872280e-04 9.99756020e-01 4.86625080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.922755096 meters 0.020557511596040873 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.67, Z:0.49 [[ 9.97198496e-01 7.13681413e-02 -2.23997192e-02 2.36061172e+01] [-7.13404287e-02 9.97449950e-01 2.03487808e-03 -1.67052772e+00] [ 2.24878243e-02 -4.31171790e-04 9.99747024e-01 4.87620347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.982755096 meters 0.020048982381668624 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.68, Z:0.49 [[ 9.96973627e-01 7.41091531e-02 -2.34823297e-02 2.36668493e+01] [-7.40792993e-02 9.97250058e-01 2.13988607e-03 -1.67610257e+00] [ 2.35763398e-02 -3.93855449e-04 9.99721962e-01 4.88276551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.042755096 meters 0.019433119440099154 Centerline is valid? [True, True] Translation: X:23.73, Y:-1.68, Z:0.49 [[ 9.96816880e-01 7.61499463e-02 -2.36070509e-02 2.37288166e+01] [-7.61202017e-02 9.97096315e-01 2.15735693e-03 -1.68200455e+00] [ 2.37027860e-02 -3.53516325e-04 9.99718987e-01 4.89964369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.102755096 meters 0.01913920449287108 Centerline is valid? [True, True] Translation: X:23.79, Y:-1.69, Z:0.49 [[ 9.96772858e-01 7.66805120e-02 -2.37480148e-02 2.37917165e+01] [-7.66504011e-02 9.97055654e-01 2.17696631e-03 -1.68826263e+00] [ 2.38450233e-02 -3.49646079e-04 9.99715606e-01 4.91000291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.162755096 meters 0.019700256585696015 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.70, Z:0.49 [[ 9.96776489e-01 7.66580305e-02 -2.36680695e-02 2.38531256e+01] [-7.66279401e-02 9.97057380e-01 2.17702616e-03 -1.69782784e+00] [ 2.37653099e-02 -3.56373082e-04 9.99717502e-01 4.92730721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.222755096 meters 0.018852777591264303 Centerline is valid? [True, True] Translation: X:23.92, Y:-1.70, Z:0.50 [[ 9.96808282e-01 7.63871140e-02 -2.32003904e-02 2.39154112e+01] [-7.63579681e-02 9.97078170e-01 2.14086131e-03 -1.70230240e+00] [ 2.32961370e-02 -3.62493608e-04 9.99728542e-01 4.95311559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.282755096 meters 0.0197882194277317 Centerline is valid? [True, True] Translation: X:23.98, Y:-1.71, Z:0.50 [[ 9.96697836e-01 7.78868844e-02 -2.29577079e-02 2.39763634e+01] [-7.78585772e-02 9.96962148e-01 2.12564960e-03 -1.70935208e+00] [ 2.30535260e-02 -3.31175886e-04 9.99734177e-01 4.96018947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.342755096 meters 0.01824584285617287 Centerline is valid? [True, True] Translation: X:24.04, Y:-1.71, Z:0.50 [[ 9.96619392e-01 7.88919323e-02 -2.29314257e-02 2.40392825e+01] [-7.88638121e-02 9.96883125e-01 2.12945950e-03 -1.71194595e+00] [ 2.30279485e-02 -3.13800979e-04 9.99734772e-01 4.98080145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.402755096 meters 0.01849247863789019 Centerline is valid? [True, True] Translation: X:24.10, Y:-1.72, Z:0.50 [[ 9.96613669e-01 7.87735961e-02 -2.35778669e-02 2.41006871e+01] [-7.87436537e-02 9.96892476e-01 2.19713233e-03 -1.71743408e+00] [ 2.36776741e-02 -3.33084734e-04 9.99719589e-01 4.98377500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.462755096 meters 0.018906268728561416 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.72, Z:0.50 [[ 9.96676638e-01 7.77787575e-02 -2.42104131e-02 2.41627902e+01] [-7.77467185e-02 9.96970574e-01 2.26326094e-03 -1.72351705e+00] [ 2.43131031e-02 -3.73459136e-04 9.99704323e-01 4.98519587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.522755096 meters 0.019556296533333913 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.73, Z:0.50 [[ 9.96950242e-01 7.40691766e-02 -2.45758375e-02 2.42240580e+01] [-7.40348687e-02 9.97252991e-01 2.30420034e-03 -1.73188861e+00] [ 2.46789977e-02 -4.77704186e-04 9.99695313e-01 5.00368996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.582755096 meters 0.020940777615908897 Centerline is valid? [True, True] Translation: X:24.28, Y:-1.74, Z:0.50 [[ 9.97158029e-01 7.12215886e-02 -2.45632049e-02 2.42846897e+01] [-7.11862847e-02 9.97460364e-01 2.30981341e-03 -1.74093074e+00] [ 2.46653319e-02 -5.54685690e-04 9.99695611e-01 5.01522771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.642755096 meters 0.023285469460994107 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.75, Z:0.50 [[ 9.97508029e-01 6.63784454e-02 -2.39088692e-02 2.43462709e+01] [-6.63434847e-02 9.97794300e-01 2.25337972e-03 -1.75050788e+00] [ 2.40057093e-02 -6.61566664e-04 9.99711603e-01 5.03246855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.702755096 meters 0.02445283675154853 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.76, Z:0.50 [[ 9.97743560e-01 6.26293213e-02 -2.41941505e-02 2.44080036e+01] [-6.25923732e-02 9.98036566e-01 2.28218309e-03 -1.75903900e+00] [ 2.42895784e-02 -7.62664188e-04 9.99704674e-01 5.04752686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.762755096 meters 0.025505859390849945 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.76, Z:0.51 [[ 9.97818971e-01 6.17625316e-02 -2.32957053e-02 2.44695624e+01] [-6.17279783e-02 9.98090585e-01 2.20012567e-03 -1.76479582e+00] [ 2.33871094e-02 -7.57330344e-04 9.99726197e-01 5.06865370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.822755096 meters 0.02592305665089151 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.77, Z:0.51 [[ 9.97800047e-01 6.15808181e-02 -2.45533969e-02 2.45309009e+01] [-6.15422232e-02 9.98101773e-01 2.32515415e-03 -1.77063981e+00] [ 2.46499739e-02 -8.08968281e-04 9.99695816e-01 5.06818174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.882755096 meters 0.026311554182835876 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.78, Z:0.51 [[ 9.97800373e-01 6.15733762e-02 -2.45587900e-02 2.45930067e+01] [-6.15346484e-02 9.98102228e-01 2.33027736e-03 -1.77691237e+00] [ 2.46556660e-02 -8.13935110e-04 9.99695672e-01 5.08162134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.942755096 meters 0.02539099014597859 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.78, Z:0.51 [[ 9.97831865e-01 6.13200110e-02 -2.39045041e-02 2.46544609e+01] [-6.12830774e-02 9.98117833e-01 2.27526630e-03 -1.78148813e+00] [ 2.39990311e-02 -8.05391649e-04 9.99711657e-01 5.10210850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.002755096 meters 0.024772807687724014 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.79, Z:0.51 [[ 9.97829113e-01 6.15060481e-02 -2.35386152e-02 2.47176091e+01] [-6.14701303e-02 9.98106394e-01 2.24712594e-03 -1.78582349e+00] [ 2.36322542e-02 -7.95325941e-04 9.99720403e-01 5.11360654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.062755096 meters 0.02516535107712275 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.79, Z:0.51 [[ 9.97845606e-01 6.14933643e-02 -2.28629141e-02 2.47797932e+01] [-6.14593103e-02 9.98107188e-01 2.18984221e-03 -1.79276217e+00] [ 2.29542997e-02 -7.79985498e-04 9.99736211e-01 5.13733376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.122755096 meters 0.025160113953714317 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.80, Z:0.52 [[ 9.97783147e-01 6.24095300e-02 -2.31050234e-02 2.48416966e+01] [-6.23748268e-02 9.98050325e-01 2.22032695e-03 -1.79886159e+00] [ 2.31985457e-02 -7.74232983e-04 9.99730578e-01 5.15484446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.182755096 meters 0.024832648237420513 Centerline is valid? [True, True] Translation: X:24.90, Y:-1.80, Z:0.52 [[ 9.97695386e-01 6.39634882e-02 -2.26404352e-02 2.49033674e+01] [-6.39304261e-02 9.97951973e-01 2.18185504e-03 -1.80394072e+00] [ 2.27336261e-02 -7.29414033e-04 9.99741292e-01 5.16464535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.242755096 meters 0.025047951597674013 Centerline is valid? [True, True] Translation: X:24.96, Y:-1.81, Z:0.52 [[ 9.97590395e-01 6.55782311e-02 -2.26472964e-02 2.49642945e+01] [-6.55454249e-02 9.97847186e-01 2.18865115e-03 -1.80883953e+00] [ 2.27420688e-02 -6.98950696e-04 9.99741121e-01 5.16363940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.302755096 meters 0.02569894555186799 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.82, Z:0.52 [[ 9.97579897e-01 6.57291471e-02 -2.26722121e-02 2.50271167e+01] [-6.56961730e-02 9.97837254e-01 2.19697032e-03 -1.81620673e+00] [ 2.27675828e-02 -7.02175859e-04 9.99740538e-01 5.17539632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.362755096 meters 0.025142035842260494 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.82, Z:0.52 [[ 9.97727721e-01 6.37517554e-02 -2.17969597e-02 2.50883472e+01] [-6.37206699e-02 9.97965525e-01 2.11842958e-03 -1.82257561e+00] [ 2.18876679e-02 -7.24699052e-04 9.99760174e-01 5.19687272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.422755096 meters 0.026614980250954833 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.83, Z:0.52 [[ 9.97897669e-01 6.16833735e-02 -1.98847570e-02 2.51497370e+01] [-6.16569991e-02 9.98095517e-01 1.93730770e-03 -1.83026253e+00] [ 1.99663865e-02 -7.07200387e-04 9.99800402e-01 5.22274967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.482755095999998 meters 0.027974459135134747 Centerline is valid? [True, True] Translation: X:25.21, Y:-1.84, Z:0.52 [[ 9.97994607e-01 6.04956847e-02 -1.86289260e-02 2.52110770e+01] [-6.04722409e-02 9.98168221e-01 1.81973293e-03 -1.83844346e+00] [ 1.87048879e-02 -6.89550753e-04 9.99824810e-01 5.23912829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.542755096 meters 0.02840112463649063 Centerline is valid? [True, True] Translation: X:25.27, Y:-1.85, Z:0.53 [[ 9.98054423e-01 5.96658044e-02 -1.80930933e-02 2.52730326e+01] [-5.96434678e-02 9.98218171e-01 1.77212643e-03 -1.84553450e+00] [ 1.81665899e-02 -6.89543793e-04 9.99834736e-01 5.25349025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.602755096 meters 0.025940318722330998 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.85, Z:0.53 [[ 9.98041696e-01 5.99800757e-02 -1.77528681e-02 2.53357848e+01] [-5.99585380e-02 9.98199346e-01 1.74346213e-03 -1.84689353e+00] [ 1.78254743e-02 -6.75611881e-04 9.99840885e-01 5.25688937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.662755096 meters 0.027675617809273804 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.85, Z:0.53 [[ 9.97992282e-01 6.08862224e-02 -1.74434486e-02 2.53960420e+01] [-6.08654673e-02 9.98144499e-01 1.71877812e-03 -1.85464161e+00] [ 1.75157322e-02 -6.53623647e-04 9.99846374e-01 5.26792443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.722755096 meters 0.025155921395353407 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.86, Z:0.53 [[ 9.97853502e-01 6.31173647e-02 -1.74524011e-02 2.54584467e+01] [-6.30968493e-02 9.98005919e-01 1.72420347e-03 -1.85598037e+00] [ 1.75264268e-02 -6.19310950e-04 9.99846209e-01 5.28144143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.782755096 meters 0.02429784075996269 Centerline is valid? [True, True] Translation: X:25.52, Y:-1.86, Z:0.53 [[ 9.97723890e-01 6.52967817e-02 -1.68335746e-02 2.55202889e+01] [-6.52779276e-02 9.97865728e-01 1.66766597e-03 -1.86014575e+00] [ 1.69065404e-02 -5.65009317e-04 9.99856915e-01 5.29786418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.842755096 meters 0.02348926852205768 Centerline is valid? [True, True] Translation: X:25.58, Y:-1.86, Z:0.53 [[ 9.97528730e-01 6.85174658e-02 -1.55495597e-02 2.55815540e+01] [-6.85016949e-02 9.97649803e-01 1.54522725e-03 -1.86238840e+00] [ 1.56188902e-02 -4.76237387e-04 9.99877904e-01 5.31959178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.902755096 meters 0.023105745685314972 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.87, Z:0.53 [[ 9.97386440e-01 7.06043470e-02 -1.53400176e-02 2.56432709e+01] [-7.05892475e-02 9.97504303e-01 1.52422736e-03 -1.86672938e+00] [ 1.54093506e-02 -4.37403399e-04 9.99881173e-01 5.33021857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.962755096 meters 0.023170061181132663 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.87, Z:0.53 [[ 9.97313188e-01 7.15514486e-02 -1.57097056e-02 2.57041133e+01] [-7.15356540e-02 9.97436814e-01 1.56576987e-03 -1.87203730e+00] [ 1.57814718e-02 -4.37758883e-04 9.99875369e-01 5.33204350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.022755096 meters 0.025062877024116404 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.88, Z:0.53 [[ 9.97445552e-01 6.95916880e-02 -1.61048957e-02 2.57649062e+01] [-6.95747956e-02 9.97575443e-01 1.60749595e-03 -1.87973047e+00] [ 1.61777168e-02 -4.82894857e-04 9.99869016e-01 5.32756178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.082755096 meters 0.026925342928474358 Centerline is valid? [True, True] Translation: X:25.83, Y:-1.89, Z:0.53 [[ 9.97583076e-01 6.75933694e-02 -1.60979383e-02 2.58267735e+01] [-6.75761679e-02 9.97712818e-01 1.61074421e-03 -1.88814058e+00] [ 1.61699950e-02 -5.19014183e-04 9.99869122e-01 5.33491757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.142755096 meters 0.027317112856560754 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.90, Z:0.53 [[ 9.97810092e-01 6.43961054e-02 -1.51050502e-02 2.58880834e+01] [-6.43805323e-02 9.97924271e-01 1.51549673e-03 -1.89520768e+00] [ 1.51712883e-02 -5.39706762e-04 9.99884764e-01 5.34720781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.202755096 meters 0.02971829117136146 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.91, Z:0.54 [[ 9.98071383e-01 6.02038247e-02 -1.51332147e-02 2.59480071e+01] [-6.01876789e-02 9.98185920e-01 1.52051260e-03 -1.90534836e+00] [ 1.51973025e-02 -6.06747047e-04 9.99884330e-01 5.35286251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.262755096 meters 0.035438635353263595 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.92, Z:0.54 [[ 9.98207632e-01 5.79165437e-02 -1.50730460e-02 2.60075003e+01] [-5.79002537e-02 9.98321223e-01 1.51526181e-03 -1.91886390e+00] [ 1.51355004e-02 -6.39812719e-04 9.99885247e-01 5.36495080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.322755096 meters 0.032474874025775695 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.92, Z:0.54 [[ 9.98216699e-01 5.76699534e-02 -1.54142217e-02 2.60698945e+01] [-5.76528901e-02 9.98335486e-01 1.54943304e-03 -1.92051925e+00] [ 1.54779203e-02 -6.57995505e-04 9.99879993e-01 5.36910151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.382755096 meters 0.027832839279759266 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.92, Z:0.54 [[ 9.98078314e-01 5.99196653e-02 -1.57896727e-02 2.61329250e+01] [-5.99019669e-02 9.98202996e-01 1.59188677e-03 -1.91859786e+00] [ 1.58566839e-02 -6.42995212e-04 9.99874068e-01 5.36568103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.442755096 meters 0.02761174591794454 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.92, Z:0.54 [[ 9.97934648e-01 6.21173593e-02 -1.63667816e-02 2.61945018e+01] [-6.20986170e-02 9.98068652e-01 1.65137009e-03 -1.92357988e+00] [ 1.64377504e-02 -6.31604926e-04 9.99864692e-01 5.36625455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.502755096 meters 0.03087581502827511 Centerline is valid? [True, True] Translation: X:26.25, Y:-1.93, Z:0.54 [[ 9.97641209e-01 6.65334868e-02 -1.68912021e-02 2.62544399e+01] [-6.65140670e-02 9.97784023e-01 1.70952345e-03 -1.93326922e+00] [ 1.69675121e-02 -5.81988500e-04 9.99855872e-01 5.37418692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.562755096 meters 0.02362026218094561 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.93, Z:0.54 [[ 9.97354115e-01 7.08348764e-02 -1.63459641e-02 2.63167520e+01] [-7.08172570e-02 9.97487933e-01 1.65495344e-03 -1.92807325e+00] [ 1.64221304e-02 -4.92998281e-04 9.99865026e-01 5.38201631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.622755096 meters 0.022670654557823456 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.93, Z:0.54 [[ 9.97185995e-01 7.31811125e-02 -1.62670165e-02 2.63793101e+01] [-7.31639687e-02 9.97318565e-01 1.64733444e-03 -1.93266974e+00] [ 1.63439513e-02 -4.52539348e-04 9.99866326e-01 5.39322375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.682755096 meters 0.02316681647867295 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.94, Z:0.54 [[ 9.97050886e-01 7.52241654e-02 -1.51939580e-02 2.64398356e+01] [-7.52094195e-02 9.97166571e-01 1.54039274e-03 -1.93995971e+00] [ 1.52667818e-02 -3.93121183e-04 9.99883379e-01 5.41562266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.742755096 meters 0.022022360469588168 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.95, Z:0.54 [[ 9.97038891e-01 7.55502967e-02 -1.43388608e-02 2.65024068e+01] [-7.55371539e-02 9.97141924e-01 1.45674488e-03 -1.94525402e+00] [ 1.44079367e-02 -3.69314562e-04 9.99896132e-01 5.42692794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.802755096 meters 0.021172705955138513 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.95, Z:0.54 [[ 9.97091482e-01 7.50082509e-02 -1.35032719e-02 2.65641912e+01] [-7.49964919e-02 9.97182848e-01 1.37581275e-03 -1.95105253e+00] [ 1.35684284e-02 -3.59113154e-04 9.99907880e-01 5.43060139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.862755096 meters 0.022194253378278597 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.96, Z:0.54 [[ 9.97285609e-01 7.25286509e-02 -1.26889001e-02 2.66252422e+01] [-7.25180151e-02 9.97366259e-01 1.29691216e-03 -1.96125180e+00] [ 1.27495441e-02 -3.73217988e-04 9.99918652e-01 5.43657959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.922755096 meters 0.023614954637308522 Centerline is valid? [True, True] Translation: X:26.69, Y:-1.97, Z:0.54 [[ 9.97439504e-01 7.04355253e-02 -1.23803635e-02 2.66868951e+01] [-7.04252285e-02 9.97516257e-01 1.26624814e-03 -1.97115552e+00] [ 1.24388027e-02 -3.91115989e-04 9.99922559e-01 5.43895374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.982755095999998 meters 0.026672202846259756 Centerline is valid? [True, True] Translation: X:26.75, Y:-1.99, Z:0.54 [[ 9.97626973e-01 6.76832456e-02 -1.26253753e-02 2.67469177e+01] [-6.76722687e-02 9.97706764e-01 1.29511732e-03 -1.98531628e+00] [ 1.26840801e-02 -4.37656182e-04 9.99919458e-01 5.44481328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.042755096 meters 0.026686693634792803 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.99, Z:0.54 [[ 9.97742694e-01 6.58665821e-02 -1.30808957e-02 2.68084517e+01] [-6.58545980e-02 9.97828323e-01 1.34525739e-03 -1.99429668e+00] [ 1.31410957e-02 -4.80783606e-04 9.99913536e-01 5.44016599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.102755096 meters 0.02607941792427439 Centerline is valid? [True, True] Translation: X:26.87, Y:-2.00, Z:0.54 [[ 9.97732482e-01 6.58820466e-02 -1.37641162e-02 2.68713382e+01] [-6.58687257e-02 9.97827288e-01 1.41939835e-03 -2.00173198e+00] [ 1.38277236e-02 -5.09555045e-04 9.99904263e-01 5.43962171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.162755096 meters 0.02703182457283465 Centerline is valid? [True, True] Translation: X:26.93, Y:-2.01, Z:0.54 [[ 9.97641004e-01 6.69847781e-02 -1.50155134e-02 2.69315466e+01] [-6.69689586e-02 9.97753849e-01 1.55446146e-03 -2.01283364e+00] [ 1.50859115e-02 -5.45221199e-04 9.99886053e-01 5.43834264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.222755096 meters 0.026825234084335514 Centerline is valid? [True, True] Translation: X:26.99, Y:-2.02, Z:0.55 [[ 9.97445480e-01 6.99404117e-02 -1.45208138e-02 2.69914289e+01] [-6.99258893e-02 9.97551052e-01 1.50604581e-03 -2.02104595e+00] [ 1.45905866e-02 -4.86817768e-04 9.99893433e-01 5.45141871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.282755096 meters 0.024266758127982065 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.03, Z:0.55 [[ 9.97235163e-01 7.28434486e-02 -1.46922161e-02 2.70540242e+01] [-7.28288995e-02 9.97343286e-01 1.52358693e-03 -2.02500584e+00] [ 1.47641664e-02 -4.49356533e-04 9.99890903e-01 5.45604513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.342755096 meters 0.022151419805537212 Centerline is valid? [True, True] Translation: X:27.12, Y:-2.03, Z:0.55 [[ 9.96868658e-01 7.78523734e-02 -1.38523072e-02 2.71157729e+01] [-7.78398903e-02 9.96964834e-01 1.43886237e-03 -2.02873826e+00] [ 1.39222820e-02 -3.56094729e-04 9.99903017e-01 5.47431044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.402755096 meters 0.02091026871821855 Centerline is valid? [True, True] Translation: X:27.18, Y:-2.03, Z:0.55 [[ 9.96632323e-01 8.09376805e-02 -1.31569166e-02 2.71772159e+01] [-8.09266941e-02 9.96719120e-01 1.36616663e-03 -2.03487117e+00] [ 1.32243247e-02 -2.96820057e-04 9.99912511e-01 5.48296077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.462755096 meters 0.02056016563623532 Centerline is valid? [True, True] Translation: X:27.24, Y:-2.04, Z:0.55 [[ 9.96594640e-01 8.14292219e-02 -1.29771274e-02 2.72396550e+01] [-8.14185330e-02 9.96679085e-01 1.35074539e-03 -2.04160326e+00] [ 1.30440216e-02 -2.89566936e-04 9.99914881e-01 5.49317587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.522755096 meters 0.020112016653153895 Centerline is valid? [True, True] Translation: X:27.30, Y:-2.05, Z:0.55 [[ 9.96502299e-01 8.26757244e-02 -1.21610828e-02 2.73012215e+01] [-8.26663843e-02 9.96576468e-01 1.26957070e-03 -2.04669317e+00] [ 1.22244117e-02 -2.59817374e-04 9.99925245e-01 5.50684130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.582755096 meters 0.02000780828848724 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.05, Z:0.55 [[ 9.96474711e-01 8.30218495e-02 -1.20632480e-02 2.73643366e+01] [-8.30126475e-02 9.96547694e-01 1.26240608e-03 -2.05207416e+00] [ 1.21264092e-02 -2.56553580e-04 9.99926439e-01 5.51887488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.642755096 meters 0.02004965351425513 Centerline is valid? [True, True] Translation: X:27.43, Y:-2.06, Z:0.55 [[ 9.96563988e-01 8.19215181e-02 -1.22099694e-02 2.74260346e+01] [-8.19119563e-02 9.96638745e-01 1.28199347e-03 -2.05953075e+00] [ 1.22739514e-02 -2.77446042e-04 9.99924634e-01 5.53251842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.702755096 meters 0.02073835448488181 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.07, Z:0.55 [[ 9.96653254e-01 8.09361238e-02 -1.14732021e-02 2.74876865e+01] [-8.09275815e-02 9.96719252e-01 1.20762374e-03 -2.06536250e+00] [ 1.15333018e-02 -2.75083625e-04 9.99933451e-01 5.53875545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.762755096 meters 0.021578069941869133 Centerline is valid? [True, True] Translation: X:27.55, Y:-2.07, Z:0.55 [[ 9.96795743e-01 7.90654354e-02 -1.21203519e-02 2.75488453e+01] [-7.90557168e-02 9.96869378e-01 1.27961314e-03 -2.07316127e+00] [ 1.21835808e-02 -3.17329824e-04 9.99925727e-01 5.53864584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.822755095999998 meters 0.023372669932736453 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.08, Z:0.55 [[ 9.96985256e-01 7.64875913e-02 -1.30402608e-02 2.76091806e+01] [-7.64760705e-02 9.97070461e-01 1.38058534e-03 -2.08194363e+00] [ 1.31076565e-02 -3.79155330e-04 9.99914019e-01 5.53865946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.882755096 meters 0.024251621585876012 Centerline is valid? [True, True] Translation: X:27.67, Y:-2.09, Z:0.55 [[ 9.97029189e-01 7.58435741e-02 -1.34368242e-02 2.76706480e+01] [-7.58312353e-02 9.97119647e-01 1.42613445e-03 -2.08841408e+00] [ 1.35062845e-02 -4.02966697e-04 9.99908705e-01 5.54521920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.942755096 meters 0.023198463596624766 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.09, Z:0.56 [[ 9.96973142e-01 7.67112023e-02 -1.26469309e-02 2.77327775e+01] [-7.67003017e-02 9.97053285e-01 1.34541978e-03 -2.09386758e+00] [ 1.27128728e-02 -3.71323972e-04 9.99919119e-01 5.55989995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.002755096 meters 0.022190768726415108 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.10, Z:0.56 [[ 9.96744749e-01 7.96360897e-02 -1.25697549e-02 2.77944837e+01] [-7.96255097e-02 9.96823947e-01 1.34071669e-03 -2.09856131e+00] [ 1.26366021e-02 -3.35479184e-04 9.99920099e-01 5.57656461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.062755096 meters 0.021362003643431698 Centerline is valid? [True, True] Translation: X:27.86, Y:-2.10, Z:0.56 [[ 9.96590626e-01 8.15373571e-02 -1.26009277e-02 2.78567850e+01] [-8.15268320e-02 9.96670236e-01 1.34755606e-03 -2.10342646e+00] [ 1.26688457e-02 -3.15648026e-04 9.99919697e-01 5.58370432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.122755096 meters 0.02050591556282944 Centerline is valid? [True, True] Translation: X:27.92, Y:-2.11, Z:0.56 [[ 9.96390421e-01 8.40493863e-02 -1.19092472e-02 2.79184570e+01] [-8.40401276e-02 9.96461553e-01 1.27665073e-03 -2.10687310e+00] [ 1.19744086e-02 -2.71187905e-04 9.99928267e-01 5.60745648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.182755096 meters 0.020488014499630544 Centerline is valid? [True, True] Translation: X:27.98, Y:-2.11, Z:0.56 [[ 9.96359581e-01 8.44644406e-02 -1.15474786e-02 2.79812280e+01] [-8.44557315e-02 9.96426460e-01 1.24064764e-03 -2.11445054e+00] [ 1.16110038e-02 -2.60880408e-04 9.99932556e-01 5.62418691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.242755096 meters 0.020820414773432487 Centerline is valid? [True, True] Translation: X:28.04, Y:-2.12, Z:0.56 [[ 9.96301169e-01 8.51836938e-02 -1.13013221e-02 2.80423263e+01] [-8.51753445e-02 9.96365232e-01 1.21893002e-03 -2.12118500e+00] [ 1.13640774e-02 -2.51827400e-04 9.99935395e-01 5.63404128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.302755096 meters 0.02040096364269496 Centerline is valid? [True, True] Translation: X:28.11, Y:-2.13, Z:0.56 [[ 9.96316969e-01 8.49458457e-02 -1.16918782e-02 2.81053221e+01] [-8.49368840e-02 9.96385535e-01 1.26182185e-03 -2.12597273e+00] [ 1.17568048e-02 -2.64102826e-04 9.99930852e-01 5.63852658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.362755096 meters 0.020893501479820123 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.13, Z:0.56 [[ 9.96398983e-01 8.40108875e-02 -1.14558574e-02 2.81675977e+01] [-8.40021775e-02 9.96464799e-01 1.24022086e-03 -2.13161488e+00] [ 1.15195507e-02 -2.73437837e-04 9.99933610e-01 5.64522854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.422755096 meters 0.022859165476210055 Centerline is valid? [True, True] Translation: X:28.23, Y:-2.14, Z:0.56 [[ 9.96660828e-01 8.07425898e-02 -1.21584256e-02 2.82282960e+01] [-8.07324785e-02 9.96734931e-01 1.32096337e-03 -2.14049491e+00] [ 1.22253855e-02 -3.34972614e-04 9.99925211e-01 5.64188778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.482755095999998 meters 0.02342922856936746 Centerline is valid? [True, True] Translation: X:28.29, Y:-2.15, Z:0.57 [[ 9.96812109e-01 7.88351554e-02 -1.22734453e-02 2.82903736e+01] [-7.88246966e-02 9.96887600e-01 1.33431953e-03 -2.14751830e+00] [ 1.23404367e-02 -3.62615268e-04 9.99923788e-01 5.65455000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.542755096 meters 0.025328087183904238 Centerline is valid? [True, True] Translation: X:28.35, Y:-2.16, Z:0.56 [[ 9.96989569e-01 7.64353180e-02 -1.30169869e-02 2.83506806e+01] [-7.64232795e-02 9.97074453e-01 1.42048246e-03 -2.15542225e+00] [ 1.30874801e-02 -4.21405370e-04 9.99914266e-01 5.64956689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.602755096 meters 0.02597251389257547 Centerline is valid? [True, True] Translation: X:28.41, Y:-2.16, Z:0.57 [[ 9.97020504e-01 7.60591043e-02 -1.28502037e-02 2.84123028e+01] [-7.60473520e-02 9.97103222e-01 1.40143841e-03 -2.16137149e+00] [ 1.29195717e-02 -4.20038868e-04 9.99916451e-01 5.65294289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.662755096 meters 0.025752675608995718 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.17, Z:0.57 [[ 9.96973694e-01 7.67242391e-02 -1.25237320e-02 2.84739400e+01] [-7.67130876e-02 9.97052269e-01 1.36910683e-03 -2.16699981e+00] [ 1.25918591e-02 -4.04229344e-04 9.99920638e-01 5.66928759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.722755096 meters 0.026440528254302233 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.17, Z:0.57 [[ 9.96896884e-01 7.77323360e-02 -1.24211867e-02 2.85348720e+01] [-7.77214011e-02 9.96974187e-01 1.36138153e-03 -2.17382677e+00] [ 1.24894259e-02 -3.91764970e-04 9.99921927e-01 5.68359824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.782755096 meters 0.025756118300494738 Centerline is valid? [True, True] Translation: X:28.60, Y:-2.18, Z:0.57 [[ 9.96710495e-01 8.00973807e-02 -1.23530545e-02 2.85957739e+01] [-8.00867086e-02 9.96786977e-01 1.35699718e-03 -2.17946322e+00] [ 1.24220558e-02 -3.63217851e-04 9.99922777e-01 5.69666471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.842755096 meters 0.02127386677367169 Centerline is valid? [True, True] Translation: X:28.66, Y:-2.18, Z:0.57 [[ 9.96380146e-01 8.42493189e-02 -1.13426750e-02 2.86580780e+01] [-8.42405477e-02 9.96444664e-01 1.24970437e-03 -2.17887852e+00] [ 1.14076347e-02 -2.89667471e-04 9.99934889e-01 5.70667256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.902755096 meters 0.020184088275008682 Centerline is valid? [True, True] Translation: X:28.72, Y:-2.18, Z:0.57 [[ 9.96048711e-01 8.80978138e-02 -1.12133812e-02 2.87202843e+01] [-8.80894959e-02 9.96111799e-01 1.23450433e-03 -2.18342608e+00] [ 1.12785384e-02 -2.41845355e-04 9.99936366e-01 5.72044440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.962755096 meters 0.02189914709558657 Centerline is valid? [True, True] Translation: X:28.78, Y:-2.19, Z:0.57 [[ 9.95858472e-01 9.01529921e-02 -1.17618602e-02 2.87807469e+01] [-9.01439398e-02 9.95927901e-01 1.29860296e-03 -2.19330343e+00] [ 1.18310377e-02 -2.32964348e-04 9.99929984e-01 5.73661770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.022755096 meters 0.019166138168869265 Centerline is valid? [True, True] Translation: X:28.84, Y:-2.20, Z:0.57 [[ 9.95699397e-01 9.19390651e-02 -1.13981809e-02 2.88429789e+01] [-9.19306510e-02 9.95764613e-01 1.26106128e-03 -2.19907888e+00] [ 1.14658460e-02 -2.07795763e-04 9.99934243e-01 5.73930385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.082755096 meters 0.01848579873569964 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.21, Z:0.57 [[ 9.95591440e-01 9.31998518e-02 -1.05580044e-02 2.89050056e+01] [-9.31926769e-02 9.95647405e-01 1.17058880e-03 -2.20606669e+00] [ 1.06211484e-02 -1.81499492e-04 9.99943578e-01 5.74439858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.142755096 meters 0.018458910274469897 Centerline is valid? [True, True] Translation: X:28.97, Y:-2.21, Z:0.58 [[ 9.95390569e-01 9.53828444e-02 -9.98639349e-03 2.89661451e+01] [-9.53765092e-02 9.95440651e-01 1.10980726e-03 -2.21299711e+00] [ 1.00467186e-02 -1.52224328e-04 9.99949519e-01 5.76049259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.202755096 meters 0.017629698930768992 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.22, Z:0.58 [[ 9.95084022e-01 9.85936220e-02 -9.33198430e-03 2.90282204e+01] [-9.85882092e-02 9.95127773e-01 1.03941392e-03 -2.21744329e+00] [ 9.38899634e-03 -1.14280563e-04 9.99955916e-01 5.77756909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.262755096 meters 0.016982220513717217 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.22, Z:0.58 [[ 9.94767423e-01 1.01890362e-01 -7.49191716e-03 2.90899458e+01] [-1.01886959e-01 9.94795632e-01 8.35472319e-04 -2.22204009e+00] [ 7.53805304e-03 -6.77719914e-05 9.99971586e-01 5.80326350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.322755095999998 meters 0.016634636358919458 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.23, Z:0.58 [[ 9.94724861e-01 1.02265529e-01 -8.01329292e-03 2.91527372e+01] [-1.02261632e-01 9.94757134e-01 8.95626901e-04 -2.22833960e+00] [ 8.06287206e-03 -7.14499317e-05 9.99967492e-01 5.80304862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.382755096 meters 0.016635287937922738 Centerline is valid? [True, True] Translation: X:29.21, Y:-2.23, Z:0.58 [[ 9.94645349e-01 1.03154936e-01 -6.29989429e-03 2.92142523e+01] [-1.03152537e-01 9.94665299e-01 7.05391631e-04 -2.23359583e+00] [ 6.33905087e-03 -5.17644267e-05 9.99979907e-01 5.81694728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.442755096 meters 0.016532215042704777 Centerline is valid? [True, True] Translation: X:29.28, Y:-2.24, Z:0.58 [[ 9.94580811e-01 1.03683351e-01 -7.66631183e-03 2.92763698e+01] [-1.03679789e-01 9.94610355e-01 8.61699465e-04 -2.23920838e+00] [ 7.71433703e-03 -6.21881588e-05 9.99970242e-01 5.81348686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.502755096 meters 0.016642172090811612 Centerline is valid? [True, True] Translation: X:29.34, Y:-2.25, Z:0.58 [[ 9.94715216e-01 1.02308302e-01 -8.64003302e-03 2.93383593e+01] [-1.02303702e-01 9.94752735e-01 9.73822496e-04 -2.24771539e+00] [ 8.69432660e-03 -8.47686914e-05 9.99962200e-01 5.81404426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.562755096 meters 0.017670875339137884 Centerline is valid? [True, True] Translation: X:29.40, Y:-2.26, Z:0.58 [[ 9.94986782e-01 9.97080696e-02 -7.72035341e-03 2.93988381e+01] [-9.97042985e-02 9.95016729e-01 8.72782937e-04 -2.25584183e+00] [ 7.76890429e-03 -9.86550659e-05 9.99969817e-01 5.83113057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.622755096 meters 0.019529084599288943 Centerline is valid? [True, True] Translation: X:29.46, Y:-2.26, Z:0.59 [[ 9.95459725e-01 9.50192061e-02 -5.59334925e-03 2.94607063e+01] [-9.50171386e-02 9.95475434e-01 6.34822787e-04 -2.26313759e+00] [ 5.62836213e-03 -1.00476477e-04 9.99984156e-01 5.85861452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.682755096 meters 0.02227923453940254 Centerline is valid? [True, True] Translation: X:29.52, Y:-2.27, Z:0.59 [[ 9.95943022e-01 8.98840453e-02 -4.28434982e-03 2.95207895e+01] [-8.98827955e-02 9.95952232e-01 4.83750709e-04 -2.27320664e+00] [ 4.31048924e-03 -9.66988048e-05 9.99990705e-01 5.88303708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.742755096 meters 0.023315858163327683 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.28, Z:0.59 [[ 9.96227818e-01 8.66307186e-02 -5.02534565e-03 2.95825214e+01] [-8.66289488e-02 9.96240484e-01 5.69209892e-04 -2.28136410e+00] [ 5.05576384e-03 -1.31722318e-04 9.99987211e-01 5.87455325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.802755096 meters 0.025015402199304385 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.29, Z:0.59 [[ 9.96652085e-01 8.16003334e-02 -5.09967697e-03 2.96430516e+01] [-8.15984196e-02 9.96665119e-01 5.82582639e-04 -2.28849813e+00] [ 5.13020909e-03 -1.64506621e-04 9.99986827e-01 5.87164357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.862755096 meters 0.027395602940297154 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.30, Z:0.59 [[ 9.96894450e-01 7.84862143e-02 -6.43193632e-03 2.97040440e+01] [-7.84831225e-02 9.96915174e-01 7.32094932e-04 -2.29669906e+00] [ 6.46955428e-03 -2.25022928e-04 9.99979047e-01 5.86064647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.922755096 meters 0.028833380938455475 Centerline is valid? [True, True] Translation: X:29.76, Y:-2.31, Z:0.59 [[ 9.97076357e-01 7.59372262e-02 -8.50148417e-03 2.97649840e+01] [-7.59316897e-02 9.97112548e-01 9.72594856e-04 -2.30562135e+00] [ 8.55079269e-03 -3.24219278e-04 9.99963389e-01 5.85111814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.982755095999998 meters 0.028879302329616895 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.31, Z:0.58 [[ 9.97087664e-01 7.54490347e-02 -1.11190375e-02 2.98273967e+01] [-7.54395217e-02 9.97149566e-01 1.27310896e-03 -2.30991063e+00] [ 1.11833982e-02 -4.30586366e-04 9.99937371e-01 5.82867690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.042755096 meters 0.028208420276573064 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.31, Z:0.58 [[ 9.97032896e-01 7.54673059e-02 -1.51687211e-02 2.98894907e+01] [-7.54494945e-02 9.97148100e-01 1.74389391e-03 -2.31228050e+00] [ 1.52570684e-02 -5.94247254e-04 9.99883428e-01 5.79751384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.102755096 meters 0.028250501734910092 Centerline is valid? [True, True] Translation: X:29.95, Y:-2.32, Z:0.58 [[ 9.96919115e-01 7.65071153e-02 -1.72898382e-02 2.99514361e+01] [-7.64840318e-02 9.97068814e-01 1.99338946e-03 -2.31877174e+00] [ 1.73916669e-02 -6.64851526e-04 9.99848532e-01 5.79030134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.162755096 meters 0.026749503058404372 Centerline is valid? [True, True] Translation: X:30.01, Y:-2.32, Z:0.58 [[ 9.96621204e-01 7.94566168e-02 -2.08043726e-02 3.00134425e+01] [-7.94236906e-02 9.96838047e-01 2.40548272e-03 -2.32041436e+00] [ 2.09297216e-02 -7.44995030e-04 9.99780672e-01 5.76887484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.222755096 meters 0.024829451922523976 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.32, Z:0.58 [[ 9.96269395e-01 8.32241945e-02 -2.28259890e-02 3.00752973e+01] [-8.31854040e-02 9.96530577e-01 2.64533352e-03 -2.32202373e+00] [ 2.29669517e-02 -7.36675709e-04 9.99735953e-01 5.76764841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.282755096 meters 0.02393109180835957 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.33, Z:0.58 [[ 9.95945015e-01 8.64852663e-02 -2.47754968e-02 3.01372809e+01] [-8.64404860e-02 9.96252869e-01 2.87475821e-03 -2.32537739e+00] [ 2.49312840e-02 -7.21495123e-04 9.99688907e-01 5.76076185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.342755096 meters 0.021743527518032973 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.33, Z:0.58 [[ 9.95588516e-01 9.01142088e-02 -2.61330484e-02 3.01995155e+01] [-9.00654325e-02 9.95931211e-01 3.03993369e-03 -2.32541212e+00] [ 2.63006598e-02 -6.72838761e-04 9.99653851e-01 5.76169464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.402755096 meters 0.021361931336893052 Centerline is valid? [True, True] Translation: X:30.26, Y:-2.33, Z:0.58 [[ 9.95295166e-01 9.30426478e-02 -2.70295953e-02 3.02604905e+01] [-9.29913348e-02 9.95661929e-01 3.15196055e-03 -2.32757103e+00] [ 2.72056057e-02 -6.23612951e-04 9.99629664e-01 5.76113728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.462755096 meters 0.020589618827855077 Centerline is valid? [True, True] Translation: X:30.32, Y:-2.33, Z:0.58 [[ 9.95056446e-01 9.53983694e-02 -2.76011100e-02 3.03231052e+01] [-9.53455604e-02 9.95439007e-01 3.22608986e-03 -2.33014080e+00] [ 2.77829852e-02 -5.78498210e-04 9.99613811e-01 5.76740515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.522755096 meters 0.020050692020518686 Centerline is valid? [True, True] Translation: X:30.38, Y:-2.33, Z:0.58 [[ 9.94707630e-01 9.85394953e-02 -2.90980974e-02 3.03849486e+01] [-9.84818996e-02 9.95133002e-01 3.40939558e-03 -2.33208008e+00] [ 2.92924371e-02 -5.25715897e-04 9.99570746e-01 5.76014381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.582755096 meters 0.018462614451155844 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.33, Z:0.58 [[ 9.94449157e-01 1.00954027e-01 -2.96506233e-02 3.04474894e+01] [-1.00895045e-01 9.94890980e-01 3.48249294e-03 -2.33322315e+00] [ 2.98507093e-02 -4.71561195e-04 9.99554257e-01 5.77058975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.642755096 meters 0.017994135897364115 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.34, Z:0.58 [[ 9.94287976e-01 1.02386292e-01 -3.01408052e-02 3.05096785e+01] [-1.02325736e-01 9.94744615e-01 3.54881038e-03 -2.33662493e+00] [ 3.03457532e-02 -4.44359423e-04 9.99539363e-01 5.78151714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.702755096 meters 0.01793916369991256 Centerline is valid? [True, True] Translation: X:30.57, Y:-2.34, Z:0.58 [[ 9.94207760e-01 1.03067800e-01 -3.04623989e-02 3.05725181e+01] [-1.03005979e-01 9.94674237e-01 3.59597029e-03 -2.34112467e+00] [ 3.06707921e-02 -4.37332341e-04 9.99529445e-01 5.79546159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.762755096 meters 0.018324634454419515 Centerline is valid? [True, True] Translation: X:30.63, Y:-2.35, Z:0.58 [[ 9.94200350e-01 1.03141476e-01 -3.04548873e-02 3.06337443e+01] [-1.03079422e-01 9.94666597e-01 3.60477597e-03 -2.34822155e+00] [ 3.06642610e-02 -4.44597342e-04 9.99529642e-01 5.80465117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.822755095999998 meters 0.018680675886533066 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.36, Z:0.58 [[ 9.94388853e-01 1.01116712e-01 -3.10840606e-02 3.06957252e+01] [-1.01050788e-01 9.94874431e-01 3.68850842e-03 -2.35619906e+00] [ 3.12977070e-02 -5.26742833e-04 9.99509968e-01 5.82773812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.882755096 meters 0.019053203048664605 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.37, Z:0.58 [[ 9.94536215e-01 9.95592858e-02 -3.13953021e-02 3.07572608e+01] [-9.94909765e-02 9.95031457e-01 3.73437721e-03 -2.36523821e+00] [ 3.16111051e-02 -5.90424112e-04 9.99500070e-01 5.84363291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.942755096 meters 0.020761704526586537 Centerline is valid? [True, True] Translation: X:30.82, Y:-2.38, Z:0.59 [[ 9.94929707e-01 9.55328623e-02 -3.14380436e-02 3.08178405e+01] [-9.54620826e-02 9.95426010e-01 3.74813831e-03 -2.37801948e+00] [ 3.16523167e-02 -7.27993034e-04 9.99498675e-01 5.86227040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.002755096 meters 0.022618789335204628 Centerline is valid? [True, True] Translation: X:30.88, Y:-2.39, Z:0.59 [[ 9.95359710e-01 9.10604264e-02 -3.10973783e-02 3.08781273e+01] [-9.09887369e-02 9.95844990e-01 3.71563984e-03 -2.39346150e+00] [ 3.13065161e-02 -8.68887024e-04 9.99509453e-01 5.88910584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.062755096 meters 0.02595130521703737 Centerline is valid? [True, True] Translation: X:30.94, Y:-2.41, Z:0.59 [[ 9.95759622e-01 8.71045003e-02 -2.95902287e-02 3.09371812e+01] [-8.70376253e-02 9.96198724e-01 3.54303498e-03 -2.41170285e+00] [ 2.97863624e-02 -9.52547928e-04 9.99555834e-01 5.91310234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.122755096 meters 0.025294369267904217 Centerline is valid? [True, True] Translation: X:31.00, Y:-2.42, Z:0.59 [[ 9.96011858e-01 8.46697179e-02 -2.81321569e-02 3.09985384e+01] [-8.46080971e-02 9.96408588e-01 3.37571279e-03 -2.42320641e+00] [ 2.83169434e-02 -9.82041700e-04 9.99598513e-01 5.94453916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.182755095999994 meters 0.023652771767276475 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.43, Z:0.60 [[ 9.95809334e-01 8.78769700e-02 -2.53260242e-02 3.10597235e+01] [-8.78279355e-02 9.96131009e-01 3.04417251e-03 -2.43053750e+00] [ 2.54955507e-02 -8.07082988e-04 9.99674610e-01 5.97514701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.242755095999996 meters 0.02257452374219352 Centerline is valid? [True, True] Translation: X:31.12, Y:-2.44, Z:0.60 [[ 9.95481080e-01 9.15424428e-02 -2.52467884e-02 3.11207359e+01] [-9.14948525e-02 9.95800921e-01 3.03619766e-03 -2.44140566e+00] [ 2.54187161e-02 -7.12526151e-04 9.99676638e-01 5.99189254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.302755096 meters 0.02205406553385354 Centerline is valid? [True, True] Translation: X:31.18, Y:-2.45, Z:0.60 [[ 9.95239848e-01 9.41220783e-02 -2.52721241e-02 3.11829540e+01] [-9.40751676e-02 9.95560451e-01 3.04142827e-03 -2.44872723e+00] [ 2.54461929e-02 -6.49471298e-04 9.99675982e-01 6.00116341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.362755095999994 meters 0.020576013698840788 Centerline is valid? [True, True] Translation: X:31.24, Y:-2.45, Z:0.60 [[ 9.94950223e-01 9.72871840e-02 -2.46831343e-02 3.12449029e+01] [-9.72432939e-02 9.95256193e-01 2.97512432e-03 -2.45219803e+00] [ 2.48554837e-02 -5.59831323e-04 9.99690898e-01 6.01895380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.422755095999996 meters 0.020643483086427442 Centerline is valid? [True, True] Translation: X:31.31, Y:-2.46, Z:0.60 [[ 9.94903317e-01 9.82965359e-02 -2.24762354e-02 3.13061696e+01] [-9.82602689e-02 9.95157047e-01 2.71499988e-03 -2.46240535e+00] [ 2.26342592e-02 -4.92641454e-04 9.99743691e-01 6.04927700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.482755096 meters 0.021149403665115543 Centerline is valid? [True, True] Translation: X:31.37, Y:-2.47, Z:0.61 [[ 9.94977242e-01 9.78248576e-02 -2.12269922e-02 3.13685431e+01] [-9.77922803e-02 9.95203530e-01 2.56985177e-03 -2.47286972e+00] [ 2.13765729e-02 -4.81108058e-04 9.99771379e-01 6.07343841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54275509599999 meters 0.021990957449117873 Centerline is valid? [True, True] Translation: X:31.43, Y:-2.48, Z:0.61 [[ 9.95144925e-01 9.66315171e-02 -1.86796394e-02 3.14298449e+01] [-9.66059820e-02 9.95320123e-01 2.26668366e-03 -2.48185380e+00] [ 1.88112541e-02 -4.51113833e-04 9.99822951e-01 6.10381676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.602755095999996 meters 0.02250880886275985 Centerline is valid? [True, True] Translation: X:31.49, Y:-2.49, Z:0.61 [[ 9.95326279e-01 9.49360930e-02 -1.76843476e-02 3.14916766e+01] [-9.49128573e-02 9.95483262e-01 2.15051504e-03 -2.49065215e+00] [ 1.78086336e-02 -4.61992166e-04 9.99841307e-01 6.11386896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.662755096 meters 0.02322140271257853 Centerline is valid? [True, True] Translation: X:31.55, Y:-2.50, Z:0.61 [[ 9.95345870e-01 9.49210023e-02 -1.66313747e-02 3.15540757e+01] [-9.49003777e-02 9.95484711e-01 2.02674535e-03 -2.49894474e+00] [ 1.67486600e-02 -4.38988877e-04 9.99859635e-01 6.13531460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72275509599999 meters 0.02401381630979478 Centerline is valid? [True, True] Translation: X:31.62, Y:-2.51, Z:0.61 [[ 9.95448372e-01 9.38353791e-02 -1.66571536e-02 3.16152106e+01] [-9.38144491e-02 9.95587619e-01 2.03522888e-03 -2.50731806e+00] [ 1.67746323e-02 -4.63283594e-04 9.99859189e-01 6.13911500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.782755095999995 meters 0.02338943131612161 Centerline is valid? [True, True] Translation: X:31.68, Y:-2.51, Z:0.61 [[ 9.95432093e-01 9.40718080e-02 -1.62924233e-02 3.16776460e+01] [-9.40517467e-02 9.95565311e-01 1.99490333e-03 -2.51142588e+00] [ 1.64078356e-02 -4.53459929e-04 9.99865280e-01 6.13472584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.842755096 meters 0.025880192478594004 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.52, Z:0.61 [[ 9.95412732e-01 9.42689768e-02 -1.63356372e-02 3.17390616e+01] [-9.42487475e-02 9.95546660e-01 2.00553693e-03 -2.52100725e+00] [ 1.64519490e-02 -4.56723645e-04 9.99864553e-01 6.12968081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90275509599999 meters 0.02354422846405014 Centerline is valid? [True, True] Translation: X:31.80, Y:-2.52, Z:0.61 [[ 9.95439061e-01 9.40904076e-02 -1.57502742e-02 3.18012090e+01] [-9.40715082e-02 9.95563556e-01 1.93819451e-03 -2.52400528e+00] [ 1.58627645e-02 -4.47702479e-04 9.99874078e-01 6.13977907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.962755095999995 meters 0.02430329855643967 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.53, Z:0.62 [[ 9.95548809e-01 9.30285978e-02 -1.51079058e-02 3.18625706e+01] [-9.30110246e-02 9.95663336e-01 1.86320753e-03 -2.53172546e+00] [ 1.52157195e-02 -4.49712237e-04 9.99884133e-01 6.15298633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.022755096 meters 0.024440544196485052 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.54, Z:0.62 [[ 9.95582515e-01 9.28808503e-02 -1.37332960e-02 3.19239221e+01] [-9.28662690e-02 9.95677145e-01 1.69705288e-03 -2.53918803e+00] [ 1.38315527e-02 -4.14196213e-04 9.99904254e-01 6.17549390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.082755096 meters 0.024246541345950504 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.55, Z:0.62 [[ 9.95574956e-01 9.31507949e-02 -1.23869385e-02 3.19861583e+01] [-9.31389198e-02 9.95651942e-01 1.53338007e-03 -2.54529438e+00] [ 1.24759149e-02 -3.72888724e-04 9.99922103e-01 6.19582620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.142755095999995 meters 0.024860606669983968 Centerline is valid? [True, True] Translation: X:32.05, Y:-2.55, Z:0.62 [[ 9.95592229e-01 9.30602603e-02 -1.16576928e-02 3.20474546e+01] [-9.30496922e-02 9.95660415e-01 1.44684141e-03 -2.55268909e+00] [ 1.17417467e-02 -3.55719333e-04 9.99931000e-01 6.20654273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.202755096 meters 0.02532185387205057 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.56, Z:0.62 [[ 9.95641128e-01 9.24307256e-02 -1.24621347e-02 3.21091733e+01] [-9.24185510e-02 9.95719040e-01 1.55053493e-03 -2.56033040e+00] [ 1.25521019e-02 -3.92043921e-04 9.99921142e-01 6.21443925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.262755096 meters 0.026526553811009657 Centerline is valid? [True, True] Translation: X:32.17, Y:-2.57, Z:0.62 [[ 9.95761128e-01 9.10901258e-02 -1.27422896e-02 3.21703411e+01] [-9.10772404e-02 9.95842563e-01 1.58910113e-03 -2.56960701e+00] [ 1.28340658e-02 -4.21832557e-04 9.99917551e-01 6.22055035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.322755095999995 meters 0.026846216153475443 Centerline is valid? [True, True] Translation: X:32.23, Y:-2.58, Z:0.62 [[ 9.95792833e-01 9.06610231e-02 -1.33121266e-02 3.22319193e+01] [-9.06468685e-02 9.95881708e-01 1.66408332e-03 -2.57725559e+00] [ 1.34081708e-02 -4.50379656e-04 9.99910005e-01 6.23231521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.382755096 meters 0.027357574709202793 Centerline is valid? [True, True] Translation: X:32.29, Y:-2.59, Z:0.63 [[ 9.95749372e-01 9.10934872e-02 -1.36075166e-02 3.22928631e+01] [-9.10786763e-02 9.95842240e-01 1.70549418e-03 -2.58583661e+00] [ 1.37062992e-02 -4.58890161e-04 9.99905959e-01 6.25134124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.442755096 meters 0.027088982665785487 Centerline is valid? [True, True] Translation: X:32.35, Y:-2.59, Z:0.62 [[ 9.95598261e-01 9.25648243e-02 -1.46920637e-02 3.23545872e+01] [-9.25476880e-02 9.95706547e-01 1.84346285e-03 -2.59256144e+00] [ 1.47996239e-02 -4.75631877e-04 9.99890366e-01 6.24912068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.502755095999994 meters 0.026562060293635153 Centerline is valid? [True, True] Translation: X:32.42, Y:-2.60, Z:0.63 [[ 9.95511173e-01 9.34620087e-02 -1.49116219e-02 3.24166522e+01] [-9.34443958e-02 9.95622734e-01 1.87508351e-03 -2.59981068e+00] [ 1.50215989e-02 -4.73259085e-04 9.99887057e-01 6.25481797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.562755096 meters 0.026152415177510158 Centerline is valid? [True, True] Translation: X:32.48, Y:-2.61, Z:0.63 [[ 9.95250641e-01 9.59775482e-02 -1.62626168e-02 3.24776714e+01] [-9.59568547e-02 9.95383384e-01 2.04982718e-03 -2.60766394e+00] [ 1.63842759e-02 -4.79582257e-04 9.99865654e-01 6.25371217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.622755096 meters 0.02559464751058653 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.62, Z:0.63 [[ 9.95009087e-01 9.82214574e-02 -1.75915414e-02 3.25396357e+01] [-9.81975006e-02 9.95164464e-01 2.22257946e-03 -2.61695071e+00] [ 1.77247819e-02 -4.84041358e-04 9.99842787e-01 6.25683502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.682755095999994 meters 0.02536286599172677 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.63, Z:0.63 [[ 9.94867136e-01 9.96414224e-02 -1.76342751e-02 3.26007991e+01] [-9.96175455e-02 9.95023303e-01 2.22946463e-03 -2.62523449e+00] [ 1.77686617e-02 -4.61337881e-04 9.99842018e-01 6.27044656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.742755095999996 meters 0.024947347998498532 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.63, Z:0.63 [[ 9.94643723e-01 1.02123317e-01 -1.59591100e-02 3.26618250e+01] [-1.02104022e-01 9.94771674e-01 2.02137801e-03 -2.63218624e+00] [ 1.60821004e-02 -3.81061635e-04 9.99870602e-01 6.30602349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.802755096 meters 0.026093154793801226 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.64, Z:0.63 [[ 9.94716567e-01 1.01326247e-01 -1.64906762e-02 3.27228371e+01] [-1.01305468e-01 9.94853166e-01 2.09269221e-03 -2.64447980e+00] [ 1.66178461e-02 -4.11039934e-04 9.99861830e-01 6.30961105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.862755095999994 meters 0.027949458576299806 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.66, Z:0.63 [[ 9.94879262e-01 9.95448544e-02 -1.74950487e-02 3.27825725e+01] [-9.95211108e-02 9.95032964e-01 2.22475722e-03 -2.65668280e+00] [ 1.76296133e-02 -4.72238145e-04 9.99844475e-01 6.31666007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.922755095999996 meters 0.02711421273464544 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.66, Z:0.63 [[ 9.94878058e-01 9.94770748e-02 -1.79432607e-02 3.28450846e+01] [-9.94520136e-02 9.95039734e-01 2.28586356e-03 -2.66146164e+00] [ 1.80816484e-02 -4.89662091e-04 9.99836394e-01 6.31462539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.982755096 meters 0.030969854104673112 Centerline is valid? [True, True] Translation: X:32.90, Y:-2.68, Z:0.63 [[ 9.94984831e-01 9.81076988e-02 -1.94952514e-02 3.29042802e+01] [-9.80777340e-02 9.95175643e-01 2.48955883e-03 -2.67625485e+00] [ 1.96454442e-02 -5.65023194e-04 9.99806850e-01 6.31647294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04275509599999 meters 0.026193571940056858 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.68, Z:0.63 [[ 9.94879519e-01 9.91406252e-02 -1.96437854e-02 3.29669397e+01] [-9.91103252e-02 9.95073279e-01 2.51246086e-03 -2.67650900e+00] [ 1.97960929e-02 -5.52693893e-04 9.99803885e-01 6.34126222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.102755095999996 meters 0.024277000133469607 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.68, Z:0.63 [[ 9.94794659e-01 9.97999903e-02 -2.05802909e-02 3.30302039e+01] [-9.97667526e-02 9.95007355e-01 2.63804109e-03 -2.68117907e+00] [ 2.07408173e-02 -5.71080394e-04 9.99784723e-01 6.34881780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.162755096 meters 0.02562908078346351 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.69, Z:0.63 [[ 9.94803423e-01 9.94739068e-02 -2.17046618e-02 3.30901523e+01] [-9.94367065e-02 9.95039980e-01 2.78918570e-03 -2.69052024e+00] [ 2.18744575e-02 -6.16451393e-04 9.99760535e-01 6.34907820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22275509599999 meters 0.02574227860429052 Centerline is valid? [True, True] Translation: X:33.15, Y:-2.70, Z:0.64 [[ 9.94946971e-01 9.79057393e-02 -2.22483963e-02 3.31516195e+01] [-9.78661433e-02 9.95195465e-01 2.86425007e-03 -2.69905942e+00] [ 2.24219296e-02 -6.72412188e-04 9.99748371e-01 6.36905395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.282755095999995 meters 0.025379252127270727 Centerline is valid? [True, True] Translation: X:33.21, Y:-2.71, Z:0.64 [[ 9.94953252e-01 9.77321197e-02 -2.27257186e-02 3.32129852e+01] [-9.76906141e-02 9.95212513e-01 2.93210639e-03 -2.70744753e+00] [ 2.29034805e-02 -6.97219381e-04 9.99737438e-01 6.38767507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.342755096 meters 0.024902519406431272 Centerline is valid? [True, True] Translation: X:33.28, Y:-2.71, Z:0.64 [[ 9.94853238e-01 9.87401285e-02 -2.27468942e-02 3.32751271e+01] [-9.86986793e-02 9.95113021e-01 2.94048192e-03 -2.71488394e+00] [ 2.29260742e-02 -6.80259541e-04 9.99736932e-01 6.40967312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40275509599999 meters 0.024334807184095524 Centerline is valid? [True, True] Translation: X:33.34, Y:-2.72, Z:0.64 [[ 9.94670828e-01 1.00395684e-01 -2.34659304e-02 3.33364823e+01] [-1.00351955e-01 9.94947367e-01 3.03670914e-03 -2.72165589e+00] [ 2.36522381e-02 -6.65674013e-04 9.99720025e-01 6.41811175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.462755095999995 meters 0.024150138101045722 Centerline is valid? [True, True] Translation: X:33.40, Y:-2.73, Z:0.64 [[ 9.94493755e-01 1.02027914e-01 -2.39264757e-02 3.33984046e+01] [-1.01982760e-01 9.94781327e-01 3.10305640e-03 -2.72922457e+00] [ 2.41182096e-02 -6.45882174e-04 9.99708905e-01 6.42835791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.522755096 meters 0.02323703046015367 Centerline is valid? [True, True] Translation: X:33.46, Y:-2.74, Z:0.64 [[ 9.94263643e-01 1.03895030e-01 -2.54092679e-02 3.34599988e+01] [-1.03844527e-01 9.94588059e-01 3.30267165e-03 -2.73686021e+00] [ 2.56148856e-02 -6.45112942e-04 9.99671677e-01 6.43662493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.582755096 meters 0.022469420961287147 Centerline is valid? [True, True] Translation: X:33.52, Y:-2.75, Z:0.64 [[ 9.93938330e-01 1.06714542e-01 -2.64310875e-02 3.35206623e+01] [-1.06660696e-01 9.94289517e-01 3.44279183e-03 -2.74513037e+00] [ 2.66475492e-02 -6.02764566e-04 9.99644709e-01 6.44570987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.642755095999995 meters 0.021528378998673662 Centerline is valid? [True, True] Translation: X:33.58, Y:-2.75, Z:0.65 [[ 9.93668018e-01 1.09199792e-01 -2.64438209e-02 3.35827245e+01] [-1.09146628e-01 9.94019674e-01 3.44988939e-03 -2.75332704e+00] [ 2.66624054e-02 -5.41790888e-04 9.99644348e-01 6.46311149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.702755096 meters 0.020480825214126485 Centerline is valid? [True, True] Translation: X:33.64, Y:-2.76, Z:0.65 [[ 9.93245811e-01 1.12800294e-01 -2.71818348e-02 3.36435783e+01] [-1.12745359e-01 9.93617573e-01 3.55011975e-03 -2.76040304e+00] [ 2.74088033e-02 -4.61515832e-04 9.99624202e-01 6.46147733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.762755096 meters 0.020266256498399728 Centerline is valid? [True, True] Translation: X:33.71, Y:-2.77, Z:0.65 [[ 9.93125097e-01 1.13732032e-01 -2.77050025e-02 3.37053661e+01] [-1.13675118e-01 9.93511359e-01 3.62582629e-03 -2.76977035e+00] [ 2.79376073e-02 -4.51529663e-04 9.99609567e-01 6.46404235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.822755095999995 meters 0.020498006139336958 Centerline is valid? [True, True] Translation: X:33.77, Y:-2.78, Z:0.65 [[ 9.93181569e-01 1.13696572e-01 -2.57577416e-02 3.37671054e+01] [-1.13647185e-01 9.93515428e-01 3.37798632e-03 -2.77883445e+00] [ 2.59747792e-02 -4.27658930e-04 9.99662507e-01 6.48445382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.882755096 meters 0.020370590905894707 Centerline is valid? [True, True] Translation: X:33.83, Y:-2.79, Z:0.65 [[ 9.93285581e-01 1.13028878e-01 -2.46622615e-02 3.38297759e+01] [-1.12983238e-01 9.93591609e-01 3.24072795e-03 -2.78735510e+00] [ 2.48705119e-02 -4.32546184e-04 9.99690587e-01 6.50399059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.942755096 meters 0.023517301423295577 Centerline is valid? [True, True] Translation: X:33.89, Y:-2.80, Z:0.65 [[ 9.93667947e-01 1.09799640e-01 -2.38337978e-02 3.38897931e+01] [-1.09755939e-01 9.93953614e-01 3.13800970e-03 -2.80153149e+00] [ 2.40342418e-02 -5.02238790e-04 9.99711010e-01 6.50545082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.002755095999994 meters 0.025651924457564024 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.81, Z:0.65 [[ 9.94001428e-01 1.06929679e-01 -2.29609518e-02 3.39505906e+01] [-1.06888274e-01 9.94266431e-01 3.02656743e-03 -2.81398433e+00] [ 2.31529335e-02 -5.54155833e-04 9.99731781e-01 6.51873330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.062755096 meters 0.026823090919275788 Centerline is valid? [True, True] Translation: X:34.01, Y:-2.82, Z:0.65 [[ 9.94416389e-01 1.03283149e-01 -2.16480303e-02 3.40126400e+01] [-1.03245383e-01 9.94651810e-01 2.85800060e-03 -2.82118038e+00] [ 2.18274358e-02 -6.06983460e-04 9.99761569e-01 6.52439837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.122755096 meters 0.02436654218179711 Centerline is valid? [True, True] Translation: X:34.07, Y:-2.83, Z:0.65 [[ 9.94545374e-01 1.02342591e-01 -2.01368574e-02 3.40747400e+01] [-1.02309687e-01 9.94749039e-01 2.66016861e-03 -2.82537944e+00] [ 2.03033681e-02 -5.85462800e-04 9.99793694e-01 6.54017196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.182755095999994 meters 0.024157190770352516 Centerline is valid? [True, True] Translation: X:34.14, Y:-2.83, Z:0.65 [[ 9.94557727e-01 1.02280474e-01 -1.98401869e-02 3.41366506e+01] [-1.02248411e-01 9.94755429e-01 2.62643700e-03 -2.83353749e+00] [ 2.00047668e-02 -5.83515622e-04 9.99799714e-01 6.54895503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.242755095999996 meters 0.024002779093674726 Centerline is valid? [True, True] Translation: X:34.20, Y:-2.84, Z:0.65 [[ 9.94464571e-01 1.03094529e-01 -2.02912729e-02 3.41983657e+01] [-1.03061027e-01 9.94671390e-01 2.69269835e-03 -2.84021671e+00] [ 2.04607510e-02 -5.86553692e-04 9.99790485e-01 6.53494705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.302755096 meters 0.02442955912664754 Centerline is valid? [True, True] Translation: X:34.26, Y:-2.85, Z:0.65 [[ 9.94492743e-01 1.03064665e-01 -1.90225769e-02 3.42605739e+01] [-1.03035121e-01 9.94674503e-01 2.52934146e-03 -2.85037661e+00] [ 1.91819580e-02 -5.55418210e-04 9.99815855e-01 6.53938274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.362755095999994 meters 0.024146913401088658 Centerline is valid? [True, True] Translation: X:34.32, Y:-2.86, Z:0.65 [[ 9.94676799e-01 1.01491122e-01 -1.78218082e-02 3.43219872e+01] [-1.01464843e-01 9.94836291e-01 2.37496658e-03 -2.85918015e+00] [ 1.79708196e-02 -5.54037188e-04 9.99838358e-01 6.54973745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.422755095999996 meters 0.026678011466780036 Centerline is valid? [True, True] Translation: X:34.38, Y:-2.87, Z:0.66 [[ 9.94882099e-01 9.95613855e-02 -1.72377543e-02 3.43818040e+01] [-9.95364254e-02 9.95031256e-01 2.30207560e-03 -2.87181927e+00] [ 1.73813021e-02 -5.74509363e-04 9.99848769e-01 6.55849804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.482755096 meters 0.026153588738077025 Centerline is valid? [True, True] Translation: X:34.44, Y:-2.88, Z:0.66 [[ 9.94974945e-01 9.90656712e-02 -1.45207185e-02 3.44432568e+01] [-9.90478907e-02 9.95080776e-01 1.94035358e-03 -2.87813583e+00] [ 1.46415103e-02 -4.92356654e-04 9.99892686e-01 6.58201947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54275509599999 meters 0.025952040971298558 Centerline is valid? [True, True] Translation: X:34.50, Y:-2.89, Z:0.66 [[ 9.94895005e-01 1.00018123e-01 -1.34277705e-02 3.45047971e+01] [-1.00002960e-01 9.94985516e-01 1.79767669e-03 -2.88665373e+00] [ 1.35402374e-02 -4.45682759e-04 9.99908227e-01 6.59901932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.602755095999996 meters 0.025439742963061077 Centerline is valid? [True, True] Translation: X:34.57, Y:-2.89, Z:0.66 [[ 9.94636674e-01 1.02753080e-01 -1.18190771e-02 3.45654238e+01] [-1.02741491e-01 9.94706828e-01 1.58514976e-03 -2.89318021e+00] [ 1.19193957e-02 -3.62338480e-04 9.99928896e-01 6.61325106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.662755096 meters 0.02428122685025975 Centerline is valid? [True, True] Translation: X:34.63, Y:-2.90, Z:0.66 [[ 9.94306955e-01 1.06025767e-01 -1.05931982e-02 3.46277713e+01] [-1.06016621e-01 9.94363340e-01 1.42280571e-03 -2.89713835e+00] [ 1.06843420e-02 -2.91650537e-04 9.99942878e-01 6.62534819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72275509599999 meters 0.024115196312120276 Centerline is valid? [True, True] Translation: X:34.69, Y:-2.90, Z:0.66 [[ 9.94152847e-01 1.07576790e-01 -9.34617763e-03 3.46898256e+01] [-1.07569720e-01 9.94196748e-01 1.25730333e-03 -2.90220447e+00] [ 9.42719606e-03 -2.44585974e-04 9.99955533e-01 6.63756232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.782755095999995 meters 0.024287403456272155 Centerline is valid? [True, True] Translation: X:34.75, Y:-2.91, Z:0.66 [[ 9.94020033e-01 1.08726805e-01 -1.01319357e-02 3.47503178e+01] [-1.08718523e-01 9.94071635e-01 1.36633130e-03 -2.91061519e+00] [ 1.02204267e-02 -2.56631597e-04 9.99947737e-01 6.63818176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.842755096 meters 0.024940969804489205 Centerline is valid? [True, True] Translation: X:34.81, Y:-2.92, Z:0.66 [[ 9.94098909e-01 1.07922452e-01 -1.09591389e-02 3.48116374e+01] [-1.07912680e-01 9.94159273e-01 1.48080687e-03 -2.92021582e+00] [ 1.10549419e-02 -2.89438436e-04 9.99938850e-01 6.63852229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90275509599999 meters 0.026517807071402468 Centerline is valid? [True, True] Translation: X:34.87, Y:-2.93, Z:0.67 [[ 9.94307784e-01 1.06119781e-01 -9.51959890e-03 3.48719462e+01] [-1.06112296e-01 9.94353317e-01 1.28931124e-03 -2.93056290e+00] [ 9.60266617e-03 -2.71825699e-04 9.99953856e-01 6.65978124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.962755095999995 meters 0.02591870901309296 Centerline is valid? [True, True] Translation: X:34.93, Y:-2.94, Z:0.67 [[ 9.94755367e-01 1.01840607e-01 -9.50007143e-03 3.49324361e+01] [-1.01832938e-01 9.94800679e-01 1.28874554e-03 -2.93925785e+00] [ 9.58192414e-03 -3.14566356e-04 9.99954043e-01 6.66740895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.022755096 meters 0.028952917179042283 Centerline is valid? [True, True] Translation: X:34.99, Y:-2.95, Z:0.67 [[ 9.95263325e-01 9.68092132e-02 -8.88204185e-03 3.49926700e+01] [-9.68023069e-02 9.95302899e-01 1.20521648e-03 -2.95298176e+00] [ 8.95699806e-03 -3.39705622e-04 9.99959828e-01 6.68424006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08275509599999 meters 0.03218090304644773 Centerline is valid? [True, True] Translation: X:35.05, Y:-2.97, Z:0.67 [[ 9.95478620e-01 9.46001276e-02 -8.55175261e-03 3.50519551e+01] [-9.45936496e-02 9.95515292e-01 1.15974693e-03 -2.96579820e+00] [ 8.62311270e-03 -3.45561780e-04 9.99962761e-01 6.70356984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.142755095999995 meters 0.03405765863219844 Centerline is valid? [True, True] Translation: X:35.11, Y:-2.98, Z:0.67 [[ 9.95589110e-01 9.34437022e-02 -8.40226761e-03 3.51123955e+01] [-9.34373984e-02 9.95624503e-01 1.14056031e-03 -2.97669356e+00] [ 8.47208169e-03 -3.50443399e-04 9.99964050e-01 6.72688582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.202755096 meters 0.030013653404097868 Centerline is valid? [True, True] Translation: X:35.18, Y:-2.98, Z:0.67 [[ 9.95357320e-01 9.57984330e-02 -9.29870860e-03 3.51751055e+01] [-9.57908123e-02 9.95400686e-01 1.26251096e-03 -2.97836071e+00] [ 9.37688750e-03 -3.65918674e-04 9.99955969e-01 6.72025989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.262755096 meters 0.027123478438198935 Centerline is valid? [True, True] Translation: X:35.24, Y:-2.98, Z:0.67 [[ 9.95049257e-01 9.88490779e-02 -1.02876232e-02 3.52366330e+01] [-9.88398585e-02 9.95102365e-01 1.40201989e-03 -2.98091981e+00] [ 1.03758265e-02 -3.78251630e-04 9.99946098e-01 6.71403069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.322755095999995 meters 0.02574233493151919 Centerline is valid? [True, True] Translation: X:35.30, Y:-2.99, Z:0.67 [[ 9.94512178e-01 1.03954164e-01 -1.17923572e-02 3.52962884e+01] [-1.03942398e-01 9.94582019e-01 1.60794836e-03 -2.98590114e+00] [ 1.18956194e-02 -3.73398337e-04 9.99929175e-01 6.71730740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.382755096 meters 0.02459839426686579 Centerline is valid? [True, True] Translation: X:35.36, Y:-2.99, Z:0.67 [[ 9.94250987e-01 1.06344021e-01 -1.24869236e-02 3.53576635e+01] [-1.06331038e-01 9.94329330e-01 1.70098445e-03 -2.99315229e+00] [ 1.25970039e-02 -3.63457916e-04 9.99920589e-01 6.72962628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.442755096 meters 0.024039476485773592 Centerline is valid? [True, True] Translation: X:35.42, Y:-3.00, Z:0.68 [[ 9.94146929e-01 1.07387419e-01 -1.18247775e-02 3.54190886e+01] [-1.07375815e-01 9.94217195e-01 1.61374195e-03 -3.00213888e+00] [ 1.19296927e-02 -3.34601482e-04 9.99928783e-01 6.75206232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.502755095999994 meters 0.023415955343068475 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.01, Z:0.68 [[ 9.94240490e-01 1.06546882e-01 -1.15589949e-02 3.54806418e+01] [-1.06535702e-01 9.94307622e-01 1.58047272e-03 -3.01118451e+00] [ 1.16615911e-02 -3.39924336e-04 9.99931944e-01 6.76844886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.562755096 meters 0.025438934068863116 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.03, Z:0.68 [[ 9.94414366e-01 1.04884726e-01 -1.18009498e-02 3.55407890e+01] [-1.04872912e-01 9.94484317e-01 1.61723783e-03 -3.02511355e+00] [ 1.19054830e-02 -3.70604566e-04 9.99929059e-01 6.79503357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.622755096 meters 0.025813596058785016 Centerline is valid? [True, True] Translation: X:35.60, Y:-3.03, Z:0.68 [[ 9.94491302e-01 1.04126948e-01 -1.20261431e-02 3.56023575e+01] [-1.04114585e-01 9.94563938e-01 1.65124038e-03 -3.03379846e+00] [ 1.21327069e-02 -3.90047292e-04 9.99926320e-01 6.80733863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.682755095999994 meters 0.027160627057795008 Centerline is valid? [True, True] Translation: X:35.66, Y:-3.04, Z:0.68 [[ 9.94526356e-01 1.03671939e-01 -1.30175060e-02 3.56625236e+01] [-1.03657360e-01 9.94611453e-01 1.79154163e-03 -3.04428806e+00] [ 1.31330931e-02 -4.32375067e-04 9.99913664e-01 6.82008926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.742755095999996 meters 0.02508636024024018 Centerline is valid? [True, True] Translation: X:35.72, Y:-3.05, Z:0.68 [[ 9.94388974e-01 1.04789279e-01 -1.44836447e-02 3.57243058e+01] [-1.04771290e-01 9.94494337e-01 1.99740626e-03 -3.04996732e+00] [ 1.46132094e-02 -4.68728631e-04 9.99893111e-01 6.82144378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.802755096 meters 0.026202030108218175 Centerline is valid? [True, True] Translation: X:35.78, Y:-3.06, Z:0.68 [[ 9.94084623e-01 1.07096470e-01 -1.80584799e-02 3.57845053e+01] [-1.07068767e-01 9.94248483e-01 2.49681402e-03 -3.05941702e+00] [ 1.82220163e-02 -5.48545249e-04 9.99833815e-01 6.80610612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.862755095999994 meters 0.02408193135140893 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.06, Z:0.68 [[ 9.93806186e-01 1.09256319e-01 -2.03056805e-02 3.58467210e+01] [-1.09221621e-01 9.94013442e-01 2.81338264e-03 -3.06447091e+00] [ 2.04914992e-02 -5.78137736e-04 9.99789860e-01 6.79744105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.922755095999996 meters 0.0230198559860013 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.07, Z:0.68 [[ 9.93636424e-01 1.10651132e-01 -2.10471771e-02 3.59081764e+01] [-1.10614039e-01 9.93859143e-01 2.92209803e-03 -3.07160213e+00] [ 2.12412628e-02 -5.75389782e-04 9.99774213e-01 6.81442930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.982755096 meters 0.024131702914886883 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.08, Z:0.68 [[ 9.93764757e-01 1.09225272e-01 -2.23930236e-02 3.59693040e+01] [-1.09182772e-01 9.94016809e-01 3.11552944e-03 -3.08416060e+00] [ 2.25993364e-02 -6.51170972e-04 9.99744390e-01 6.82736386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04275509599999 meters 0.02654079767974818 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.10, Z:0.69 [[ 9.93918268e-01 1.07855904e-01 -2.22166936e-02 3.60288479e+01] [-1.07813594e-01 9.94166303e-01 3.09699106e-03 -3.09654873e+00] [ 2.24211169e-02 -6.82894407e-04 9.99748382e-01 6.85229906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.102755095999996 meters 0.024420345986048732 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.10, Z:0.69 [[ 9.93797957e-01 1.09144466e-01 -2.12863041e-02 3.60909552e+01] [-1.09105809e-01 9.94025697e-01 2.97251504e-03 -3.09852082e+00] [ 2.14835669e-02 -6.31619936e-04 9.99769002e-01 6.87896187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.162755096 meters 0.025455819959195203 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.11, Z:0.69 [[ 9.93795454e-01 1.08658213e-01 -2.37484489e-02 3.61525530e+01] [-1.08609785e-01 9.94078905e-01 3.32344434e-03 -3.10756425e+00] [ 2.39689516e-02 -7.23509948e-04 9.99712442e-01 6.87264382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22275509599999 meters 0.025979636345929674 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.12, Z:0.69 [[ 9.93961378e-01 1.06901360e-01 -2.47563909e-02 3.62140994e+01] [-1.06848015e-01 9.94269305e-01 3.47145289e-03 -3.11727003e+00] [ 2.49856226e-02 -8.05318873e-04 9.99687486e-01 6.88653156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.282755095999995 meters 0.02787436727064877 Centerline is valid? [True, True] Translation: X:36.28, Y:-3.13, Z:0.69 [[ 9.94193508e-01 1.04588805e-01 -2.53071170e-02 3.62751534e+01] [-1.04532154e-01 9.94515154e-01 3.55481077e-03 -3.12502304e+00] [ 2.55401047e-02 -8.88762333e-04 9.99673403e-01 6.89216352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.342755096 meters 0.028249565745010946 Centerline is valid? [True, True] Translation: X:36.34, Y:-3.13, Z:0.69 [[ 9.94183216e-01 1.04689313e-01 -2.52958703e-02 3.63371305e+01] [-1.04632629e-01 9.94504578e-01 3.55776991e-03 -3.13336716e+00] [ 2.55293193e-02 -8.90301715e-04 9.99673677e-01 6.89942313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40275509599999 meters 0.03031984571715979 Centerline is valid? [True, True] Translation: X:36.40, Y:-3.14, Z:0.69 [[ 9.94045229e-01 1.05877520e-01 -2.57688343e-02 3.63979467e+01] [-1.05818893e-01 9.94378786e-01 3.63205504e-03 -3.14335072e+00] [ 2.60085352e-02 -8.83597458e-04 9.99661330e-01 6.91067987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.462755095999995 meters 0.025946361258013865 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.15, Z:0.69 [[ 9.93837348e-01 1.07698285e-01 -2.62374649e-02 3.64604271e+01] [-1.07637950e-01 9.94183254e-01 3.70526408e-03 -3.14607489e+00] [ 2.64838988e-02 -8.58282891e-04 9.99648872e-01 6.93169120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.522755096 meters 0.025926081685580176 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.15, Z:0.69 [[ 9.93579213e-01 1.10061142e-01 -2.62086445e-02 3.65211658e+01] [-1.10001592e-01 9.93924496e-01 3.70756170e-03 -3.15323772e+00] [ 2.64574722e-02 -8.00763623e-04 9.99649619e-01 6.94593637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58275509599999 meters 0.026026712993063587 Centerline is valid? [True, True] Translation: X:36.58, Y:-3.16, Z:0.70 [[ 9.93499937e-01 1.11148019e-01 -2.45762810e-02 3.65825245e+01] [-1.11095881e-01 9.93803596e-01 3.48098812e-03 -3.16178572e+00] [ 2.48109014e-02 -7.28037882e-04 9.99691897e-01 6.97301602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.642755095999995 meters 0.026451313866104373 Centerline is valid? [True, True] Translation: X:36.64, Y:-3.17, Z:0.70 [[ 9.93441341e-01 1.11799108e-01 -2.39846103e-02 3.66428302e+01] [-1.11749491e-01 9.93730581e-01 3.40336824e-03 -3.17303290e+00] [ 2.42147342e-02 -7.00778714e-04 9.99706535e-01 7.00042236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.702755096 meters 0.026693402504366484 Centerline is valid? [True, True] Translation: X:36.71, Y:-3.18, Z:0.70 [[ 9.93399524e-01 1.12197466e-01 -2.38561095e-02 3.67054415e+01] [-1.12148347e-01 9.93685689e-01 3.39124160e-03 -3.18279050e+00] [ 2.40859634e-02 -6.93434552e-04 9.99709651e-01 7.02142178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.762755096 meters 0.027118391980700162 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.19, Z:0.70 [[ 9.93387265e-01 1.12567233e-01 -2.25911440e-02 3.67676681e+01] [-1.12523135e-01 9.93643895e-01 3.21785852e-03 -3.19239197e+00] [ 2.28097777e-02 -6.54553343e-04 9.99739609e-01 7.03872306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.822755095999995 meters 0.027899988444448708 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.20, Z:0.70 [[ 9.93397781e-01 1.12330746e-01 -2.32948965e-02 3.68281400e+01] [-1.12283632e-01 9.93670635e-01 3.32484506e-03 -3.20470481e+00] [ 2.35209369e-02 -6.87258104e-04 9.99723108e-01 7.04492718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.882755096 meters 0.02789796648213892 Centerline is valid? [True, True] Translation: X:36.89, Y:-3.22, Z:0.70 [[ 9.93258918e-01 1.13363341e-01 -2.41965946e-02 3.68889226e+01] [-1.13312670e-01 9.93553356e-01 3.45950034e-03 -3.21537900e+00] [ 2.44327883e-02 -6.94398818e-04 9.99701234e-01 7.04598481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.942755096 meters 0.028117419704955307 Centerline is valid? [True, True] Translation: X:36.95, Y:-3.23, Z:0.70 [[ 9.93060726e-01 1.14718876e-01 -2.58838717e-02 3.69491489e+01] [-1.14661176e-01 9.93397740e-01 3.70741371e-03 -3.22538302e+00] [ 2.61382900e-02 -7.13811788e-04 9.99658082e-01 7.03208413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.002755095999994 meters 0.026921915739635146 Centerline is valid? [True, True] Translation: X:37.01, Y:-3.23, Z:0.70 [[ 9.92877145e-01 1.16155617e-01 -2.65112729e-02 3.70103606e+01] [-1.16095426e-01 9.93230781e-01 3.80363519e-03 -3.23365203e+00] [ 2.67736259e-02 -6.98704908e-04 9.99641278e-01 7.03568688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.062755096 meters 0.026185522760137806 Centerline is valid? [True, True] Translation: X:37.07, Y:-3.24, Z:0.70 [[ 9.92657801e-01 1.18077143e-01 -2.62350557e-02 3.70716184e+01] [-1.18018698e-01 9.93004215e-01 3.77049661e-03 -3.24172889e+00] [ 2.64967304e-02 -6.46585756e-04 9.99648691e-01 7.04778821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.122755096 meters 0.02201820133640016 Centerline is valid? [True, True] Translation: X:37.13, Y:-3.24, Z:0.71 [[ 9.92382962e-01 1.20458747e-01 -2.58020838e-02 3.71334958e+01] [-1.20402849e-01 9.92718164e-01 3.71483068e-03 -3.24449445e+00] [ 2.60616811e-02 -5.79890283e-04 9.99660169e-01 7.08764736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.182755095999994 meters 0.02199062953263205 Centerline is valid? [True, True] Translation: X:37.19, Y:-3.25, Z:0.71 [[ 9.92270021e-01 1.21458507e-01 -2.54565717e-02 3.71947397e+01] [-1.21404243e-01 9.92596356e-01 3.67216943e-03 -3.25470732e+00] [ 2.57141165e-02 -5.53247822e-04 9.99669184e-01 7.10586110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.242755095999996 meters 0.02178105651951827 Centerline is valid? [True, True] Translation: X:37.26, Y:-3.26, Z:0.71 [[ 9.92119811e-01 1.23072340e-01 -2.34836177e-02 3.72551044e+01] [-1.23026482e-01 9.92397587e-01 3.39311784e-03 -3.26199397e+00] [ 2.37226845e-02 -4.77272553e-04 9.99718464e-01 7.13846473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.302755096 meters 0.020833030435324064 Centerline is valid? [True, True] Translation: X:37.32, Y:-3.27, Z:0.72 [[ 9.92013393e-01 1.24257626e-01 -2.16672679e-02 3.73170939e+01] [-1.24218793e-01 9.92249902e-01 3.13424592e-03 -3.26682568e+00] [ 2.18887984e-02 -4.17732056e-04 9.99760324e-01 7.16683384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.362755095999994 meters 0.020963744839864098 Centerline is valid? [True, True] Translation: X:37.38, Y:-3.28, Z:0.72 [[ 9.92011990e-01 1.24475651e-01 -2.04456362e-02 3.73796469e+01] [-1.24441006e-01 9.92222584e-01 2.96305380e-03 -3.27664747e+00] [ 2.06554501e-02 -3.95109350e-04 9.99786575e-01 7.18839776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.422755095999996 meters 0.02092251940686325 Centerline is valid? [True, True] Translation: X:37.44, Y:-3.29, Z:0.72 [[ 9.91970004e-01 1.24679605e-01 -2.12251498e-02 3.74415073e+01] [-1.24642165e-01 9.92196969e-01 3.08299328e-03 -3.28622010e+00] [ 2.14439157e-02 -4.12688237e-04 9.99769968e-01 7.19154112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.482755096 meters 0.02161046449034285 Centerline is valid? [True, True] Translation: X:37.50, Y:-3.30, Z:0.72 [[ 9.92025245e-01 1.24048210e-01 -2.23149228e-02 3.75024595e+01] [-1.24006503e-01 9.92276088e-01 3.24854306e-03 -3.29769435e+00] [ 2.25455402e-02 -4.55441185e-04 9.99745713e-01 7.17698855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54275509599999 meters 0.02228478347267641 Centerline is valid? [True, True] Translation: X:37.56, Y:-3.31, Z:0.72 [[ 9.92010854e-01 1.24155368e-01 -2.23586653e-02 3.75636440e+01] [-1.24113384e-01 9.92262683e-01 3.26111781e-03 -3.30811143e+00] [ 2.25905545e-02 -4.60054647e-04 9.99744695e-01 7.18223204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.602755095999996 meters 0.021384055593902454 Centerline is valid? [True, True] Translation: X:37.63, Y:-3.32, Z:0.72 [[ 9.91954788e-01 1.24638416e-01 -2.21576962e-02 3.76260441e+01] [-1.24597159e-01 9.92202127e-01 3.23826565e-03 -3.31642586e+00] [ 2.23885256e-02 -4.51427111e-04 9.99749244e-01 7.19386022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.662755096 meters 0.021679548153628634 Centerline is valid? [True, True] Translation: X:37.69, Y:-3.33, Z:0.72 [[ 9.92024028e-01 1.24230826e-01 -2.13314374e-02 3.76884424e+01] [-1.24192355e-01 9.92253244e-01 3.12400908e-03 -3.32503721e+00] [ 2.15542862e-02 -4.49890623e-04 9.99767578e-01 7.20903427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72275509599999 meters 0.023078387086388114 Centerline is valid? [True, True] Translation: X:37.75, Y:-3.34, Z:0.72 [[ 9.92340193e-01 1.21797006e-01 -2.06501868e-02 3.77492906e+01] [-1.21760297e-01 9.92554908e-01 3.03044501e-03 -3.33881432e+00] [ 2.08655434e-02 -4.92859499e-04 9.99782169e-01 7.22112443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.782755095999995 meters 0.023912303080901552 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.35, Z:0.72 [[ 9.92698318e-01 1.18941989e-01 -2.00712147e-02 3.78100074e+01] [-1.18906620e-01 9.92901057e-01 2.95073578e-03 -3.34867337e+00] [ 2.02796967e-02 -5.42590137e-04 9.99794199e-01 7.23529310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.842755096 meters 0.024597903760148192 Centerline is valid? [True, True] Translation: X:37.87, Y:-3.36, Z:0.72 [[ 9.93294108e-01 1.14082168e-01 -1.87636342e-02 3.78707426e+01] [-1.14050307e-01 9.93471134e-01 2.76294366e-03 -3.35709939e+00] [ 1.89563315e-02 -6.04417416e-04 9.99820130e-01 7.24406531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90275509599999 meters 0.027980055635563328 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.37, Z:0.73 [[ 9.93504262e-01 1.12318984e-01 -1.82682061e-02 3.79304465e+01] [-1.12288473e-01 9.93672008e-01 2.69065702e-03 -3.37094803e+00] [ 1.84548169e-02 -6.21870239e-04 9.99829502e-01 7.25421265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.962755095999995 meters 0.02698785490311468 Centerline is valid? [True, True] Translation: X:37.99, Y:-3.38, Z:0.73 [[ 9.93513117e-01 1.12462211e-01 -1.68504442e-02 3.79928700e+01] [-1.12436207e-01 9.93655836e-01 2.48578266e-03 -3.38097328e+00] [ 1.70230988e-02 -5.75057657e-04 9.99854931e-01 7.27789124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.022755096 meters 0.02604619670545072 Centerline is valid? [True, True] Translation: X:38.05, Y:-3.39, Z:0.73 [[ 9.93145222e-01 1.15456138e-01 -1.82331390e-02 3.80547634e+01] [-1.15426079e-01 9.93312414e-01 2.69598297e-03 -3.38701831e+00] [ 1.84224711e-02 -5.72922860e-04 9.99830128e-01 7.26137342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08275509599999 meters 0.023323804952353717 Centerline is valid? [True, True] Translation: X:38.12, Y:-3.39, Z:0.72 [[ 9.92700607e-01 1.19063278e-01 -1.92208154e-02 3.81161797e+01] [-1.19030446e-01 9.92886522e-01 2.84735914e-03 -3.39129451e+00] [ 1.94231044e-02 -5.38712937e-04 9.99811209e-01 7.24687894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.142755095999995 meters 0.023264474489199924 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.40, Z:0.73 [[ 9.92489949e-01 1.20897839e-01 -1.86390356e-02 3.81764003e+01] [-1.20867273e-01 9.92664835e-01 2.76192655e-03 -3.40208414e+00] [ 1.88362261e-02 -4.88334936e-04 9.99822463e-01 7.26704314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.202755096 meters 0.02257745573225917 Centerline is valid? [True, True] Translation: X:38.24, Y:-3.41, Z:0.73 [[ 9.92275789e-01 1.22944447e-01 -1.65354866e-02 3.82381080e+01] [-1.22920614e-01 9.92413473e-01 2.45390841e-03 -3.40925497e+00] [ 1.67117341e-02 -4.02401746e-04 9.99860268e-01 7.29955891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.262755096 meters 0.022634943445216004 Centerline is valid? [True, True] Translation: X:38.30, Y:-3.42, Z:0.73 [[ 9.92217653e-01 1.23529869e-01 -1.56365319e-02 3.83003520e+01] [-1.23508568e-01 9.92340784e-01 2.32439007e-03 -3.41769178e+00] [ 1.58038999e-02 -3.75055185e-04 9.99875040e-01 7.31799069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.322755095999995 meters 0.0237685659305687 Centerline is valid? [True, True] Translation: X:38.36, Y:-3.43, Z:0.73 [[ 9.92227042e-01 1.23667878e-01 -1.38475274e-02 3.83618326e+01] [-1.23651133e-01 9.92323609e-01 2.06222458e-03 -3.42798656e+00] [ 1.39962593e-02 -3.33932536e-04 9.99901992e-01 7.34708192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.382755096 meters 0.02336471819054715 Centerline is valid? [True, True] Translation: X:38.42, Y:-3.44, Z:0.74 [[ 9.92354589e-01 1.22731646e-01 -1.30120563e-02 3.84234173e+01] [-1.22716735e-01 9.92439839e-01 1.94130381e-03 -3.43619310e+00] [ 1.31519425e-02 -3.29664679e-04 9.99913455e-01 7.36308205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.442755096 meters 0.02372681613467478 Centerline is valid? [True, True] Translation: X:38.48, Y:-3.44, Z:0.74 [[ 9.92627775e-01 1.20531171e-01 -1.27411184e-02 3.84849503e+01] [-1.20516650e-01 9.92709480e-01 1.90420238e-03 -3.44331179e+00] [ 1.28777448e-02 -3.54647254e-04 9.99917016e-01 7.36261183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.502755095999994 meters 0.0253928211013657 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.45, Z:0.73 [[ 9.92689352e-01 1.19806300e-01 -1.46390009e-02 3.85451248e+01] [-1.19786978e-01 9.92797196e-01 2.19283660e-03 -3.45226240e+00] [ 1.47962746e-02 -4.23243867e-04 9.99890440e-01 7.34200544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.562755096 meters 0.024355801121579916 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.46, Z:0.73 [[ 9.92485326e-01 1.21032445e-01 -1.80006837e-02 3.86070323e+01] [-1.21003327e-01 9.92648424e-01 2.70209071e-03 -3.45852074e+00] [ 1.81953909e-02 -5.03642766e-04 9.99834323e-01 7.31618588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.622755096 meters 0.022428403154513974 Centerline is valid? [True, True] Translation: X:38.67, Y:-3.46, Z:0.73 [[ 9.92328970e-01 1.22082315e-01 -1.94711207e-02 3.86696077e+01] [-1.22048337e-01 9.92519838e-01 2.92839605e-03 -3.46372627e+00] [ 1.96829789e-02 -5.29514329e-04 9.99806131e-01 7.31160575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.682755095999994 meters 0.02216523633357406 Centerline is valid? [True, True] Translation: X:38.73, Y:-3.47, Z:0.73 [[ 9.92152160e-01 1.23361891e-01 -2.03944968e-02 3.87307713e+01] [-1.23324831e-01 9.92361609e-01 3.06980863e-03 -3.47174700e+00] [ 2.06174130e-02 -5.30569410e-04 9.99787298e-01 7.30864063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.742755095999996 meters 0.02270082573223516 Centerline is valid? [True, True] Translation: X:38.79, Y:-3.48, Z:0.73 [[ 9.92178812e-01 1.23159486e-01 -2.03210642e-02 3.87931310e+01] [-1.23122529e-01 9.92386745e-01 3.06463974e-03 -3.48309622e+00] [ 2.05437942e-02 -5.38689802e-04 9.99788809e-01 7.32115976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.802755096 meters 0.026600470949786417 Centerline is valid? [True, True] Translation: X:38.85, Y:-3.50, Z:0.73 [[ 9.92227529e-01 1.22989732e-01 -1.89223817e-02 3.88532474e+01] [-1.22957548e-01 9.92407812e-01 2.85941219e-03 -3.50140116e+00] [ 1.91303978e-02 -5.10537824e-04 9.99816867e-01 7.34888657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.862755095999994 meters 0.0240509668030523 Centerline is valid? [True, True] Translation: X:38.91, Y:-3.51, Z:0.74 [[ 9.92314369e-01 1.22572828e-01 -1.69733635e-02 3.89145874e+01] [-1.22546794e-01 9.92459410e-01 2.56942557e-03 -3.50818611e+00] [ 1.71603161e-02 -4.69646629e-04 9.99852641e-01 7.37707757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.922755095999996 meters 0.02385709031451704 Centerline is valid? [True, True] Translation: X:38.98, Y:-3.52, Z:0.74 [[ 9.92275258e-01 1.22927194e-01 -1.66948211e-02 3.89773470e+01] [-1.22901983e-01 9.92415585e-01 2.53167200e-03 -3.51708909e+00] [ 1.68794120e-02 -4.60288861e-04 9.99857427e-01 7.39190975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.982755096 meters 0.024099198405053923 Centerline is valid? [True, True] Translation: X:39.04, Y:-3.53, Z:0.74 [[ 9.92052172e-01 1.24675948e-01 -1.69822175e-02 3.90381025e+01] [-1.24650022e-01 9.92197416e-01 2.58081068e-03 -3.52640991e+00] [ 1.71714774e-02 -4.43465048e-04 9.99852461e-01 7.39098565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04275509599999 meters 0.023194917595178915 Centerline is valid? [True, True] Translation: X:39.10, Y:-3.54, Z:0.74 [[ 9.91713747e-01 1.27138096e-01 -1.84322811e-02 3.90993766e+01] [-1.27107884e-01 9.91884928e-01 2.80621138e-03 -3.53571746e+00] [ 1.86394782e-02 -4.40070156e-04 9.99826173e-01 7.38531445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.102755095999996 meters 0.02193410810331609 Centerline is valid? [True, True] Translation: X:39.16, Y:-3.54, Z:0.74 [[ 9.91252980e-01 1.30465473e-01 -1.99070427e-02 3.91612911e+01] [-1.30430790e-01 9.91452767e-01 3.03634226e-03 -3.53996690e+00] [ 2.01330304e-02 -4.13292004e-04 9.99797225e-01 7.37123373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.162755096 meters 0.019119531142482618 Centerline is valid? [True, True] Translation: X:39.22, Y:-3.54, Z:0.74 [[ 9.90509840e-01 1.35669556e-01 -2.20006299e-02 3.92236227e+01] [-1.35628353e-01 9.90754083e-01 3.36117608e-03 -3.54046581e+00] [ 2.22532232e-02 -3.45368791e-04 9.99752307e-01 7.35882629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22275509599999 meters 0.018745038913054218 Centerline is valid? [True, True] Translation: X:39.28, Y:-3.55, Z:0.74 [[ 9.90175694e-01 1.38110140e-01 -2.18559931e-02 3.92843869e+01] [-1.38070037e-01 9.90416834e-01 3.34063580e-03 -3.54520829e+00] [ 2.21079191e-02 -2.90158594e-04 9.99755548e-01 7.37613387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.282755095999995 meters 0.019508337578006064 Centerline is valid? [True, True] Translation: X:39.35, Y:-3.55, Z:0.74 [[ 9.90662091e-01 1.34658019e-01 -2.13504067e-02 3.93456102e+01] [-1.34618873e-01 9.90892066e-01 3.26683486e-03 -3.55474868e+00] [ 2.15958542e-02 -3.62161751e-04 9.99766717e-01 7.39690481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.342755096 meters 0.021128374529133027 Centerline is valid? [True, True] Translation: X:39.41, Y:-3.57, Z:0.74 [[ 9.91290904e-01 1.29948691e-01 -2.13466840e-02 3.94066630e+01] [-1.29908355e-01 9.91520609e-01 3.27140480e-03 -3.56768854e+00] [ 2.15907919e-02 -4.69801206e-04 9.99766781e-01 7.40904919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40275509599999 meters 0.023324641163991865 Centerline is valid? [True, True] Translation: X:39.47, Y:-3.58, Z:0.74 [[ 9.92256784e-01 1.22347209e-01 -2.13923871e-02 3.94663764e+01] [-1.22304900e-01 9.92487155e-01 3.27998079e-03 -3.58280516e+00] [ 2.16329659e-02 -6.38189428e-04 9.99765776e-01 7.42452496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.462755095999995 meters 0.02647698506122502 Centerline is valid? [True, True] Translation: X:39.53, Y:-3.60, Z:0.74 [[ 9.92903792e-01 1.17228208e-01 -1.99901492e-02 3.95252839e+01] [-1.17190213e-01 9.93104755e-01 3.06572093e-03 -3.59576868e+00] [ 2.02117012e-02 -7.01316103e-04 9.99795477e-01 7.43446929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.522755096 meters 0.027267396752248492 Centerline is valid? [True, True] Translation: X:39.59, Y:-3.61, Z:0.75 [[ 9.93037893e-01 1.16116782e-01 -1.98150233e-02 3.95857717e+01] [-1.16079215e-01 9.93235308e-01 3.03956159e-03 -3.60742394e+00] [ 2.00339249e-02 -7.18287485e-04 9.99799043e-01 7.45492583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58275509599999 meters 0.027668537400067462 Centerline is valid? [True, True] Translation: X:39.65, Y:-3.62, Z:0.75 [[ 9.92942691e-01 1.16827294e-01 -2.04009019e-02 3.96472779e+01] [-1.16787516e-01 9.93151978e-01 3.13455396e-03 -3.61940970e+00] [ 2.06273975e-02 -7.29861792e-04 9.99786966e-01 7.46859028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.642755095999995 meters 0.02628880835658054 Centerline is valid? [True, True] Translation: X:39.71, Y:-3.63, Z:0.75 [[ 9.92565688e-01 1.20067748e-01 -1.99271193e-02 3.97083526e+01] [-1.20030412e-01 9.92765488e-01 3.06357853e-03 -3.62559554e+00] [ 2.01507933e-02 -6.48942600e-04 9.99796742e-01 7.48043645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.702755096 meters 0.02570699920800423 Centerline is valid? [True, True] Translation: X:39.77, Y:-3.63, Z:0.75 [[ 9.92333027e-01 1.21926853e-01 -2.02238996e-02 3.97702780e+01] [-1.21888758e-01 9.92538894e-01 3.11038894e-03 -3.63312900e+00] [ 2.04522469e-02 -6.21475668e-04 9.99790638e-01 7.48879217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.762755096 meters 0.02580200197344158 Centerline is valid? [True, True] Translation: X:39.83, Y:-3.65, Z:0.75 [[ 9.92256895e-01 1.22366036e-01 -2.12792877e-02 3.98321881e+01] [-1.22323830e-01 9.92484826e-01 3.27878806e-03 -3.64517876e+00] [ 2.15205824e-02 -6.50436093e-04 9.99768194e-01 7.49987312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.822755095999995 meters 0.027025903826890862 Centerline is valid? [True, True] Translation: X:39.89, Y:-3.66, Z:0.75 [[ 9.92386462e-01 1.21226977e-01 -2.17515569e-02 3.98924577e+01] [-1.21182457e-01 9.92624569e-01 3.35821763e-03 -3.65932641e+00] [ 2.19982363e-02 -6.96742611e-04 9.99757767e-01 7.51745103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.882755096 meters 0.027224392644030305 Centerline is valid? [True, True] Translation: X:39.95, Y:-3.67, Z:0.76 [[ 9.92653387e-01 1.19289417e-01 -2.02308943e-02 3.99530576e+01] [-1.19250400e-01 9.92859282e-01 3.12846666e-03 -3.67161104e+00] [ 2.04596242e-02 -6.92940782e-04 9.99790440e-01 7.55623933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.942755096 meters 0.03009050504133142 Centerline is valid? [True, True] Translation: X:40.01, Y:-3.69, Z:0.76 [[ 9.92707044e-01 1.18867614e-01 -2.00802430e-02 4.00120363e+01] [-1.18828981e-01 9.92909864e-01 3.11053638e-03 -3.68700896e+00] [ 2.03076134e-02 -7.01736560e-04 9.99793533e-01 7.58278159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.002755095999994 meters 0.030457387994545598 Centerline is valid? [True, True] Translation: X:40.07, Y:-3.70, Z:0.76 [[ 9.92653913e-01 1.19342711e-01 -1.98878193e-02 4.00742304e+01] [-1.19304811e-01 9.92852880e-01 3.08566289e-03 -3.69825666e+00] [ 2.01139301e-02 -6.90282825e-04 9.99797456e-01 7.59723229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.062755096 meters 0.027315087744350697 Centerline is valid? [True, True] Translation: X:40.14, Y:-3.70, Z:0.76 [[ 9.92454407e-01 1.20999716e-01 -1.98322742e-02 4.01366925e+01] [-1.20962243e-01 9.92652322e-01 3.08274488e-03 -3.70294221e+00] [ 2.00595642e-02 -6.60527372e-04 9.99798569e-01 7.61042956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.122755096 meters 0.027356317105055178 Centerline is valid? [True, True] Translation: X:40.20, Y:-3.71, Z:0.76 [[ 9.92289267e-01 1.22246248e-01 -2.04417408e-02 4.01969760e+01] [-1.22206586e-01 9.92499581e-01 3.18302685e-03 -3.71204154e+00] [ 2.06775323e-02 -6.60368033e-04 9.99785979e-01 7.61690508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.182755095999994 meters 0.026290785037577695 Centerline is valid? [True, True] Translation: X:40.26, Y:-3.72, Z:0.76 [[ 9.92159997e-01 1.23238593e-01 -2.07554468e-02 4.02581078e+01] [-1.23197812e-01 9.92376854e-01 3.23703934e-03 -3.72000453e+00] [ 2.09961532e-02 -6.54635303e-04 9.99779342e-01 7.63441040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.242755095999996 meters 0.02469002931932384 Centerline is valid? [True, True] Translation: X:40.32, Y:-3.73, Z:0.76 [[ 9.91799482e-01 1.26049781e-01 -2.11007335e-02 4.03204286e+01] [-1.26008155e-01 9.92023730e-01 3.29614592e-03 -3.72678042e+00] [ 2.13479069e-02 -6.10251300e-04 9.99771921e-01 7.64922533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.302755096 meters 0.0226142248145038 Centerline is valid? [True, True] Translation: X:40.38, Y:-3.73, Z:0.77 [[ 9.91515136e-01 1.28169930e-01 -2.16841792e-02 4.03830405e+01] [-1.28126430e-01 9.91752051e-01 3.38941061e-03 -3.73216810e+00] [ 2.19397497e-02 -5.82335458e-04 9.99759125e-01 7.65869605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.362755095999994 meters 0.022100668511669242 Centerline is valid? [True, True] Translation: X:40.44, Y:-3.74, Z:0.77 [[ 9.91145933e-01 1.31105111e-01 -2.10045137e-02 4.04431295e+01] [-1.31064902e-01 9.91368345e-01 3.28556400e-03 -3.74090938e+00] [ 2.12539642e-02 -5.03518854e-04 9.99773982e-01 7.67494775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.422755095999996 meters 0.02043833378984001 Centerline is valid? [True, True] Translation: X:40.50, Y:-3.75, Z:0.77 [[ 9.90920250e-01 1.32853067e-01 -2.06669072e-02 4.05047118e+01] [-1.32814413e-01 9.91135635e-01 3.23793850e-03 -3.74889410e+00] [ 2.09138782e-02 -4.63675690e-04 9.99781173e-01 7.69288829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.482755096 meters 0.019229013047542057 Centerline is valid? [True, True] Translation: X:40.57, Y:-3.76, Z:0.77 [[ 9.90712345e-01 1.34419087e-01 -2.05075280e-02 4.05666859e+01] [-1.34381252e-01 9.90924478e-01 3.21827460e-03 -3.75777901e+00] [ 2.07540090e-02 -4.32557096e-04 9.99784519e-01 7.70987675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54275509599999 meters 0.019594189909520936 Centerline is valid? [True, True] Translation: X:40.63, Y:-3.77, Z:0.77 [[ 9.90645965e-01 1.34998444e-01 -1.98995624e-02 4.06279380e+01] [-1.34962891e-01 9.90845726e-01 3.12511517e-03 -3.76880544e+00] [ 2.01392820e-02 -4.10180264e-04 9.99797100e-01 7.72626156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.602755095999996 meters 0.020681520167746235 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.78, Z:0.77 [[ 9.90802720e-01 1.33689858e-01 -2.09043705e-02 4.06880096e+01] [-1.33650194e-01 9.91023110e-01 3.28938195e-03 -3.78123821e+00] [ 2.11564713e-02 -4.65255401e-04 9.99776069e-01 7.72317951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.662755096 meters 0.020733737009316952 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.79, Z:0.77 [[ 9.91028796e-01 1.31889370e-01 -2.16129467e-02 4.07490968e+01] [-1.31846418e-01 9.91264302e-01 3.40662343e-03 -3.79233728e+00] [ 2.18734400e-02 -5.26472297e-04 9.99760609e-01 7.73165079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72275509599999 meters 0.023247954445571466 Centerline is valid? [True, True] Translation: X:40.81, Y:-3.81, Z:0.77 [[ 9.91338972e-01 1.29351867e-01 -2.26966373e-02 4.08086773e+01] [-1.29303682e-01 9.91598564e-01 3.58404744e-03 -3.80760825e+00] [ 2.29695561e-02 -6.18247126e-04 9.99735974e-01 7.73233629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.782755095999995 meters 0.02524007698951724 Centerline is valid? [True, True] Translation: X:40.87, Y:-3.82, Z:0.77 [[ 9.91365656e-01 1.28720409e-01 -2.50038486e-02 4.08690696e+01] [-1.28661553e-01 9.91680675e-01 3.95528741e-03 -3.81995818e+00] [ 2.53049597e-02 -7.04102100e-04 9.99679530e-01 7.71346205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.842755096 meters 0.025621635565851605 Centerline is valid? [True, True] Translation: X:40.93, Y:-3.83, Z:0.77 [[ 9.91342100e-01 1.28785883e-01 -2.55937001e-02 4.09311478e+01] [-1.28724063e-01 9.91672158e-01 4.05537389e-03 -3.83175744e+00] [ 2.59028347e-02 -7.25737810e-04 9.99664202e-01 7.71501244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90275509599999 meters 0.02417169043664432 Centerline is valid? [True, True] Translation: X:40.99, Y:-3.84, Z:0.77 [[ 9.91407091e-01 1.28332190e-01 -2.53540671e-02 4.09920404e+01] [-1.28271190e-01 9.91730964e-01 4.02455076e-03 -3.84091531e+00] [ 2.56608928e-02 -7.37771784e-04 9.99670433e-01 7.73622371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.962755095999995 meters 0.02551445153859484 Centerline is valid? [True, True] Translation: X:41.05, Y:-3.85, Z:0.77 [[ 9.91582921e-01 1.26886540e-01 -2.57510609e-02 4.10530393e+01] [-1.26822954e-01 9.91916920e-01 4.09425340e-03 -3.85439010e+00] [ 2.60624187e-02 -7.93966131e-04 9.99660002e-01 7.74569468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.022755096 meters 0.025074855374133634 Centerline is valid? [True, True] Translation: X:41.11, Y:-3.87, Z:0.78 [[ 9.91780674e-01 1.25364350e-01 -2.55904957e-02 4.11135447e+01] [-1.25300872e-01 9.92110418e-01 4.07550719e-03 -3.86590870e+00] [ 2.58995207e-02 -8.35497843e-04 9.99664202e-01 7.75893191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08275509599999 meters 0.02741921551846186 Centerline is valid? [True, True] Translation: X:41.17, Y:-3.88, Z:0.78 [[ 9.92138399e-01 1.22442929e-01 -2.58674692e-02 4.11722716e+01] [-1.22376942e-01 9.92475123e-01 4.12475806e-03 -3.88299909e+00] [ 2.61778672e-02 -9.26749070e-04 9.99656871e-01 7.77096080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.142755095999995 meters 0.028911080005932916 Centerline is valid? [True, True] Translation: X:41.23, Y:-3.90, Z:0.78 [[ 9.92277566e-01 1.21550782e-01 -2.47111397e-02 4.12324082e+01] [-1.21490232e-01 9.92584797e-01 3.94261266e-03 -3.89651083e+00] [ 2.50071293e-02 -9.10003989e-04 9.99686859e-01 7.79242476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.202755096 meters 0.02532104968883807 Centerline is valid? [True, True] Translation: X:41.29, Y:-3.90, Z:0.78 [[ 9.92148279e-01 1.22833460e-01 -2.35315434e-02 4.12941348e+01] [-1.22778775e-01 9.92426941e-01 3.76024329e-03 -3.90077606e+00] [ 2.38152213e-02 -8.41544834e-04 9.99716023e-01 7.82454531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26275509599999 meters 0.02673895281757417 Centerline is valid? [True, True] Translation: X:41.35, Y:-3.91, Z:0.78 [[ 9.91861790e-01 1.25198880e-01 -2.31393650e-02 4.13538313e+01] [-1.25146506e-01 9.92131360e-01 3.70354908e-03 -3.91297351e+00] [ 2.34209699e-02 -7.77598134e-04 9.99725389e-01 7.83506578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.322755095999995 meters 0.02463581997401098 Centerline is valid? [True, True] Translation: X:41.42, Y:-3.92, Z:0.78 [[ 9.91472795e-01 1.28234877e-01 -2.31843468e-02 4.14152806e+01] [-1.28183027e-01 9.91743571e-01 3.71503679e-03 -3.91977621e+00] [ 2.34693242e-02 -7.11518148e-04 9.99724304e-01 7.84875117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.382755096 meters 0.02350300446290115 Centerline is valid? [True, True] Translation: X:41.48, Y:-3.93, Z:0.79 [[ 9.91204462e-01 1.30309723e-01 -2.30887369e-02 4.14772934e+01] [-1.30258714e-01 9.91473112e-01 3.70606699e-03 -3.92671921e+00] [ 2.33747984e-02 -6.65960957e-04 9.99726550e-01 7.86132047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.442755096 meters 0.022193210620669167 Centerline is valid? [True, True] Translation: X:41.54, Y:-3.93, Z:0.79 [[ 9.90872411e-01 1.32922804e-01 -2.24364035e-02 4.15396843e+01] [-1.32875179e-01 9.91126216e-01 3.60694644e-03 -3.93250921e+00] [ 2.27167532e-02 -5.92782578e-04 9.99741766e-01 7.87477652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.502755095999994 meters 0.022898300472988655 Centerline is valid? [True, True] Translation: X:41.60, Y:-3.94, Z:0.79 [[ 9.90983188e-01 1.32016129e-01 -2.28924296e-02 4.16011190e+01] [-1.31966211e-01 9.91247368e-01 3.68435546e-03 -3.94317093e+00] [ 2.31784550e-02 -6.30107118e-04 9.99731145e-01 7.88232431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.562755096 meters 0.024321230963646683 Centerline is valid? [True, True] Translation: X:41.66, Y:-3.96, Z:0.79 [[ 9.91423104e-01 1.28626535e-01 -2.31396497e-02 4.16622753e+01] [-1.28574479e-01 9.91692842e-01 3.72974122e-03 -3.95571820e+00] [ 2.34271686e-02 -7.22583216e-04 9.99725285e-01 7.89144427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.622755096 meters 0.025561648552870332 Centerline is valid? [True, True] Translation: X:41.72, Y:-3.97, Z:0.79 [[ 9.91714869e-01 1.26520784e-01 -2.22285760e-02 4.17236991e+01] [-1.26472163e-01 9.91963677e-01 3.58536594e-03 -3.96654682e+00] [ 2.25035633e-02 -7.44364634e-04 9.99746486e-01 7.90889607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.682755095999994 meters 0.0273216128021612 Centerline is valid? [True, True] Translation: X:41.78, Y:-3.98, Z:0.79 [[ 9.92109265e-01 1.23630693e-01 -2.08484317e-02 4.17847629e+01] [-1.23587179e-01 9.92328004e-01 3.36781188e-03 -3.97670057e+00] [ 2.11048475e-02 -7.64638512e-04 9.99776975e-01 7.92695620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.742755095999996 meters 0.028739921950185925 Centerline is valid? [True, True] Translation: X:41.84, Y:-3.99, Z:0.79 [[ 9.92155944e-01 1.23191855e-01 -2.12214240e-02 4.18446909e+01] [-1.23146622e-01 9.92382559e-01 3.43026431e-03 -3.98732350e+00] [ 2.14823517e-02 -7.90010460e-04 9.99768916e-01 7.93454985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.802755096 meters 0.028374981502839475 Centerline is valid? [True, True] Translation: X:41.91, Y:-4.00, Z:0.79 [[ 9.92053672e-01 1.24043233e-01 -2.10425448e-02 4.19062965e+01] [-1.23998837e-01 9.92276515e-01 3.40673080e-03 -3.99535630e+00] [ 2.13026049e-02 -7.70408727e-04 9.99772777e-01 7.94748488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.862755095999994 meters 0.02856959750829031 Centerline is valid? [True, True] Translation: X:41.97, Y:-4.00, Z:0.80 [[ 9.91944754e-01 1.24886950e-01 -2.11862068e-02 4.19681507e+01] [-1.24842013e-01 9.92170685e-01 3.43579053e-03 -4.00408556e+00] [ 2.14494187e-02 -7.63185697e-04 9.99769643e-01 7.95836545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.922755095999996 meters 0.02760603320737198 Centerline is valid? [True, True] Translation: X:42.03, Y:-4.01, Z:0.80 [[ 9.91656022e-01 1.27065167e-01 -2.17434485e-02 4.20298916e+01] [-1.27018225e-01 9.91894094e-01 3.53214506e-03 -4.00952278e+00] [ 2.20160108e-02 -7.40858689e-04 9.99757344e-01 7.96211300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.982755096 meters 0.025615991204611964 Centerline is valid? [True, True] Translation: X:42.09, Y:-4.02, Z:0.80 [[ 9.91363218e-01 1.29297528e-01 -2.19344214e-02 4.20920176e+01] [-1.29250171e-01 9.91605594e-01 3.56914960e-03 -4.01630969e+00] [ 2.22117771e-02 -7.03295932e-04 9.99753041e-01 7.97739529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04275509599999 meters 0.02533430591356156 Centerline is valid? [True, True] Translation: X:42.15, Y:-4.03, Z:0.80 [[ 9.91108463e-01 1.31261026e-01 -2.17843241e-02 4.21533575e+01] [-1.31214656e-01 9.91347621e-01 3.55069435e-03 -4.02547817e+00] [ 2.20619056e-02 -6.60700629e-04 9.99756388e-01 7.98913885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.102755095999996 meters 0.024297640522284437 Centerline is valid? [True, True] Translation: X:42.21, Y:-4.03, Z:0.80 [[ 9.90895746e-01 1.32820026e-01 -2.20104974e-02 4.22145686e+01] [-1.32772938e-01 9.91139966e-01 3.59359937e-03 -4.03333140e+00] [ 2.22927856e-02 -6.38483920e-04 9.99751281e-01 7.99563099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.162755096 meters 0.024263962924350468 Centerline is valid? [True, True] Translation: X:42.28, Y:-4.04, Z:0.80 [[ 9.90796172e-01 1.33270977e-01 -2.37021656e-02 4.22764552e+01] [-1.33216330e-01 9.91079401e-01 3.87689926e-03 -4.04439069e+00] [ 2.40074062e-02 -6.83701449e-04 9.99711547e-01 7.99695346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22275509599999 meters 0.02573296583413741 Centerline is valid? [True, True] Translation: X:42.34, Y:-4.06, Z:0.80 [[ 9.90949371e-01 1.32095100e-01 -2.38794587e-02 4.23359943e+01] [-1.32039117e-01 9.91236783e-01 3.91308876e-03 -4.05834325e+00] [ 2.41870976e-02 -7.24650220e-04 9.99707187e-01 8.00732815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.282755095999995 meters 0.027646223276237388 Centerline is valid? [True, True] Translation: X:42.40, Y:-4.07, Z:0.80 [[ 9.91197804e-01 1.30469756e-01 -2.24623415e-02 4.23953788e+01] [-1.30419683e-01 9.91452025e-01 3.68619518e-03 -4.07234128e+00] [ 2.27512710e-02 -7.24217104e-04 9.99740894e-01 8.03219221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.342755096 meters 0.03010967001783797 Centerline is valid? [True, True] Translation: X:42.46, Y:-4.09, Z:0.81 [[ 9.91657262e-01 1.27117342e-01 -2.13788537e-02 4.24555205e+01] [-1.27071107e-01 9.91887389e-01 3.51292934e-03 -4.08835667e+00] [ 2.16519696e-02 -7.66987279e-04 9.99765274e-01 8.06783593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40275509599999 meters 0.03213305924736649 Centerline is valid? [True, True] Translation: X:42.52, Y:-4.10, Z:0.81 [[ 9.91881588e-01 1.25345106e-01 -2.14364039e-02 4.25163165e+01] [-1.25298163e-01 9.92112871e-01 3.52449457e-03 -4.10267235e+00] [ 2.17091103e-02 -8.09939243e-04 9.99764001e-01 8.08189107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.462755095999995 meters 0.027161625422168267 Centerline is valid? [True, True] Translation: X:42.58, Y:-4.11, Z:0.81 [[ 9.91656454e-01 1.27287453e-01 -2.03808986e-02 4.25791233e+01] [-1.27245334e-01 9.91865598e-01 3.35554760e-03 -4.10598428e+00] [ 2.06422313e-02 -7.34176197e-04 9.99786657e-01 8.11344400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.522755096 meters 0.024444816021028177 Centerline is valid? [True, True] Translation: X:42.64, Y:-4.11, Z:0.81 [[ 9.91129575e-01 1.31251073e-01 -2.08643318e-02 4.26408120e+01] [-1.31207766e-01 9.91348934e-01 3.43717158e-03 -4.11247035e+00] [ 2.11349655e-02 -6.69120049e-04 9.99776408e-01 8.12244023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58275509599999 meters 0.026669770846470667 Centerline is valid? [True, True] Translation: X:42.70, Y:-4.12, Z:0.81 [[ 9.90433184e-01 1.36330425e-01 -2.13570634e-02 4.27003644e+01] [-1.36286199e-01 9.90663255e-01 3.51961134e-03 -4.12357748e+00] [ 2.16374881e-02 -5.75266869e-04 9.99765717e-01 8.11328095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.642755095999995 meters 0.022346365006902916 Centerline is valid? [True, True] Translation: X:42.76, Y:-4.12, Z:0.81 [[ 9.89986430e-01 1.39496151e-01 -2.16261941e-02 4.27629269e+01] [-1.39451523e-01 9.90222480e-01 3.56554331e-03 -4.12482692e+00] [ 2.19121231e-02 -5.14033786e-04 9.99759768e-01 8.12653229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.702755096 meters 0.020101716207145355 Centerline is valid? [True, True] Translation: X:42.82, Y:-4.13, Z:0.81 [[ 9.89640742e-01 1.41650944e-01 -2.33711675e-02 4.28244245e+01] [-1.41599264e-01 9.89916537e-01 3.85993629e-03 -4.13159201e+00] [ 2.36822688e-02 -5.10610103e-04 9.99719405e-01 8.13909825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76275509599999 meters 0.020245235003199004 Centerline is valid? [True, True] Translation: X:42.89, Y:-4.14, Z:0.82 [[ 9.89779838e-01 1.40642139e-01 -2.35724567e-02 4.28851856e+01] [-1.40589117e-01 9.90060347e-01 3.89993057e-03 -4.14220292e+00] [ 2.38866492e-02 -5.46041775e-04 9.99714524e-01 8.15501936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.822755095999995 meters 0.02134976147153468 Centerline is valid? [True, True] Translation: X:42.95, Y:-4.15, Z:0.82 [[ 9.90004057e-01 1.39117629e-01 -2.32002614e-02 4.29461192e+01] [-1.39065695e-01 9.90275693e-01 3.84496793e-03 -4.15476255e+00] [ 2.35095578e-02 -5.80173368e-04 9.99723444e-01 8.17054078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.882755096 meters 0.02276297750571415 Centerline is valid? [True, True] Translation: X:43.01, Y:-4.17, Z:0.82 [[ 9.90474080e-01 1.35790876e-01 -2.28458858e-02 4.30069989e+01] [-1.35739504e-01 9.90737306e-01 3.79178028e-03 -4.16799641e+00] [ 2.31491605e-02 -6.54570896e-04 9.99731808e-01 8.19794321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.942755096 meters 0.02482692489750651 Centerline is valid? [True, True] Translation: X:43.07, Y:-4.18, Z:0.82 [[ 9.90843853e-01 1.33164004e-01 -2.22667421e-02 4.30668439e+01] [-1.33114485e-01 9.91093768e-01 3.69811216e-03 -4.18190342e+00] [ 2.25608848e-02 -7.00225784e-04 9.99745226e-01 8.22892634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.002755095999994 meters 0.024099655059050356 Centerline is valid? [True, True] Translation: X:43.13, Y:-4.19, Z:0.83 [[ 9.90895838e-01 1.32814499e-01 -2.20396701e-02 4.31284320e+01] [-1.32765770e-01 9.91140661e-01 3.66617846e-03 -4.19035067e+00] [ 2.23313349e-02 -7.06687191e-04 9.99750375e-01 8.25282972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.062755096 meters 0.024049022723723088 Centerline is valid? [True, True] Translation: X:43.19, Y:-4.20, Z:0.83 [[ 9.90850267e-01 1.33222707e-01 -2.16208144e-02 4.31906173e+01] [-1.33175773e-01 9.91085886e-01 3.60274725e-03 -4.19972001e+00] [ 2.19080517e-02 -6.90414404e-04 9.99759751e-01 8.27452823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.122755096 meters 0.02395322364714841 Centerline is valid? [True, True] Translation: X:43.25, Y:-4.21, Z:0.83 [[ 9.90571232e-01 1.35080348e-01 -2.28458864e-02 4.32515700e+01] [-1.35028262e-01 9.90834405e-01 3.81446247e-03 -4.20780461e+00] [ 2.31517492e-02 -6.93656445e-04 9.99731722e-01 8.27494595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.182755095999994 meters 0.023662051587495292 Centerline is valid? [True, True] Translation: X:43.31, Y:-4.22, Z:0.83 [[ 9.90460196e-01 1.35726204e-01 -2.38116951e-02 4.33140827e+01] [-1.35669643e-01 9.90746127e-01 3.98250020e-03 -4.21609906e+00] [ 2.41318743e-02 -7.13983772e-04 9.99708529e-01 8.27328539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.242755095999996 meters 0.024716726565735304 Centerline is valid? [True, True] Translation: X:43.38, Y:-4.23, Z:0.83 [[ 9.90391598e-01 1.36026286e-01 -2.49265398e-02 4.33754093e+01] [-1.35964191e-01 9.90704946e-01 4.17715356e-03 -4.22610542e+00] [ 2.52630489e-02 -7.47900973e-04 9.99680558e-01 8.26805981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.302755096 meters 0.025017771130231847 Centerline is valid? [True, True] Translation: X:43.44, Y:-4.23, Z:0.83 [[ 9.90358974e-01 1.36179205e-01 -2.53836034e-02 4.34375725e+01] [-1.36114662e-01 9.90683924e-01 4.26152554e-03 -4.23413355e+00] [ 2.57274590e-02 -7.65359470e-04 9.99668701e-01 8.27350818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.362755095999994 meters 0.026784780988320208 Centerline is valid? [True, True] Translation: X:43.50, Y:-4.24, Z:0.83 [[ 9.90439345e-01 1.35533992e-01 -2.56990520e-02 4.34980457e+01] [-1.35467418e-01 9.90772374e-01 4.32214998e-03 -4.24341078e+00] [ 2.60477090e-02 -7.99443185e-04 9.99660381e-01 8.27987113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.422755095999996 meters 0.024684426196481698 Centerline is valid? [True, True] Translation: X:43.56, Y:-4.25, Z:0.83 [[ 9.90561751e-01 1.34687184e-01 -2.54318621e-02 4.35600891e+01] [-1.34621539e-01 9.90887829e-01 4.28376028e-03 -4.24877943e+00] [ 2.57770902e-02 -8.19652665e-04 9.99667380e-01 8.30632757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.482755096 meters 0.029538518762888454 Centerline is valid? [True, True] Translation: X:43.62, Y:-4.26, Z:0.83 [[ 9.90847972e-01 1.32717521e-01 -2.46243003e-02 4.36192672e+01] [-1.32655224e-01 9.91153539e-01 4.15367136e-03 -4.26257772e+00] [ 2.49577273e-02 -8.49114767e-04 9.99688147e-01 8.31777501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54275509599999 meters 0.026874843610051963 Centerline is valid? [True, True] Translation: X:43.68, Y:-4.27, Z:0.83 [[ 9.90980292e-01 1.31826586e-01 -2.40792884e-02 4.36816100e+01] [-1.31766654e-01 9.91272424e-01 4.06581701e-03 -4.26623790e+00] [ 2.44051173e-02 -8.56297267e-04 9.99701784e-01 8.34155253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.602755095999996 meters 0.027047852365906084 Centerline is valid? [True, True] Translation: X:43.74, Y:-4.27, Z:0.84 [[ 9.91009546e-01 1.31607266e-01 -2.40750139e-02 4.37438192e+01] [-1.31547127e-01 9.91301555e-01 4.07182609e-03 -4.27236890e+00] [ 2.44014807e-02 -8.68219618e-04 9.99701863e-01 8.35645778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.662755096 meters 0.03094604105905224 Centerline is valid? [True, True] Translation: X:43.80, Y:-4.28, Z:0.84 [[ 9.90911838e-01 1.32418972e-01 -2.36420414e-02 4.38043263e+01] [-1.32361065e-01 9.91193479e-01 4.00454338e-03 -4.28384133e+00] [ 2.39641148e-02 -8.38863674e-04 9.99712467e-01 8.36268764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72275509599999 meters 0.024691594407200777 Centerline is valid? [True, True] Translation: X:43.87, Y:-4.28, Z:0.84 [[ 9.90717269e-01 1.33793248e-01 -2.40553377e-02 4.38680527e+01] [-1.33733582e-01 9.91008924e-01 4.07946383e-03 -4.28178199e+00] [ 2.43848590e-02 -8.24588781e-04 9.99702305e-01 8.38168794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.782755095999995 meters 0.02843869101815968 Centerline is valid? [True, True] Translation: X:43.93, Y:-4.29, Z:0.84 [[ 9.90352122e-01 1.36435046e-01 -2.42518546e-02 4.39280904e+01] [-1.36375022e-01 9.90648717e-01 4.11971200e-03 -4.29230304e+00] [ 2.45871418e-02 -7.72618324e-04 9.99697392e-01 8.37760894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.842755096 meters 0.026228593840923815 Centerline is valid? [True, True] Translation: X:43.99, Y:-4.30, Z:0.84 [[ 9.89914769e-01 1.39511609e-01 -2.46020543e-02 4.39892241e+01] [-1.39450664e-01 9.90220180e-01 4.18414713e-03 -4.29755351e+00] [ 2.49451877e-02 -7.11176239e-04 9.99688567e-01 8.39497894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90275509599999 meters 0.023741490956704657 Centerline is valid? [True, True] Translation: X:44.05, Y:-4.30, Z:0.84 [[ 9.89744361e-01 1.40624949e-01 -2.51142264e-02 4.40516596e+01] [-1.40561621e-01 9.90062689e-01 4.27821389e-03 -4.30226898e+00] [ 2.54662822e-02 -7.04241698e-04 9.99675434e-01 8.41402587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.962755095999995 meters 0.02465643447019454 Centerline is valid? [True, True] Translation: X:44.11, Y:-4.31, Z:0.84 [[ 9.89730672e-01 1.40885281e-01 -2.41771513e-02 4.41128238e+01] [-1.40826525e-01 9.90025696e-01 4.12443707e-03 -4.31137120e+00] [ 2.45170735e-02 -6.77297674e-04 9.99699182e-01 8.42919603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.022755096 meters 0.024626986387583552 Centerline is valid? [True, True] Translation: X:44.18, Y:-4.32, Z:0.85 [[ 9.89719413e-01 1.41067893e-01 -2.35655286e-02 4.41752526e+01] [-1.41012008e-01 9.89999704e-01 4.02497074e-03 -4.32114372e+00] [ 2.38976604e-02 -6.60569183e-04 9.99714192e-01 8.45212059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08275509599999 meters 0.02449412830841004 Centerline is valid? [True, True] Translation: X:44.24, Y:-4.33, Z:0.85 [[ 9.89902788e-01 1.39896529e-01 -2.28348694e-02 4.42362909e+01] [-1.39843565e-01 9.90165898e-01 3.90794577e-03 -4.32971063e+00] [ 2.31570170e-02 -6.75176881e-04 9.99731612e-01 8.47310192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.142755095999995 meters 0.027244002401520064 Centerline is valid? [True, True] Translation: X:44.30, Y:-4.34, Z:0.85 [[ 9.90230965e-01 1.37579368e-01 -2.26837710e-02 4.42961265e+01] [-1.37526339e-01 9.90490476e-01 3.88887205e-03 -4.34172108e+00] [ 2.30030877e-02 -7.31265546e-04 9.99735127e-01 8.47298740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.202755096 meters 0.028313240620943977 Centerline is valid? [True, True] Translation: X:44.36, Y:-4.35, Z:0.85 [[ 9.90393585e-01 1.36448170e-01 -2.24152638e-02 4.43574024e+01] [-1.36395949e-01 9.90646923e-01 3.84946667e-03 -4.35336563e+00] [ 2.27308648e-02 -7.55135899e-04 9.99741335e-01 8.48712198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26275509599999 meters 0.029182193017271336 Centerline is valid? [True, True] Translation: X:44.42, Y:-4.36, Z:0.85 [[ 9.90429891e-01 1.36181528e-01 -2.24326105e-02 4.44181859e+01] [-1.36128999e-01 9.90683603e-01 3.85943595e-03 -4.36453691e+00] [ 2.27492033e-02 -7.68771901e-04 9.99740908e-01 8.49492778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.322755095999995 meters 0.028254199122443195 Centerline is valid? [True, True] Translation: X:44.48, Y:-4.37, Z:0.85 [[ 9.90251575e-01 1.37498865e-01 -2.22683800e-02 4.44796178e+01] [-1.37447281e-01 9.90501648e-01 3.83798081e-03 -4.37270182e+00] [ 2.25845851e-02 -7.39838252e-04 9.99744662e-01 8.49655329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.382755096 meters 0.027606725928252147 Centerline is valid? [True, True] Translation: X:44.54, Y:-4.38, Z:0.85 [[ 9.89932348e-01 1.39704128e-01 -2.27310823e-02 4.45410629e+01] [-1.39650795e-01 9.90193037e-01 3.92484183e-03 -4.38345517e+00] [ 2.30564760e-02 -7.10914190e-04 9.99733911e-01 8.49988707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.442755096 meters 0.026362128135025423 Centerline is valid? [True, True] Translation: X:44.60, Y:-4.39, Z:0.85 [[ 9.89443915e-01 1.43035005e-01 -2.32749980e-02 4.46013767e+01] [-1.42979841e-01 9.89717413e-01 4.02584797e-03 -4.39395400e+00] [ 2.36115080e-02 -6.55495269e-04 9.99720995e-01 8.49968667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.502755095999994 meters 0.025516836495116168 Centerline is valid? [True, True] Translation: X:44.66, Y:-4.40, Z:0.85 [[ 9.89073805e-01 1.45506007e-01 -2.36856371e-02 4.46623616e+01] [-1.45449425e-01 9.89357178e-01 4.10361597e-03 -4.40386487e+00] [ 2.40306559e-02 -6.13716762e-04 9.99711034e-01 8.50367311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.562755096 meters 0.02460756923745047 Centerline is valid? [True, True] Translation: X:44.72, Y:-4.42, Z:0.85 [[ 9.88595259e-01 1.48856237e-01 -2.28305772e-02 4.47225763e+01] [-1.48804412e-01 9.88858711e-01 3.96182517e-03 -4.41506598e+00] [ 2.31659575e-02 -5.19350965e-04 9.99731498e-01 8.52553576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.622755096 meters 0.022528405918298248 Centerline is valid? [True, True] Translation: X:44.78, Y:-4.43, Z:0.86 [[ 9.88465861e-01 1.50019288e-01 -2.07233124e-02 4.47843090e+01] [-1.49976746e-01 9.88682967e-01 3.60084665e-03 -4.42532824e+00] [ 2.10289825e-02 -4.51299001e-04 9.99778765e-01 8.56649501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.682755095999994 meters 0.020717759965590752 Centerline is valid? [True, True] Translation: X:44.85, Y:-4.44, Z:0.86 [[ 9.88576608e-01 1.49470975e-01 -1.93576050e-02 4.48456418e+01] [-1.49433710e-01 9.88766018e-01 3.36563825e-03 -4.43518957e+00] [ 1.96432073e-02 -4.34512516e-04 9.99806959e-01 8.59471306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.742755095999996 meters 0.0235413571429507 Centerline is valid? [True, True] Translation: X:44.90, Y:-4.45, Z:0.86 [[ 9.88852507e-01 1.47701664e-01 -1.88398086e-02 4.49047718e+01] [-1.47665938e-01 9.89031852e-01 3.28119057e-03 -4.45267019e+00] [ 1.91178081e-02 -4.62615508e-04 9.99817131e-01 8.61247570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.802755096 meters 0.028816098484468148 Centerline is valid? [True, True] Translation: X:44.96, Y:-4.47, Z:0.86 [[ 9.89360227e-01 1.44430806e-01 -1.74952164e-02 4.49627532e+01] [-1.44399411e-01 9.89514780e-01 3.05129068e-03 -4.47474278e+00] [ 1.77524756e-02 -4.92526697e-04 9.99842291e-01 8.63802758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.862755095999994 meters 0.02573056559682751 Centerline is valid? [True, True] Translation: X:45.02, Y:-4.48, Z:0.87 [[ 9.89392117e-01 1.44319601e-01 -1.65858566e-02 4.50246595e+01] [-1.44291342e-01 9.89531016e-01 2.89434456e-03 -4.48434695e+00] [ 1.68299302e-02 -4.70446183e-04 9.99858256e-01 8.65786106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.922755095999996 meters 0.023454395334192066 Centerline is valid? [True, True] Translation: X:45.09, Y:-4.49, Z:0.87 [[ 9.89171389e-01 1.45823861e-01 -1.65941381e-02 4.50860469e+01] [-1.45795686e-01 9.89310466e-01 2.90167848e-03 -4.49308063e+00] [ 1.68398884e-02 -4.50903599e-04 9.99858097e-01 8.66348106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.982755096 meters 0.022753771579513617 Centerline is valid? [True, True] Translation: X:45.15, Y:-4.51, Z:0.87 [[ 9.88729378e-01 1.48731196e-01 -1.71245044e-02 4.51459102e+01] [-1.48701534e-01 9.88877573e-01 2.99976222e-03 -4.50620522e+00] [ 1.73801965e-02 -4.19512971e-04 9.99848865e-01 8.66924713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04275509599999 meters 0.02045796704698426 Centerline is valid? [True, True] Translation: X:45.21, Y:-4.52, Z:0.87 [[ 9.88479175e-01 1.50404067e-01 -1.69569385e-02 4.52073390e+01] [-1.50375157e-01 9.88624531e-01 2.97458173e-03 -4.51677733e+00] [ 1.72114345e-02 -3.90409807e-04 9.99851796e-01 8.67513379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.102755095999996 meters 0.02041405168177323 Centerline is valid? [True, True] Translation: X:45.27, Y:-4.53, Z:0.87 [[ 9.88309047e-01 1.51508920e-01 -1.70374300e-02 4.52682594e+01] [-1.51479810e-01 9.88455818e-01 2.99377288e-03 -4.53000211e+00] [ 1.72943301e-02 -3.77946164e-04 9.99850370e-01 8.68712195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.162755096 meters 0.020175750672695576 Centerline is valid? [True, True] Translation: X:45.33, Y:-4.54, Z:0.87 [[ 9.88163082e-01 1.52522876e-01 -1.64467674e-02 4.53286282e+01] [-1.52495813e-01 9.88299878e-01 2.89460623e-03 -4.54308740e+00] [ 1.66958319e-02 -3.52279842e-04 9.99860553e-01 8.70628183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22275509599999 meters 0.020614986069362823 Centerline is valid? [True, True] Translation: X:45.39, Y:-4.56, Z:0.87 [[ 9.88042695e-01 1.53336945e-01 -1.61063198e-02 4.53898921e+01] [-1.53311025e-01 9.88173906e-01 2.83921878e-03 -4.55643317e+00] [ 1.63512021e-02 -3.35992983e-04 9.99866254e-01 8.72327137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.282755095999995 meters 0.020873449394395765 Centerline is valid? [True, True] Translation: X:45.45, Y:-4.57, Z:0.87 [[ 9.88029157e-01 1.53426103e-01 -1.60877758e-02 4.54516842e+01] [-1.53400168e-01 9.88160066e-01 2.84125824e-03 -4.56987597e+00] [ 1.63332208e-02 -3.39378466e-04 9.99866546e-01 8.73215196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.342755096 meters 0.020844449414275542 Centerline is valid? [True, True] Translation: X:45.51, Y:-4.58, Z:0.87 [[ 9.88087663e-01 1.53010123e-01 -1.64521225e-02 4.55123115e+01] [-1.52982849e-01 9.88224556e-01 2.91121211e-03 -4.58212377e+00] [ 1.67038364e-02 -3.59640201e-04 9.99860417e-01 8.73581373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40275509599999 meters 0.021597735362026405 Centerline is valid? [True, True] Translation: X:45.57, Y:-4.60, Z:0.88 [[ 9.88316744e-01 1.51537438e-01 -1.63223348e-02 4.55723522e+01] [-1.51510313e-01 9.88451443e-01 2.89296349e-03 -4.59622897e+00] [ 1.65722277e-02 -3.86162193e-04 9.99862597e-01 8.75032890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.462755095999995 meters 0.022832276328758828 Centerline is valid? [True, True] Translation: X:45.63, Y:-4.61, Z:0.88 [[ 9.88601107e-01 1.49740159e-01 -1.56759448e-02 4.56321343e+01] [-1.49714851e-01 9.88725302e-01 2.78238613e-03 -4.61143160e+00] [ 1.59158382e-02 -4.03748281e-04 9.99873254e-01 8.76949541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.522755096 meters 0.02416016407773428 Centerline is valid? [True, True] Translation: X:45.69, Y:-4.63, Z:0.88 [[ 9.88718563e-01 1.48941497e-01 -1.58755587e-02 4.56911049e+01] [-1.48915369e-01 9.88845918e-01 2.82205482e-03 -4.62870672e+00] [ 1.61188025e-02 -4.26103301e-04 9.99869993e-01 8.77841038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58275509599999 meters 0.02360934402420855 Centerline is valid? [True, True] Translation: X:45.75, Y:-4.64, Z:0.88 [[ 9.88626075e-01 1.49452482e-01 -1.68059591e-02 4.57528162e+01] [-1.49423198e-01 9.88768808e-01 2.99195497e-03 -4.64384013e+00] [ 1.70643632e-02 -4.46724557e-04 9.99854293e-01 8.78493807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.642755095999995 meters 0.022317087573267707 Centerline is valid? [True, True] Translation: X:45.81, Y:-4.66, Z:0.88 [[ 9.88084588e-01 1.52980346e-01 -1.69074383e-02 4.58136548e+01] [-1.52951129e-01 9.88229153e-01 3.01549158e-03 -4.65593053e+00] [ 1.71697344e-02 -3.93548977e-04 9.99852512e-01 8.79369699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.702755096 meters 0.02102971269802365 Centerline is valid? [True, True] Translation: X:45.87, Y:-4.67, Z:0.88 [[ 9.87493836e-01 1.56776010e-01 -1.66495363e-02 4.58748557e+01] [-1.56748140e-01 9.87634131e-01 2.97400104e-03 -4.66632239e+00] [ 1.69099023e-02 -3.27023841e-04 9.99856964e-01 8.80396731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76275509599999 meters 0.018975395402922077 Centerline is valid? [True, True] Translation: X:45.94, Y:-4.68, Z:0.88 [[ 9.86616570e-01 1.62219332e-01 -1.65115569e-02 4.59359450e+01] [-1.62192610e-01 9.86754697e-01 2.95379598e-03 -4.67590550e+00] [ 1.67720192e-02 -2.36211549e-04 9.99859312e-01 8.82193163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.822755095999995 meters 0.0183555905725774 Centerline is valid? [True, True] Translation: X:46.00, Y:-4.69, Z:0.88 [[ 9.86251338e-01 1.64444443e-01 -1.63194339e-02 4.59972768e+01] [-1.64418569e-01 9.86386326e-01 2.92390483e-03 -4.68759966e+00] [ 1.65780863e-02 -2.00487087e-04 9.99862554e-01 8.83800298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.882755096 meters 0.018175457689154483 Centerline is valid? [True, True] Translation: X:46.06, Y:-4.70, Z:0.89 [[ 9.86176314e-01 1.64970849e-01 -1.55208258e-02 4.60590987e+01] [-1.64947447e-01 9.86298426e-01 2.78487166e-03 -4.70153569e+00] [ 1.57675887e-02 -1.86253889e-04 9.99875666e-01 8.85526193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.942755096 meters 0.01863013018297819 Centerline is valid? [True, True] Translation: X:46.12, Y:-4.72, Z:0.89 [[ 9.86283850e-01 1.64310435e-01 -1.56923049e-02 4.61189226e+01] [-1.64286343e-01 9.86408657e-01 2.82103798e-03 -4.71661705e+00] [ 1.59425514e-02 -2.04312803e-04 9.99872889e-01 8.86852440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.002755095999994 meters 0.01973124696723376 Centerline is valid? [True, True] Translation: X:46.18, Y:-4.74, Z:0.89 [[ 9.86799347e-01 1.61173568e-01 -1.58154918e-02 4.61784919e+01] [-1.61148614e-01 9.86926042e-01 2.84816995e-03 -4.73625388e+00] [ 1.60677704e-02 -2.61927677e-04 9.99870871e-01 8.88157204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.062755096 meters 0.021306078245839914 Centerline is valid? [True, True] Translation: X:46.24, Y:-4.76, Z:0.89 [[ 9.87217632e-01 1.58588206e-01 -1.58469950e-02 4.62371408e+01] [-1.58562745e-01 9.87344765e-01 2.85839024e-03 -4.75727495e+00] [ 1.60997546e-02 -3.09110212e-04 9.99870343e-01 8.89806560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.122755096 meters 0.021761754686771845 Centerline is valid? [True, True] Translation: X:46.30, Y:-4.77, Z:0.89 [[ 9.87428957e-01 1.57237809e-01 -1.61346542e-02 4.62978326e+01] [-1.57211167e-01 9.87560709e-01 2.91447214e-03 -4.77251582e+00] [ 1.63922158e-02 -3.41286361e-04 9.99865580e-01 8.90792966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.182755095999994 meters 0.021771982951280515 Centerline is valid? [True, True] Translation: X:46.36, Y:-4.78, Z:0.89 [[ 9.87360512e-01 1.57681535e-01 -1.59922475e-02 4.63599453e+01] [-1.57655350e-01 9.87489960e-01 2.89303443e-03 -4.78491924e+00] [ 1.62483620e-02 -3.35204583e-04 9.99867930e-01 8.92379628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.242755095999996 meters 0.02074396870832689 Centerline is valid? [True, True] Translation: X:46.42, Y:-4.80, Z:0.89 [[ 9.87145429e-01 1.58947712e-01 -1.67190766e-02 4.64216389e+01] [-1.58919173e-01 9.87286946e-01 3.03044428e-03 -4.79594936e+00] [ 1.69882083e-02 -3.34507389e-04 9.99855634e-01 8.92986835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.302755096 meters 0.019950976265835366 Centerline is valid? [True, True] Translation: X:46.48, Y:-4.80, Z:0.89 [[ 9.86804106e-01 1.60931474e-01 -1.78526486e-02 4.64830194e+01] [-1.60899224e-01 9.86965530e-01 3.23775457e-03 -4.80478180e+00] [ 1.81410054e-02 -3.22552183e-04 9.99835386e-01 8.93729172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.362755095999994 meters 0.02004947567006533 Centerline is valid? [True, True] Translation: X:46.54, Y:-4.81, Z:0.89 [[ 9.86484698e-01 1.62872728e-01 -1.79001396e-02 4.65441747e+01] [-1.62840530e-01 9.86647044e-01 3.25158564e-03 -4.81275607e+00] [ 1.81907145e-02 -2.92771255e-04 9.99834492e-01 8.94406249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.422755095999996 meters 0.019685438657781183 Centerline is valid? [True, True] Translation: X:46.60, Y:-4.82, Z:0.89 [[ 9.86542059e-01 1.62142383e-01 -2.10858620e-02 4.66046750e+01] [-1.62097388e-01 9.86767304e-01 3.83723545e-03 -4.82473979e+00] [ 2.14290177e-02 -3.67631007e-04 9.99770305e-01 8.93976376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.482755096 meters 0.021147313086087482 Centerline is valid? [True, True] Translation: X:46.66, Y:-4.84, Z:0.89 [[ 9.87007856e-01 1.59326579e-01 -2.07492860e-02 4.66644806e+01] [-1.59282264e-01 9.87225840e-01 3.78180524e-03 -4.83574012e+00] [ 2.10867733e-02 -4.27678236e-04 9.99777558e-01 8.94868715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54275509599999 meters 0.022628817755699783 Centerline is valid? [True, True] Translation: X:46.73, Y:-4.85, Z:0.90 [[ 9.87467938e-01 1.56667190e-01 -1.90384850e-02 4.67250746e+01] [-1.56629299e-01 9.87651350e-01 3.47458226e-03 -4.84689255e+00] [ 1.93477385e-02 -4.49054022e-04 9.99812714e-01 8.96939619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.602755095999996 meters 0.02316692705388193 Centerline is valid? [True, True] Translation: X:46.79, Y:-4.86, Z:0.90 [[ 9.87747252e-01 1.54879855e-01 -1.91728252e-02 4.67854278e+01] [-1.54840995e-01 9.87933190e-01 3.50401789e-03 -4.85909692e+00] [ 1.94841721e-02 -4.92344713e-04 9.99810044e-01 8.98119956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.662755096 meters 0.023682018437432423 Centerline is valid? [True, True] Translation: X:46.85, Y:-4.87, Z:0.90 [[ 9.88007237e-01 1.53302058e-01 -1.84439246e-02 4.68465768e+01] [-1.53265773e-01 9.88179246e-01 3.37346222e-03 -4.87143211e+00] [ 1.87430622e-02 -5.06182733e-04 9.99824205e-01 8.99399274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72275509599999 meters 0.025296141855927424 Centerline is valid? [True, True] Translation: X:46.91, Y:-4.88, Z:0.90 [[ 9.88103873e-01 1.52630675e-01 -1.88311542e-02 4.69066499e+01] [-1.52592623e-01 9.88283153e-01 3.44977127e-03 -4.88482830e+00] [ 1.91370533e-02 -5.35237154e-04 9.99816727e-01 8.99646679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.782755095999995 meters 0.02526542965059548 Centerline is valid? [True, True] Translation: X:46.97, Y:-4.90, Z:0.90 [[ 9.88106001e-01 1.52699197e-01 -1.81517316e-02 4.69685098e+01] [-1.52663769e-01 9.88272577e-01 3.32984826e-03 -4.89579638e+00] [ 1.84473237e-02 -5.19131286e-04 9.99829699e-01 9.01159693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.842755096 meters 0.025297730567042712 Centerline is valid? [True, True] Translation: X:47.03, Y:-4.91, Z:0.90 [[ 9.87858117e-01 1.54326068e-01 -1.78831027e-02 4.70284129e+01] [-1.54291845e-01 9.88019852e-01 3.28617541e-03 -4.90781904e+00] [ 1.81760030e-02 -4.87058144e-04 9.99834684e-01 9.03526978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90275509599999 meters 0.023656751403223247 Centerline is valid? [True, True] Translation: X:47.09, Y:-4.92, Z:0.90 [[ 9.87548261e-01 1.56245684e-01 -1.83226035e-02 4.70897044e+01] [-1.56210000e-01 9.87718111e-01 3.37167004e-03 -4.91639448e+00] [ 1.86243763e-02 -4.67512989e-04 9.99826442e-01 9.04825531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.962755095999995 meters 0.023117004834085693 Centerline is valid? [True, True] Translation: X:47.15, Y:-4.93, Z:0.90 [[ 9.87128220e-01 1.58740376e-01 -1.94774347e-02 4.71515075e+01] [-1.58700423e-01 9.87320256e-01 3.58996916e-03 -4.92556352e+00] [ 1.98003389e-02 -4.52682739e-04 9.99803852e-01 9.04206886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.022755096 meters 0.023410574634427295 Centerline is valid? [True, True] Translation: X:47.21, Y:-4.94, Z:0.90 [[ 9.86908014e-01 1.59752711e-01 -2.21730331e-02 4.72113193e+01] [-1.59701043e-01 9.87156939e-01 4.09318394e-03 -4.93744430e+00] [ 2.25421608e-02 -4.98539519e-04 9.99745769e-01 9.03721784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08275509599999 meters 0.02354167213926235 Centerline is valid? [True, True] Translation: X:47.27, Y:-4.95, Z:0.90 [[ 9.86768825e-01 1.60429400e-01 -2.34455659e-02 4.72729496e+01] [-1.60371712e-01 9.87047183e-01 4.33263257e-03 -4.94956273e+00] [ 2.38369614e-02 -5.15301203e-04 9.99715726e-01 9.04428551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.142755095999995 meters 0.022231399715412 Centerline is valid? [True, True] Translation: X:47.33, Y:-4.96, Z:0.91 [[ 9.86510511e-01 1.61770378e-01 -2.50470642e-02 4.73346524e+01] [-1.61704770e-01 9.86828288e-01 4.63647127e-03 -4.95748420e+00] [ 2.54671952e-02 -5.23697880e-04 9.99675521e-01 9.05888315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.202755096 meters 0.022282992724639357 Centerline is valid? [True, True] Translation: X:47.40, Y:-4.97, Z:0.91 [[ 9.86357139e-01 1.62396187e-01 -2.69642824e-02 4.73960628e+01] [-1.62320153e-01 9.86725479e-01 4.99969010e-03 -4.96889702e+00] [ 2.74182751e-02 -5.54633566e-04 9.99623895e-01 9.06781015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26275509599999 meters 0.02267758634083404 Centerline is valid? [True, True] Translation: X:47.46, Y:-4.98, Z:0.91 [[ 9.86355129e-01 1.62315867e-01 -2.75158055e-02 4.74576297e+01] [-1.62236410e-01 9.86738682e-01 5.11086775e-03 -4.98150847e+00] [ 2.79804846e-02 -5.77065112e-04 9.99608303e-01 9.08991001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.322755095999995 meters 0.023023268969377602 Centerline is valid? [True, True] Translation: X:47.52, Y:-4.99, Z:0.91 [[ 9.86396801e-01 1.62099167e-01 -2.72985622e-02 4.75189190e+01] [-1.62020638e-01 9.86774298e-01 5.07910422e-03 -4.99384578e+00] [ 2.77608381e-02 -5.87081685e-04 9.99614421e-01 9.10942769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.382755096 meters 0.02305769387968777 Centerline is valid? [True, True] Translation: X:47.58, Y:-5.01, Z:0.91 [[ 9.86597048e-01 1.60826696e-01 -2.75869363e-02 4.75794512e+01] [-1.60745765e-01 9.86982455e-01 5.14119124e-03 -5.00658905e+00] [ 2.80546629e-02 -6.37800924e-04 9.99606187e-01 9.14636463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.442755096 meters 0.023916122739786855 Centerline is valid? [True, True] Translation: X:47.64, Y:-5.02, Z:0.92 [[ 9.86814354e-01 1.59269173e-01 -2.88229269e-02 4.76399799e+01] [-1.59179917e-01 9.87234932e-01 5.37989260e-03 -5.02026562e+00] [ 2.93118513e-02 -7.20924125e-04 9.99570055e-01 9.16617040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.502755095999994 meters 0.025229559634728987 Centerline is valid? [True, True] Translation: X:47.70, Y:-5.03, Z:0.92 [[ 9.87049310e-01 1.57671732e-01 -2.95513707e-02 4.76994952e+01] [-1.57576945e-01 9.87491261e-01 5.52403929e-03 -5.03347848e+00] [ 3.00527052e-02 -7.95884463e-04 9.99547999e-01 9.17361791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.562755096 meters 0.025301898043170182 Centerline is valid? [True, True] Translation: X:47.76, Y:-5.04, Z:0.92 [[ 9.87119955e-01 1.57103113e-01 -3.02126871e-02 4.77605772e+01] [-1.57003518e-01 9.87581848e-01 5.65578981e-03 -5.04443875e+00] [ 3.07260436e-02 -8.39444799e-04 9.99527491e-01 9.18674243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.622755096 meters 0.0274040156199413 Centerline is valid? [True, True] Translation: X:47.82, Y:-5.06, Z:0.92 [[ 9.87352111e-01 1.55555499e-01 -3.06316137e-02 4.78201059e+01] [-1.55452119e-01 9.87826737e-01 5.74253580e-03 -5.05885552e+00] [ 3.11520101e-02 -9.08155573e-04 9.99514246e-01 9.19392895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.682755095999994 meters 0.02845734508897213 Centerline is valid? [True, True] Translation: X:47.88, Y:-5.07, Z:0.92 [[ 9.87423001e-01 1.55031898e-01 -3.09988380e-02 4.78796135e+01] [-1.54925519e-01 9.87909014e-01 5.81920156e-03 -5.07138066e+00] [ 3.15261934e-02 -9.43502399e-04 9.99502481e-01 9.20428603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.742755095999996 meters 0.02931473936584729 Centerline is valid? [True, True] Translation: X:47.94, Y:-5.08, Z:0.92 [[ 9.87458189e-01 1.54797357e-01 -3.10500004e-02 4.79403270e+01] [-1.54690265e-01 9.87945776e-01 5.83658223e-03 -5.08247582e+00] [ 3.15792043e-02 -9.60248111e-04 9.99500791e-01 9.21742381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.802755096 meters 0.03019420651826162 Centerline is valid? [True, True] Translation: X:48.00, Y:-5.09, Z:0.92 [[ 9.87610502e-01 1.53984245e-01 -3.02382031e-02 4.80010667e+01] [-1.53882072e-01 9.88072829e-01 5.69144640e-03 -5.09278766e+00] [ 3.07539399e-02 -9.67814904e-04 9.99526517e-01 9.22995503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.862755095999994 meters 0.026935799422208632 Centerline is valid? [True, True] Translation: X:48.06, Y:-5.10, Z:0.93 [[ 9.87781680e-01 1.53052302e-01 -2.93657039e-02 4.80634321e+01] [-1.52955310e-01 9.88217608e-01 5.53457438e-03 -5.09898172e+00] [ 2.98667850e-02 -9.75310836e-04 9.99553412e-01 9.26269240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.922755095999996 meters 0.027276625267984352 Centerline is valid? [True, True] Translation: X:48.13, Y:-5.11, Z:0.93 [[ 9.87708183e-01 1.53527387e-01 -2.93579133e-02 4.81257264e+01] [-1.53430396e-01 9.88143918e-01 5.54178634e-03 -5.11074661e+00] [ 2.98606594e-02 -9.69271442e-04 9.99553601e-01 9.26126568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.982755096 meters 0.02573720470156624 Centerline is valid? [True, True] Translation: X:48.19, Y:-5.12, Z:0.93 [[ 9.87194456e-01 1.56915063e-01 -2.87187765e-02 4.81862997e+01] [-1.56823502e-01 9.87611732e-01 5.42729816e-03 -5.11900935e+00] [ 2.92146255e-02 -8.54019532e-04 9.99572797e-01 9.27127544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04275509599999 meters 0.023892539714846048 Centerline is valid? [True, True] Translation: X:48.25, Y:-5.13, Z:0.93 [[ 9.86728422e-01 1.59919435e-01 -2.81566192e-02 4.82479046e+01] [-1.59832547e-01 9.87129782e-01 5.32452099e-03 -5.12723306e+00] [ 2.86457317e-02 -7.53512031e-04 9.99589343e-01 9.28719467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.102755095999996 meters 0.022551385597889856 Centerline is valid? [True, True] Translation: X:48.31, Y:-5.14, Z:0.93 [[ 9.86169570e-01 1.63596255e-01 -2.65677328e-02 4.83090288e+01] [-1.63520085e-01 9.86527185e-01 5.02943858e-03 -5.13586452e+00] [ 2.70325880e-02 -6.15521344e-04 9.99634363e-01 9.30404511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.162755096 meters 0.0221357433003907 Centerline is valid? [True, True] Translation: X:48.37, Y:-5.15, Z:0.93 [[ 9.85883314e-01 1.65609354e-01 -2.46502219e-02 4.83690135e+01] [-1.65544348e-01 9.86191294e-01 4.66903525e-03 -5.14633439e+00] [ 2.50830702e-02 -5.22419030e-04 9.99685234e-01 9.31915857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22275509599999 meters 0.02220902280612674 Centerline is valid? [True, True] Translation: X:48.43, Y:-5.16, Z:0.93 [[ 9.85879819e-01 1.65753249e-01 -2.38084739e-02 4.84307378e+01] [-1.65692501e-01 9.86167127e-01 4.51576575e-03 -5.15834291e+00] [ 2.42276371e-02 -5.07116748e-04 9.99706339e-01 9.33315451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.282755095999995 meters 0.02355370912012833 Centerline is valid? [True, True] Translation: X:48.49, Y:-5.17, Z:0.93 [[ 9.86182804e-01 1.64029131e-01 -2.31931304e-02 4.84906510e+01] [-1.63970847e-01 9.86455346e-01 4.40577368e-03 -5.17232983e+00] [ 2.36016627e-02 -5.41901015e-04 9.99721295e-01 9.34389217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.342755096 meters 0.023315603270701132 Centerline is valid? [True, True] Translation: X:48.55, Y:-5.18, Z:0.94 [[ 9.86534134e-01 1.62002634e-01 -2.24844078e-02 4.85512938e+01] [-1.61947206e-01 9.86790156e-01 4.27666777e-03 -5.18373564e+00] [ 2.28802237e-02 -5.77791731e-04 9.99738046e-01 9.36028546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40275509599999 meters 0.02592698273283119 Centerline is valid? [True, True] Translation: X:48.61, Y:-5.20, Z:0.94 [[ 9.87286874e-01 1.57449922e-01 -2.17749918e-02 4.86108245e+01] [-1.57396717e-01 9.87526748e-01 4.14678762e-03 -5.19988721e+00] [ 2.21562982e-02 -6.66756762e-04 9.99754297e-01 9.38268181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.462755095999995 meters 0.02869654899378235 Centerline is valid? [True, True] Translation: X:48.67, Y:-5.22, Z:0.94 [[ 9.88109415e-01 1.52230665e-01 -2.15779523e-02 4.86702545e+01] [-1.52177157e-01 9.88344687e-01 4.11009458e-03 -5.21511127e+00] [ 2.19521370e-02 -7.77551716e-04 9.99758720e-01 9.38309031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.522755096 meters 0.032144769088543586 Centerline is valid? [True, True] Translation: X:48.73, Y:-5.23, Z:0.94 [[ 9.88693981e-01 1.48054738e-01 -2.37488263e-02 4.87288838e+01] [-1.47988691e-01 9.88978703e-01 4.52464122e-03 -5.23087795e+00] [ 2.41569780e-02 -9.58927842e-04 9.99707718e-01 9.35925657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58275509599999 meters 0.031357370261953295 Centerline is valid? [True, True] Translation: X:48.79, Y:-5.24, Z:0.94 [[ 9.88815213e-01 1.47247173e-01 -2.37222334e-02 4.87899204e+01] [-1.47180985e-01 9.89099242e-01 4.52191565e-03 -5.24114425e+00] [ 2.41294823e-02 -9.79877307e-04 9.99708361e-01 9.36924536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.642755095999995 meters 0.030019371394451162 Centerline is valid? [True, True] Translation: X:48.85, Y:-5.25, Z:0.94 [[ 9.88832477e-01 1.47380518e-01 -2.21204689e-02 4.88524926e+01] [-1.47322869e-01 9.89079442e-01 4.22247439e-03 -5.24889804e+00] [ 2.25012115e-02 -9.16468863e-04 9.99746396e-01 9.38391091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.702755096 meters 0.035681431893459195 Centerline is valid? [True, True] Translation: X:48.91, Y:-5.27, Z:0.94 [[ 9.88893029e-01 1.47038871e-01 -2.16829036e-02 4.89115226e+01] [-1.46983260e-01 9.89130294e-01 4.14525236e-03 -5.26718256e+00] [ 2.20567300e-02 -9.12187312e-04 9.99756305e-01 9.39373574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76275509599999 meters 0.03602776377455372 Centerline is valid? [True, True] Translation: X:48.97, Y:-5.28, Z:0.94 [[ 9.89077426e-01 1.45783737e-01 -2.17473633e-02 4.89729057e+01] [-1.45727411e-01 9.89316029e-01 4.16123047e-03 -5.27771084e+00] [ 2.21216549e-02 -9.46592178e-04 9.99754838e-01 9.41269130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.822755095999995 meters 0.03623624748403884 Centerline is valid? [True, True] Translation: X:49.03, Y:-5.29, Z:0.94 [[ 9.89048457e-01 1.46134127e-01 -2.06873712e-02 4.90348878e+01] [-1.46083126e-01 9.89264378e-01 3.96356461e-03 -5.28781941e+00] [ 2.10444915e-02 -8.98081603e-04 9.99778137e-01 9.43716572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.882755096 meters 0.031008900052596187 Centerline is valid? [True, True] Translation: X:49.10, Y:-5.29, Z:0.95 [[ 9.88841654e-01 1.47693160e-01 -1.94657074e-02 4.90977323e+01] [-1.47648201e-01 9.89032891e-01 3.73485221e-03 -5.28755883e+00] [ 1.98038370e-02 -8.19100756e-04 9.99803549e-01 9.46379229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.942755096 meters 0.03660999844330943 Centerline is valid? [True, True] Translation: X:49.16, Y:-5.30, Z:0.95 [[ 9.88597219e-01 1.49451059e-01 -1.84369183e-02 4.91567229e+01] [-1.49410943e-01 9.88768842e-01 3.54228055e-03 -5.30376765e+00] [ 1.87592480e-02 -7.47211352e-04 9.99823751e-01 9.48782958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.002755095999994 meters 0.02722012217209778 Centerline is valid? [True, True] Translation: X:49.22, Y:-5.30, Z:0.95 [[ 9.88420231e-01 1.50661402e-01 -1.80717730e-02 4.92207308e+01] [-1.50622979e-01 9.88585167e-01 3.47657353e-03 -5.29930509e+00] [ 1.83892721e-02 -7.14291334e-04 9.99830648e-01 9.50351929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.062755096 meters 0.028448041163971212 Centerline is valid? [True, True] Translation: X:49.28, Y:-5.31, Z:0.95 [[ 9.88257107e-01 1.51729922e-01 -1.80532838e-02 4.92812389e+01] [-1.51691658e-01 9.88421743e-01 3.47831296e-03 -5.30922241e+00] [ 1.83720224e-02 -6.98934952e-04 9.99830976e-01 9.51629219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.122755096 meters 0.02659349667353201 Centerline is valid? [True, True] Translation: X:49.34, Y:-5.31, Z:0.95 [[ 9.87865602e-01 1.54262456e-01 -1.80179912e-02 4.93436677e+01] [-1.54224708e-01 9.88029690e-01 3.47442092e-03 -5.31455026e+00] [ 1.83382830e-02 -6.53441471e-04 9.99831626e-01 9.52385629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.182755095999994 meters 0.025944298067877493 Centerline is valid? [True, True] Translation: X:49.41, Y:-5.32, Z:0.95 [[ 9.87562460e-01 1.56105346e-01 -1.87485470e-02 4.94057248e+01] [-1.56064702e-01 9.87740198e-01 3.62078919e-03 -5.32373321e+00] [ 1.90839181e-02 -6.49769071e-04 9.99817674e-01 9.53263586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.242755095999996 meters 0.025330941667804047 Centerline is valid? [True, True] Translation: X:49.47, Y:-5.33, Z:0.95 [[ 9.86936323e-01 1.59962461e-01 -1.92017157e-02 4.94662007e+01] [-1.59920519e-01 9.87122921e-01 3.71024969e-03 -5.33120848e+00] [ 1.95479543e-02 -5.91031854e-04 9.99808746e-01 9.53205845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.302755096 meters 0.022970679435998297 Centerline is valid? [True, True] Translation: X:49.53, Y:-5.34, Z:0.95 [[ 9.86091475e-01 1.64896490e-01 -2.08026519e-02 4.95281756e+01] [-1.64848338e-01 9.86310732e-01 4.02052862e-03 -5.33550549e+00] [ 2.11808499e-02 -5.35326413e-04 9.99775517e-01 9.53347366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.362755095999994 meters 0.0212002145997687 Centerline is valid? [True, True] Translation: X:49.59, Y:-5.34, Z:0.95 [[ 9.85543322e-01 1.67956693e-01 -2.22465499e-02 4.95900588e+01] [-1.67902351e-01 9.85794246e-01 4.30182063e-03 -5.34201606e+00] [ 2.26530404e-02 -5.04382578e-04 9.99743260e-01 9.53765402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.422755095999996 meters 0.020206587696663683 Centerline is valid? [True, True] Translation: X:49.65, Y:-5.35, Z:0.96 [[ 9.85297143e-01 1.69235794e-01 -2.34261658e-02 4.96521246e+01] [-1.69175733e-01 9.85575461e-01 4.53679283e-03 -5.34905426e+00] [ 2.38560419e-02 -5.06950249e-04 9.99715276e-01 9.55773802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.482755096 meters 0.021572554128831013 Centerline is valid? [True, True] Translation: X:49.71, Y:-5.36, Z:0.96 [[ 9.85738818e-01 1.66566387e-01 -2.39712484e-02 4.97129155e+01] [-1.66502536e-01 9.86030065e-01 4.64940657e-03 -5.36288640e+00] [ 2.44108065e-02 -5.91826882e-04 9.99701837e-01 9.58366880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54275509599999 meters 0.02432099086012129 Centerline is valid? [True, True] Translation: X:49.77, Y:-5.38, Z:0.96 [[ 9.86633758e-01 1.61227156e-01 -2.36565180e-02 4.97707030e+01] [-1.61163310e-01 9.86917061e-01 4.59361462e-03 -5.37807042e+00] [ 2.40876367e-02 -7.19652509e-04 9.99709592e-01 9.61496731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.602755095999996 meters 0.029857222199440314 Centerline is valid? [True, True] Translation: X:49.83, Y:-5.40, Z:0.96 [[ 9.87316102e-01 1.57021174e-01 -2.34790536e-02 4.98291000e+01] [-1.56957089e-01 9.87594899e-01 4.55937100e-03 -5.39627934e+00] [ 2.39037114e-02 -8.16336491e-04 9.99713932e-01 9.62689968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.662755096 meters 0.027792975735368538 Centerline is valid? [True, True] Translation: X:49.89, Y:-5.40, Z:0.97 [[ 9.87927339e-01 1.53157238e-01 -2.32901917e-02 4.98896537e+01] [-1.53093083e-01 9.88201419e-01 4.52369355e-03 -5.40466249e+00] [ 2.37082369e-02 -9.03513283e-04 9.99718512e-01 9.66111694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72275509599999 meters 0.03611526950939194 Centerline is valid? [True, True] Translation: X:49.95, Y:-5.43, Z:0.97 [[ 9.88441612e-01 1.49644938e-01 -2.42811250e-02 4.99462900e+01] [-1.49574118e-01 9.88739263e-01 4.71739650e-03 -5.42698910e+00] [ 2.47136362e-02 -1.03104315e-03 9.99694040e-01 9.66258067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.782755095999995 meters 0.03931040955781342 Centerline is valid? [True, True] Translation: X:50.01, Y:-5.44, Z:0.97 [[ 9.88611336e-01 1.48158579e-01 -2.63943368e-02 5.00060433e+01] [-1.48074271e-01 9.88962931e-01 5.13142309e-03 -5.44142475e+00] [ 2.68632850e-02 -1.16466087e-03 9.99638438e-01 9.66672651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.842755096 meters 0.034648418356702876 Centerline is valid? [True, True] Translation: X:50.07, Y:-5.45, Z:0.97 [[ 9.88449607e-01 1.49064113e-01 -2.73361310e-02 5.00689664e+01] [-1.48973800e-01 9.88826819e-01 5.32256403e-03 -5.44517242e+00] [ 2.78241028e-02 -1.18871901e-03 9.99612128e-01 9.68785607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90275509599999 meters 0.03261638529357057 Centerline is valid? [True, True] Translation: X:50.13, Y:-5.45, Z:0.97 [[ 9.87847309e-01 1.52830716e-01 -2.82925258e-02 5.01299115e+01] [-1.52735326e-01 9.88251740e-01 5.51526075e-03 -5.45181513e+00] [ 2.88030391e-02 -1.12696734e-03 9.99584471e-01 9.70054336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.962755095999995 meters 0.02780378392488072 Centerline is valid? [True, True] Translation: X:50.19, Y:-5.45, Z:0.97 [[ 9.87101434e-01 1.57701926e-01 -2.75837121e-02 5.01915579e+01] [-1.57613120e-01 9.87486293e-01 5.37831000e-03 -5.45429245e+00] [ 2.80867075e-02 -9.61382583e-04 9.99605028e-01 9.73543632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.022755096 meters 0.025079387384200635 Centerline is valid? [True, True] Translation: X:50.25, Y:-5.46, Z:0.98 [[ 9.86590259e-01 1.60787913e-01 -2.80518649e-02 5.02533431e+01] [-1.60697271e-01 9.86988579e-01 5.47101878e-03 -5.45958266e+00] [ 2.85665440e-02 -8.89795718e-04 9.99591497e-01 9.75134550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08275509599999 meters 0.024323755969174212 Centerline is valid? [True, True] Translation: X:50.32, Y:-5.47, Z:0.98 [[ 9.86141610e-01 1.63675430e-01 -2.71123253e-02 5.03154761e+01] [-1.63591750e-01 9.86513934e-01 5.29134530e-03 -5.46695554e+00] [ 2.76127499e-02 -7.82663044e-04 9.99618389e-01 9.76398916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.142755095999995 meters 0.02517786955279572 Centerline is valid? [True, True] Translation: X:50.38, Y:-5.48, Z:0.98 [[ 9.86150573e-01 1.63853659e-01 -2.56715125e-02 5.03753043e+01] [-1.63778520e-01 9.86484377e-01 5.01696464e-03 -5.47752648e+00] [ 2.61465940e-02 -7.43040220e-04 9.99657843e-01 9.77965525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.202755096 meters 0.02870824143029354 Centerline is valid? [True, True] Translation: X:50.44, Y:-5.49, Z:0.98 [[ 9.86515075e-01 1.61819315e-01 -2.45462261e-02 5.04358101e+01] [-1.61749853e-01 9.86820105e-01 4.80254777e-03 -5.49258881e+00] [ 2.49998544e-02 -7.67437308e-04 9.99687160e-01 9.78527832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26275509599999 meters 0.03189769408285235 Centerline is valid? [True, True] Translation: X:50.50, Y:-5.51, Z:0.98 [[ 9.86921818e-01 1.59446434e-01 -2.37098933e-02 5.04955709e+01] [-1.59380855e-01 9.87206255e-01 4.64251992e-03 -5.50701485e+00] [ 2.41467882e-02 -8.02901137e-04 9.99708101e-01 9.79636290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.322755095999995 meters 0.03214722181411807 Centerline is valid? [True, True] Translation: X:50.56, Y:-5.52, Z:0.98 [[ 9.87497630e-01 1.55959124e-01 -2.29168660e-02 5.05567351e+01] [-1.55896849e-01 9.87763134e-01 4.49033461e-03 -5.51884835e+00] [ 2.33367440e-02 -8.61527594e-04 9.99727290e-01 9.81887113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.382755096 meters 0.03432424920524016 Centerline is valid? [True, True] Translation: X:50.62, Y:-5.53, Z:0.98 [[ 9.87820715e-01 1.53964375e-01 -2.24767759e-02 5.06166460e+01] [-1.53903891e-01 9.88075995e-01 4.40681084e-03 -5.53296860e+00] [ 2.28872546e-02 -8.93875771e-04 9.99737653e-01 9.83140506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44275509599999 meters 0.035037768726096846 Centerline is valid? [True, True] Translation: X:50.68, Y:-5.54, Z:0.98 [[ 9.87727125e-01 1.54633972e-01 -2.19877379e-02 5.06763305e+01] [-1.54576123e-01 9.87971450e-01 4.31692964e-03 -5.54466751e+00] [ 2.23908012e-02 -8.65169231e-04 9.99748920e-01 9.84286600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.502755095999994 meters 0.03156652984986439 Centerline is valid? [True, True] Translation: X:50.74, Y:-5.55, Z:0.98 [[ 9.87094075e-01 1.58547454e-01 -2.25386610e-02 5.07378453e+01] [-1.58487563e-01 9.87351033e-01 4.43053983e-03 -5.55105833e+00] [ 2.29560210e-02 -8.01262163e-04 9.99736155e-01 9.84902910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.562755096 meters 0.027113005118358 Centerline is valid? [True, True] Translation: X:50.80, Y:-5.56, Z:0.98 [[ 9.86068462e-01 1.64654761e-01 -2.36177329e-02 5.07997692e+01] [-1.64590706e-01 9.86351018e-01 4.64422934e-03 -5.55591493e+00] [ 2.40600694e-02 -6.92268740e-04 9.99710275e-01 9.84636191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.622755096 meters 0.02520525921405158 Centerline is valid? [True, True] Translation: X:50.86, Y:-5.56, Z:0.98 [[ 9.85375415e-01 1.68621041e-01 -2.45404815e-02 5.08612673e+01] [-1.68553035e-01 9.85680759e-01 4.82873415e-03 -5.56437662e+00] [ 2.50033066e-02 -6.21743284e-04 9.99687175e-01 9.84222486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.682755095999994 meters 0.02373374033622904 Centerline is valid? [True, True] Translation: X:50.92, Y:-5.58, Z:0.98 [[ 9.84730543e-01 1.72330937e-01 -2.46537037e-02 5.09214752e+01] [-1.72263281e-01 9.85038964e-01 4.85821320e-03 -5.57536705e+00] [ 2.51220792e-02 -5.37103017e-04 9.99684246e-01 9.84654604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.742755095999996 meters 0.02428172466822712 Centerline is valid? [True, True] Translation: X:50.98, Y:-5.59, Z:0.99 [[ 9.84828625e-01 1.71925042e-01 -2.35448446e-02 5.09813276e+01] [-1.71863081e-01 9.85109893e-01 4.64551567e-03 -5.59192887e+00] [ 2.39929398e-02 -5.28547275e-04 9.99711988e-01 9.86452758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.802755096 meters 0.025505817199980692 Centerline is valid? [True, True] Translation: X:51.04, Y:-5.61, Z:0.99 [[ 9.84991879e-01 1.71051835e-01 -2.30709380e-02 5.10415170e+01] [-1.70991987e-01 9.85261881e-01 4.55701801e-03 -5.60845222e+00] [ 2.35104021e-02 -5.43680203e-04 9.99723444e-01 9.87578710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.862755095999994 meters 0.027684784015761552 Centerline is valid? [True, True] Translation: X:51.10, Y:-5.63, Z:0.99 [[ 9.85431490e-01 1.68565963e-01 -2.25897078e-02 5.11004899e+01] [-1.68507792e-01 9.85690195e-01 4.46807835e-03 -5.62754503e+00] [ 2.30196194e-02 -5.96443315e-04 9.99734836e-01 9.88453632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.922755095999996 meters 0.030730071024855206 Centerline is valid? [True, True] Translation: X:51.16, Y:-5.65, Z:0.99 [[ 9.85946434e-01 1.65719615e-01 -2.11338243e-02 5.11588531e+01] [-1.65667937e-01 9.86172712e-01 4.18522512e-03 -5.64844904e+00] [ 2.15351747e-02 -6.25210698e-04 9.99767896e-01 9.90731218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.982755096 meters 0.028453786864573064 Centerline is valid? [True, True] Translation: X:51.22, Y:-5.66, Z:0.99 [[ 9.86166744e-01 1.64475796e-01 -2.05637083e-02 5.12201447e+01] [-1.64426491e-01 9.86380912e-01 4.07746896e-03 -5.66075020e+00] [ 2.09542943e-02 -6.39845878e-04 9.99780230e-01 9.92607370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04275509599999 meters 0.026484715851327285 Centerline is valid? [True, True] Translation: X:51.28, Y:-5.68, Z:0.99 [[ 9.86156722e-01 1.64519290e-01 -2.06959856e-02 5.12801726e+01] [-1.64469227e-01 9.86373652e-01 4.10994253e-03 -5.67519048e+00] [ 2.10901397e-02 -6.49194698e-04 9.99777367e-01 9.93982302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.102755095999996 meters 0.023473274213773803 Centerline is valid? [True, True] Translation: X:51.34, Y:-5.69, Z:0.99 [[ 9.85819133e-01 1.66549866e-01 -2.05372489e-02 5.13411594e+01] [-1.66500875e-01 9.86032846e-01 4.08478473e-03 -5.68585512e+00] [ 2.09307223e-02 -6.07389029e-04 9.99780744e-01 9.94260118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.162755096 meters 0.028305326452618775 Centerline is valid? [True, True] Translation: X:51.40, Y:-5.71, Z:0.99 [[ 9.85541164e-01 1.68151537e-01 -2.08248492e-02 5.13990805e+01] [-1.68101390e-01 9.85760983e-01 4.14815530e-03 -5.70713914e+00] [ 2.12258425e-02 -5.87491702e-04 9.99774534e-01 9.93735456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22275509599999 meters 0.023362599561695955 Centerline is valid? [True, True] Translation: X:51.46, Y:-5.72, Z:1.00 [[ 9.85431652e-01 1.68714615e-01 -2.14438168e-02 5.14610946e+01] [-1.68661425e-01 9.85664760e-01 4.27830498e-03 -5.71703241e+00] [ 2.18582271e-02 -5.99232450e-04 9.99760901e-01 9.95543048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.282755095999995 meters 0.02315645487405957 Centerline is valid? [True, True] Translation: X:51.52, Y:-5.73, Z:1.00 [[ 9.85575999e-01 1.67970686e-01 -2.06348940e-02 5.15212889e+01] [-1.67921125e-01 9.85791808e-01 4.12389855e-03 -5.73368396e+00] [ 2.10344036e-02 -5.99380822e-04 9.99778573e-01 9.97385528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.342755096 meters 0.023485233077292843 Centerline is valid? [True, True] Translation: X:51.58, Y:-5.75, Z:1.00 [[ 9.85525071e-01 1.68247005e-01 -2.08153959e-02 5.15819785e+01] [-1.68196500e-01 9.85744683e-01 4.16624839e-03 -5.74944477e+00] [ 2.12196246e-02 -6.04865497e-04 9.99774655e-01 9.98754380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40275509599999 meters 0.023084119850790435 Centerline is valid? [True, True] Translation: X:51.64, Y:-5.77, Z:1.00 [[ 9.85048346e-01 1.71209372e-01 -1.91600413e-02 5.16413216e+01] [-1.71167029e-01 9.85234539e-01 3.84072633e-03 -5.76550580e+00] [ 1.95347028e-02 -5.03733783e-04 9.99809053e-01 1.00121364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.462755095999995 meters 0.02141238564412062 Centerline is valid? [True, True] Translation: X:51.70, Y:-5.78, Z:1.00 [[ 9.84314491e-01 1.75534484e-01 -1.76813057e-02 5.17015485e+01] [-1.75499042e-01 9.84473206e-01 3.54874731e-03 -5.77839734e+00] [ 1.80296992e-02 -3.90031199e-04 9.99837376e-01 1.00290923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.522755096 meters 0.020648237903861243 Centerline is valid? [True, True] Translation: X:51.76, Y:-5.79, Z:1.00 [[ 9.83899186e-01 1.77901996e-01 -1.71251735e-02 5.17625485e+01] [-1.77869100e-01 9.84048153e-01 3.43749191e-03 -5.79141947e+00] [ 1.74635321e-02 -3.36106279e-04 9.99847444e-01 1.00313662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58275509599999 meters 0.020222933162496588 Centerline is valid? [True, True] Translation: X:51.82, Y:-5.81, Z:1.00 [[ 9.83691000e-01 1.79100804e-01 -1.65806672e-02 5.18227829e+01] [-1.79070063e-01 9.83830680e-01 3.33261348e-03 -5.80511572e+00] [ 1.69094428e-02 -3.09160772e-04 9.99856977e-01 1.00424380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.642755095999995 meters 0.020475417087311824 Centerline is valid? [True, True] Translation: X:51.88, Y:-5.82, Z:1.01 [[ 9.83619669e-01 1.79483590e-01 -1.66729647e-02 5.18824591e+01] [-1.79452482e-01 9.83760919e-01 3.35575996e-03 -5.82141025e+00] [ 1.70045150e-02 -3.08786597e-04 9.99855365e-01 1.00550973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.702755096 meters 0.02086120203404455 Centerline is valid? [True, True] Translation: X:51.94, Y:-5.84, Z:1.01 [[ 9.83563338e-01 1.79839199e-01 -1.61562164e-02 5.19416125e+01] [-1.79809963e-01 9.83695976e-01 3.25630769e-03 -5.83896470e+00] [ 1.64784168e-02 -2.97736198e-04 9.99864177e-01 1.00758114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76275509599999 meters 0.020709933418141327 Centerline is valid? [True, True] Translation: X:52.00, Y:-5.85, Z:1.01 [[ 9.83425497e-01 1.80592530e-01 -1.61440348e-02 5.20016207e+01] [-1.80563362e-01 9.83557957e-01 3.25852244e-03 -5.85371071e+00] [ 1.64670587e-02 -2.89492847e-04 9.99864367e-01 1.00845210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.822755095999995 meters 0.020970091730201253 Centerline is valid? [True, True] Translation: X:52.06, Y:-5.87, Z:1.01 [[ 9.83378609e-01 1.80736069e-01 -1.73489081e-02 5.20622197e+01] [-1.80702320e-01 9.83531583e-01 3.50656443e-03 -5.86974429e+00] [ 1.76969617e-02 -3.13292496e-04 9.99843347e-01 1.00739425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.882755096 meters 0.02190833091116283 Centerline is valid? [True, True] Translation: X:52.12, Y:-5.89, Z:1.01 [[ 9.83468077e-01 1.80117332e-01 -1.86625120e-02 5.21212177e+01] [-1.80078055e-01 9.83645069e-01 3.77799272e-03 -5.88545412e+00] [ 1.90377699e-02 -3.54826375e-04 9.99818702e-01 1.00676590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94275509599999 meters 0.023100781704942747 Centerline is valid? [True, True] Translation: X:52.18, Y:-5.90, Z:1.01 [[ 9.83618439e-01 1.79072418e-01 -2.06841698e-02 5.21800014e+01] [-1.79023826e-01 9.83835805e-01 4.19260268e-03 -5.90279157e+00] [ 2.11006063e-02 -4.20962085e-04 9.99777269e-01 1.00561500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.002755095999994 meters 0.020513688639000844 Centerline is valid? [True, True] Translation: X:52.24, Y:-5.91, Z:1.01 [[ 9.83761996e-01 1.78073978e-01 -2.24051952e-02 5.22409473e+01] [-1.78016571e-01 9.84016983e-01 4.54722156e-03 -5.91302655e+00] [ 2.28568344e-02 -4.84887735e-04 9.99738631e-01 1.00698041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.062755096 meters 0.021691799242613673 Centerline is valid? [True, True] Translation: X:52.30, Y:-5.93, Z:1.01 [[ 9.84122968e-01 1.76010908e-01 -2.28504937e-02 5.23003934e+01] [-1.75950483e-01 9.84388063e-01 4.64430749e-03 -5.93225111e+00] [ 2.33112020e-02 -5.50014256e-04 9.99728106e-01 1.00889545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.122755096 meters 0.02420191643975778 Centerline is valid? [True, True] Translation: X:52.36, Y:-5.95, Z:1.01 [[ 9.84570131e-01 1.73532731e-01 -2.25399446e-02 5.23586971e+01] [-1.73473156e-01 9.84827916e-01 4.58698210e-03 -5.95141986e+00] [ 2.29939582e-02 -6.06130248e-04 9.99735420e-01 1.01043493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.182755095999994 meters 0.023341628964926274 Centerline is valid? [True, True] Translation: X:52.42, Y:-5.97, Z:1.01 [[ 9.84901972e-01 1.71749933e-01 -2.16810225e-02 5.24192050e+01] [-1.71694303e-01 9.85140380e-01 4.41571774e-03 -5.96624201e+00] [ 2.21172500e-02 -6.26541065e-04 9.99755187e-01 1.01334355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.242755095999996 meters 0.022619785490782116 Centerline is valid? [True, True] Translation: X:52.48, Y:-5.98, Z:1.02 [[ 9.84719136e-01 1.72932217e-01 -2.05589660e-02 5.24793783e+01] [-1.72882334e-01 9.84933560e-01 4.19287069e-03 -5.98010211e+00] [ 2.09742980e-02 -5.74517980e-04 9.99779850e-01 1.01627935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.302755096 meters 0.021881159524626135 Centerline is valid? [True, True] Translation: X:52.54, Y:-5.99, Z:1.02 [[ 9.84240757e-01 1.75605044e-01 -2.08086552e-02 5.25402369e+01] [-1.75554409e-01 9.84460557e-01 4.24991624e-03 -5.99257010e+00] [ 2.12316071e-02 -5.29889608e-04 9.99774444e-01 1.01712006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.362755095999994 meters 0.019081517803458303 Centerline is valid? [True, True] Translation: X:52.60, Y:-6.00, Z:1.02 [[ 9.82875568e-01 1.83104038e-01 -2.07009649e-02 5.26014065e+01] [-1.83055472e-01 9.83093471e-01 4.23328773e-03 -5.99978915e+00] [ 2.11261156e-02 -3.71370166e-04 9.99776750e-01 1.01831875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.422755095999996 meters 0.01749018807421837 Centerline is valid? [True, True] Translation: X:52.66, Y:-6.01, Z:1.02 [[ 9.81708888e-01 1.89298437e-01 -2.03411345e-02 5.26638605e+01] [-1.89252853e-01 9.81919572e-01 4.16065330e-03 -6.00753070e+00] [ 2.07609633e-02 -2.34932569e-04 9.99784440e-01 1.01943485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.482755096 meters 0.01675570912063324 Centerline is valid? [True, True] Translation: X:52.73, Y:-6.02, Z:1.02 [[ 9.81099174e-01 1.92460665e-01 -2.00823938e-02 5.27257423e+01] [-1.92416848e-01 9.81304674e-01 4.11005724e-03 -6.01673410e+00] [ 2.04979713e-02 -1.68182839e-04 9.99789880e-01 1.02086210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54275509599999 meters 0.01659144696789595 Centerline is valid? [True, True] Translation: X:52.79, Y:-6.03, Z:1.02 [[ 9.80763911e-01 1.94130473e-01 -2.03840833e-02 5.27869407e+01] [-1.94085566e-01 9.80975708e-01 4.17774633e-03 -6.02883146e+00] [ 2.08073185e-02 -1.41126484e-04 9.99783494e-01 1.02173539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.602755095999996 meters 0.01708787954658378 Centerline is valid? [True, True] Translation: X:52.85, Y:-6.04, Z:1.02 [[ 9.81032201e-01 1.92738254e-01 -2.06829864e-02 5.28469053e+01] [-1.92691586e-01 9.81250189e-01 4.24490695e-03 -6.04279858e+00] [ 2.11133403e-02 -1.78952945e-04 9.99777073e-01 1.02174007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.662755096 meters 0.01817630569391032 Centerline is valid? [True, True] Translation: X:52.91, Y:-6.06, Z:1.02 [[ 9.81686485e-01 1.89377555e-01 -2.06830093e-02 5.29074212e+01] [-1.89330026e-01 9.81904311e-01 4.25030689e-03 -6.05779363e+00] [ 2.11136487e-02 -2.56554145e-04 9.99777049e-01 1.02252888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72275509599999 meters 0.019813350194621743 Centerline is valid? [True, True] Translation: X:52.97, Y:-6.07, Z:1.03 [[ 9.83017793e-01 1.82450211e-01 -1.96961815e-02 5.29675637e+01] [-1.82405621e-01 9.83215016e-01 4.05236496e-03 -6.07415826e+00] [ 2.01049362e-02 -3.90852661e-04 9.99797799e-01 1.02507110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.782755095999995 meters 0.023422777588233655 Centerline is valid? [True, True] Translation: X:53.03, Y:-6.09, Z:1.03 [[ 9.84294819e-01 1.75452320e-01 -1.94985259e-02 5.30251544e+01] [-1.75407216e-01 9.84487787e-01 4.01324663e-03 -6.09335776e+00] [ 1.99001941e-02 -5.30035707e-04 9.99801831e-01 1.02698242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.842755096 meters 0.02602803201791028 Centerline is valid? [True, True] Translation: X:53.08, Y:-6.11, Z:1.03 [[ 9.85080230e-01 1.70889560e-01 -2.03395714e-02 5.30846206e+01] [-1.70839498e-01 9.85289976e-01 4.18682388e-03 -6.10902291e+00] [ 2.07558603e-02 -6.49555251e-04 9.99784363e-01 1.02789459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90275509599999 meters 0.025603977573315027 Centerline is valid? [True, True] Translation: X:53.15, Y:-6.12, Z:1.03 [[ 9.85296692e-01 1.69668230e-01 -2.00778545e-02 5.31462053e+01] [-1.69619171e-01 9.85501013e-01 4.13416041e-03 -6.11979273e+00] [ 2.04881817e-02 -6.67785546e-04 9.99789872e-01 1.02919792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.962755095999995 meters 0.025845675905235895 Centerline is valid? [True, True] Translation: X:53.21, Y:-6.13, Z:1.03 [[ 9.85213348e-01 1.70127273e-01 -2.02822612e-02 5.32080704e+01] [-1.70077183e-01 9.85421870e-01 4.18219776e-03 -6.13234001e+00] [ 2.06980896e-02 -6.70807206e-04 9.99785547e-01 1.03074310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.022755096 meters 0.025719388408149746 Centerline is valid? [True, True] Translation: X:53.27, Y:-6.14, Z:1.03 [[ 9.84990748e-01 1.71348970e-01 -2.08028013e-02 5.32688107e+01] [-1.71296403e-01 9.85210172e-01 4.29635665e-03 -6.14384701e+00] [ 2.12313077e-02 -6.68426531e-04 9.99774367e-01 1.03182247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08275509599999 meters 0.024459918327195018 Centerline is valid? [True, True] Translation: X:53.33, Y:-6.15, Z:1.03 [[ 9.84261651e-01 1.75386220e-01 -2.16489506e-02 5.33290836e+01] [-1.75330142e-01 9.84499518e-01 4.47661979e-03 -6.15300043e+00] [ 2.20985188e-02 -6.10451612e-04 9.99755612e-01 1.03306322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.142755095999995 meters 0.022475942465225815 Centerline is valid? [True, True] Translation: X:53.39, Y:-6.16, Z:1.04 [[ 9.83292879e-01 1.80778481e-01 -2.13132569e-02 5.33888718e+01] [-1.80725377e-01 9.83523720e-01 4.40798153e-03 -6.16055479e+00] [ 2.17589619e-02 -4.82490480e-04 9.99763129e-01 1.03604339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.202755096 meters 0.02058308083498329 Centerline is valid? [True, True] Translation: X:53.45, Y:-6.17, Z:1.04 [[ 9.82402305e-01 1.85530330e-01 -2.15454974e-02 5.34505263e+01] [-1.85477177e-01 9.82638464e-01 4.45721828e-03 -6.16856890e+00] [ 2.19983836e-02 -3.82583487e-04 9.99757933e-01 1.03828027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26275509599999 meters 0.02013898471525267 Centerline is valid? [True, True] Translation: X:53.51, Y:-6.18, Z:1.04 [[ 9.82028018e-01 1.87489899e-01 -2.16451028e-02 5.35117609e+01] [-1.87436602e-01 9.82266470e-01 4.48356503e-03 -6.18021046e+00] [ 2.21018819e-02 -3.45901953e-04 9.99755664e-01 1.03953679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.322755095999995 meters 0.01929626752678995 Centerline is valid? [True, True] Translation: X:53.57, Y:-6.19, Z:1.04 [[ 9.81655130e-01 1.89275897e-01 -2.29747878e-02 5.35730617e+01] [-1.89216187e-01 9.81923890e-01 4.76541012e-03 -6.19168311e+00] [ 2.34614703e-02 -3.30787540e-04 9.99724687e-01 1.04001724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.382755096 meters 0.01946898125228294 Centerline is valid? [True, True] Translation: X:53.63, Y:-6.21, Z:1.04 [[ 9.81664054e-01 1.89199155e-01 -2.32242446e-02 5.36341004e+01] [-1.89137960e-01 9.81938675e-01 4.82386703e-03 -6.20705567e+00] [ 2.37174555e-02 -3.42830617e-04 9.99718643e-01 1.04174041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44275509599999 meters 0.019359529246947924 Centerline is valid? [True, True] Translation: X:53.70, Y:-6.22, Z:1.04 [[ 9.81944006e-01 1.87775570e-01 -2.29413454e-02 5.36950164e+01] [-1.87715304e-01 9.82211887e-01 4.77214047e-03 -6.22064786e+00] [ 2.34293535e-02 -3.79533100e-04 9.99725423e-01 1.04402296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.502755095999994 meters 0.019642044697216064 Centerline is valid? [True, True] Translation: X:53.76, Y:-6.23, Z:1.05 [[ 9.82029638e-01 1.87346219e-01 -2.27855942e-02 5.37565803e+01] [-1.87286496e-01 9.82293866e-01 4.74651998e-03 -6.23465913e+00] [ 2.32713920e-02 -3.93789221e-04 9.99729107e-01 1.04521364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.562755096 meters 0.02106007321565216 Centerline is valid? [True, True] Translation: X:53.82, Y:-6.25, Z:1.05 [[ 9.82544189e-01 1.84558803e-01 -2.33444824e-02 5.38153219e+01] [-1.84495161e-01 9.82821357e-01 4.86990367e-03 -6.25174643e+00] [ 2.38422395e-02 -4.77951522e-04 9.99715619e-01 1.04558691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.622755096 meters 0.0232670086202879 Centerline is valid? [True, True] Translation: X:53.87, Y:-6.27, Z:1.05 [[ 9.83224357e-01 1.80752815e-01 -2.44598438e-02 5.38744345e+01] [-1.80681656e-01 9.83528372e-01 5.10701528e-03 -6.27001543e+00] [ 2.49800577e-02 -6.01896735e-04 9.99687768e-01 1.04521440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.682755095999994 meters 0.02460295536840774 Centerline is valid? [True, True] Translation: X:53.93, Y:-6.29, Z:1.05 [[ 9.83525303e-01 1.78958860e-01 -2.55285015e-02 5.39342555e+01] [-1.78880561e-01 9.83856321e-01 5.33707959e-03 -6.28559952e+00] [ 2.60714952e-02 -6.82600165e-04 9.99659848e-01 1.04500639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.742755095999996 meters 0.026076268516979806 Centerline is valid? [True, True] Translation: X:53.99, Y:-6.30, Z:1.04 [[ 9.83522690e-01 1.78815517e-01 -2.66106963e-02 5.39936710e+01] [-1.78730185e-01 9.83882355e-01 5.57068681e-03 -6.30158649e+00] [ 2.71779198e-02 -7.22762199e-04 9.99630351e-01 1.04498711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.802755096 meters 0.024302687097998966 Centerline is valid? [True, True] Translation: X:54.05, Y:-6.31, Z:1.05 [[ 9.83373629e-01 1.79610471e-01 -2.67653756e-02 5.40546976e+01] [-1.79524246e-01 9.83737553e-01 5.61008190e-03 -6.31292578e+00] [ 2.73377345e-02 -7.11772737e-04 9.99626001e-01 1.04697960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.862755095999994 meters 0.023175185227722144 Centerline is valid? [True, True] Translation: X:54.12, Y:-6.33, Z:1.05 [[ 9.83125732e-01 1.80940595e-01 -2.69127435e-02 5.41155588e+01] [-1.80853705e-01 9.83493788e-01 5.64861314e-03 -6.32504630e+00] [ 2.74905794e-02 -6.86027569e-04 9.99621827e-01 1.04930984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.922755095999996 meters 0.023643870361326997 Centerline is valid? [True, True] Translation: X:54.17, Y:-6.34, Z:1.05 [[ 9.82972285e-01 1.81785731e-01 -2.68222792e-02 5.41748408e+01] [-1.81699534e-01 9.83337939e-01 5.63711200e-03 -6.33984003e+00] [ 2.74001112e-02 -6.67529240e-04 9.99624324e-01 1.05173767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.982755096 meters 0.022711600182335867 Centerline is valid? [True, True] Translation: X:54.24, Y:-6.35, Z:1.06 [[ 9.83042176e-01 1.81455462e-01 -2.64951922e-02 5.42366873e+01] [-1.81371032e-01 9.83398932e-01 5.57585999e-03 -6.35294102e+00] [ 2.70671139e-02 -6.75845209e-04 9.99633390e-01 1.05544197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04275509599999 meters 0.02358318352871531 Centerline is valid? [True, True] Translation: X:54.30, Y:-6.37, Z:1.06 [[ 9.83406409e-01 1.79407180e-01 -2.69239454e-02 5.42968361e+01] [-1.79318987e-01 9.83774617e-01 5.67485267e-03 -6.36855312e+00] [ 2.75052033e-02 -7.52711886e-04 9.99621377e-01 1.05697371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.102755095999996 meters 0.024855176450880857 Centerline is valid? [True, True] Translation: X:54.36, Y:-6.38, Z:1.06 [[ 9.83726592e-01 1.77640325e-01 -2.69426740e-02 5.43566548e+01] [-1.77551131e-01 9.84095147e-01 5.68662183e-03 -6.38388943e+00] [ 2.75243281e-02 -8.10378857e-04 9.99620805e-01 1.05822829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.162755096 meters 0.025851054367628187 Centerline is valid? [True, True] Translation: X:54.42, Y:-6.40, Z:1.06 [[ 9.84010551e-01 1.76012283e-01 -2.72564106e-02 5.44169855e+01] [-1.75920156e-01 9.84387583e-01 5.76071482e-03 -6.39855133e+00] [ 2.78448287e-02 -8.73652165e-04 9.99611876e-01 1.05973111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22275509599999 meters 0.025082437869071862 Centerline is valid? [True, True] Translation: X:54.48, Y:-6.41, Z:1.06 [[ 9.83864625e-01 1.76687655e-01 -2.81402220e-02 5.44787698e+01] [-1.76589481e-01 9.84266569e-01 5.95618456e-03 -6.40987294e+00] [ 2.87498641e-02 -8.90812078e-04 9.99586240e-01 1.06096453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.282755095999995 meters 0.02444830402779888 Centerline is valid? [True, True] Translation: X:54.54, Y:-6.42, Z:1.06 [[ 9.83584133e-01 1.78239786e-01 -2.81572891e-02 5.45401521e+01] [-1.78141869e-01 9.83986711e-01 5.96877644e-03 -6.42123181e+00] [ 2.87702718e-02 -8.54801676e-04 9.99585685e-01 1.06169263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.342755096 meters 0.024893578931210244 Centerline is valid? [True, True] Translation: X:54.60, Y:-6.43, Z:1.06 [[ 9.83156555e-01 1.80750227e-01 -2.70655406e-02 5.46002516e+01] [-1.80660496e-01 9.83528739e-01 5.74501083e-03 -6.43428291e+00] [ 2.76581491e-02 -7.58571066e-04 9.99617152e-01 1.06314361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40275509599999 meters 0.022180383233481538 Centerline is valid? [True, True] Translation: X:54.66, Y:-6.44, Z:1.07 [[ 9.82662108e-01 1.83550773e-01 -2.61590348e-02 5.46626876e+01] [-1.83467775e-01 9.83010007e-01 5.55893886e-03 -6.44188747e+00] [ 2.67349405e-02 -6.63218683e-04 9.99642338e-01 1.06555191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.462755095999995 meters 0.020940721939889655 Centerline is valid? [True, True] Translation: X:54.72, Y:-6.45, Z:1.07 [[ 9.81895011e-01 1.87812761e-01 -2.46688832e-02 5.47225418e+01] [-1.87740221e-01 9.82204713e-01 5.24516356e-03 -6.45036754e+00] [ 2.52150019e-02 -5.18858347e-04 9.99681917e-01 1.06688331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.522755096 meters 0.02023580966203458 Centerline is valid? [True, True] Translation: X:54.78, Y:-6.46, Z:1.07 [[ 9.81483750e-01 1.90101187e-01 -2.34773921e-02 5.47837262e+01] [-1.90036097e-01 9.81764404e-01 4.99363277e-03 -6.46058511e+00] [ 2.39985634e-02 -4.39617434e-04 9.99711896e-01 1.06874861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58275509599999 meters 0.019528607168359115 Centerline is valid? [True, True] Translation: X:54.84, Y:-6.47, Z:1.07 [[ 9.81369441e-01 1.90837130e-01 -2.22533106e-02 5.48446268e+01] [-1.90778703e-01 9.81621630e-01 4.73932307e-03 -6.47094242e+00] [ 2.27487698e-02 -4.05569092e-04 9.99741131e-01 1.07191305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.642755095999995 meters 0.020382863630732474 Centerline is valid? [True, True] Translation: X:54.91, Y:-6.48, Z:1.07 [[ 9.81754013e-01 1.89058612e-01 -2.03936167e-02 5.49050598e+01] [-1.89009045e-01 9.81965717e-01 4.34876160e-03 -6.48408059e+00] [ 2.08480033e-02 -4.14836138e-04 9.99782571e-01 1.07370394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.702755096 meters 0.021879444670524946 Centerline is valid? [True, True] Translation: X:54.97, Y:-6.50, Z:1.08 [[ 9.82350820e-01 1.86097349e-01 -1.88319992e-02 5.49654075e+01] [-1.86054442e-01 9.82531210e-01 4.02077323e-03 -6.49946032e+00] [ 1.92512822e-02 -4.46032774e-04 9.99814577e-01 1.07558119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76275509599999 meters 0.024521626783653865 Centerline is valid? [True, True] Translation: X:55.02, Y:-6.52, Z:1.08 [[ 9.83529118e-01 1.79883737e-01 -1.76724281e-02 5.50246860e+01] [-1.79844861e-01 9.83687731e-01 3.77805278e-03 -6.51648751e+00] [ 1.80637610e-02 -5.37529541e-04 9.99836692e-01 1.07768182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.822755095999995 meters 0.027509830665369314 Centerline is valid? [True, True] Translation: X:55.08, Y:-6.53, Z:1.08 [[ 9.84461770e-01 1.74811074e-01 -1.66166095e-02 5.50834214e+01] [-1.74775971e-01 9.84601816e-01 3.55300515e-03 -6.53310818e+00] [ 1.69818485e-02 -5.93613688e-04 9.99855622e-01 1.07934768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.882755096 meters 0.029290596180966706 Centerline is valid? [True, True] Translation: X:55.14, Y:-6.55, Z:1.08 [[ 9.84802759e-01 1.72815953e-01 -1.72676795e-02 5.51431977e+01] [-1.72777737e-01 9.84953918e-01 3.69232514e-03 -6.54805947e+00] [ 1.76459613e-02 -6.52741400e-04 9.99844085e-01 1.07937224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94275509599999 meters 0.02773352337782452 Centerline is valid? [True, True] Translation: X:55.20, Y:-6.56, Z:1.08 [[ 9.84835677e-01 1.72509425e-01 -1.84170221e-02 5.52043440e+01] [-1.72465804e-01 9.85007613e-01 3.94312356e-03 -6.55705440e+00] [ 1.88211330e-02 -7.07022243e-04 9.99822617e-01 1.07871499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.002755095999994 meters 0.02960002334715613 Centerline is valid? [True, True] Translation: X:55.26, Y:-6.57, Z:1.08 [[ 9.84676348e-01 1.73376600e-01 -1.87894920e-02 5.52639189e+01] [-1.73331248e-01 9.84855345e-01 4.02837584e-03 -6.56873208e+00] [ 1.92033578e-02 -7.09840311e-04 9.99815347e-01 1.07774224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.062755096 meters 0.02894073781592855 Centerline is valid? [True, True] Translation: X:55.33, Y:-6.58, Z:1.08 [[ 9.84413279e-01 1.74810953e-01 -1.92776356e-02 5.53254169e+01] [-1.74763386e-01 9.84601764e-01 4.13823071e-03 -6.57813133e+00] [ 1.97042020e-02 -7.04704403e-04 9.99805605e-01 1.07818776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.122755096 meters 0.02504715570804883 Centerline is valid? [True, True] Translation: X:55.39, Y:-6.58, Z:1.08 [[ 9.84120234e-01 1.76524226e-01 -1.86161950e-02 5.53882831e+01] [-1.76480080e-01 9.84296080e-01 4.00111280e-03 -6.58385885e+00] [ 1.90301411e-02 -6.52188484e-04 9.99818698e-01 1.08039873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.182755095999994 meters 0.023724549060265623 Centerline is valid? [True, True] Translation: X:55.45, Y:-6.59, Z:1.08 [[ 9.83565887e-01 1.79765197e-01 -1.68113091e-02 5.54499705e+01] [-1.79729648e-01 9.83709403e-01 3.61449607e-03 -6.59192660e+00] [ 1.71872035e-02 -5.33604363e-04 9.99852147e-01 1.08312849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.242755095999996 meters 0.024452254602300057 Centerline is valid? [True, True] Translation: X:55.51, Y:-6.60, Z:1.09 [[ 9.82837400e-01 1.83804050e-01 -1.57071971e-02 5.55095389e+01] [-1.83773452e-01 9.82962807e-01 3.38209586e-03 -6.60197633e+00] [ 1.60612335e-02 -4.37484468e-04 9.99870914e-01 1.08594123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.302755096 meters 0.021601061237841057 Centerline is valid? [True, True] Translation: X:55.57, Y:-6.61, Z:1.09 [[ 9.82384889e-01 1.86251470e-01 -1.51762986e-02 5.55714665e+01] [-1.86223206e-01 9.82502032e-01 3.26723586e-03 -6.60785757e+00] [ 1.55192717e-02 -3.83504159e-04 9.99879495e-01 1.08706459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.362755095999994 meters 0.023190571627289654 Centerline is valid? [True, True] Translation: X:55.63, Y:-6.62, Z:1.09 [[ 9.82016496e-01 1.88200566e-01 -1.49715878e-02 5.56312465e+01] [-1.88173218e-01 9.82130553e-01 3.22753189e-03 -6.62209045e+00] [ 1.53114771e-02 -3.52237698e-04 9.99882710e-01 1.08857181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.422755095999996 meters 0.020654775486925205 Centerline is valid? [True, True] Translation: X:55.69, Y:-6.63, Z:1.09 [[ 9.81784301e-01 1.89349012e-01 -1.57015275e-02 5.56935248e+01] [-1.89319010e-01 9.81909785e-01 3.38922938e-03 -6.63005841e+00] [ 1.60592307e-02 -3.54894563e-04 9.99870979e-01 1.08843944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.482755096 meters 0.02174345277230318 Centerline is valid? [True, True] Translation: X:55.75, Y:-6.64, Z:1.09 [[ 9.81836542e-01 1.88940401e-01 -1.72780265e-02 5.57540027e+01] [-1.88903911e-01 9.81988473e-01 3.73503924e-03 -6.64223383e+00] [ 1.76725227e-02 -4.03311239e-04 9.99843747e-01 1.08785131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54275509599999 meters 0.023181628733096614 Centerline is valid? [True, True] Translation: X:55.81, Y:-6.66, Z:1.09 [[ 9.82333417e-01 1.86250858e-01 -1.82119612e-02 5.58140139e+01] [-1.86209743e-01 9.82502105e-01 3.94281788e-03 -6.65658924e+00] [ 1.86276435e-02 -4.81917139e-04 9.99826374e-01 1.08759430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.602755095999996 meters 0.02525642067979565 Centerline is valid? [True, True] Translation: X:55.87, Y:-6.67, Z:1.09 [[ 9.83002210e-01 1.82622528e-01 -1.88591330e-02 5.58741375e+01] [-1.82577718e-01 9.83182935e-01 4.08568176e-03 -6.67336622e+00] [ 1.92881153e-02 -5.72976721e-04 9.99813803e-01 1.08834264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.662755096 meters 0.029090026195857294 Centerline is valid? [True, True] Translation: X:55.93, Y:-6.69, Z:1.09 [[ 9.84173312e-01 1.76127495e-01 -1.95447638e-02 5.59327974e+01] [-1.76078056e-01 9.84367094e-01 4.23574945e-03 -6.69166937e+00] [ 1.99852543e-02 -7.27307547e-04 9.99800010e-01 1.08859450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72275509599999 meters 0.031606648849350556 Centerline is valid? [True, True] Translation: X:55.99, Y:-6.71, Z:1.09 [[ 9.85145245e-01 1.70578872e-01 -1.97912838e-02 5.59920447e+01] [-1.70527051e-01 9.85343658e-01 4.28960050e-03 -6.70746821e+00] [ 2.02329312e-02 -8.50930276e-04 9.99794931e-01 1.08953317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.782755095999995 meters 0.03205157823499563 Centerline is valid? [True, True] Translation: X:56.05, Y:-6.72, Z:1.09 [[ 9.85527468e-01 1.68315912e-01 -2.01336669e-02 5.60527113e+01] [-1.68261791e-01 9.85732681e-01 4.36471749e-03 -6.72128518e+00] [ 2.05810649e-02 -9.13822117e-04 9.99787770e-01 1.09060384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.842755096 meters 0.032414645790571066 Centerline is valid? [True, True] Translation: X:56.11, Y:-6.73, Z:1.09 [[ 9.85435122e-01 1.68829928e-01 -2.03488354e-02 5.61139132e+01] [-1.68774711e-01 9.85644773e-01 4.41343503e-03 -6.73363544e+00] [ 2.08018431e-02 -9.14785083e-04 9.99783200e-01 1.09170629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90275509599999 meters 0.03261267840678515 Centerline is valid? [True, True] Translation: X:56.17, Y:-6.75, Z:1.09 [[ 9.85048854e-01 1.71031428e-01 -2.06641247e-02 5.61740101e+01] [-1.70974846e-01 9.85265174e-01 4.48764828e-03 -6.74629043e+00] [ 2.11271713e-02 -8.87507266e-04 9.99776402e-01 1.09245025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.962755095999995 meters 0.03139703434707367 Centerline is valid? [True, True] Translation: X:56.23, Y:-6.76, Z:1.09 [[ 9.84547654e-01 1.73959934e-01 -2.00962216e-02 5.62349659e+01] [-1.73906932e-01 9.84752401e-01 4.36898923e-03 -6.75725094e+00] [ 2.05498315e-02 -8.06605849e-04 9.99788505e-01 1.09470083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.022755096 meters 0.03052531604987173 Centerline is valid? [True, True] Translation: X:56.29, Y:-6.77, Z:1.10 [[ 9.84063097e-01 1.76779129e-01 -1.92083296e-02 5.62944173e+01] [-1.76731223e-01 9.84250287e-01 4.17700217e-03 -6.76809726e+00] [ 1.96442107e-02 -7.15722116e-04 9.99806778e-01 1.09680191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08275509599999 meters 0.029996143068341946 Centerline is valid? [True, True] Translation: X:56.36, Y:-6.78, Z:1.10 [[ 9.83732628e-01 1.78660325e-01 -1.87244251e-02 5.63550147e+01] [-1.78615134e-01 9.83910591e-01 4.07222497e-03 -6.78000638e+00] [ 1.91507052e-02 -6.61514860e-04 9.99816390e-01 1.09858488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.142755095999995 meters 0.02975050537828977 Centerline is valid? [True, True] Translation: X:56.42, Y:-6.79, Z:1.10 [[ 9.83416286e-01 1.80393477e-01 -1.87243817e-02 5.64150484e+01] [-1.80348506e-01 9.83594323e-01 4.07715909e-03 -6.79263111e+00] [ 1.91526885e-02 -6.32630379e-04 9.99816370e-01 1.10006572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.202755096 meters 0.02993094761841512 Centerline is valid? [True, True] Translation: X:56.48, Y:-6.81, Z:1.10 [[ 9.83203898e-01 1.81536908e-01 -1.88267280e-02 5.64750482e+01] [-1.81491565e-01 9.83383938e-01 4.10401846e-03 -6.80512208e+00] [ 1.92589328e-02 -6.18194625e-04 9.99814338e-01 1.10107298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26275509599999 meters 0.025283864779856127 Centerline is valid? [True, True] Translation: X:56.54, Y:-6.81, Z:1.10 [[ 9.83089103e-01 1.82226707e-01 -1.81450286e-02 5.65370711e+01] [-1.82184629e-01 9.83256367e-01 3.95956549e-03 -6.81118519e+00] [ 1.85627535e-02 -5.86860390e-04 9.99827525e-01 1.10226589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.322755095999995 meters 0.02862745620474846 Centerline is valid? [True, True] Translation: X:56.60, Y:-6.83, Z:1.10 [[ 9.83065701e-01 1.82376772e-01 -1.79036688e-02 5.65966710e+01] [-1.82335737e-01 9.83228547e-01 3.91198984e-03 -6.82955499e+00] [ 1.83168543e-02 -5.81264383e-04 9.99832063e-01 1.10320806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.382755096 meters 0.024402894779306267 Centerline is valid? [True, True] Translation: X:56.66, Y:-6.84, Z:1.10 [[ 9.82933207e-01 1.83023606e-01 -1.85653135e-02 5.66587050e+01] [-1.82979486e-01 9.83108338e-01 4.06242460e-03 -6.83684696e+00] [ 1.89952341e-02 -5.96020520e-04 9.99819397e-01 1.10333591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44275509599999 meters 0.024479805125804877 Centerline is valid? [True, True] Translation: X:56.72, Y:-6.85, Z:1.10 [[ 9.82602868e-01 1.84681368e-01 -1.96060342e-02 5.67190628e+01] [-1.84632370e-01 9.82798265e-01 4.29624883e-03 -6.84997345e+00] [ 2.00622135e-02 -6.01597872e-04 9.99798553e-01 1.10314456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.502755095999994 meters 0.02453559310807024 Centerline is valid? [True, True] Translation: X:56.78, Y:-6.86, Z:1.10 [[ 9.82323180e-01 1.86148811e-01 -1.97431331e-02 5.67790828e+01] [-1.86099304e-01 9.82521390e-01 4.33206068e-03 -6.86356957e+00] [ 2.02044585e-02 -5.81300297e-04 9.99795700e-01 1.10377447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.562755096 meters 0.02419207175283254 Centerline is valid? [True, True] Translation: X:56.84, Y:-6.88, Z:1.10 [[ 9.82045173e-01 1.87620732e-01 -1.96402389e-02 5.68400039e+01] [-1.87571922e-01 9.82241393e-01 4.31507595e-03 -6.87746937e+00] [ 2.01010534e-02 -5.53642143e-04 9.99797800e-01 1.10445561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62275509599999 meters 0.022822973868794016 Centerline is valid? [True, True] Translation: X:56.90, Y:-6.89, Z:1.11 [[ 9.81845135e-01 1.88763660e-01 -1.86657752e-02 5.69012452e+01] [-1.88719684e-01 9.82022414e-01 4.10599523e-03 -6.88891788e+00] [ 1.91052723e-02 -5.08852234e-04 9.99817348e-01 1.10625880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.682755095999994 meters 0.023055499477216638 Centerline is valid? [True, True] Translation: X:56.96, Y:-6.90, Z:1.11 [[ 9.81727496e-01 1.89452845e-01 -1.78533806e-02 5.69616140e+01] [-1.89412636e-01 9.81889704e-01 3.93230321e-03 -6.90277668e+00] [ 1.82750366e-02 -4.78794296e-04 9.99832883e-01 1.10742010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.742755095999996 meters 0.021896618506511357 Centerline is valid? [True, True] Translation: X:57.02, Y:-6.92, Z:1.11 [[ 9.81522252e-01 1.90572472e-01 -1.72104852e-02 5.70225498e+01] [-1.90535195e-01 9.81673028e-01 3.79548692e-03 -6.91534857e+00] [ 1.76183844e-02 -4.46151733e-04 9.99844685e-01 1.10882297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.802755096 meters 0.02222622194425225 Centerline is valid? [True, True] Translation: X:57.08, Y:-6.93, Z:1.11 [[ 9.81381202e-01 1.91289747e-01 -1.72964965e-02 5.70822857e+01] [-1.91252114e-01 9.81533514e-01 3.81971454e-03 -6.93035547e+00] [ 1.77077632e-02 -4.40604537e-04 9.99843108e-01 1.11021279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.862755095999994 meters 0.022402922289831744 Centerline is valid? [True, True] Translation: X:57.14, Y:-6.95, Z:1.11 [[ 9.81338960e-01 1.91475496e-01 -1.76346181e-02 5.71434628e+01] [-1.91436319e-01 9.81497291e-01 3.89928210e-03 -6.94532350e+00] [ 1.80549468e-02 -4.50611074e-04 9.99836895e-01 1.11087420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.922755095999996 meters 0.02276103162697397 Centerline is valid? [True, True] Translation: X:57.20, Y:-6.96, Z:1.11 [[ 9.81358427e-01 1.91357549e-01 -1.78304719e-02 5.72042422e+01] [-1.91317367e-01 9.81520287e-01 3.94865249e-03 -6.96041572e+00] [ 1.82565743e-02 -4.63764468e-04 9.99833227e-01 1.11192428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.982755096 meters 0.022896081063106918 Centerline is valid? [True, True] Translation: X:57.26, Y:-6.98, Z:1.11 [[ 9.81335412e-01 1.91407524e-01 -1.85464073e-02 5.72648476e+01] [-1.91363937e-01 9.81510531e-01 4.11361775e-03 -6.97556745e+00] [ 1.89908714e-02 -4.87725260e-04 9.99819538e-01 1.11209912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04275509599999 meters 0.023058341377618866 Centerline is valid? [True, True] Translation: X:57.32, Y:-6.99, Z:1.11 [[ 9.81087200e-01 1.92592616e-01 -1.93904835e-02 5.73244299e+01] [-1.92545070e-01 9.81278677e-01 4.30747699e-03 -6.99032007e+00] [ 1.98570563e-02 -4.92468527e-04 9.99802708e-01 1.11202335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.102755095999996 meters 0.023234427929079808 Centerline is valid? [True, True] Translation: X:57.38, Y:-7.00, Z:1.11 [[ 9.80689556e-01 1.94514593e-01 -2.02994467e-02 5.73834936e+01] [-1.94462779e-01 9.80899507e-01 4.51498993e-03 -7.00464654e+00] [ 2.07899487e-02 -4.80316664e-04 9.99783750e-01 1.11235596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.162755096 meters 0.02239828988821026 Centerline is valid? [True, True] Translation: X:57.44, Y:-7.02, Z:1.11 [[ 9.80456570e-01 1.95695184e-01 -2.02066695e-02 5.74444046e+01] [-1.95643984e-01 9.80664665e-01 4.49961713e-03 -7.01636873e+00] [ 2.06965202e-02 -4.58365858e-04 9.99785699e-01 1.11335039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22275509599999 meters 0.022523749712688484 Centerline is valid? [True, True] Translation: X:57.50, Y:-7.03, Z:1.11 [[ 9.80277726e-01 1.96657180e-01 -1.95328909e-02 5.75038754e+01] [-1.96609424e-01 9.80472218e-01 4.35479137e-03 -7.03091765e+00] [ 2.00078578e-02 -4.28554551e-04 9.99799731e-01 1.11469707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.282755095999995 meters 0.02276569783569728 Centerline is valid? [True, True] Translation: X:57.57, Y:-7.05, Z:1.12 [[ 9.80274771e-01 1.96687656e-01 -1.93736876e-02 5.75652605e+01] [-1.96640585e-01 9.80466104e-01 4.32421377e-03 -7.04555401e+00] [ 1.98457635e-02 -4.29264406e-04 9.99802961e-01 1.11617055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.342755096 meters 0.021319886312161838 Centerline is valid? [True, True] Translation: X:57.63, Y:-7.06, Z:1.12 [[ 9.80411274e-01 1.96109112e-01 -1.83016369e-02 5.76260285e+01] [-1.96066906e-01 9.80581989e-01 4.09026577e-03 -7.05753170e+00] [ 1.87483939e-02 -4.21797361e-04 9.99824144e-01 1.11814483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40275509599999 meters 0.02190483807603639 Centerline is valid? [True, True] Translation: X:57.69, Y:-7.07, Z:1.12 [[ 9.80542525e-01 1.95564962e-01 -1.70500026e-02 5.76863025e+01] [-1.95528168e-01 9.80690665e-01 3.81522663e-03 -7.07279067e+00] [ 1.74669030e-02 -4.07236182e-04 9.99847359e-01 1.11916855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.462755095999995 meters 0.0220089655552655 Centerline is valid? [True, True] Translation: X:57.75, Y:-7.09, Z:1.12 [[ 9.80426777e-01 1.96107015e-01 -1.74749415e-02 5.77470905e+01] [-1.96068356e-01 9.80582413e-01 3.91553764e-03 -7.08771416e+00] [ 1.79034847e-02 -4.12614891e-04 9.99839635e-01 1.11991739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.522755096 meters 0.021682403306839387 Centerline is valid? [True, True] Translation: X:57.81, Y:-7.10, Z:1.12 [[ 9.80212338e-01 1.97157469e-01 -1.76834510e-02 5.78074338e+01] [-1.97117944e-01 9.80371750e-01 3.96826772e-03 -7.10211282e+00] [ 1.81187294e-02 -4.04019480e-04 9.99835761e-01 1.11982937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58275509599999 meters 0.021424083459865698 Centerline is valid? [True, True] Translation: X:57.87, Y:-7.12, Z:1.12 [[ 9.79917973e-01 1.98599340e-01 -1.78624956e-02 5.78681185e+01] [-1.98559152e-01 9.80080687e-01 4.01376469e-03 -7.11615860e+00] [ 1.83038180e-02 -3.86398175e-04 9.99832396e-01 1.12031117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.642755095999995 meters 0.020742732694094188 Centerline is valid? [True, True] Translation: X:57.93, Y:-7.13, Z:1.12 [[ 9.79522960e-01 2.00522812e-01 -1.80381111e-02 5.79287519e+01] [-2.00482057e-01 9.79688967e-01 4.05856664e-03 -7.13001995e+00] [ 1.84855736e-02 -3.59141583e-04 9.99829063e-01 1.12201940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.702755096 meters 0.02076076631114858 Centerline is valid? [True, True] Translation: X:57.99, Y:-7.14, Z:1.12 [[ 9.79257979e-01 2.01838671e-01 -1.77471572e-02 5.79879800e+01] [-2.01799342e-01 9.79418725e-01 3.99828344e-03 -7.14411947e+00] [ 1.81889063e-02 -3.33986325e-04 9.99834512e-01 1.12320932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76275509599999 meters 0.020970145610486157 Centerline is valid? [True, True] Translation: X:58.05, Y:-7.16, Z:1.12 [[ 9.79068465e-01 2.02726412e-01 -1.80815645e-02 5.80474464e+01] [-2.02685646e-01 9.79235362e-01 4.07860660e-03 -7.15921145e+00] [ 1.85329486e-02 -3.28361527e-04 9.99828196e-01 1.12431039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.822755095999995 meters 0.020849935377944794 Centerline is valid? [True, True] Translation: X:58.11, Y:-7.17, Z:1.12 [[ 9.79067556e-01 2.02644910e-01 -1.90200067e-02 5.81081038e+01] [-2.02599683e-01 9.79252223e-01 4.29560377e-03 -7.17423305e+00] [ 1.94958661e-02 -3.52238962e-04 9.99809875e-01 1.12456764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.882755096 meters 0.021524899784031475 Centerline is valid? [True, True] Translation: X:58.17, Y:-7.19, Z:1.13 [[ 9.79250552e-01 2.01738489e-01 -1.92337633e-02 5.81667428e+01] [-2.01691941e-01 9.79439348e-01 4.35015279e-03 -7.19123245e+00] [ 1.97158979e-02 -3.80594468e-04 9.99805550e-01 1.12569149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94275509599999 meters 0.022232198770638482 Centerline is valid? [True, True] Translation: X:58.23, Y:-7.21, Z:1.13 [[ 9.79491937e-01 2.00566607e-01 -1.91984626e-02 5.82260775e+01] [-2.00519909e-01 9.79679983e-01 4.34705013e-03 -7.20830487e+00] [ 1.96802227e-02 -4.08226575e-04 9.99806242e-01 1.12731334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.002755095999994 meters 0.023220140377703185 Centerline is valid? [True, True] Translation: X:58.28, Y:-7.23, Z:1.13 [[ 9.79674187e-01 1.99762041e-01 -1.82651162e-02 5.82846730e+01] [-1.99719584e-01 9.79844356e-01 4.13834212e-03 -7.22576426e+00] [ 1.87236547e-02 -4.06325531e-04 9.99824614e-01 1.12977247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.062755096 meters 0.02257605928420692 Centerline is valid? [True, True] Translation: X:58.34, Y:-7.24, Z:1.13 [[ 9.79892573e-01 1.98736898e-01 -1.77254028e-02 5.83448933e+01] [-1.98696700e-01 9.80052791e-01 4.01855615e-03 -7.24067072e+00] [ 1.81704659e-02 -4.15774279e-04 9.99834817e-01 1.13133830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12275509599999 meters 0.022520275085214064 Centerline is valid? [True, True] Translation: X:58.41, Y:-7.26, Z:1.13 [[ 9.80160901e-01 1.97344167e-01 -1.84360412e-02 5.84052832e+01] [-1.97300332e-01 9.80334159e-01 4.18512373e-03 -7.25605710e+00] [ 1.88993907e-02 -4.64657585e-04 9.99821283e-01 1.13204552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.182755095999994 meters 0.023956647036756068 Centerline is valid? [True, True] Translation: X:58.46, Y:-7.28, Z:1.13 [[ 9.80614399e-01 1.94964807e-01 -1.95991126e-02 5.84636567e+01] [-1.94914669e-01 9.80810085e-01 4.45522183e-03 -7.27612766e+00] [ 2.00916187e-02 -5.48700149e-04 9.99797992e-01 1.13228124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.242755095999996 meters 0.02527384861528282 Centerline is valid? [True, True] Translation: X:58.52, Y:-7.29, Z:1.13 [[ 9.80910010e-01 1.93386050e-01 -2.04300959e-02 5.85222451e+01] [-1.93331113e-01 9.81122552e-01 4.64955316e-03 -7.29452133e+00] [ 2.09435865e-02 -6.11020047e-04 9.99780472e-01 1.13241644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.302755096 meters 0.025956684872990247 Centerline is valid? [True, True] Translation: X:58.58, Y:-7.31, Z:1.13 [[ 9.80977702e-01 1.92964158e-01 -2.11561358e-02 5.85821899e+01] [-1.92905070e-01 9.81205593e-01 4.81842769e-03 -7.31227629e+00] [ 2.16883026e-02 -6.45644261e-04 9.99764573e-01 1.13276214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.362755095999994 meters 0.024328549654259405 Centerline is valid? [True, True] Translation: X:58.64, Y:-7.32, Z:1.14 [[ 9.80843703e-01 1.93682009e-01 -2.08064925e-02 5.86434628e+01] [-1.93624896e-01 9.81064161e-01 4.74454615e-03 -7.32381550e+00] [ 2.13314373e-02 -6.25003269e-04 9.99772264e-01 1.13523100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.422755095999996 meters 0.025142196029752213 Centerline is valid? [True, True] Translation: X:58.70, Y:-7.34, Z:1.14 [[ 9.80425303e-01 1.95811082e-01 -2.05972354e-02 5.87028941e+01] [-1.95755462e-01 9.80641466e-01 4.70250346e-03 -7.33955173e+00] [ 2.11193054e-02 -5.78432053e-04 9.99776795e-01 1.13584692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.482755096 meters 0.02536822843330654 Centerline is valid? [True, True] Translation: X:58.76, Y:-7.35, Z:1.14 [[ 9.80010810e-01 1.97851135e-01 -2.08264664e-02 5.87624307e+01] [-1.97794651e-01 9.80231928e-01 4.75852734e-03 -7.35333239e+00] [ 2.13562473e-02 -5.44044595e-04 9.99771781e-01 1.13656672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54275509599999 meters 0.022638834634809073 Centerline is valid? [True, True] Translation: X:58.82, Y:-7.36, Z:1.14 [[ 9.79725123e-01 1.99306520e-01 -2.03861164e-02 5.88244592e+01] [-1.99252614e-01 9.79937067e-01 4.66273077e-03 -7.36261490e+00] [ 2.09064238e-02 -5.06207495e-04 9.99781309e-01 1.13875089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.602755095999996 meters 0.02151719859505442 Centerline is valid? [True, True] Translation: X:58.89, Y:-7.37, Z:1.14 [[ 9.79266422e-01 2.01533156e-01 -2.05344233e-02 5.88865756e+01] [-2.01478878e-01 9.79481583e-01 4.70013596e-03 -7.37096660e+00] [ 2.10603227e-02 -4.65432755e-04 9.99778098e-01 1.13983504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.662755096 meters 0.020451377136664707 Centerline is valid? [True, True] Translation: X:58.95, Y:-7.38, Z:1.14 [[ 9.79002280e-01 2.02875744e-01 -1.98989685e-02 5.89474682e+01] [-2.02824937e-01 9.79204396e-01 4.56026900e-03 -7.38216047e+00] [ 2.04103254e-02 -4.28506731e-04 9.99791596e-01 1.14196371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72275509599999 meters 0.02062869517391432 Centerline is valid? [True, True] Translation: X:59.01, Y:-7.40, Z:1.14 [[ 9.78929615e-01 2.03212951e-01 -2.00326173e-02 5.90089696e+01] [-2.03161406e-01 9.79134471e-01 4.59695322e-03 -7.39588731e+00] [ 2.05487866e-02 -4.30238958e-04 9.99788759e-01 1.14272272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.782755095999995 meters 0.02134299497963066 Centerline is valid? [True, True] Translation: X:59.07, Y:-7.41, Z:1.14 [[ 9.79232439e-01 2.01724217e-01 -2.02773551e-02 5.90702187e+01] [-2.01670943e-01 9.79442247e-01 4.65992891e-03 -7.40852196e+00] [ 2.08005187e-02 -4.73800220e-04 9.99783534e-01 1.14324351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.842755096 meters 0.02333879837290185 Centerline is valid? [True, True] Translation: X:59.13, Y:-7.43, Z:1.14 [[ 9.79276698e-01 2.01522943e-01 -2.01407979e-02 5.91294523e+01] [-2.01470221e-01 9.79483676e-01 4.63440750e-03 -7.42525812e+00] [ 2.06615222e-02 -4.80596271e-04 9.99786412e-01 1.14423900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90275509599999 meters 0.021747521952305424 Centerline is valid? [True, True] Translation: X:59.19, Y:-7.44, Z:1.15 [[ 9.79383863e-01 2.01000568e-01 -2.01499579e-02 5.91908011e+01] [-2.00947559e-01 9.79590998e-01 4.64267417e-03 -7.43505563e+00] [ 2.06718975e-02 -4.97875305e-04 9.99786190e-01 1.14517772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.962755095999995 meters 0.02162594902664019 Centerline is valid? [True, True] Translation: X:59.25, Y:-7.45, Z:1.15 [[ 9.79385979e-01 2.00992040e-01 -2.01321569e-02 5.92524121e+01] [-2.00939001e-01 9.79592745e-01 4.64450708e-03 -7.44823303e+00] [ 2.06548238e-02 -5.03429625e-04 9.99786540e-01 1.14608306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.022755096 meters 0.02236656033966593 Centerline is valid? [True, True] Translation: X:59.31, Y:-7.46, Z:1.15 [[ 9.79505557e-01 2.00428136e-01 -1.99355595e-02 5.93126022e+01] [-2.00375877e-01 9.79708270e-01 4.60571845e-03 -7.46279668e+00] [ 2.04541480e-02 -5.16721600e-04 9.99790659e-01 1.14694037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08275509599999 meters 0.02510038430061726 Centerline is valid? [True, True] Translation: X:59.37, Y:-7.48, Z:1.15 [[ 9.79764877e-01 1.99253773e-01 -1.89399050e-02 5.93707969e+01] [-1.99206284e-01 9.79947787e-01 4.38088644e-03 -7.48100505e+00] [ 1.94330261e-02 -5.19290579e-04 9.99811026e-01 1.14854000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.142755095999995 meters 0.022622604985883407 Centerline is valid? [True, True] Translation: X:59.43, Y:-7.49, Z:1.15 [[ 9.79753492e-01 1.99343411e-01 -1.85822476e-02 5.94328343e+01] [-1.99297622e-01 9.79929560e-01 4.30299208e-03 -7.49014308e+00] [ 1.90670668e-02 -5.12473756e-04 9.99818076e-01 1.15071535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.202755096 meters 0.02393340514660941 Centerline is valid? [True, True] Translation: X:59.49, Y:-7.51, Z:1.15 [[ 9.79634155e-01 1.99935906e-01 -1.85082406e-02 5.94923711e+01] [-1.99890470e-01 9.79808848e-01 4.29203772e-03 -7.50614326e+00] [ 1.89926704e-02 -5.05005822e-04 9.99819495e-01 1.15229591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26275509599999 meters 0.021876449750342513 Centerline is valid? [True, True] Translation: X:59.55, Y:-7.52, Z:1.15 [[ 9.79207099e-01 2.01920427e-01 -1.95345220e-02 5.95541117e+01] [-2.01870079e-01 9.79401803e-01 4.53636154e-03 -7.51587096e+00] [ 2.00481301e-02 -4.98601919e-04 9.99798892e-01 1.15392297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.322755095999995 meters 0.02107167943675779 Centerline is valid? [True, True] Translation: X:59.62, Y:-7.53, Z:1.15 [[ 9.78764981e-01 2.03977245e-01 -2.03075325e-02 5.96152511e+01] [-2.03923148e-01 9.78975512e-01 4.72199363e-03 -7.52754854e+00] [ 2.08437563e-02 -4.80546052e-04 9.99782630e-01 1.15452337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.382755096 meters 0.02083255544235154 Centerline is valid? [True, True] Translation: X:59.68, Y:-7.54, Z:1.16 [[ 9.78532750e-01 2.05079001e-01 -2.04024657e-02 5.96761270e+01] [-2.05024511e-01 9.78745313e-01 4.75001848e-03 -7.54101287e+00] [ 2.09429467e-02 -4.65043099e-04 9.99780564e-01 1.15592945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44275509599999 meters 0.02085423849031481 Centerline is valid? [True, True] Translation: X:59.74, Y:-7.56, Z:1.16 [[ 9.78421493e-01 2.05691334e-01 -1.95565322e-02 5.97374004e+01] [-2.05641283e-01 9.78616821e-01 4.55853990e-03 -7.55591826e+00] [ 2.00760035e-02 -4.38543053e-04 9.99798361e-01 1.15800483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.502755095999994 meters 0.02140459170310958 Centerline is valid? [True, True] Translation: X:59.80, Y:-7.57, Z:1.16 [[ 9.78434910e-01 2.05706651e-01 -1.87056108e-02 5.97969725e+01] [-2.05660752e-01 9.78613608e-01 4.36601109e-03 -7.57102196e+00] [ 1.92036828e-02 -4.24847700e-04 9.99815502e-01 1.15944410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.562755096 meters 0.021618842710536712 Centerline is valid? [True, True] Translation: X:59.86, Y:-7.59, Z:1.16 [[ 9.78361837e-01 2.06095310e-01 -1.82438946e-02 5.98577514e+01] [-2.06051649e-01 9.78531836e-01 4.26183407e-03 -7.58635508e+00] [ 1.87305757e-02 -4.10431246e-04 9.99824483e-01 1.16079112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62275509599999 meters 0.021406127662097086 Centerline is valid? [True, True] Translation: X:59.92, Y:-7.60, Z:1.16 [[ 9.78173481e-01 2.07042410e-01 -1.76091251e-02 5.99178049e+01] [-2.07001790e-01 9.78331893e-01 4.11896628e-03 -7.60101290e+00] [ 1.80803694e-02 -3.83943155e-04 9.99836463e-01 1.16233771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.682755095999994 meters 0.021340781027088487 Centerline is valid? [True, True] Translation: X:59.98, Y:-7.62, Z:1.16 [[ 9.77896417e-01 2.08312956e-01 -1.80086121e-02 5.99773553e+01] [-2.08270593e-01 9.78062152e-01 4.21749802e-03 -7.61520143e+00] [ 1.84921014e-02 -3.73611882e-04 9.99828937e-01 1.16276859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.742755095999996 meters 0.021910621601855595 Centerline is valid? [True, True] Translation: X:60.04, Y:-7.63, Z:1.16 [[ 9.77836954e-01 2.08540638e-01 -1.85928413e-02 6.00374443e+01] [-2.08495430e-01 9.78013626e-01 4.35916669e-03 -7.63088701e+00] [ 1.90931155e-02 -3.86031841e-04 9.99817635e-01 1.16328955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.802755096 meters 0.022069576160469766 Centerline is valid? [True, True] Translation: X:60.10, Y:-7.65, Z:1.16 [[ 9.77807107e-01 2.08674239e-01 -1.86634109e-02 6.00979827e+01] [-2.08628609e-01 9.77985128e-01 4.38105329e-03 -7.64649797e+00] [ 1.91667512e-02 -3.90103588e-04 9.99816225e-01 1.16443732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.862755095999994 meters 0.02082350534746014 Centerline is valid? [True, True] Translation: X:60.16, Y:-7.66, Z:1.17 [[ 9.77876540e-01 2.08411421e-01 -1.79485805e-02 6.01600265e+01] [-2.08369081e-01 9.78041170e-01 4.21842683e-03 -7.65878953e+00] [ 1.84336190e-02 -3.85171429e-04 9.99830012e-01 1.16591188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.922755095999996 meters 0.021582339458553364 Centerline is valid? [True, True] Translation: X:60.22, Y:-7.68, Z:1.17 [[ 9.78049624e-01 2.07600166e-01 -1.79193717e-02 6.02200489e+01] [-2.07557720e-01 9.78213682e-01 4.21736736e-03 -7.67500799e+00] [ 1.84045007e-02 -4.05490626e-04 9.99830541e-01 1.16663827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.982755096 meters 0.02234169457839627 Centerline is valid? [True, True] Translation: X:60.28, Y:-7.69, Z:1.17 [[ 9.78170735e-01 2.07028917e-01 -1.79176170e-02 6.02793232e+01] [-2.06986292e-01 9.78334733e-01 4.22195270e-03 -7.69238252e+00] [ 1.84034934e-02 -4.21089466e-04 9.99830553e-01 1.16836133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04275509599999 meters 0.021488703479424047 Centerline is valid? [True, True] Translation: X:60.34, Y:-7.71, Z:1.17 [[ 9.78075819e-01 2.07435542e-01 -1.83898904e-02 6.03409680e+01] [-2.07390613e-01 9.78248594e-01 4.33842877e-03 -7.70553786e+00] [ 1.88898288e-02 -4.29421623e-04 9.99821479e-01 1.16927433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.102755095999996 meters 0.021133556606800843 Centerline is valid? [True, True] Translation: X:60.40, Y:-7.72, Z:1.17 [[ 9.77814663e-01 2.08637685e-01 -1.86762241e-02 6.04015388e+01] [-2.08591447e-01 9.77992915e-01 4.41214125e-03 -7.71911156e+00] [ 1.91857538e-02 -4.18555785e-04 9.99815849e-01 1.16981288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.162755096 meters 0.021163335757748755 Centerline is valid? [True, True] Translation: X:60.46, Y:-7.73, Z:1.17 [[ 9.77684563e-01 2.09220048e-01 -1.89701568e-02 6.04626742e+01] [-2.09172346e-01 9.77868496e-01 4.48706420e-03 -7.73380560e+00] [ 1.94891025e-02 -4.18901191e-04 9.99809982e-01 1.17090357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22275509599999 meters 0.020083966014978073 Centerline is valid? [True, True] Translation: X:60.52, Y:-7.75, Z:1.17 [[ 9.77500560e-01 2.10026337e-01 -1.95343990e-02 6.05240891e+01] [-2.09975785e-01 9.77695638e-01 4.62699885e-03 -7.74637278e+00] [ 2.00704883e-02 -4.21143195e-04 9.99798479e-01 1.17141886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.282755095999995 meters 0.02042584731576399 Centerline is valid? [True, True] Translation: X:60.59, Y:-7.76, Z:1.17 [[ 9.77490696e-01 2.10016115e-01 -2.01288504e-02 6.05856657e+01] [-2.09962293e-01 9.77697825e-01 4.77477102e-03 -7.76056252e+00] [ 2.06827122e-02 -4.40994647e-04 9.99785993e-01 1.17207822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.342755096 meters 0.01997097547194163 Centerline is valid? [True, True] Translation: X:60.65, Y:-7.77, Z:1.17 [[ 9.77151192e-01 2.11594166e-01 -2.00862228e-02 6.06473814e+01] [-2.11540768e-01 9.77357528e-01 4.77130955e-03 -7.77092007e+00] [ 2.06410023e-02 -4.13235807e-04 9.99786866e-01 1.17310939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40275509599999 meters 0.019871332024454715 Centerline is valid? [True, True] Translation: X:60.71, Y:-7.78, Z:1.17 [[ 9.76963734e-01 2.12449488e-01 -2.01761716e-02 6.07078724e+01] [-2.12395670e-01 9.77171967e-01 4.79860478e-03 -7.78454198e+00] [ 2.07350504e-02 -4.02731367e-04 9.99784925e-01 1.17427323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.462755095999995 meters 0.020684343673647975 Centerline is valid? [True, True] Translation: X:60.77, Y:-7.80, Z:1.17 [[ 9.77210667e-01 2.11263005e-01 -2.06701395e-02 6.07682838e+01] [-2.11206123e-01 9.77429151e-01 4.92221375e-03 -7.80082470e+00] [ 2.12434786e-02 -4.44379755e-04 9.99774233e-01 1.17495037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.522755096 meters 0.0213223281281235 Centerline is valid? [True, True] Translation: X:60.83, Y:-7.82, Z:1.18 [[ 9.77672498e-01 2.09155474e-01 -2.02601600e-02 6.08277851e+01] [-2.09100256e-01 9.77882279e-01 4.83029319e-03 -7.81668585e+00] [ 2.08223337e-02 -4.86040167e-04 9.99783074e-01 1.17610789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58275509599999 meters 0.023962567996855585 Centerline is valid? [True, True] Translation: X:60.89, Y:-7.83, Z:1.18 [[ 9.77958260e-01 2.07833380e-01 -2.00730509e-02 6.08861514e+01] [-2.07778786e-01 9.78164108e-01 4.79110466e-03 -7.83434545e+00] [ 2.06304894e-02 -5.14746234e-04 9.99787036e-01 1.17641551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.642755095999995 meters 0.023905337534775774 Centerline is valid? [True, True] Translation: X:60.95, Y:-7.85, Z:1.18 [[ 9.77854148e-01 2.08404381e-01 -1.92062304e-02 6.09468961e+01] [-2.08354413e-01 9.78042626e-01 4.58918403e-03 -7.85018573e+00] [ 1.97409181e-02 -4.85849763e-04 9.99805011e-01 1.17877422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.702755096 meters 0.02150400039156879 Centerline is valid? [True, True] Translation: X:61.01, Y:-7.86, Z:1.18 [[ 9.77305736e-01 2.10945052e-01 -1.93825767e-02 6.10085304e+01] [-2.10894541e-01 9.77497820e-01 4.63738491e-03 -7.86043225e+00] [ 1.99246599e-02 -4.44463259e-04 9.99801385e-01 1.17956471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76275509599999 meters 0.02052268192494296 Centerline is valid? [True, True] Translation: X:61.07, Y:-7.87, Z:1.18 [[ 9.76559417e-01 2.14338587e-01 -1.97655169e-02 6.10695052e+01] [-2.14286635e-01 9.76759346e-01 4.73483095e-03 -7.87243856e+00] [ 2.03210103e-02 -3.88357649e-04 9.99793432e-01 1.17955245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.822755095999995 meters 0.019927691924856814 Centerline is valid? [True, True] Translation: X:61.13, Y:-7.89, Z:1.18 [[ 9.76000965e-01 2.16901297e-01 -1.93892697e-02 6.11302303e+01] [-2.16851701e-01 9.76193483e-01 4.65015310e-03 -7.88610335e+00] [ 1.99363029e-02 -3.33957800e-04 9.99801196e-01 1.18065436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.882755096 meters 0.019813747603345144 Centerline is valid? [True, True] Translation: X:61.19, Y:-7.90, Z:1.18 [[ 9.75822065e-01 2.17768873e-01 -1.86551988e-02 6.11901588e+01] [-2.17723022e-01 9.76000319e-01 4.47920639e-03 -7.90127005e+00] [ 1.91829117e-02 -3.09242176e-04 9.99815943e-01 1.18242975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94275509599999 meters 0.020842927061266545 Centerline is valid? [True, True] Translation: X:61.25, Y:-7.92, Z:1.18 [[ 9.75911341e-01 2.17462101e-01 -1.75296786e-02 6.12503069e+01] [-2.17421482e-01 9.76068719e-01 4.21368877e-03 -7.91791201e+00] [ 1.80264885e-02 -3.00857965e-04 9.99837464e-01 1.18420991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.002755095999994 meters 0.02033393039964512 Centerline is valid? [True, True] Translation: X:61.31, Y:-7.93, Z:1.19 [[ 9.76131847e-01 2.16520572e-01 -1.68955218e-02 6.13108044e+01] [-2.16482643e-01 9.76278007e-01 4.06438037e-03 -7.93162236e+00] [ 1.73747483e-02 -3.09783894e-04 9.99849000e-01 1.18538064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.062755096 meters 0.02088283182921944 Centerline is valid? [True, True] Translation: X:61.37, Y:-7.95, Z:1.19 [[ 9.76482691e-01 2.14983432e-01 -1.62381871e-02 6.13707806e+01] [-2.14948109e-01 9.76617641e-01 3.91078821e-03 -7.94841234e+00] [ 1.66992546e-02 -3.28449390e-04 9.99860504e-01 1.18697550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12275509599999 meters 0.021682357869275637 Centerline is valid? [True, True] Translation: X:61.43, Y:-7.96, Z:1.19 [[ 9.76554002e-01 2.14672005e-01 -1.60689872e-02 6.14306930e+01] [-2.14637295e-01 9.76686141e-01 3.87472715e-03 -7.96438212e+00] [ 1.65261525e-02 -3.34876369e-04 9.99863378e-01 1.18792860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.182755095999994 meters 0.021393709287990375 Centerline is valid? [True, True] Translation: X:61.49, Y:-7.98, Z:1.19 [[ 9.76521904e-01 2.14807515e-01 -1.62081231e-02 6.14921892e+01] [-2.14772135e-01 9.76656345e-01 3.91336392e-03 -7.97841070e+00] [ 1.66703862e-02 -3.40432383e-04 9.99860982e-01 1.18879252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.242755095999996 meters 0.022270359164051807 Centerline is valid? [True, True] Translation: X:61.55, Y:-7.99, Z:1.19 [[ 9.76432910e-01 2.15184474e-01 -1.65654467e-02 6.15517602e+01] [-2.15147471e-01 9.76573357e-01 4.00548241e-03 -7.99389240e+00] [ 1.70392915e-02 -3.47070876e-04 9.99854760e-01 1.18972816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.302755096 meters 0.02190882416440605 Centerline is valid? [True, True] Translation: X:61.61, Y:-8.01, Z:1.19 [[ 9.76215775e-01 2.16125248e-01 -1.71066539e-02 6.16119402e+01] [-2.16085833e-01 9.76365586e-01 4.14194705e-03 -8.00733001e+00] [ 1.75975275e-02 -3.46928487e-04 9.99845091e-01 1.18977675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.362755095999994 meters 0.021753962894807213 Centerline is valid? [True, True] Translation: X:61.67, Y:-8.02, Z:1.19 [[ 9.75916293e-01 2.17403235e-01 -1.79783826e-02 6.16729229e+01] [-2.17359816e-01 9.76081817e-01 4.35847664e-03 -8.02089046e+00] [ 1.84959193e-02 -3.45730436e-04 9.99828876e-01 1.18961239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.422755095999996 meters 0.021842106781480436 Centerline is valid? [True, True] Translation: X:61.73, Y:-8.04, Z:1.19 [[ 9.75675712e-01 2.18574022e-01 -1.68018562e-02 6.17325695e+01] [-2.18536197e-01 9.75820323e-01 4.07775016e-03 -8.03570428e+00] [ 1.72868830e-02 -3.06748033e-04 9.99850524e-01 1.19201845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.482755096 meters 0.02136814906621312 Centerline is valid? [True, True] Translation: X:61.79, Y:-8.05, Z:1.19 [[ 9.75570122e-01 2.19090821e-01 -1.61910421e-02 6.17939621e+01] [-2.19055702e-01 9.75704426e-01 3.93340855e-03 -8.05027514e+00] [ 1.66594452e-02 -2.90575769e-04 9.99861180e-01 1.19382260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54275509599999 meters 0.02231715815704376 Centerline is valid? [True, True] Translation: X:61.85, Y:-8.07, Z:1.20 [[ 9.75410534e-01 2.19812057e-01 -1.60296569e-02 6.18540026e+01] [-2.19777644e-01 9.75542198e-01 3.89953830e-03 -8.06746778e+00] [ 1.64947723e-02 -2.80690516e-04 9.99863913e-01 1.19540109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.602755095999996 meters 0.022391474042156186 Centerline is valid? [True, True] Translation: X:61.91, Y:-8.08, Z:1.20 [[ 9.75294926e-01 2.20251191e-01 -1.70064617e-02 6.19147175e+01] [-2.20212413e-01 9.75443143e-01 4.14341995e-03 -8.08291900e+00] [ 1.75014297e-02 -2.96022485e-04 9.99846794e-01 1.19582066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.662755096 meters 0.021593620983015847 Centerline is valid? [True, True] Translation: X:61.98, Y:-8.10, Z:1.20 [[ 9.75277163e-01 2.20291935e-01 -1.74905460e-02 6.19762883e+01] [-2.20250897e-01 9.75433939e-01 4.26290890e-03 -8.09649308e+00] [ 1.79999567e-02 -3.05209245e-04 9.99837941e-01 1.19651988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72275509599999 meters 0.02221414252494358 Centerline is valid? [True, True] Translation: X:62.04, Y:-8.11, Z:1.20 [[ 9.75785892e-01 2.17984603e-01 -1.80168326e-02 6.20360537e+01] [-2.17940551e-01 9.75952140e-01 4.39727610e-03 -8.11366907e+00] [ 1.85421048e-02 -3.64201557e-04 9.99828014e-01 1.19762849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.782755095999995 meters 0.023102221152904542 Centerline is valid? [True, True] Translation: X:62.10, Y:-8.13, Z:1.20 [[ 9.76263720e-01 2.15887872e-01 -1.73659663e-02 6.20952099e+01] [-2.15846527e-01 9.76418082e-01 4.24328247e-03 -8.13075976e+00] [ 1.78725167e-02 -3.94179225e-04 9.99840196e-01 1.20038868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.842755096 meters 0.023944473335263842 Centerline is valid? [True, True] Translation: X:62.16, Y:-8.15, Z:1.20 [[ 9.76642223e-01 2.14177980e-01 -1.72557744e-02 6.21553813e+01] [-2.14136810e-01 9.76794559e-01 4.22096006e-03 -8.14730761e+00] [ 1.77593833e-02 -4.27271329e-04 9.99842198e-01 1.20189362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90275509599999 meters 0.026003284528101432 Centerline is valid? [True, True] Translation: X:62.21, Y:-8.16, Z:1.20 [[ 9.76904498e-01 2.12956250e-01 -1.75281796e-02 6.22139645e+01] [-2.12913480e-01 9.77061627e-01 4.29270980e-03 -8.16465965e+00] [ 1.80402711e-02 -4.61581794e-04 9.99837155e-01 1.20316683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.962755095999995 meters 0.02398357318190348 Centerline is valid? [True, True] Translation: X:62.28, Y:-8.17, Z:1.20 [[ 9.76951183e-01 2.12694110e-01 -1.80997860e-02 6.22755955e+01] [-2.12648370e-01 9.77118713e-01 4.43757679e-03 -8.17251476e+00] [ 1.86294860e-02 -4.86405909e-04 9.99826338e-01 1.20363023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.022755096 meters 0.025514515011428717 Centerline is valid? [True, True] Translation: X:62.33, Y:-8.19, Z:1.20 [[ 9.77046839e-01 2.12111054e-01 -1.97072545e-02 6.23345022e+01] [-2.12056580e-01 9.77245415e-01 4.83800333e-03 -8.18837748e+00] [ 2.02850181e-02 -5.47902859e-04 9.99794088e-01 1.20335229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08275509599999 meters 0.0273877605658236 Centerline is valid? [True, True] Translation: X:62.39, Y:-8.20, Z:1.20 [[ 9.77383280e-01 2.10375324e-01 -2.15440870e-02 6.23938951e+01] [-2.10309660e-01 9.77620483e-01 5.29521097e-03 -8.20439243e+00] [ 2.21759225e-02 -6.44521062e-04 9.99753876e-01 1.20355494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.142755095999995 meters 0.02666092130643051 Centerline is valid? [True, True] Translation: X:62.46, Y:-8.21, Z:1.21 [[ 9.77376383e-01 2.10442578e-01 -2.11973432e-02 6.24561155e+01] [-2.10378904e-01 9.77606012e-01 5.21558958e-03 -8.21443442e+00] [ 2.18202322e-02 -6.38120250e-04 9.99761707e-01 1.20527118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.202755096 meters 0.026000625866767522 Centerline is valid? [True, True] Translation: X:62.52, Y:-8.22, Z:1.21 [[ 9.76888549e-01 2.12754837e-01 -2.05947265e-02 6.25175117e+01] [-2.12695111e-01 9.77105443e-01 5.07370746e-03 -8.22455079e+00] [ 2.12026752e-02 -5.76049085e-04 9.99775032e-01 1.20755881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26275509599999 meters 0.025517533981550124 Centerline is valid? [True, True] Translation: X:62.58, Y:-8.24, Z:1.21 [[ 9.76399396e-01 2.14972006e-01 -2.07666900e-02 6.25770682e+01] [-2.14911655e-01 9.76620063e-01 5.12187130e-03 -8.23639035e+00] [ 2.13822250e-02 -5.37988346e-04 9.99771229e-01 1.20973016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.322755095999995 meters 0.023229289216068493 Centerline is valid? [True, True] Translation: X:62.64, Y:-8.24, Z:1.21 [[ 9.75583907e-01 2.18627088e-01 -2.09341276e-02 6.26393990e+01] [-2.18566492e-01 9.75808372e-01 5.16814494e-03 -8.24465307e+00] [ 2.15575934e-02 -4.66460197e-04 9.99767499e-01 1.21184445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.382755096 meters 0.02272013914036891 Centerline is valid? [True, True] Translation: X:62.70, Y:-8.26, Z:1.21 [[ 9.74692353e-01 2.22543800e-01 -2.11913578e-02 6.26995958e+01] [-2.22482572e-01 9.74922616e-01 5.23431073e-03 -8.25585611e+00] [ 2.18247974e-02 -3.87134844e-04 9.99761736e-01 1.21399583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44275509599999 meters 0.0213013334938871 Centerline is valid? [True, True] Translation: X:62.76, Y:-8.27, Z:1.22 [[ 9.74329753e-01 2.24151710e-01 -2.09175197e-02 6.27613756e+01] [-2.24092307e-01 9.74554199e-01 5.17213263e-03 -8.26617420e+00] [ 2.15445990e-02 -3.51907473e-04 9.99767826e-01 1.21657494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.502755095999994 meters 0.02132282189188371 Centerline is valid? [True, True] Translation: X:62.82, Y:-8.28, Z:1.22 [[ 9.74144701e-01 2.24895450e-01 -2.15438675e-02 6.28216430e+01] [-2.24832477e-01 9.74382837e-01 5.33335029e-03 -8.27905165e+00] [ 2.21914210e-02 -3.51693833e-04 9.99753678e-01 1.21788516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.562755096 meters 0.020937822673597395 Centerline is valid? [True, True] Translation: X:62.88, Y:-8.29, Z:1.22 [[ 9.74205862e-01 2.24660643e-01 -2.12257907e-02 6.28831765e+01] [-2.24599320e-01 9.74437000e-01 5.26100609e-03 -8.29250150e+00] [ 2.18651369e-02 -3.58004810e-04 9.99760865e-01 1.21954141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62275509599999 meters 0.02130463586878209 Centerline is valid? [True, True] Translation: X:62.94, Y:-8.31, Z:1.22 [[ 9.74550950e-01 2.23170687e-01 -2.11019060e-02 6.29431510e+01] [-2.23109580e-01 9.74779302e-01 5.23712596e-03 -8.30674351e+00] [ 2.17384742e-02 -3.95808714e-04 9.99763613e-01 1.22126582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.682755095999994 meters 0.02225008431490249 Centerline is valid? [True, True] Translation: X:63.00, Y:-8.32, Z:1.22 [[ 9.75196660e-01 2.20278616e-01 -2.16519024e-02 6.30025727e+01] [-2.20213434e-01 9.75436878e-01 5.37965097e-03 -8.32356148e+00] [ 2.23050861e-02 -4.78177877e-04 9.99751096e-01 1.22206644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.742755095999996 meters 0.023345677298606576 Centerline is valid? [True, True] Translation: X:63.06, Y:-8.34, Z:1.22 [[ 9.75670453e-01 2.18114031e-01 -2.22134526e-02 6.30622535e+01] [-2.18044720e-01 9.75923137e-01 5.52541232e-03 -8.34107920e+00] [ 2.28837923e-02 -5.47455477e-04 9.99737982e-01 1.22281540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.802755096 meters 0.024085771130132064 Centerline is valid? [True, True] Translation: X:63.12, Y:-8.36, Z:1.22 [[ 9.76352201e-01 2.14958092e-01 -2.30086367e-02 6.31220401e+01] [-2.14882715e-01 9.76623058e-01 5.72905431e-03 -8.35714049e+00] [ 2.37022717e-02 -6.49416473e-04 9.99718851e-01 1.22311467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.862755095999994 meters 0.02466527238252311 Centerline is valid? [True, True] Translation: X:63.18, Y:-8.37, Z:1.22 [[ 9.76592871e-01 2.13778007e-01 -2.37766355e-02 6.31813173e+01] [-2.13697087e-01 9.76882013e-01 5.92340244e-03 -8.37402292e+00] [ 2.44932607e-02 -7.03754846e-04 9.99699747e-01 1.22381572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.922755095999996 meters 0.024734941650193434 Centerline is valid? [True, True] Translation: X:63.24, Y:-8.39, Z:1.22 [[ 9.76644813e-01 2.13541750e-01 -2.37661396e-02 6.32415111e+01] [-2.13460669e-01 9.76933677e-01 5.92743775e-03 -8.38975267e+00] [ 2.44836975e-02 -7.15865296e-04 9.99699973e-01 1.22498881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.982755096 meters 0.025672358676459308 Centerline is valid? [True, True] Translation: X:63.30, Y:-8.41, Z:1.23 [[ 9.76567611e-01 2.13827778e-01 -2.43594229e-02 6.33013194e+01] [-2.13742499e-01 9.76871098e-01 6.08287595e-03 -8.40693238e+00] [ 2.50967041e-02 -7.33695720e-04 9.99684759e-01 1.22553042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.042755096 meters 0.024162332643215368 Centerline is valid? [True, True] Translation: X:63.36, Y:-8.42, Z:1.23 [[ 9.76361077e-01 2.14737151e-01 -2.46374588e-02 6.33624669e+01] [-2.14650007e-01 9.76671608e-01 6.15997977e-03 -8.42008113e+00] [ 2.53854830e-02 -7.25933775e-04 9.99677473e-01 1.22660385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.102755096 meters 0.024097083115646397 Centerline is valid? [True, True] Translation: X:63.42, Y:-8.44, Z:1.23 [[ 9.76199523e-01 2.15598780e-01 -2.34873907e-02 6.34221532e+01] [-2.15519669e-01 9.76481801e-01 5.87917079e-03 -8.43620008e+00] [ 2.42025516e-02 -6.77249054e-04 9.99706846e-01 1.22822387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.162755096 meters 0.026770212248938705 Centerline is valid? [True, True] Translation: X:63.48, Y:-8.46, Z:1.23 [[ 9.76217944e-01 2.15611105e-01 -2.25915286e-02 6.34808051e+01] [-2.15537767e-01 9.76479093e-01 5.66145141e-03 -8.45633478e+00] [ 2.32808272e-02 -6.57482829e-04 9.99728749e-01 1.22995317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.222755096 meters 0.024109436791305065 Centerline is valid? [True, True] Translation: X:63.54, Y:-8.47, Z:1.23 [[ 9.76282234e-01 2.15453884e-01 -2.12749569e-02 6.35428351e+01] [-2.15388669e-01 9.76513814e-01 5.33788658e-03 -8.46953528e+00] [ 2.19253577e-02 -6.28899187e-04 9.99759413e-01 1.23247572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28275509599999 meters 0.024201998383799994 Centerline is valid? [True, True] Translation: X:63.60, Y:-8.49, Z:1.23 [[ 9.76337504e-01 2.15296093e-01 -2.03142726e-02 6.36036363e+01] [-2.15236463e-01 9.76548626e-01 5.10348653e-03 -8.48629741e+00] [ 2.09366357e-02 -6.10353132e-04 9.99780618e-01 1.23418340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34275509599999 meters 0.02490966073263984 Centerline is valid? [True, True] Translation: X:63.66, Y:-8.50, Z:1.24 [[ 9.76232378e-01 2.15780133e-01 -2.02306324e-02 6.36625414e+01] [-2.15720960e-01 9.76441790e-01 5.08900380e-03 -8.50327149e+00] [ 2.08521408e-02 -6.03878831e-04 9.99782388e-01 1.23502558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40275509599999 meters 0.023659115275517166 Centerline is valid? [True, True] Translation: X:63.72, Y:-8.52, Z:1.23 [[ 9.75960238e-01 2.16915530e-01 -2.11959193e-02 6.37229651e+01] [-2.16850753e-01 9.76190186e-01 5.33588464e-03 -8.51712706e+00] [ 2.18486847e-02 -6.11260183e-04 9.99761102e-01 1.23460692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.462755096 meters 0.023510720841660306 Centerline is valid? [True, True] Translation: X:63.78, Y:-8.53, Z:1.23 [[ 9.75402432e-01 2.19309448e-01 -2.22139773e-02 6.37823063e+01] [-2.19238762e-01 9.75655173e-01 5.59897632e-03 -8.53318595e+00] [ 2.29010902e-02 -5.91090248e-04 9.99737561e-01 1.23403417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.522755096 meters 0.02261599487482371 Centerline is valid? [True, True] Translation: X:63.84, Y:-8.55, Z:1.23 [[ 9.75048574e-01 2.20832836e-01 -2.26525060e-02 6.38430385e+01] [-2.20759593e-01 9.75311505e-01 5.71587721e-03 -8.54684122e+00] [ 2.33555030e-02 -5.72499930e-04 9.99727059e-01 1.23485065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.582755096 meters 0.02241171670841843 Centerline is valid? [True, True] Translation: X:63.90, Y:-8.56, Z:1.23 [[ 9.74672953e-01 2.22429266e-01 -2.31917516e-02 6.39018243e+01] [-2.22352781e-01 9.74948673e-01 5.85878736e-03 -8.56222550e+00] [ 2.39139332e-02 -5.53651104e-04 9.99713868e-01 1.23498457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.642755096 meters 0.021467572966260253 Centerline is valid? [True, True] Translation: X:63.96, Y:-8.58, Z:1.24 [[ 9.74433036e-01 2.23524874e-01 -2.27352042e-02 6.39623288e+01] [-2.23451525e-01 9.74698085e-01 5.74961049e-03 -8.57678260e+00] [ 2.34451409e-02 -5.22394358e-04 9.99724988e-01 1.23682672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70275509599999 meters 0.021223134524399 Centerline is valid? [True, True] Translation: X:64.02, Y:-8.59, Z:1.24 [[ 9.74172416e-01 2.24698201e-01 -2.23343327e-02 6.40224458e+01] [-2.24627574e-01 9.74428282e-01 5.65478909e-03 -8.59279323e+00] [ 2.30338264e-02 -4.91832579e-04 9.99734565e-01 1.23859152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76275509599999 meters 0.021863032989074466 Centerline is valid? [True, True] Translation: X:64.08, Y:-8.61, Z:1.24 [[ 9.74066069e-01 2.25213135e-01 -2.17792855e-02 6.40823094e+01] [-2.25145960e-01 9.74309406e-01 5.52062677e-03 -8.60981604e+00] [ 2.24630804e-02 -4.73937079e-04 9.99747561e-01 1.24003798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.822755096 meters 0.024046000521749007 Centerline is valid? [True, True] Translation: X:64.14, Y:-8.63, Z:1.24 [[ 9.74067217e-01 2.25167049e-01 -2.22003755e-02 6.41424078e+01] [-2.25097077e-01 9.74320049e-01 5.63444109e-03 -8.62779964e+00] [ 2.28989615e-02 -4.91084705e-04 9.99737664e-01 1.23903950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.882755096 meters 0.02104132218531108 Centerline is valid? [True, True] Translation: X:64.20, Y:-8.64, Z:1.24 [[ 9.73913648e-01 2.25981083e-01 -2.06096095e-02 6.42023913e+01] [-2.25920832e-01 9.74131589e-01 5.23685183e-03 -8.64325030e+00] [ 2.12599011e-02 -4.44101340e-04 9.99773884e-01 1.24329720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.942755096 meters 0.02176968787412417 Centerline is valid? [True, True] Translation: X:64.26, Y:-8.66, Z:1.24 [[ 9.74113829e-01 2.25166269e-01 -2.00598841e-02 6.42610911e+01] [-2.25108904e-01 9.74320247e-01 5.10263493e-03 -8.66155901e+00] [ 2.06936925e-02 -4.54888724e-04 9.99785759e-01 1.24447038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.002755096 meters 0.022383160311226443 Centerline is valid? [True, True] Translation: X:64.32, Y:-8.68, Z:1.25 [[ 9.74344856e-01 2.24239151e-01 -1.92069124e-02 6.43205419e+01] [-2.24186321e-01 9.74534039e-01 4.88870315e-03 -8.67967794e+00] [ 1.98140286e-02 -4.57355722e-04 9.99803578e-01 1.24601926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06275509599999 meters 0.024485170333397106 Centerline is valid? [True, True] Translation: X:64.38, Y:-8.70, Z:1.25 [[ 9.74747962e-01 2.22531407e-01 -1.86060138e-02 6.43777110e+01] [-2.22481423e-01 9.74925403e-01 4.74083118e-03 -8.70088328e+00] [ 1.91944594e-02 -4.81623089e-04 9.99815653e-01 1.24743767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12275509599999 meters 0.022854965285174958 Centerline is valid? [True, True] Translation: X:64.44, Y:-8.71, Z:1.25 [[ 9.74867063e-01 2.22085628e-01 -1.76687178e-02 6.44377329e+01] [-2.22040439e-01 9.75027053e-01 4.50428593e-03 -8.71485925e+00] [ 1.82278150e-02 -4.67910138e-04 9.99833750e-01 1.24841845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.182755096 meters 0.022160864705352987 Centerline is valid? [True, True] Translation: X:64.50, Y:-8.73, Z:1.25 [[ 9.74578969e-01 2.23308673e-01 -1.81402671e-02 6.44979840e+01] [-2.23261156e-01 9.74747672e-01 4.62957007e-03 -8.72966941e+00] [ 1.87160063e-02 -4.61864620e-04 9.99824734e-01 1.24879112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.242755096 meters 0.02256935344622173 Centerline is valid? [True, True] Translation: X:64.56, Y:-8.75, Z:1.25 [[ 9.74025564e-01 2.25618745e-01 -1.92453218e-02 6.45571938e+01] [-2.25565593e-01 9.74215572e-01 4.91761344e-03 -8.74664469e+00] [ 1.98585979e-02 -4.48798794e-04 9.99802698e-01 1.24820906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.302755096 meters 0.021386449970048627 Centerline is valid? [True, True] Translation: X:64.62, Y:-8.76, Z:1.25 [[ 9.73547796e-01 2.27620311e-01 -1.98414522e-02 6.46178809e+01] [-2.27564109e-01 9.73749871e-01 5.07585684e-03 -8.76088326e+00] [ 2.04759797e-02 -4.26386846e-04 9.99790254e-01 1.24876771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.362755096 meters 0.020906512472062433 Centerline is valid? [True, True] Translation: X:64.68, Y:-8.78, Z:1.25 [[ 9.73183317e-01 2.29199046e-01 -1.95455420e-02 6.46780404e+01] [-2.29144716e-01 9.73379496e-01 5.00562907e-03 -8.77529195e+00] [ 2.01725152e-02 -3.92637036e-04 9.99796437e-01 1.25016632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42275509599999 meters 0.021916054025038312 Centerline is valid? [True, True] Translation: X:64.74, Y:-8.79, Z:1.25 [[ 9.73400421e-01 2.28363334e-01 -1.84880293e-02 6.47366697e+01] [-2.28314479e-01 9.73575900e-01 4.73973513e-03 -8.79287618e+00] [ 1.90818815e-02 -3.92575405e-04 9.99817847e-01 1.25191835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48275509599999 meters 0.021092003762657668 Centerline is valid? [True, True] Translation: X:64.80, Y:-8.81, Z:1.25 [[ 9.73840727e-01 2.26551686e-01 -1.75661970e-02 6.47971289e+01] [-2.26507210e-01 9.73999058e-01 4.50767907e-03 -8.80849730e+00] [ 1.81306816e-02 -4.10891190e-04 9.99835541e-01 1.25419270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.542755096 meters 0.02359986713926908 Centerline is valid? [True, True] Translation: X:64.85, Y:-8.83, Z:1.26 [[ 9.74771083e-01 2.22629713e-01 -1.60419941e-02 6.48549943e+01] [-2.22592017e-01 9.74902976e-01 4.12092629e-03 -8.82956197e+00] [ 1.65568285e-02 -4.46139950e-04 9.99862827e-01 1.25654183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.602755096 meters 0.024780206278566037 Centerline is valid? [True, True] Translation: X:64.91, Y:-8.85, Z:1.26 [[ 9.75456605e-01 2.19584623e-01 -1.63402645e-02 6.49143615e+01] [-2.19545003e-01 9.75593323e-01 4.20243264e-03 -8.84709409e+00] [ 1.68642425e-02 -5.11867249e-04 9.99857658e-01 1.25686177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.662755096 meters 0.0240077936407287 Centerline is valid? [True, True] Translation: X:64.97, Y:-8.86, Z:1.26 [[ 9.75665830e-01 2.18599425e-01 -1.70434746e-02 6.49745168e+01] [-2.18556149e-01 9.75814524e-01 4.38452774e-03 -8.86193264e+00] [ 1.75897253e-02 -5.52877720e-04 9.99845136e-01 1.25657569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.722755096 meters 0.025525183849515423 Centerline is valid? [True, True] Translation: X:65.03, Y:-8.88, Z:1.26 [[ 9.75948596e-01 2.17192129e-01 -1.87594262e-02 6.50331237e+01] [-2.17139319e-01 9.76128663e-01 4.83218718e-03 -8.88074222e+00] [ 1.93611267e-02 -6.42557257e-04 9.99812349e-01 1.25628052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78275509599999 meters 0.02663118299539263 Centerline is valid? [True, True] Translation: X:65.09, Y:-8.90, Z:1.26 [[ 9.76004741e-01 2.16886014e-01 -1.93701560e-02 6.50919043e+01] [-2.16829539e-01 9.76196702e-01 4.99501251e-03 -8.89796632e+00] [ 1.99924307e-02 -6.75133904e-04 9.99799903e-01 1.25626982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84275509599999 meters 0.026317857418134062 Centerline is valid? [True, True] Translation: X:65.15, Y:-8.91, Z:1.26 [[ 9.75974173e-01 2.16961106e-01 -2.00571981e-02 6.51525870e+01] [-2.16900450e-01 9.76179996e-01 5.17789109e-03 -8.91355768e+00] [ 2.07028366e-02 -7.03072672e-04 9.99785426e-01 1.25704056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90275509599999 meters 0.02582825778136993 Centerline is valid? [True, True] Translation: X:65.21, Y:-8.93, Z:1.26 [[ 9.75939843e-01 2.17101391e-01 -2.02091092e-02 6.52136468e+01] [-2.17039701e-01 9.76148800e-01 5.22392475e-03 -8.92907222e+00] [ 2.08612190e-02 -7.12057293e-04 9.99782128e-01 1.25845116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.962755096 meters 0.02667893126020009 Centerline is valid? [True, True] Translation: X:65.27, Y:-8.95, Z:1.26 [[ 9.75914559e-01 2.17172720e-01 -2.06587533e-02 6.52730448e+01] [-2.17108118e-01 9.76132917e-01 5.34724431e-03 -8.94691529e+00] [ 2.13269648e-02 -7.33270516e-04 9.99772286e-01 1.26040519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.022755096 meters 0.027817580883917684 Centerline is valid? [True, True] Translation: X:65.33, Y:-8.96, Z:1.26 [[ 9.76032725e-01 2.16649514e-01 -2.05695788e-02 6.53321188e+01] [-2.16585219e-01 9.76249163e-01 5.33046364e-03 -8.96405831e+00] [ 2.12358764e-02 -7.47640218e-04 9.99774214e-01 1.26184105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.082755096 meters 0.028870825433512045 Centerline is valid? [True, True] Translation: X:65.39, Y:-8.98, Z:1.26 [[ 9.76089421e-01 2.16278944e-01 -2.17453696e-02 6.53914442e+01] [-2.16206858e-01 9.76331281e-01 5.64125474e-03 -8.98115582e+00] [ 2.24507692e-02 -8.04871022e-04 9.99747626e-01 1.26201585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.142755096 meters 0.028090798348394914 Centerline is valid? [True, True] Translation: X:65.45, Y:-9.00, Z:1.26 [[ 9.76193536e-01 2.15769874e-01 -2.21255848e-02 6.54515174e+01] [-2.15694970e-01 9.76443885e-01 5.74621009e-03 -8.99629117e+00] [ 2.28442510e-02 -8.37035791e-04 9.99738686e-01 1.26375375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20275509599999 meters 0.028727297020477334 Centerline is valid? [True, True] Translation: X:65.51, Y:-9.01, Z:1.27 [[ 9.76137060e-01 2.15992770e-01 -2.24402383e-02 6.55124765e+01] [-2.15915624e-01 9.76394593e-01 5.83463158e-03 -9.01366029e+00] [ 2.31707656e-02 -8.50202049e-04 9.99731160e-01 1.26520776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26275509599999 meters 0.02883885806007406 Centerline is valid? [True, True] Translation: X:65.57, Y:-9.03, Z:1.27 [[ 9.75865855e-01 2.17160240e-01 -2.29622287e-02 6.55723608e+01] [-2.17079610e-01 9.76135600e-01 5.97775214e-03 -9.02896812e+00] [ 2.37123790e-02 -8.48852558e-04 9.99718462e-01 1.26629071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.322755096 meters 0.028015348644421772 Centerline is valid? [True, True] Translation: X:65.63, Y:-9.04, Z:1.27 [[ 9.75160367e-01 2.20262064e-01 -2.33855068e-02 6.56312446e+01] [-2.20179195e-01 9.75440410e-01 6.09323798e-03 -9.04267209e+00] [ 2.41532775e-02 -7.92882120e-04 9.99707953e-01 1.26731203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.382755096 meters 0.02640110665130498 Centerline is valid? [True, True] Translation: X:65.69, Y:-9.06, Z:1.27 [[ 9.74178033e-01 2.24509609e-01 -2.39289738e-02 6.56906748e+01] [-2.24424107e-01 9.74471621e-01 6.23543145e-03 -9.05514169e+00] [ 2.47180202e-02 -7.04181774e-04 9.99694215e-01 1.26823336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.442755096 meters 0.021100905526587336 Centerline is valid? [True, True] Translation: X:65.75, Y:-9.06, Z:1.27 [[ 9.73069151e-01 2.29303179e-01 -2.35898223e-02 6.57521638e+01] [-2.29221467e-01 9.73354879e-01 6.14798366e-03 -9.06169457e+00] [ 2.43710208e-02 -5.75119572e-04 9.99702817e-01 1.27095256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.502755096 meters 0.019979692778787975 Centerline is valid? [True, True] Translation: X:65.81, Y:-9.07, Z:1.27 [[ 9.72242419e-01 2.32809782e-01 -2.33298718e-02 6.58132441e+01] [-2.32730814e-01 9.72522170e-01 6.08255312e-03 -9.07477972e+00] [ 2.41048954e-02 -4.84136117e-04 9.99709318e-01 1.27253267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56275509599999 meters 0.0186662928173271 Centerline is valid? [True, True] Translation: X:65.87, Y:-9.09, Z:1.27 [[ 9.71150701e-01 2.37404299e-01 -2.24836707e-02 6.58737013e+01] [-2.37332034e-01 9.71410864e-01 5.86842974e-03 -9.08775633e+00] [ 2.32340724e-02 -3.63034347e-04 9.99729987e-01 1.27459682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62275509599999 meters 0.01822136905889663 Centerline is valid? [True, True] Translation: X:65.93, Y:-9.10, Z:1.28 [[ 9.70629135e-01 2.39501337e-01 -2.27638159e-02 6.59343330e+01] [-2.39427677e-01 9.70895981e-01 5.94832041e-03 -9.10229048e+00] [ 2.35259281e-02 -3.23325542e-04 9.99723175e-01 1.27528241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.682755096 meters 0.017748317664792988 Centerline is valid? [True, True] Translation: X:65.99, Y:-9.12, Z:1.28 [[ 9.70216947e-01 2.41047272e-01 -2.39851698e-02 6.59949864e+01] [-2.40965784e-01 9.70513327e-01 6.27483387e-03 -9.11757571e+00] [ 2.47904586e-02 -3.08344906e-04 9.99692622e-01 1.27513867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.742755096 meters 0.01844935670034798 Centerline is valid? [True, True] Translation: X:66.05, Y:-9.14, Z:1.28 [[ 9.70425503e-01 2.40149806e-01 -2.45441108e-02 6.60532915e+01] [-2.40064019e-01 9.70735778e-01 6.42769997e-03 -9.13580208e+00] [ 2.53694574e-02 -3.45446084e-04 9.99678084e-01 1.27549253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.802755096 meters 0.019487134933582295 Centerline is valid? [True, True] Translation: X:66.11, Y:-9.16, Z:1.28 [[ 9.71154142e-01 2.37283432e-01 -2.35839995e-02 6.61117660e+01] [-2.37203273e-01 9.71440377e-01 6.18071892e-03 -9.15630047e+00] [ 2.43770315e-02 -4.08228922e-04 9.99702753e-01 1.27821860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.862755096 meters 0.020394674766658367 Centerline is valid? [True, True] Translation: X:66.17, Y:-9.18, Z:1.28 [[ 9.71726402e-01 2.34982032e-01 -2.30487397e-02 6.61704962e+01] [-2.34904679e-01 9.71999605e-01 6.04647621e-03 -9.17529227e+00] [ 2.38241791e-02 -4.61263771e-04 9.99716058e-01 1.27976504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92275509599999 meters 0.021392354483489265 Centerline is valid? [True, True] Translation: X:66.23, Y:-9.19, Z:1.28 [[ 9.72378637e-01 2.32365070e-01 -2.20513302e-02 6.62298437e+01] [-2.32293506e-01 9.72628510e-01 5.78873556e-03 -9.19431094e+00] [ 2.27928524e-02 -5.06461994e-04 9.99740081e-01 1.28185008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98275509599999 meters 0.022800560325886947 Centerline is valid? [True, True] Translation: X:66.29, Y:-9.21, Z:1.28 [[ 9.72566792e-01 2.31568576e-01 -2.21320744e-02 6.62883315e+01] [-2.31496131e-01 9.72818436e-01 5.81645278e-03 -9.21276622e+00] [ 2.28773977e-02 -5.33399221e-04 9.99738136e-01 1.28262022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.042755096 meters 0.022147021685328498 Centerline is valid? [True, True] Translation: X:66.35, Y:-9.23, Z:1.28 [[ 9.72634469e-01 2.31228136e-01 -2.27098814e-02 6.63484511e+01] [-2.31151617e-01 9.72899396e-01 5.97463689e-03 -9.22632959e+00] [ 2.34759340e-02 -5.61711983e-04 9.99724244e-01 1.28324608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.102755096 meters 0.02428853108158818 Centerline is valid? [True, True] Translation: X:66.41, Y:-9.25, Z:1.28 [[ 9.72695723e-01 2.30850320e-01 -2.38989701e-02 6.64061198e+01] [-2.30765294e-01 9.72989086e-01 6.29428652e-03 -9.24561473e+00] [ 2.47064752e-02 -6.07372700e-04 9.99694564e-01 1.28251169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.162755096 meters 0.02270292160107679 Centerline is valid? [True, True] Translation: X:66.47, Y:-9.26, Z:1.28 [[ 9.72646597e-01 2.30967699e-01 -2.47491196e-02 6.64680357e+01] [-2.30876366e-01 9.72961213e-01 6.52551072e-03 -9.25829928e+00] [ 2.55871156e-02 -6.33028997e-04 9.99672396e-01 1.28328803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.222755096 meters 0.02340511755540168 Centerline is valid? [True, True] Translation: X:66.53, Y:-9.27, Z:1.28 [[ 9.72798768e-01 2.30369510e-01 -2.43402111e-02 6.65280778e+01] [-2.30280807e-01 9.73103012e-01 6.42472752e-03 -9.27229949e+00] [ 2.51655941e-02 -6.44883564e-04 9.99683088e-01 1.28408647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28275509599999 meters 0.025401481000216015 Centerline is valid? [True, True] Translation: X:66.59, Y:-9.29, Z:1.29 [[ 9.73154906e-01 2.28931581e-01 -2.36613573e-02 6.65865157e+01] [-2.28847227e-01 9.73442287e-01 6.24985108e-03 -9.29059956e+00] [ 2.44637540e-02 -6.67237247e-04 9.99700495e-01 1.28639348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34275509599999 meters 0.025018284450372637 Centerline is valid? [True, True] Translation: X:66.65, Y:-9.31, Z:1.29 [[ 9.73451395e-01 2.27731190e-01 -2.30409674e-02 6.66469279e+01] [-2.27650720e-01 9.73723799e-01 6.09211152e-03 -9.30536585e+00] [ 2.38229021e-02 -6.85081635e-04 9.99715960e-01 1.28876016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40275509599999 meters 0.024768520010872732 Centerline is valid? [True, True] Translation: X:66.71, Y:-9.32, Z:1.29 [[ 9.73712635e-01 2.26566674e-01 -2.34786590e-02 6.67077335e+01] [-2.26482610e-01 9.73995382e-01 6.21477566e-03 -9.31772696e+00] [ 2.42761665e-02 -7.33897603e-04 9.99705021e-01 1.29023168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.462755096 meters 0.025335809650901132 Centerline is valid? [True, True] Translation: X:66.77, Y:-9.33, Z:1.29 [[ 9.73848560e-01 2.26019667e-01 -2.31104335e-02 6.67680650e+01] [-2.25937904e-01 9.74122456e-01 6.12409584e-03 -9.33250889e+00] [ 2.38965584e-02 -7.42418990e-04 9.99714161e-01 1.29171677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.522755096 meters 0.02686434088472265 Centerline is valid? [True, True] Translation: X:66.83, Y:-9.35, Z:1.29 [[ 9.74236294e-01 2.24445197e-01 -2.20906516e-02 6.68283727e+01] [-2.24369944e-01 9.74486422e-01 5.86012773e-03 -9.34841956e+00] [ 2.28423176e-02 -7.52670850e-04 9.99738797e-01 1.29371412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.582755096 meters 0.027244663780523166 Centerline is valid? [True, True] Translation: X:66.89, Y:-9.36, Z:1.30 [[ 9.74529492e-01 2.23194903e-01 -2.18244229e-02 6.68892241e+01] [-2.23120998e-01 9.74773527e-01 5.79578718e-03 -9.36219026e+00] [ 2.25674599e-02 -7.78678501e-04 9.99745019e-01 1.29510461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.642755096 meters 0.027020249694597685 Centerline is valid? [True, True] Translation: X:66.95, Y:-9.37, Z:1.30 [[ 9.74647474e-01 2.22636402e-01 -2.22561046e-02 6.69502529e+01] [-2.22559246e-01 9.74901211e-01 5.91706906e-03 -9.37469720e+00] [ 2.30148583e-02 -8.13754560e-04 9.99734792e-01 1.29555174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70275509599999 meters 0.026615507120294674 Centerline is valid? [True, True] Translation: X:67.01, Y:-9.39, Z:1.30 [[ 9.74745920e-01 2.22204319e-01 -2.22627794e-02 6.70104938e+01] [-2.22126851e-01 9.74999770e-01 5.92549017e-03 -9.38913325e+00] [ 2.30228743e-02 -8.30686282e-04 9.99734593e-01 1.29689199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76275509599999 meters 0.028374431615705707 Centerline is valid? [True, True] Translation: X:67.07, Y:-9.41, Z:1.30 [[ 9.75004121e-01 2.21121872e-01 -2.17274360e-02 6.70688040e+01] [-2.21047678e-01 9.75245820e-01 5.78920743e-03 -9.40579431e+00] [ 2.24697115e-02 -8.41701831e-04 9.99747170e-01 1.29856193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.822755096 meters 0.02783038147152734 Centerline is valid? [True, True] Translation: X:67.13, Y:-9.42, Z:1.30 [[ 9.75001618e-01 2.21156965e-01 -2.14811887e-02 6.71296847e+01] [-2.21084333e-01 9.75237867e-01 5.72895481e-03 -9.42051845e+00] [ 2.22162669e-02 -8.36585934e-04 9.99752838e-01 1.30003068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.882755096 meters 0.02797010254786088 Centerline is valid? [True, True] Translation: X:67.19, Y:-9.43, Z:1.30 [[ 9.74739843e-01 2.22386428e-01 -2.06522557e-02 6.71905758e+01] [-2.22319426e-01 9.74958287e-01 5.51459260e-03 -9.43473028e+00] [ 2.13614584e-02 -7.83895488e-04 9.99771511e-01 1.30130025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.942755096 meters 0.02864100573973263 Centerline is valid? [True, True] Translation: X:67.25, Y:-9.45, Z:1.30 [[ 9.74325718e-01 2.24232935e-01 -2.02233835e-02 6.72501568e+01] [-2.24168962e-01 9.74535301e-01 5.40592034e-03 -9.45058730e+00] [ 2.09205865e-02 -7.33672331e-04 9.99780871e-01 1.30236728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.002755096 meters 0.027476526289295488 Centerline is valid? [True, True] Translation: X:67.31, Y:-9.46, Z:1.30 [[ 9.73408226e-01 2.28186115e-01 -2.01871801e-02 6.73099657e+01] [-2.28123108e-01 9.73617312e-01 5.40156814e-03 -9.46257675e+00] [ 2.08871509e-02 -6.52768585e-04 9.99781627e-01 1.30334957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06275509599999 meters 0.025626308635129064 Centerline is valid? [True, True] Translation: X:67.37, Y:-9.47, Z:1.30 [[ 9.72330623e-01 2.32650623e-01 -2.11387716e-02 6.73700524e+01] [-2.32582568e-01 9.72560202e-01 5.65707094e-03 -9.47354106e+00] [ 2.18748491e-02 -5.84033527e-04 9.99760546e-01 1.30276584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12275509599999 meters 0.02111977223678479 Centerline is valid? [True, True] Translation: X:67.43, Y:-9.48, Z:1.30 [[ 9.71255157e-01 2.37146938e-01 -2.06094554e-02 6.74317902e+01] [-2.37083241e-01 9.71473678e-01 5.51627133e-03 -9.48137955e+00] [ 2.13297103e-02 -4.71550478e-04 9.99772385e-01 1.30492791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.182755096 meters 0.020559692369067326 Centerline is valid? [True, True] Translation: X:67.49, Y:-9.50, Z:1.31 [[ 9.70817165e-01 2.38952476e-01 -2.03898568e-02 6.74925539e+01] [-2.38890488e-01 9.71031168e-01 5.45934237e-03 -9.49579991e+00] [ 2.11037098e-02 -4.29080442e-04 9.99777200e-01 1.30694895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.242755096 meters 0.02057475881800377 Centerline is valid? [True, True] Translation: X:67.55, Y:-9.51, Z:1.31 [[ 9.70824394e-01 2.39015977e-01 -1.92706742e-02 6.75538276e+01] [-2.38960509e-01 9.71015548e-01 5.16526038e-03 -9.51122264e+00] [ 1.99467040e-02 -4.09630661e-04 9.99800961e-01 1.30857019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.302755096 meters 0.022721982693913473 Centerline is valid? [True, True] Translation: X:67.61, Y:-9.53, Z:1.31 [[ 9.71407897e-01 2.36693114e-01 -1.85220624e-02 6.76114458e+01] [-2.36641332e-01 9.71584362e-01 4.97074896e-03 -9.53130275e+00] [ 1.91722883e-02 -4.45539259e-04 9.99816096e-01 1.30975035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.362755096 meters 0.02328690504286337 Centerline is valid? [True, True] Translation: X:67.67, Y:-9.55, Z:1.31 [[ 9.72012669e-01 2.34244011e-01 -1.79196729e-02 6.76714499e+01] [-2.34195077e-01 9.72177717e-01 4.81179161e-03 -9.54808951e+00] [ 1.85482401e-02 -4.80423231e-04 9.99827851e-01 1.31131636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42275509599999 meters 0.024723217287618077 Centerline is valid? [True, True] Translation: X:67.73, Y:-9.57, Z:1.31 [[ 9.73114755e-01 2.29640408e-01 -1.76906050e-02 6.77301842e+01] [-2.29591860e-01 9.73275379e-01 4.75555555e-03 -9.56670214e+00] [ 1.83098980e-02 -5.66082366e-04 9.99832200e-01 1.31280389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48275509599999 meters 0.027309382120068823 Centerline is valid? [True, True] Translation: X:67.79, Y:-9.59, Z:1.31 [[ 9.74153546e-01 2.25091491e-01 -1.89391077e-02 6.77881800e+01] [-2.25034971e-01 9.74337382e-01 5.09204723e-03 -9.58709257e+00] [ 1.95992571e-02 -6.98474314e-04 9.99807672e-01 1.31324632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.542755096 meters 0.028904199658087253 Centerline is valid? [True, True] Translation: X:67.85, Y:-9.61, Z:1.31 [[ 9.74728490e-01 2.22496441e-01 -1.99926205e-02 6.78469235e+01] [-2.22432884e-01 9.74933179e-01 5.37663692e-03 -9.60556178e+00] [ 2.06877517e-02 -7.93744929e-04 9.99785670e-01 1.31323786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.602755096 meters 0.031241567256869246 Centerline is valid? [True, True] Translation: X:67.91, Y:-9.62, Z:1.31 [[ 9.75388875e-01 2.19515559e-01 -2.07234787e-02 6.79052101e+01] [-2.19446479e-01 9.75608590e-01 5.57874488e-03 -9.62449998e+00] [ 2.14426252e-02 -8.93751249e-04 9.99769681e-01 1.31353863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.662755096 meters 0.031157975024639004 Centerline is valid? [True, True] Translation: X:67.96, Y:-9.64, Z:1.31 [[ 9.75479131e-01 2.19033493e-01 -2.15590613e-02 6.79645776e+01] [-2.18958533e-01 9.75716884e-01 5.80723233e-03 -9.64146363e+00] [ 2.23075185e-02 -9.44293515e-04 9.99750710e-01 1.31476574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.722755096 meters 0.028350916136899953 Centerline is valid? [True, True] Translation: X:68.03, Y:-9.65, Z:1.32 [[ 9.75055544e-01 2.20974459e-01 -2.09039225e-02 6.80256350e+01] [-2.20904300e-01 9.75279199e-01 5.63676401e-03 -9.65401317e+00] [ 2.16327417e-02 -8.78391626e-04 9.99765599e-01 1.31750943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78275509599999 meters 0.027148608054050664 Centerline is valid? [True, True] Translation: X:68.09, Y:-9.67, Z:1.32 [[ 9.74106268e-01 2.25208767e-01 -1.99496648e-02 6.80857382e+01] [-2.25145641e-01 9.74310240e-01 5.38491510e-03 -9.66793101e+00] [ 2.06498928e-02 -7.53899486e-04 9.99786484e-01 1.31986163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84275509599999 meters 0.025369230747930904 Centerline is valid? [True, True] Translation: X:68.14, Y:-9.68, Z:1.32 [[ 9.72900366e-01 2.30399192e-01 -1.95215098e-02 6.81449690e+01] [-2.30339755e-01 9.73095994e-01 5.27102197e-03 -9.68065872e+00] [ 2.02107422e-02 -6.31599406e-04 9.99795543e-01 1.32165187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90275509599999 meters 0.02361207550353743 Centerline is valid? [True, True] Translation: X:68.20, Y:-9.69, Z:1.32 [[ 9.72090164e-01 2.33851058e-01 -1.88254154e-02 6.82047185e+01] [-2.33796430e-01 9.72272283e-01 5.08309991e-03 -9.69340190e+00] [ 1.94921179e-02 -5.39916511e-04 9.99809865e-01 1.32334388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.962755096 meters 0.02263823534651377 Centerline is valid? [True, True] Translation: X:68.26, Y:-9.71, Z:1.32 [[ 9.71134621e-01 2.37772567e-01 -1.90198185e-02 6.82634146e+01] [-2.37717539e-01 9.71320744e-01 5.13649705e-03 -9.70642101e+00] [ 1.96956624e-02 -4.66885671e-04 9.99805913e-01 1.32408779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.022755096 meters 0.021834260764326294 Centerline is valid? [True, True] Translation: X:68.32, Y:-9.72, Z:1.33 [[ 9.70876607e-01 2.38877489e-01 -1.83346537e-02 6.83234300e+01] [-2.38826508e-01 9.71049618e-01 4.95370754e-03 -9.72149637e+00] [ 1.89871876e-02 -4.30637465e-04 9.99819634e-01 1.32557151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.082755096 meters 0.021861492512730608 Centerline is valid? [True, True] Translation: X:68.38, Y:-9.74, Z:1.33 [[ 9.70854408e-01 2.38979772e-01 -1.81765833e-02 6.83837417e+01] [-2.38929581e-01 9.71024451e-01 4.91646607e-03 -9.73797230e+00] [ 1.88248427e-02 -4.30249323e-04 9.99822704e-01 1.32666234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.142755096 meters 0.022946544858484123 Centerline is valid? [True, True] Translation: X:68.44, Y:-9.75, Z:1.33 [[ 9.71106572e-01 2.37941296e-01 -1.83293750e-02 6.84425005e+01] [-2.37889951e-01 9.71279428e-01 4.96420517e-03 -9.75492630e+00] [ 1.89841343e-02 -4.60398138e-04 9.99819679e-01 1.32704337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20275509599999 meters 0.023582470997933123 Centerline is valid? [True, True] Translation: X:68.50, Y:-9.77, Z:1.33 [[ 9.71390176e-01 2.36709003e-01 -1.92346948e-02 6.85021063e+01] [-2.36652108e-01 9.71580457e-01 5.21497766e-03 -9.77215407e+00] [ 1.99224857e-02 -5.13847004e-04 9.99801396e-01 1.32702927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26275509599999 meters 0.023740797588689924 Centerline is valid? [True, True] Translation: X:68.56, Y:-9.79, Z:1.33 [[ 9.71483397e-01 2.36229319e-01 -2.03891765e-02 6.85616167e+01] [-2.36165149e-01 9.71697172e-01 5.53431003e-03 -9.78906779e+00] [ 2.11194714e-02 -5.61277407e-04 9.99776802e-01 1.32745149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.322755096 meters 0.024286347995661574 Centerline is valid? [True, True] Translation: X:68.62, Y:-9.81, Z:1.33 [[ 9.71326358e-01 2.36770200e-01 -2.15633690e-02 6.86210667e+01] [-2.36698407e-01 9.71565503e-01 5.85979912e-03 -9.80553681e+00] [ 2.23376512e-02 -5.87762248e-04 9.99750311e-01 1.32752422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.382755096 meters 0.022380454302704567 Centerline is valid? [True, True] Translation: X:68.68, Y:-9.82, Z:1.33 [[ 9.70727234e-01 2.39174027e-01 -2.20095900e-02 6.86823849e+01] [-2.39099690e-01 9.70976561e-01 5.98804334e-03 -9.81783549e+00] [ 2.28029805e-02 -5.50270605e-04 9.99739827e-01 1.32871232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.442755096 meters 0.02196227265558235 Centerline is valid? [True, True] Translation: X:68.74, Y:-9.83, Z:1.33 [[ 9.70211373e-01 2.41273974e-01 -2.18348472e-02 6.87422090e+01] [-2.41201195e-01 9.70456911e-01 5.94704328e-03 -9.83326800e+00] [ 2.26246452e-02 -5.03297782e-04 9.99743903e-01 1.33051892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.502755096 meters 0.021125243681636558 Centerline is valid? [True, True] Translation: X:68.80, Y:-9.85, Z:1.33 [[ 9.69417143e-01 2.44460595e-01 -2.16661079e-02 6.88021721e+01] [-2.44389587e-01 9.69659131e-01 5.90751290e-03 -9.84792810e+00] [ 2.24528934e-02 -4.31873134e-04 9.99747809e-01 1.33228226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56275509599999 meters 0.021786253125851234 Centerline is valid? [True, True] Translation: X:68.86, Y:-9.87, Z:1.33 [[ 9.68876980e-01 2.46606600e-01 -2.15077330e-02 6.88602596e+01] [-2.46537016e-01 9.69115595e-01 5.87055824e-03 -9.86578457e+00] [ 2.22911978e-02 -3.85396436e-04 9.99751446e-01 1.33346450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62275509599999 meters 0.020779204439929238 Centerline is valid? [True, True] Translation: X:68.92, Y:-9.88, Z:1.34 [[ 9.68808909e-01 2.46840369e-01 -2.18890268e-02 6.89212400e+01] [-2.46768213e-01 9.69056076e-01 5.98086344e-03 -9.88094625e+00] [ 2.26880129e-02 -3.92797749e-04 9.99742517e-01 1.33575712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.682755096 meters 0.021563399542628387 Centerline is valid? [True, True] Translation: X:68.98, Y:-9.90, Z:1.34 [[ 9.69453746e-01 2.44347503e-01 -2.13009789e-02 6.89806940e+01] [-2.44278422e-01 9.69687630e-01 5.82696631e-03 -9.90020248e+00] [ 2.20791004e-02 -4.45604809e-04 9.99756128e-01 1.33822092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.742755096 meters 0.02183842420443688 Centerline is valid? [True, True] Translation: X:69.04, Y:-9.92, Z:1.34 [[ 9.69687579e-01 2.43443861e-01 -2.10020330e-02 6.90400259e+01] [-2.43376360e-01 9.69914878e-01 5.75129068e-03 -9.91777990e+00] [ 2.17703007e-02 -4.65556789e-04 9.99762891e-01 1.34016637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.802755096 meters 0.0247262426942132 Centerline is valid? [True, True] Translation: X:69.10, Y:-9.94, Z:1.34 [[ 9.70638154e-01 2.39567657e-01 -2.16543613e-02 6.90971777e+01] [-2.39494788e-01 9.70879501e-01 5.93638272e-03 -9.94065047e+00] [ 2.24459408e-02 -5.75972903e-04 9.99747892e-01 1.34141720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.862755096 meters 0.02685232033440902 Centerline is valid? [True, True] Translation: X:69.15, Y:-9.96, Z:1.34 [[ 9.71799627e-01 2.34755675e-01 -2.22543886e-02 6.91546744e+01] [-2.34677330e-01 9.72054148e-01 6.10604428e-03 -9.96263642e+00] [ 2.30658993e-02 -7.11251056e-04 9.99733694e-01 1.34244487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92275509599999 meters 0.02690437027193517 Centerline is valid? [True, True] Translation: X:69.21, Y:-9.98, Z:1.34 [[ 9.72747662e-01 2.30696994e-01 -2.32569083e-02 6.92128569e+01] [-2.30610243e-01 9.73025274e-01 6.38220289e-03 -9.98042673e+00] [ 2.41019146e-02 -8.44991644e-04 9.99709150e-01 1.34403393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98275509599999 meters 0.02730703613028856 Centerline is valid? [True, True] Translation: X:69.27, Y:-10.00, Z:1.35 [[ 9.73045770e-01 2.29438882e-01 -2.32320755e-02 6.92726645e+01] [-2.29351894e-01 9.73322674e-01 6.37807556e-03 -9.99792041e+00] [ 2.40756844e-02 -8.77838912e-04 9.99709753e-01 1.34610918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.042755096 meters 0.028197501547840044 Centerline is valid? [True, True] Translation: X:69.33, Y:-10.02, Z:1.35 [[ 9.73055976e-01 2.29413100e-01 -2.30585614e-02 6.93315214e+01] [-2.29327233e-01 9.73328751e-01 6.33741695e-03 -1.00163595e+01] [ 2.38974473e-02 -8.78705340e-04 9.99714029e-01 1.34908884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.102755096 meters 0.0272146878034478 Centerline is valid? [True, True] Translation: X:69.39, Y:-10.03, Z:1.35 [[ 9.72383841e-01 2.32252516e-01 -2.29877021e-02 6.93918364e+01] [-2.32167797e-01 9.72655184e-01 6.32508749e-03 -1.00320173e+01] [ 2.38281251e-02 -8.13408700e-04 9.99715739e-01 1.35178543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.162755096 meters 0.02460315284643348 Centerline is valid? [True, True] Translation: X:69.45, Y:-10.04, Z:1.35 [[ 9.71493480e-01 2.35939164e-01 -2.30896011e-02 6.94520686e+01] [-2.35854600e-01 9.71767552e-01 6.35863921e-03 -1.00434796e+01] [ 2.39379771e-02 -7.31587916e-04 9.99713178e-01 1.35330263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.222755096 meters 0.021964736133528513 Centerline is valid? [True, True] Translation: X:69.51, Y:-10.05, Z:1.35 [[ 9.69751274e-01 2.43047872e-01 -2.25875959e-02 6.95113591e+01] [-2.42968850e-01 9.70014142e-01 6.22115418e-03 -1.00534444e+01] [ 2.34223257e-02 -5.44889978e-04 9.99725511e-01 1.35478517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28275509599999 meters 0.019127519218003517 Centerline is valid? [True, True] Translation: X:69.57, Y:-10.06, Z:1.36 [[ 9.67783666e-01 2.50951819e-01 -2.04440690e-02 6.95722876e+01] [-2.50888842e-01 9.67999526e-01 5.63087536e-03 -1.00631838e+01] [ 2.12029275e-02 -3.20280393e-04 9.99775141e-01 1.35822023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34275509599999 meters 0.017795034757266175 Centerline is valid? [True, True] Translation: X:69.63, Y:-10.08, Z:1.36 [[ 9.66651496e-01 2.55325130e-01 -1.98484961e-02 6.96336188e+01] [-2.55266665e-01 9.66855227e-01 5.46810322e-03 -1.00755670e+01] [ 2.05867664e-02 -2.19090752e-04 9.99788046e-01 1.35993241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40275509599999 meters 0.01718040423801575 Centerline is valid? [True, True] Translation: X:69.69, Y:-10.09, Z:1.36 [[ 9.65444545e-01 2.59887689e-01 -1.93705670e-02 6.96932240e+01] [-2.59832808e-01 9.65638842e-01 5.34209688e-03 -1.00882939e+01] [ 2.00933171e-02 -1.24389462e-04 9.99798101e-01 1.36063873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.462755096 meters 0.017080173324680755 Centerline is valid? [True, True] Translation: X:69.75, Y:-10.10, Z:1.36 [[ 9.65242215e-01 2.60661942e-01 -1.90477745e-02 6.97544556e+01] [-2.60608924e-01 9.65430132e-01 5.25827440e-03 -1.01047343e+01] [ 1.97599275e-02 -1.11488416e-04 9.99804747e-01 1.36182130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.522755096 meters 0.01771896020294701 Centerline is valid? [True, True] Translation: X:69.81, Y:-10.12, Z:1.36 [[ 9.65722101e-01 2.58875949e-01 -1.90805269e-02 6.98135240e+01] [-2.58822275e-01 9.65910565e-01 5.27357253e-03 -1.01230571e+01] [ 1.97952836e-02 -1.54340152e-04 9.99804042e-01 1.36207928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.582755096 meters 0.020279328604841957 Centerline is valid? [True, True] Translation: X:69.87, Y:-10.15, Z:1.36 [[ 9.67367850e-01 2.52621156e-01 -1.95446799e-02 6.98696563e+01] [-2.52563447e-01 9.67565225e-01 5.40743301e-03 -1.01478124e+01] [ 2.02767846e-02 -2.94705117e-04 9.99794361e-01 1.36157337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64275509599999 meters 0.02254623976869585 Centerline is valid? [True, True] Translation: X:69.93, Y:-10.17, Z:1.36 [[ 9.69513516e-01 2.44221497e-01 -1.99850821e-02 6.99262039e+01] [-2.44159352e-01 9.69719355e-01 5.53016382e-03 -1.01708474e+01] [ 2.07305058e-02 -4.82023861e-04 9.99784984e-01 1.36158772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70275509599999 meters 0.02403918372976934 Centerline is valid? [True, True] Translation: X:69.98, Y:-10.19, Z:1.36 [[ 9.70827534e-01 2.38925270e-01 -2.02142139e-02 6.99840992e+01] [-2.38860519e-01 9.71037771e-01 5.59468131e-03 -1.01917033e+01] [ 2.09654759e-02 -6.03093025e-04 9.99780018e-01 1.36158014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76275509599999 meters 0.025410491865581846 Centerline is valid? [True, True] Translation: X:70.04, Y:-10.21, Z:1.36 [[ 9.70966426e-01 2.38305667e-01 -2.08472949e-02 7.00416643e+01] [-2.38236620e-01 9.71189993e-01 5.77147878e-03 -1.02116854e+01] [ 2.16220603e-02 -6.37323052e-04 9.99766013e-01 1.36132606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.822755096 meters 0.024774581506439724 Centerline is valid? [True, True] Translation: X:70.10, Y:-10.23, Z:1.36 [[ 9.70547856e-01 2.39998509e-01 -2.09182844e-02 7.01018318e+01] [-2.39929257e-01 9.70773067e-01 5.79699709e-03 -1.02281537e+01] [ 2.16981777e-02 -6.07354685e-04 9.99764382e-01 1.36240027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.882755096 meters 0.024216921682583714 Centerline is valid? [True, True] Translation: X:70.16, Y:-10.24, Z:1.36 [[ 9.69806972e-01 2.42959022e-01 -2.11033204e-02 7.01610932e+01] [-2.42889103e-01 9.70036396e-01 5.85442322e-03 -1.02443039e+01] [ 2.18933738e-02 -5.51893896e-04 9.99760159e-01 1.36339034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.942755096 meters 0.02251232808770915 Centerline is valid? [True, True] Translation: X:70.22, Y:-10.26, Z:1.36 [[ 9.69016513e-01 2.46189471e-01 -1.99434770e-02 7.02222641e+01] [-2.46127612e-01 9.69221613e-01 5.53741606e-03 -1.02582948e+01] [ 2.06929025e-02 -4.57207217e-04 9.99785774e-01 1.36497209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.002755096 meters 0.02127151669909872 Centerline is valid? [True, True] Translation: X:70.28, Y:-10.27, Z:1.37 [[ 9.68476758e-01 2.48406989e-01 -1.86208874e-02 7.02827301e+01] [-2.48353439e-01 9.68655677e-01 5.17198267e-03 -1.02745715e+01] [ 1.93219849e-02 -3.84383581e-04 9.99813239e-01 1.36740801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06275509599999 meters 0.020743807459044195 Centerline is valid? [True, True] Translation: X:70.34, Y:-10.29, Z:1.37 [[ 9.68158682e-01 2.49728393e-01 -1.74497971e-02 7.03424204e+01] [-2.49681553e-01 9.68315866e-01 4.84829833e-03 -1.02919119e+01] [ 1.81076731e-02 -3.37029685e-04 9.99835986e-01 1.36906644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12275509599999 meters 0.021278631000462695 Centerline is valid? [True, True] Translation: X:70.40, Y:-10.31, Z:1.37 [[ 9.67969220e-01 2.50461457e-01 -1.74541727e-02 7.04011161e+01] [-2.50414620e-01 9.68126516e-01 4.85464215e-03 -1.03107365e+01] [ 1.81137482e-02 -3.28364142e-04 9.99835879e-01 1.36998683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.182755096 meters 0.020376083711983038 Centerline is valid? [True, True] Translation: X:70.46, Y:-10.33, Z:1.37 [[ 9.67899101e-01 2.50746070e-01 -1.72551009e-02 7.04613914e+01] [-2.50700246e-01 9.68052841e-01 4.80454644e-03 -1.03276490e+01] [ 1.79085705e-02 -3.24458143e-04 9.99839576e-01 1.37077330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.242755096 meters 0.02090922791060382 Centerline is valid? [True, True] Translation: X:70.52, Y:-10.35, Z:1.37 [[ 9.68282323e-01 2.49268501e-01 -1.71626918e-02 7.05202009e+01] [-2.49222831e-01 9.68434349e-01 4.78463456e-03 -1.03488516e+01] [ 1.78135990e-02 -3.55542427e-04 9.99841262e-01 1.37182933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.302755096 meters 0.021512191125361603 Centerline is valid? [True, True] Translation: X:70.58, Y:-10.37, Z:1.37 [[ 9.68742908e-01 2.47479240e-01 -1.70646957e-02 7.05786639e+01] [-2.47433723e-01 9.68893117e-01 4.76233348e-03 -1.03686540e+01] [ 1.77124449e-02 -3.91095595e-04 9.99843046e-01 1.37260133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.362755096 meters 0.02257171341016272 Centerline is valid? [True, True] Translation: X:70.64, Y:-10.39, Z:1.37 [[ 9.69413420e-01 2.44822943e-01 -1.73016724e-02 7.06371631e+01] [-2.44775643e-01 9.69567699e-01 4.83331223e-03 -1.03900019e+01] [ 1.79584484e-02 -4.50449757e-04 9.99838633e-01 1.37330958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42275509599999 meters 0.022576505891420566 Centerline is valid? [True, True] Translation: X:70.70, Y:-10.41, Z:1.37 [[ 9.69506975e-01 2.44379483e-01 -1.83001163e-02 7.06960487e+01] [-2.44326377e-01 9.69679549e-01 5.11799912e-03 -1.04094752e+01] [ 1.89959825e-02 -4.90734717e-04 9.99819440e-01 1.37329909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48275509599999 meters 0.022277406764394908 Centerline is valid? [True, True] Translation: X:70.76, Y:-10.43, Z:1.37 [[ 9.69370683e-01 2.44942349e-01 -1.79923202e-02 7.07558095e+01] [-2.44891013e-01 9.69537528e-01 5.03723497e-03 -1.04275223e+01] [ 1.86780618e-02 -4.76790390e-04 9.99825436e-01 1.37488513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.542755096 meters 0.022123538362681907 Centerline is valid? [True, True] Translation: X:70.81, Y:-10.45, Z:1.38 [[ 9.68793820e-01 2.47168857e-01 -1.86034882e-02 7.08139398e+01] [-2.47114255e-01 9.68972316e-01 5.21494322e-03 -1.04469401e+01] [ 1.93152366e-02 -4.55017633e-04 9.99813340e-01 1.37578048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.602755096 meters 0.021205930511093502 Centerline is valid? [True, True] Translation: X:70.87, Y:-10.46, Z:1.38 [[ 9.68505079e-01 2.48275201e-01 -1.89033604e-02 7.08738085e+01] [-2.48218931e-01 9.68689438e-01 5.30431093e-03 -1.04634007e+01] [ 1.96284144e-02 -4.45080160e-04 9.99807245e-01 1.37695132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.662755096 meters 0.020077029912564225 Centerline is valid? [True, True] Translation: X:70.93, Y:-10.48, Z:1.38 [[ 9.67705564e-01 2.51371305e-01 -1.89316673e-02 7.09336480e+01] [-2.51315347e-01 9.67890653e-01 5.31793910e-03 -1.04798438e+01] [ 1.96605611e-02 -3.88380715e-04 9.99806637e-01 1.37786203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.722755096 meters 0.019286758174738856 Centerline is valid? [True, True] Translation: X:70.99, Y:-10.50, Z:1.38 [[ 9.66944356e-01 2.54262144e-01 -1.92191249e-02 7.09923614e+01] [-2.54204927e-01 9.67135278e-01 5.40450884e-03 -1.04970249e+01] [ 1.99616557e-02 -3.40263080e-04 9.99800688e-01 1.37924494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78275509599999 meters 0.019666614104314313 Centerline is valid? [True, True] Translation: X:71.05, Y:-10.52, Z:1.38 [[ 9.66727136e-01 2.55144022e-01 -1.84437715e-02 7.10500942e+01] [-2.55091396e-01 9.66903010e-01 5.19134038e-03 -1.05163799e+01] [ 1.91578777e-02 -3.13762192e-04 9.99816422e-01 1.38110034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84275509599999 meters 0.018726802591586777 Centerline is valid? [True, True] Translation: X:71.11, Y:-10.53, Z:1.38 [[ 9.66534588e-01 2.55952037e-01 -1.73044754e-02 7.11103605e+01] [-2.55905765e-01 9.66689440e-01 4.87496337e-03 -1.05334063e+01] [ 1.79758105e-02 -2.83505699e-04 9.99838382e-01 1.38336959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90275509599999 meters 0.01904997901470109 Centerline is valid? [True, True] Translation: X:71.17, Y:-10.55, Z:1.38 [[ 9.66568074e-01 2.55862408e-01 -1.67507154e-02 7.11703565e+01] [-2.55818941e-01 9.66713168e-01 4.72440891e-03 -1.05518759e+01] [ 1.74019358e-02 -2.81312549e-04 9.99848535e-01 1.38450421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.962755096 meters 0.019884049459007073 Centerline is valid? [True, True] Translation: X:71.23, Y:-10.57, Z:1.39 [[ 9.66892530e-01 2.54658314e-01 -1.63700487e-02 7.12278636e+01] [-2.54616537e-01 9.67031050e-01 4.62244372e-03 -1.05720321e+01] [ 1.70074891e-02 -3.01321202e-04 9.99855317e-01 1.38597413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.022755096 meters 0.020648713975262377 Centerline is valid? [True, True] Translation: X:71.29, Y:-10.59, Z:1.39 [[ 9.67190562e-01 2.53503564e-01 -1.66841388e-02 7.12867391e+01] [-2.53459918e-01 9.67334396e-01 4.71561269e-03 -1.05918176e+01] [ 1.73345659e-02 -3.32135636e-04 9.99849690e-01 1.38748124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.082755096 meters 0.021594950433978802 Centerline is valid? [True, True] Translation: X:71.35, Y:-10.61, Z:1.39 [[ 9.67388480e-01 2.52694400e-01 -1.74662019e-02 7.13450020e+01] [-2.52646342e-01 9.67546074e-01 4.94179347e-03 -1.06105433e+01] [ 1.81481186e-02 -3.67862059e-04 9.99835242e-01 1.38685708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14275509599999 meters 0.020594758518709465 Centerline is valid? [True, True] Translation: X:71.40, Y:-10.63, Z:1.39 [[ 9.66825523e-01 2.54774940e-01 -1.83885102e-02 7.14047135e+01] [-2.54721953e-01 9.67000314e-01 5.20769516e-03 -1.06264111e+01] [ 1.91084854e-02 -3.50975364e-04 9.99817355e-01 1.38664121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20275509599999 meters 0.018417567824545254 Centerline is valid? [True, True] Translation: X:71.47, Y:-10.64, Z:1.39 [[ 9.65251466e-01 2.60562756e-01 -1.99162635e-02 7.14652765e+01] [-2.60501714e-01 9.65456877e-01 5.64577862e-03 -1.06354739e+01] [ 2.06993732e-02 -2.61375313e-04 9.99785711e-01 1.38661017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26275509599999 meters 0.016175513252258186 Centerline is valid? [True, True] Translation: X:71.53, Y:-10.64, Z:1.39 [[ 9.63776235e-01 2.65958396e-01 -2.00374746e-02 7.15279871e+01] [-2.65897752e-01 9.63984497e-01 5.68115729e-03 -1.06435954e+01] [ 2.08267663e-02 -1.47444935e-04 9.99783089e-01 1.38726176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.322755096 meters 0.01545918179719985 Centerline is valid? [True, True] Translation: X:71.59, Y:-10.65, Z:1.39 [[ 9.61857173e-01 2.72795779e-01 -2.03283419e-02 7.15898126e+01] [-2.72734810e-01 9.62071963e-01 5.76718396e-03 -1.06531614e+01] [ 2.11305913e-02 -2.96077838e-06 9.99776724e-01 1.38856434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.382755096 meters 0.015484849689679147 Centerline is valid? [True, True] Translation: X:71.65, Y:-10.67, Z:1.39 [[ 9.60988731e-01 2.75817078e-01 -2.06300416e-02 7.16515119e+01] [-2.75754849e-01 9.61210141e-01 5.85892193e-03 -1.06677587e+01] [ 2.14457959e-02 5.84760514e-05 9.99770011e-01 1.38993922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.442755096 meters 0.015612665958543267 Centerline is valid? [True, True] Translation: X:71.71, Y:-10.68, Z:1.39 [[ 9.60813978e-01 2.76530549e-01 -1.91664996e-02 7.17121578e+01] [-2.76476864e-01 9.61005126e-01 5.44908489e-03 -1.06818694e+01] [ 1.99259428e-02 6.35367666e-05 9.99801457e-01 1.39213553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.502755096 meters 0.01553141888572126 Centerline is valid? [True, True] Translation: X:71.77, Y:-10.70, Z:1.39 [[ 9.61814297e-01 2.73092089e-01 -1.82748015e-02 7.17718335e+01] [-2.73042562e-01 9.61987895e-01 5.20083452e-03 -1.07023701e+01] [ 1.90004446e-02 -1.24383696e-05 9.99819475e-01 1.39452571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56275509599999 meters 0.01593871635235198 Centerline is valid? [True, True] Translation: X:71.83, Y:-10.72, Z:1.40 [[ 9.62905259e-01 2.69212358e-01 -1.83893594e-02 7.18288516e+01] [-2.69161382e-01 9.63080836e-01 5.23959313e-03 -1.07242635e+01] [ 1.91210028e-02 -9.55263900e-05 9.99817172e-01 1.39562672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62275509599999 meters 0.01757641424257175 Centerline is valid? [True, True] Translation: X:71.89, Y:-10.75, Z:1.40 [[ 9.64560670e-01 2.63218972e-01 -1.83980238e-02 7.18862931e+01] [-2.63166798e-01 9.64736091e-01 5.24504390e-03 -1.07482185e+01] [ 1.91298326e-02 -2.17414049e-04 9.99816984e-01 1.39651320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.682755096 meters 0.01874506949846008 Centerline is valid? [True, True] Translation: X:71.95, Y:-10.77, Z:1.40 [[ 9.65686545e-01 2.59036306e-01 -1.86999647e-02 7.19453556e+01] [-2.58981516e-01 9.65867535e-01 5.33650543e-03 -1.07684387e+01] [ 1.94440375e-02 -3.10446289e-04 9.99810899e-01 1.39618464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.742755096 meters 0.020532024701188673 Centerline is valid? [True, True] Translation: X:72.00, Y:-10.79, Z:1.40 [[ 9.66268754e-01 2.56789754e-01 -1.95886887e-02 7.20030591e+01] [-2.56729048e-01 9.66467216e-01 5.59611532e-03 -1.07894895e+01] [ 2.03688505e-02 -3.78365983e-04 9.99792462e-01 1.39598266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.802755096 meters 0.021399331953556176 Centerline is valid? [True, True] Translation: X:72.06, Y:-10.81, Z:1.40 [[ 9.66554425e-01 2.55650828e-01 -2.03764199e-02 7.20620593e+01] [-2.55584768e-01 9.66769090e-01 5.82685440e-03 -1.08091838e+01] [ 2.11889331e-02 -4.24069345e-04 9.99775399e-01 1.39625888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.862755096 meters 0.020347719110761497 Centerline is valid? [True, True] Translation: X:72.12, Y:-10.82, Z:1.40 [[ 9.66316883e-01 2.56492071e-01 -2.10594306e-02 7.21232035e+01] [-2.56421571e-01 9.66546241e-01 6.02836873e-03 -1.08244240e+01] [ 2.19011423e-02 -4.25222185e-04 9.99760051e-01 1.39770542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92275509599999 meters 0.020042689714765454 Centerline is valid? [True, True] Translation: X:72.18, Y:-10.84, Z:1.40 [[ 9.65436606e-01 2.59791021e-01 -2.09948886e-02 7.21825397e+01] [-2.59721582e-01 9.65664796e-01 6.01669995e-03 -1.08388435e+01] [ 2.18371095e-02 -3.55916675e-04 9.99761479e-01 1.39880894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98275509599999 meters 0.018670874767187217 Centerline is valid? [True, True] Translation: X:72.24, Y:-10.85, Z:1.40 [[ 9.65107871e-01 2.60933999e-01 -2.19145000e-02 7.22437142e+01] [-2.60858497e-01 9.65356579e-01 6.28642440e-03 -1.08523166e+01] [ 2.27956487e-02 -3.50494128e-04 9.99740084e-01 1.39987141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.042755096 meters 0.019556864346868263 Centerline is valid? [True, True] Translation: X:72.30, Y:-10.87, Z:1.40 [[ 9.65227367e-01 2.60435652e-01 -2.25699251e-02 7.23022774e+01] [-2.60355270e-01 9.65491133e-01 6.48122877e-03 -1.08699893e+01] [ 2.34790056e-02 -3.79660432e-04 9.99724258e-01 1.40035509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.102755096 meters 0.020670482295043893 Centerline is valid? [True, True] Translation: X:72.36, Y:-10.89, Z:1.40 [[ 9.65844249e-01 2.58177269e-01 -2.21220156e-02 7.23621644e+01] [-2.58099316e-01 9.66097465e-01 6.35859851e-03 -1.08870042e+01] [ 2.30136687e-02 -4.31738722e-04 9.99735057e-01 1.40267990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.162755096 meters 0.02101936198231375 Centerline is valid? [True, True] Translation: X:72.42, Y:-10.90, Z:1.41 [[ 9.66419985e-01 2.56109617e-01 -2.09827621e-02 7.24221982e+01] [-2.56038874e-01 9.66647635e-01 6.03691480e-03 -1.09039205e+01] [ 2.18290493e-02 -4.61792318e-04 9.99761611e-01 1.40569575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.222755096 meters 0.02312166101309787 Centerline is valid? [True, True] Translation: X:72.48, Y:-10.92, Z:1.41 [[ 9.66790459e-01 2.54716363e-01 -2.08753922e-02 7.24801707e+01] [-2.54645884e-01 9.67015681e-01 6.01213499e-03 -1.09232053e+01] [ 2.17182208e-02 -4.96642049e-04 9.99764008e-01 1.40659672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28275509599999 meters 0.02294159468989819 Centerline is valid? [True, True] Translation: X:72.54, Y:-10.94, Z:1.41 [[ 9.67226645e-01 2.53087702e-01 -2.04751613e-02 7.25397616e+01] [-2.53019426e-01 9.67443195e-01 5.90204831e-03 -1.09387699e+01] [ 2.13022913e-02 -5.28004826e-04 9.99772941e-01 1.40816555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34275509599999 meters 0.02481130172093623 Centerline is valid? [True, True] Translation: X:72.60, Y:-10.96, Z:1.41 [[ 9.67131571e-01 2.53429611e-01 -2.07354009e-02 7.25990303e+01] [-2.53359586e-01 9.67353685e-01 5.98075147e-03 -1.09572732e+01] [ 2.15741660e-02 -5.30660968e-04 9.99767110e-01 1.40861838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40275509599999 meters 0.023425617166110038 Centerline is valid? [True, True] Translation: X:72.66, Y:-10.97, Z:1.41 [[ 9.66845366e-01 2.54437036e-01 -2.17217172e-02 7.26595417e+01] [-2.54360289e-01 9.67089192e-01 6.27209810e-03 -1.09702169e+01] [ 2.26026920e-02 -5.39006727e-04 9.99744381e-01 1.40959693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.462755096 meters 0.02272367178840106 Centerline is valid? [True, True] Translation: X:72.72, Y:-10.99, Z:1.41 [[ 9.66287596e-01 2.56598385e-01 -2.11080580e-02 7.27198636e+01] [-2.56526301e-01 9.66517997e-01 6.10071532e-03 -1.09857483e+01] [ 2.19667516e-02 -4.80273523e-04 9.99758586e-01 1.41220755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.522755096 meters 0.02236538974500174 Centerline is valid? [True, True] Translation: X:72.78, Y:-11.00, Z:1.41 [[ 9.65959316e-01 2.57831670e-01 -2.11052003e-02 7.27796582e+01] [-2.57759771e-01 9.66189743e-01 6.10578223e-03 -1.10021245e+01] [ 2.19658921e-02 -4.57865640e-04 9.99758616e-01 1.41347504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.582755096 meters 0.01978263441598502 Centerline is valid? [True, True] Translation: X:72.84, Y:-11.01, Z:1.41 [[ 9.64716288e-01 2.62458059e-01 -2.09344377e-02 7.28414339e+01] [-2.62388279e-01 9.64943336e-01 6.06219465e-03 -1.10129746e+01] [ 2.17916180e-02 -3.55346841e-04 9.99762471e-01 1.41459317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64275509599999 meters 0.018511650792567415 Centerline is valid? [True, True] Translation: X:72.90, Y:-11.03, Z:1.42 [[ 9.63651526e-01 2.66257824e-01 -2.19660353e-02 7.29024370e+01] [-2.66181829e-01 9.63901804e-01 6.36761225e-03 -1.10261853e+01] [ 2.28685276e-02 -2.89199816e-04 9.99738439e-01 1.41559251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70275509599999 meters 0.01743575056803009 Centerline is valid? [True, True] Translation: X:72.96, Y:-11.04, Z:1.42 [[ 9.62133323e-01 2.71651758e-01 -2.24675690e-02 7.29625281e+01] [-2.71573563e-01 9.62395601e-01 6.51971143e-03 -1.10389485e+01] [ 2.33937806e-02 -1.71233852e-04 9.99726313e-01 1.41588864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76275509599999 meters 0.016894190812445982 Centerline is valid? [True, True] Translation: X:73.02, Y:-11.05, Z:1.42 [[ 9.61171998e-01 2.75022685e-01 -2.26034013e-02 7.30235857e+01] [-2.74944339e-01 9.61437733e-01 6.56479060e-03 -1.10531390e+01] [ 2.35372293e-02 -9.52156494e-05 9.99722957e-01 1.41704077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.822755096 meters 0.016713080975754864 Centerline is valid? [True, True] Translation: X:73.08, Y:-11.07, Z:1.42 [[ 9.60399887e-01 2.77737188e-01 -2.22286311e-02 7.30838188e+01] [-2.77662050e-01 9.60657095e-01 6.46004619e-03 -1.10694318e+01] [ 2.31482872e-02 -3.21803446e-05 9.99732042e-01 1.41879535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.882755096 meters 0.01667730474714932 Centerline is valid? [True, True] Translation: X:73.14, Y:-11.09, Z:1.42 [[ 9.60375787e-01 2.77887175e-01 -2.13790952e-02 7.31433545e+01] [-2.77817564e-01 9.60613719e-01 6.21964489e-03 -1.10890897e+01] [ 2.22654117e-02 -3.37082148e-05 9.99752094e-01 1.42103278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.942755096 meters 0.01671140738752398 Centerline is valid? [True, True] Translation: X:73.20, Y:-11.11, Z:1.42 [[ 9.60807478e-01 2.76389759e-01 -2.13937164e-02 7.32030662e+01] [-2.76319519e-01 9.61045626e-01 6.23122519e-03 -1.11105142e+01] [ 2.22825844e-02 -7.55063258e-05 9.99751710e-01 1.42272358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.002755096 meters 0.01701442091734412 Centerline is valid? [True, True] Translation: X:73.26, Y:-11.13, Z:1.42 [[ 9.61259429e-01 2.74816228e-01 -2.13623685e-02 7.32609619e+01] [-2.74745651e-01 9.61496764e-01 6.22896197e-03 -1.11320688e+01] [ 2.22516681e-02 -1.18430568e-04 9.99752394e-01 1.42369042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06275509599999 meters 0.017951153788756207 Centerline is valid? [True, True] Translation: X:73.32, Y:-11.16, Z:1.42 [[ 9.62125503e-01 2.71732568e-01 -2.18157791e-02 7.33176856e+01] [-2.71658061e-01 9.62372782e-01 6.36601144e-03 -1.11569181e+01] [ 2.27247647e-02 -1.98469712e-04 9.99741739e-01 1.42443302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12275509599999 meters 0.01812245227764668 Centerline is valid? [True, True] Translation: X:73.38, Y:-11.18, Z:1.43 [[ 9.62866375e-01 2.68988829e-01 -2.30944374e-02 7.33758060e+01] [-2.68904391e-01 9.63143254e-01 6.74537985e-03 -1.11775256e+01] [ 2.40576835e-02 -2.84703821e-04 9.99710532e-01 1.42504331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.182755096 meters 0.019304180614125678 Centerline is valid? [True, True] Translation: X:73.43, Y:-11.20, Z:1.43 [[ 9.63305666e-01 2.67351751e-01 -2.37746593e-02 7.34334478e+01] [-2.67261601e-01 9.63598944e-01 6.95068706e-03 -1.11985989e+01] [ 2.47675150e-02 -3.41582717e-04 9.99693180e-01 1.42503884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.242755096 meters 0.020690063449856935 Centerline is valid? [True, True] Translation: X:73.49, Y:-11.22, Z:1.43 [[ 9.64066135e-01 2.64553700e-01 -2.42451526e-02 7.34918561e+01] [-2.64458892e-01 9.64370860e-01 7.09490978e-03 -1.12214373e+01] [ 2.52583033e-02 -4.28116040e-04 9.99680866e-01 1.42561316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.302755096 meters 0.021085177141360118 Centerline is valid? [True, True] Translation: X:73.55, Y:-11.24, Z:1.43 [[ 9.64790230e-01 2.61877111e-01 -2.44987939e-02 7.35497697e+01] [-2.61779272e-01 9.65101092e-01 7.17594369e-03 -1.12425500e+01] [ 2.55230281e-02 -5.10003928e-04 9.99674104e-01 1.42786554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.362755096 meters 0.020853694959747367 Centerline is valid? [True, True] Translation: X:73.61, Y:-11.26, Z:1.43 [[ 9.64929261e-01 2.61406029e-01 -2.40501409e-02 7.36104198e+01] [-2.61311422e-01 9.65228791e-01 7.05142149e-03 -1.12602610e+01] [ 2.50571725e-02 -5.19546433e-04 9.99685885e-01 1.42997913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42275509599999 meters 0.019378249317902666 Centerline is valid? [True, True] Translation: X:73.67, Y:-11.27, Z:1.43 [[ 9.64163831e-01 2.64263250e-01 -2.35168552e-02 7.36713155e+01] [-2.64173451e-01 9.64450485e-01 6.90286422e-03 -1.12733668e+01] [ 2.45050157e-02 -4.42963224e-04 9.99699609e-01 1.43280747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48275509599999 meters 0.021364192567720437 Centerline is valid? [True, True] Translation: X:73.73, Y:-11.29, Z:1.43 [[ 9.63463098e-01 2.66748469e-01 -2.41684422e-02 7.37289565e+01] [-2.66654216e-01 9.63766100e-01 7.10161965e-03 -1.12941290e+01] [ 2.51870715e-02 -3.97531463e-04 9.99682676e-01 1.43200014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.542755096 meters 0.018846614842864113 Centerline is valid? [True, True] Translation: X:73.79, Y:-11.31, Z:1.43 [[ 9.62361104e-01 2.70690586e-01 -2.42427654e-02 7.37904510e+01] [-2.70596828e-01 9.62666357e-01 7.13027401e-03 -1.13060442e+01] [ 2.52677927e-02 -3.01882952e-04 9.99680673e-01 1.43430739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.602755096 meters 0.017551258886728538 Centerline is valid? [True, True] Translation: X:73.85, Y:-11.32, Z:1.44 [[ 9.61753774e-01 2.72808965e-01 -2.45956833e-02 7.38514918e+01] [-2.72712972e-01 9.62068190e-01 7.24099426e-03 -1.13189711e+01] [ 2.56381327e-02 -2.56491645e-04 9.99671256e-01 1.43611719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.662755096 meters 0.017051874402567672 Centerline is valid? [True, True] Translation: X:73.91, Y:-11.33, Z:1.44 [[ 9.61365398e-01 2.74188912e-01 -2.44338509e-02 7.39112385e+01] [-2.74094439e-01 9.61675824e-01 7.20059875e-03 -1.13348076e+01] [ 2.54717681e-02 -2.25223820e-04 9.99675517e-01 1.43779251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.722755096 meters 0.017603842703350005 Centerline is valid? [True, True] Translation: X:73.97, Y:-11.35, Z:1.44 [[ 9.61927032e-01 2.72209048e-01 -2.44667060e-02 7.39703694e+01] [-2.72113492e-01 9.62238096e-01 7.21767757e-03 -1.13532868e+01] [ 2.55075137e-02 -2.85158348e-04 9.99674590e-01 1.43852692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78275509599999 meters 0.019320631843979117 Centerline is valid? [True, True] Translation: X:74.03, Y:-11.38, Z:1.44 [[ 9.63327155e-01 2.67261944e-01 -2.39132897e-02 7.40278284e+01] [-2.67168964e-01 9.63623828e-01 7.06133025e-03 -1.13755804e+01] [ 2.49306406e-02 -4.13482360e-04 9.99689098e-01 1.44043244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84275509599999 meters 0.02036298495173426 Centerline is valid? [True, True] Translation: X:74.09, Y:-11.40, Z:1.44 [[ 9.64352930e-01 2.63539566e-01 -2.38814347e-02 7.40862204e+01] [-2.63445527e-01 9.64648450e-01 7.05850125e-03 -1.13954865e+01] [ 2.48973834e-02 -5.15429194e-04 9.99689879e-01 1.44276406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90275509599999 meters 0.023075112138474446 Centerline is valid? [True, True] Translation: X:74.14, Y:-11.42, Z:1.44 [[ 9.65780809e-01 2.58361671e-01 -2.27305230e-02 7.41431092e+01] [-2.58274899e-01 9.66048062e-01 6.72444615e-03 -1.14178311e+01] [ 2.36961168e-02 -6.23617509e-04 9.99719013e-01 1.44466378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.962755096 meters 0.024565690520780482 Centerline is valid? [True, True] Translation: X:74.20, Y:-11.44, Z:1.45 [[ 9.66914560e-01 2.54099453e-01 -2.25765830e-02 7.42023189e+01] [-2.54012566e-01 9.67177821e-01 6.68422121e-03 -1.14377185e+01] [ 2.35340273e-02 -7.28335030e-04 9.99722771e-01 1.44590980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.022755096 meters 0.026015213500771666 Centerline is valid? [True, True] Translation: X:74.26, Y:-11.46, Z:1.45 [[ 9.67448963e-01 2.52058073e-01 -2.25661441e-02 7.42606888e+01] [-2.51970646e-01 9.67711795e-01 6.68393379e-03 -1.14572003e+01] [ 2.35222633e-02 -7.80358903e-04 9.99723009e-01 1.44646020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.082755096 meters 0.027859830323036232 Centerline is valid? [True, True] Translation: X:74.32, Y:-11.48, Z:1.45 [[ 9.67996985e-01 2.49968070e-01 -2.23114690e-02 7.43195395e+01] [-2.49881908e-01 9.68253727e-01 6.61463035e-03 -1.14768957e+01] [ 2.32566093e-02 -8.27709802e-04 9.99729186e-01 1.44715246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14275509599999 meters 0.026503949162775854 Centerline is valid? [True, True] Translation: X:74.38, Y:-11.49, Z:1.45 [[ 9.67849878e-01 2.50580109e-01 -2.18225169e-02 7.43797450e+01] [-2.50497698e-01 9.68095536e-01 6.47580627e-03 -1.14917633e+01] [ 2.27489895e-02 -8.01118059e-04 9.99740887e-01 1.44845626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20275509599999 meters 0.025108708429786113 Centerline is valid? [True, True] Translation: X:74.44, Y:-11.51, Z:1.45 [[ 9.66951721e-01 2.54098278e-01 -2.09388219e-02 7.44394628e+01] [-2.54023115e-01 9.67178155e-01 6.21888359e-03 -1.15056633e+01] [ 2.18317788e-02 -6.94415427e-04 9.99761417e-01 1.45025052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26275509599999 meters 0.022511661149296664 Centerline is valid? [True, True] Translation: X:74.50, Y:-11.52, Z:1.45 [[ 9.65608864e-01 2.59249167e-01 -1.97330059e-02 7.45006022e+01] [-2.59183468e-01 9.65810319e-01 5.86159085e-03 -1.15172132e+01] [ 2.05779532e-02 -5.45535187e-04 9.99788103e-01 1.45240449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.322755096 meters 0.02104235529825692 Centerline is valid? [True, True] Translation: X:74.56, Y:-11.53, Z:1.45 [[ 9.64561167e-01 2.63198455e-01 -1.86635814e-02 7.45609829e+01] [-2.63140397e-01 9.64741614e-01 5.54521858e-03 -1.15307281e+01] [ 1.94650266e-02 -4.37560278e-04 9.99810443e-01 1.45449245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.382755096 meters 0.019826905619212194 Centerline is valid? [True, True] Translation: X:74.62, Y:-11.54, Z:1.46 [[ 9.63578843e-01 2.66824198e-01 -1.79070193e-02 7.46215664e+01] [-2.66771283e-01 9.63745154e-01 5.32550702e-03 -1.15444912e+01] [ 1.86787772e-02 -3.54467387e-04 9.99825474e-01 1.45652738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.442755096 meters 0.018824977783514298 Centerline is valid? [True, True] Translation: X:74.68, Y:-11.56, Z:1.46 [[ 9.62795104e-01 2.69690531e-01 -1.71056865e-02 7.46822262e+01] [-2.69642613e-01 9.62947004e-01 5.09195691e-03 -1.15586360e+01] [ 1.78451222e-02 -2.90089171e-04 9.99840721e-01 1.45846178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.502755096 meters 0.017589132267491914 Centerline is valid? [True, True] Translation: X:74.74, Y:-11.57, Z:1.46 [[ 9.61969593e-01 2.72624735e-01 -1.70369060e-02 7.47437303e+01] [-2.72577573e-01 9.62120417e-01 5.07639353e-03 -1.15708996e+01] [ 1.77755055e-02 -2.39457738e-04 9.99841975e-01 1.45917091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56275509599999 meters 0.01768178815219304 Centerline is valid? [True, True] Translation: X:74.80, Y:-11.59, Z:1.46 [[ 9.61978502e-01 2.72603154e-01 -1.68784354e-02 7.48048068e+01] [-2.72556777e-01 9.62126531e-01 5.03408609e-03 -1.15867091e+01] [ 1.76114983e-02 -2.42350633e-04 9.99844876e-01 1.45993312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62275509599999 meters 0.018469513474051135 Centerline is valid? [True, True] Translation: X:74.86, Y:-11.61, Z:1.46 [[ 9.62516874e-01 2.70694521e-01 -1.69039667e-02 7.48640396e+01] [-2.70647606e-01 9.62665257e-01 5.04751120e-03 -1.16056427e+01] [ 1.76391951e-02 -2.83296589e-04 9.99844377e-01 1.46070221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.682755096 meters 0.019621917908023593 Centerline is valid? [True, True] Translation: X:74.92, Y:-11.62, Z:1.46 [[ 9.64054206e-01 2.65176047e-01 -1.67675738e-02 7.49226707e+01] [-2.65128962e-01 9.64199935e-01 5.01185209e-03 -1.16244695e+01] [ 1.74963167e-02 -3.86127652e-04 9.99846853e-01 1.46114290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.742755096 meters 0.021133165714553905 Centerline is valid? [True, True] Translation: X:74.98, Y:-11.64, Z:1.46 [[ 9.65275453e-01 2.60673702e-01 -1.71032441e-02 7.49813698e+01] [-2.60623958e-01 9.65426844e-01 5.11485856e-03 -1.16445006e+01] [ 1.78452401e-02 -4.79732250e-04 9.99840646e-01 1.46146715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.802755096 meters 0.025565298871072974 Centerline is valid? [True, True] Translation: X:75.04, Y:-11.67, Z:1.46 [[ 9.67110321e-01 2.53764718e-01 -1.73520724e-02 7.50369923e+01] [-2.53712374e-01 9.67265779e-01 5.19086409e-03 -1.16679879e+01] [ 1.81013240e-02 -6.17702759e-04 9.99835967e-01 1.46213704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.862755096 meters 0.026948277475255657 Centerline is valid? [True, True] Translation: X:75.10, Y:-11.69, Z:1.46 [[ 9.68469255e-01 2.48475727e-01 -1.80863444e-02 7.50954962e+01] [-2.48417906e-01 9.68637834e-01 5.41214776e-03 -1.16859364e+01] [ 1.88639048e-02 -7.48526905e-04 9.99821781e-01 1.46317895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92275509599999 meters 0.028777060405329718 Centerline is valid? [True, True] Translation: X:75.15, Y:-11.70, Z:1.46 [[ 9.69084460e-01 2.46069874e-01 -1.80257410e-02 7.51543922e+01] [-2.46012016e-01 9.69251767e-01 5.39441602e-03 -1.17045571e+01] [ 1.87988846e-02 -7.93095857e-04 9.99822971e-01 1.46373486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98275509599999 meters 0.030330243831225647 Centerline is valid? [True, True] Translation: X:75.21, Y:-11.72, Z:1.46 [[ 9.69591123e-01 2.44047511e-01 -1.82720276e-02 7.52138134e+01] [-2.43987651e-01 9.69762907e-01 5.47084711e-03 -1.17221595e+01] [ 1.90546812e-02 -8.46335699e-04 9.99818085e-01 1.46427103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.042755096 meters 0.031076095627697194 Centerline is valid? [True, True] Translation: X:75.27, Y:-11.74, Z:1.47 [[ 9.69648609e-01 2.43802397e-01 -1.84923323e-02 7.52740902e+01] [-2.43741006e-01 9.69824544e-01 5.53854727e-03 -1.17383653e+01] [ 1.92846288e-02 -8.63104978e-04 9.99813662e-01 1.46526894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.102755096 meters 0.031573662059618555 Centerline is valid? [True, True] Translation: X:75.33, Y:-11.75, Z:1.47 [[ 9.69311234e-01 2.45171474e-01 -1.80742987e-02 7.53334324e+01] [-2.45112965e-01 9.69479382e-01 5.41863305e-03 -1.17532049e+01] [ 1.88511542e-02 -8.22096941e-04 9.99821963e-01 1.46704133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.162755096 meters 0.02930942322160757 Centerline is valid? [True, True] Translation: X:75.39, Y:-11.77, Z:1.47 [[ 9.68889606e-01 2.46883590e-01 -1.73615843e-02 7.53943559e+01] [-2.46829797e-01 9.69044845e-01 5.20951495e-03 -1.17658283e+01] [ 1.81102975e-02 -7.62088564e-04 9.99835705e-01 1.46879823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.222755096 meters 0.028542965673239135 Centerline is valid? [True, True] Translation: X:75.46, Y:-11.78, Z:1.47 [[ 9.68423145e-01 2.48808765e-01 -1.58370167e-02 7.54550509e+01] [-2.48764191e-01 9.68552401e-01 4.75635585e-03 -1.17785052e+01] [ 1.65224036e-02 -6.66482451e-04 9.99863274e-01 1.47076248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28275509599999 meters 0.028193693714589612 Centerline is valid? [True, True] Translation: X:75.52, Y:-11.79, Z:1.47 [[ 9.67945238e-01 2.50647874e-01 -1.60517782e-02 7.55153860e+01] [-2.50602253e-01 9.68078108e-01 4.82575582e-03 -1.17929264e+01] [ 1.67489405e-02 -6.48455586e-04 9.99859516e-01 1.47155230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34275509599999 meters 0.02751268453939673 Centerline is valid? [True, True] Translation: X:75.58, Y:-11.81, Z:1.47 [[ 9.67312997e-01 2.53054715e-01 -1.63974953e-02 7.55760152e+01] [-2.53007361e-01 9.67451766e-01 4.93506734e-03 -1.18058628e+01] [ 1.71126279e-02 -6.25067751e-04 9.99853373e-01 1.47189629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40275509599999 meters 0.029778052430659636 Centerline is valid? [True, True] Translation: X:75.64, Y:-11.82, Z:1.47 [[ 9.66735360e-01 2.55251555e-01 -1.64130253e-02 7.56351861e+01] [-2.55204416e-01 9.66874500e-01 4.94039806e-03 -1.18240072e+01] [ 1.71303799e-02 -5.87380978e-04 9.99853092e-01 1.47236317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.462755096 meters 0.031497227939386724 Centerline is valid? [True, True] Translation: X:75.69, Y:-11.84, Z:1.47 [[ 9.66299556e-01 2.56908240e-01 -1.62272945e-02 7.56939078e+01] [-2.56862310e-01 9.66435640e-01 4.88953144e-03 -1.18401947e+01] [ 1.69387967e-02 -5.56571706e-04 9.99856373e-01 1.47298424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.522755096 meters 0.02855367529428993 Centerline is valid? [True, True] Translation: X:75.76, Y:-11.85, Z:1.47 [[ 9.66221485e-01 2.57176173e-01 -1.66270041e-02 7.57556816e+01] [-2.57127906e-01 9.66364368e-01 5.01485498e-03 -1.18516826e+01] [ 1.73574455e-02 -5.70193872e-04 9.99849186e-01 1.47356558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.582755096 meters 0.024016503016354364 Centerline is valid? [True, True] Translation: X:75.82, Y:-11.86, Z:1.47 [[ 9.66369688e-01 2.56637625e-01 -1.63326485e-02 7.58181233e+01] [-2.56590883e-01 9.66507527e-01 4.93153143e-03 -1.18612586e+01] [ 1.70512442e-02 -5.74873788e-04 9.99854452e-01 1.47372237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64275509599999 meters 0.03527465235017148 Centerline is valid? [True, True] Translation: X:75.87, Y:-11.89, Z:1.47 [[ 9.66818549e-01 2.54920713e-01 -1.66530475e-02 7.58730562e+01] [-2.54871769e-01 9.66961759e-01 5.03376704e-03 -1.18921485e+01] [ 1.73860716e-02 -6.22347671e-04 9.99848657e-01 1.47471236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70275509599999 meters 0.029833123071406148 Centerline is valid? [True, True] Translation: X:75.93, Y:-11.90, Z:1.48 [[ 9.67042694e-01 2.54053707e-01 -1.68861494e-02 7.59347371e+01] [-2.54003202e-01 9.67189894e-01 5.10698667e-03 -1.19014349e+01] [ 1.76295620e-02 -6.49538123e-04 9.99844376e-01 1.47526762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76275509599999 meters 0.029586767278007346 Centerline is valid? [True, True] Translation: X:75.99, Y:-11.92, Z:1.48 [[ 9.67071929e-01 2.53935750e-01 -1.69858669e-02 7.59949663e+01] [-2.53884528e-01 9.67220863e-01 5.14284097e-03 -1.19178416e+01] [ 1.77350360e-02 -6.61048349e-04 9.99842503e-01 1.47611410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.822755096 meters 0.029880640913471365 Centerline is valid? [True, True] Translation: X:76.06, Y:-11.93, Z:1.48 [[ 9.66893830e-01 2.54610343e-01 -1.70262834e-02 7.60551111e+01] [-2.54558878e-01 9.67043506e-01 5.16087649e-03 -1.19340247e+01] [ 1.77791693e-02 -6.55828030e-04 9.99841723e-01 1.47707033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.882755096 meters 0.029117868270267824 Centerline is valid? [True, True] Translation: X:76.11, Y:-11.95, Z:1.48 [[ 9.66457775e-01 2.56233737e-01 -1.74253157e-02 7.61148132e+01] [-2.56179985e-01 9.66614636e-01 5.28782046e-03 -1.19501464e+01] [ 1.81984832e-02 -6.46438073e-04 9.99834185e-01 1.47794322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.942755096 meters 0.028248742665788855 Centerline is valid? [True, True] Translation: X:76.18, Y:-11.97, Z:1.48 [[ 9.65916929e-01 2.58278121e-01 -1.72307527e-02 7.61752449e+01] [-2.58225785e-01 9.66070414e-01 5.23449590e-03 -1.19657791e+01] [ 1.79980762e-02 -6.06663557e-04 9.99837837e-01 1.47894300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.002755096 meters 0.026264571097265436 Centerline is valid? [True, True] Translation: X:76.24, Y:-11.98, Z:1.48 [[ 9.64916011e-01 2.61981368e-01 -1.74027278e-02 7.62353455e+01] [-2.61928473e-01 9.65072775e-01 5.29274128e-03 -1.19787651e+01] [ 1.81814984e-02 -5.48780878e-04 9.99834552e-01 1.47967968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06275509599999 meters 0.022933363016010847 Centerline is valid? [True, True] Translation: X:76.30, Y:-11.99, Z:1.48 [[ 9.63742214e-01 2.66269862e-01 -1.73581778e-02 7.62957703e+01] [-2.66217917e-01 9.63898409e-01 5.28000809e-03 -1.19912954e+01] [ 1.81374269e-02 -4.67508750e-04 9.99835394e-01 1.48076056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12275509599999 meters 0.02218906315563061 Centerline is valid? [True, True] Translation: X:76.35, Y:-12.01, Z:1.48 [[ 9.62905705e-01 2.69254572e-01 -1.77363847e-02 7.63547306e+01] [-2.69200829e-01 9.63068948e-01 5.39587981e-03 -1.20075876e+01] [ 1.85342267e-02 -4.21073975e-04 9.99828138e-01 1.48170475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.182755096 meters 0.02047803909203737 Centerline is valid? [True, True] Translation: X:76.41, Y:-12.02, Z:1.48 [[ 9.61989808e-01 2.72489998e-01 -1.80224666e-02 7.64147998e+01] [-2.72434968e-01 9.62158544e-01 5.48855134e-03 -1.20226286e+01] [ 1.88360456e-02 -3.69980334e-04 9.99822518e-01 1.48204030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.242755096 meters 0.018746520358376 Centerline is valid? [True, True] Translation: X:76.47, Y:-12.04, Z:1.48 [[ 9.61675167e-01 2.73573904e-01 -1.83900054e-02 7.64743208e+01] [-2.73516685e-01 9.61850918e-01 5.60668563e-03 -1.20400236e+01] [ 1.92222864e-02 -3.61837027e-04 9.99815169e-01 1.48240687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.302755096 meters 0.02017639627071919 Centerline is valid? [True, True] Translation: X:76.53, Y:-12.06, Z:1.48 [[ 9.61880340e-01 2.72846968e-01 -1.84592406e-02 7.65321983e+01] [-2.72789067e-01 9.62057371e-01 5.63383010e-03 -1.20642751e+01] [ 1.92960219e-02 -3.83591404e-04 9.99813741e-01 1.48378488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.362755096 meters 0.019876160876017675 Centerline is valid? [True, True] Translation: X:76.59, Y:-12.08, Z:1.48 [[ 9.61959567e-01 2.72578168e-01 -1.83012072e-02 7.65913022e+01] [-2.72521163e-01 9.62133562e-01 5.58781691e-03 -1.20831430e+01] [ 1.91313226e-02 -3.87787647e-04 9.99816904e-01 1.48477373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42275509599999 meters 0.020684712644470186 Centerline is valid? [True, True] Translation: X:76.65, Y:-12.11, Z:1.49 [[ 9.62298483e-01 2.71392899e-01 -1.80976370e-02 7.66498178e+01] [-2.71336826e-01 9.62468557e-01 5.53197001e-03 -1.21054712e+01] [ 1.89197440e-02 -4.12850958e-04 9.99820920e-01 1.48635021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48275509599999 meters 0.021096117969370012 Centerline is valid? [True, True] Translation: X:76.71, Y:-12.13, Z:1.49 [[ 9.62758961e-01 2.69781214e-01 -1.76996972e-02 7.67073717e+01] [-2.69727213e-01 9.62921546e-01 5.41545196e-03 -1.21285553e+01] [ 1.85044070e-02 -4.39684900e-04 9.99828682e-01 1.48770198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.542755096 meters 0.02104068295010127 Centerline is valid? [True, True] Translation: X:76.77, Y:-12.15, Z:1.49 [[ 9.62935909e-01 2.69149200e-01 -1.76958408e-02 7.67656414e+01] [-2.69095018e-01 9.63098385e-01 5.41958993e-03 -1.21504759e+01] [ 1.85015140e-02 -4.56855142e-04 9.99828728e-01 1.48856234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.602755096 meters 0.022155130077375407 Centerline is valid? [True, True] Translation: X:76.82, Y:-12.17, Z:1.49 [[ 9.62886199e-01 2.69297567e-01 -1.81380149e-02 7.68230126e+01] [-2.69240561e-01 9.63056903e-01 5.56070800e-03 -1.21737659e+01] [ 1.89654256e-02 -4.70839670e-04 9.99820029e-01 1.48942841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.662755096 meters 0.020384292560757314 Centerline is valid? [True, True] Translation: X:76.88, Y:-12.19, Z:1.49 [[ 9.62635229e-01 2.70179913e-01 -1.83365619e-02 7.68826820e+01] [-2.70121698e-01 9.62809742e-01 5.62755866e-03 -1.21914413e+01] [ 1.91750738e-02 -4.64182977e-04 9.99816034e-01 1.49056615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.722755096 meters 0.020522499380983612 Centerline is valid? [True, True] Translation: X:76.94, Y:-12.21, Z:1.49 [[ 9.62013148e-01 2.72341611e-01 -1.89934280e-02 7.69404939e+01] [-2.72279451e-01 9.62200526e-01 5.83513199e-03 -1.22124285e+01] [ 1.98646356e-02 -4.41953546e-04 9.99802581e-01 1.49107101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78275509599999 meters 0.020198521453684014 Centerline is valid? [True, True] Translation: X:77.00, Y:-12.23, Z:1.49 [[ 9.61516167e-01 2.74049459e-01 -1.95845621e-02 7.69992423e+01] [-2.73983647e-01 9.61715506e-01 6.02046576e-03 -1.22313511e+01] [ 2.04846825e-02 -4.22925410e-04 9.99790077e-01 1.49189129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84275509599999 meters 0.018735969909101795 Centerline is valid? [True, True] Translation: X:77.06, Y:-12.25, Z:1.49 [[ 9.60850735e-01 2.76340791e-01 -2.00407828e-02 7.70584323e+01] [-2.76272248e-01 9.61059632e-01 6.16673050e-03 -1.22490271e+01] [ 2.09645065e-02 -3.88595430e-04 9.99780145e-01 1.49323655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90275509599999 meters 0.01859968159740239 Centerline is valid? [True, True] Translation: X:77.12, Y:-12.27, Z:1.49 [[ 9.60408242e-01 2.77885049e-01 -1.98974251e-02 7.71161009e+01] [-2.77817691e-01 9.60614268e-01 6.12856290e-03 -1.22690112e+01] [ 2.08167864e-02 -3.58065641e-04 9.99783243e-01 1.49484898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.962755096 meters 0.019020897931113345 Centerline is valid? [True, True] Translation: X:77.17, Y:-12.29, Z:1.50 [[ 9.60091757e-01 2.79018460e-01 -1.93006887e-02 7.71739776e+01] [-2.78955205e-01 9.60285682e-01 5.94997371e-03 -1.22902465e+01] [ 2.01943275e-02 -3.28493139e-04 9.99796020e-01 1.49670894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.022755096 meters 0.01790193942904545 Centerline is valid? [True, True] Translation: X:77.23, Y:-12.31, Z:1.50 [[ 9.59931814e-01 2.79604758e-01 -1.87641235e-02 7.72338463e+01] [-2.79544980e-01 9.60115140e-01 5.78989893e-03 -1.23089429e+01] [ 1.96346023e-02 -3.12491659e-04 9.99807174e-01 1.49861347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.082755096 meters 0.017812702645222448 Centerline is valid? [True, True] Translation: X:77.29, Y:-12.33, Z:1.50 [[ 9.60055729e-01 2.79162500e-01 -1.90078059e-02 7.72939560e+01] [-2.79100939e-01 9.60243817e-01 5.87173576e-03 -1.23289983e+01] [ 1.98912965e-02 -3.32097082e-04 9.99802093e-01 1.49968272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14275509599999 meters 0.018634034265833457 Centerline is valid? [True, True] Translation: X:77.35, Y:-12.35, Z:1.50 [[ 9.60524760e-01 2.77502017e-01 -1.96167394e-02 7.73522587e+01] [-2.77435956e-01 9.60724978e-01 6.06693718e-03 -1.23515913e+01] [ 2.05298788e-02 -3.85054532e-04 9.99789166e-01 1.50065768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20275509599999 meters 0.01962410187371366 Centerline is valid? [True, True] Translation: X:77.41, Y:-12.37, Z:1.50 [[ 9.61109461e-01 2.75423224e-01 -2.02645281e-02 7.74102260e+01] [-2.75352130e-01 9.61322966e-01 6.27368039e-03 -1.23745380e+01] [ 2.12086736e-02 -4.49812601e-04 9.99774970e-01 1.50216378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26275509599999 meters 0.020259545150329208 Centerline is valid? [True, True] Translation: X:77.47, Y:-12.40, Z:1.50 [[ 9.61454821e-01 2.74184638e-01 -2.06739140e-02 7.74682862e+01] [-2.74110218e-01 9.61676942e-01 6.40681908e-03 -1.23955898e+01] [ 2.16382778e-02 -4.92936032e-04 9.99765744e-01 1.50319359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.322755096 meters 0.020943050425373443 Centerline is valid? [True, True] Translation: X:77.53, Y:-12.42, Z:1.50 [[ 9.62119025e-01 2.71793233e-01 -2.13405723e-02 7.75261807e+01] [-2.71713197e-01 9.62355502e-01 6.62012189e-03 -1.24174389e+01] [ 2.23365215e-02 -5.70830105e-04 9.99750346e-01 1.50398750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.382755096 meters 0.022665782975846555 Centerline is valid? [True, True] Translation: X:77.58, Y:-12.44, Z:1.50 [[ 9.62399232e-01 2.70781336e-01 -2.15681604e-02 7.75836165e+01] [-2.70699180e-01 9.62640691e-01 6.69735113e-03 -1.24398453e+01] [ 2.25759065e-02 -6.07042261e-04 9.99744947e-01 1.50476903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.442755096 meters 0.02310791047356219 Centerline is valid? [True, True] Translation: X:77.64, Y:-12.46, Z:1.51 [[ 9.62792275e-01 2.69339552e-01 -2.20735249e-02 7.76416615e+01] [-2.69252973e-01 9.63045050e-01 6.86069037e-03 -1.24613765e+01] [ 2.31056542e-02 -6.62057489e-04 9.99732810e-01 1.50604615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.502755096 meters 0.022712473777663316 Centerline is valid? [True, True] Translation: X:77.70, Y:-12.48, Z:1.51 [[ 9.62851500e-01 2.69060884e-01 -2.28742029e-02 7.77005761e+01] [-2.68967661e-01 9.63122916e-01 7.11664418e-03 -1.24818196e+01] [ 2.39454796e-02 -6.99850670e-04 9.99713021e-01 1.50727050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56275509599999 meters 0.023105650001804676 Centerline is valid? [True, True] Translation: X:77.76, Y:-12.50, Z:1.51 [[ 9.62581289e-01 2.69931449e-01 -2.39640106e-02 7.77578069e+01] [-2.69829212e-01 9.62879275e-01 7.46316940e-03 -1.25030707e+01] [ 2.50889933e-02 -7.17717119e-04 9.99684964e-01 1.50755555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62275509599999 meters 0.02248736189788174 Centerline is valid? [True, True] Translation: X:77.82, Y:-12.52, Z:1.51 [[ 9.62101360e-01 2.71592575e-01 -2.44631719e-02 7.78168041e+01] [-2.71486387e-01 9.62412069e-01 7.62571963e-03 -1.25223316e+01] [ 2.56147407e-02 -6.95297077e-04 9.99671647e-01 1.50882476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.682755096 meters 0.020729942180576354 Centerline is valid? [True, True] Translation: X:77.88, Y:-12.54, Z:1.51 [[ 9.61131459e-01 2.74928246e-01 -2.53136116e-02 7.78763633e+01] [-2.74815493e-01 9.61464537e-01 7.89865417e-03 -1.25403918e+01] [ 2.65097030e-02 -6.35072355e-04 9.99648354e-01 1.50986058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.742755096 meters 0.019494017969754637 Centerline is valid? [True, True] Translation: X:77.94, Y:-12.56, Z:1.51 [[ 9.60286689e-01 2.77933889e-01 -2.45403511e-02 7.79358984e+01] [-2.77828736e-01 9.60600052e-01 7.66375785e-03 -1.25596362e+01] [ 2.57034806e-02 -5.41389926e-04 9.99669464e-01 1.51215110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.802755096 meters 0.018342371929107523 Centerline is valid? [True, True] Translation: X:78.00, Y:-12.58, Z:1.52 [[ 9.59477936e-01 2.80862457e-01 -2.27677630e-02 7.79957151e+01] [-2.80772687e-01 9.59747932e-01 7.11374793e-03 -1.25780512e+01] [ 2.38492982e-02 -4.32918178e-04 9.99715471e-01 1.51500751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.862755096 meters 0.01720066368949159 Centerline is valid? [True, True] Translation: X:78.06, Y:-12.60, Z:1.52 [[ 9.58752851e-01 2.83407789e-01 -2.17484611e-02 7.80555787e+01] [-2.83326441e-01 9.58999425e-01 6.79929092e-03 -1.25957838e+01] [ 2.27837337e-02 -3.56925487e-04 9.99740353e-01 1.51673893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92275509599999 meters 0.016733567905538933 Centerline is valid? [True, True] Translation: X:78.11, Y:-12.61, Z:1.52 [[ 9.57560129e-01 2.87423834e-01 -2.15902284e-02 7.81142302e+01] [-2.87344534e-01 9.57803460e-01 6.75648185e-03 -1.26145683e+01] [ 2.26211694e-02 -2.65903524e-04 9.99744073e-01 1.51695243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98275509599999 meters 0.01601612104619898 Centerline is valid? [True, True] Translation: X:78.17, Y:-12.63, Z:1.52 [[ 9.56689928e-01 2.90280246e-01 -2.19490468e-02 7.81736606e+01] [-2.90198882e-01 9.56941657e-01 6.87555805e-03 -1.26318829e+01] [ 2.29997959e-02 -2.08188281e-04 9.99735448e-01 1.51694803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.042755096 meters 0.016049267824870626 Centerline is valid? [True, True] Translation: X:78.23, Y:-12.65, Z:1.52 [[ 9.56355741e-01 2.91330207e-01 -2.25922166e-02 7.82336501e+01] [-2.91244127e-01 9.56622534e-01 7.08419891e-03 -1.26512213e+01] [ 2.36760647e-02 -1.95163889e-04 9.99719664e-01 1.51719032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.102755096 meters 0.01658965915979223 Centerline is valid? [True, True] Translation: X:78.29, Y:-12.67, Z:1.52 [[ 9.56699136e-01 2.90179479e-01 -2.28611589e-02 7.82921192e+01] [-2.90090824e-01 9.56972213e-01 7.17623650e-03 -1.26732336e+01] [ 2.39598904e-02 -2.33686841e-04 9.99712893e-01 1.51802385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.162755096 meters 0.018011918689229005 Centerline is valid? [True, True] Translation: X:78.35, Y:-12.70, Z:1.52 [[ 9.57918696e-01 2.86166685e-01 -2.23696371e-02 7.83495156e+01] [-2.86080550e-01 9.58179794e-01 7.02861901e-03 -1.26971216e+01] [ 2.34454908e-02 -3.33327469e-04 9.99725061e-01 1.51921425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.222755096 meters 0.018630268070529303 Centerline is valid? [True, True] Translation: X:78.41, Y:-12.72, Z:1.52 [[ 9.58360849e-01 2.84715865e-01 -2.19398880e-02 7.84084238e+01] [-2.84632477e-01 9.58611882e-01 6.90017210e-03 -1.27181368e+01] [ 2.29964258e-02 -3.68050138e-04 9.99735479e-01 1.52028451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28275509599999 meters 0.02084163620060313 Centerline is valid? [True, True] Translation: X:78.47, Y:-12.74, Z:1.52 [[ 9.60032796e-01 2.79086716e-01 -2.11573851e-02 7.84651651e+01] [-2.79007666e-01 9.60265778e-01 6.66024802e-03 -1.27425140e+01] [ 2.21754996e-02 -4.90983897e-04 9.99753973e-01 1.52200242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34275509599999 meters 0.022871668653756595 Centerline is valid? [True, True] Translation: X:78.52, Y:-12.77, Z:1.52 [[ 9.61038661e-01 2.75703823e-01 -1.98013683e-02 7.85221504e+01] [-2.75633753e-01 9.61242484e-01 6.23868796e-03 -1.27664218e+01] [ 2.07539466e-02 -5.37694865e-04 9.99784469e-01 1.52402735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40275509599999 meters 0.026100338680348258 Centerline is valid? [True, True] Translation: X:78.58, Y:-12.79, Z:1.53 [[ 9.61115266e-01 2.75488263e-01 -1.90699231e-02 7.85794199e+01] [-2.75423128e-01 9.61304291e-01 6.01344216e-03 -1.27911468e+01] [ 1.99886316e-02 -5.27313195e-04 9.99800068e-01 1.52515259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.462755096 meters 0.023761547208277705 Centerline is valid? [True, True] Translation: X:78.64, Y:-12.81, Z:1.53 [[ 9.60231710e-01 2.78524700e-01 -1.94693459e-02 7.86393075e+01] [-2.78457303e-01 9.60428947e-01 6.14565265e-03 -1.28064694e+01] [ 2.04106395e-02 -4.79868993e-04 9.99791566e-01 1.52598014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.522755096 meters 0.020108500417526504 Centerline is valid? [True, True] Translation: X:78.70, Y:-12.82, Z:1.53 [[ 9.58643392e-01 2.83951495e-01 -1.93492857e-02 7.87004027e+01] [-2.83885926e-01 9.58838576e-01 6.11286463e-03 -1.28183955e+01] [ 2.02885986e-02 -3.67067398e-04 9.99794098e-01 1.52740463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.582755096 meters 0.018721361463507443 Centerline is valid? [True, True] Translation: X:78.76, Y:-12.83, Z:1.53 [[ 9.57270547e-01 2.88598359e-01 -1.85495627e-02 7.87604110e+01] [-2.88538944e-01 9.57450218e-01 5.86152771e-03 -1.28337258e+01] [ 1.94519101e-02 -2.58796600e-04 9.99810760e-01 1.52961539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64275509599999 meters 0.018075800376763557 Centerline is valid? [True, True] Translation: X:78.82, Y:-12.85, Z:1.53 [[ 9.56687904e-01 2.90548718e-01 -1.81575672e-02 7.88199658e+01] [-2.90492038e-01 9.56860175e-01 5.74298346e-03 -1.28504767e+01] [ 1.90428694e-02 -2.19614107e-04 9.99818644e-01 1.53191456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70275509599999 meters 0.01819185819553882 Centerline is valid? [True, True] Translation: X:78.88, Y:-12.87, Z:1.53 [[ 9.56567027e-01 2.90958260e-01 -1.79670323e-02 7.88782488e+01] [-2.90902732e-01 9.56735724e-01 5.68817190e-03 -1.28704294e+01] [ 1.88447222e-02 -2.14458909e-04 9.99822399e-01 1.53354306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76275509599999 meters 0.01863893522875964 Centerline is valid? [True, True] Translation: X:78.94, Y:-12.89, Z:1.53 [[ 9.57038427e-01 2.89426496e-01 -1.75997676e-02 7.89362186e+01] [-2.89372853e-01 9.57200211e-01 5.57748787e-03 -1.28915472e+01] [ 1.84607740e-02 -2.44975266e-04 9.99829555e-01 1.53481830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.822755096 meters 0.02027114433110184 Centerline is valid? [True, True] Translation: X:78.99, Y:-12.91, Z:1.54 [[ 9.57806413e-01 2.86921730e-01 -1.68165310e-02 7.89926303e+01] [-2.86872286e-01 9.57953986e-01 5.33407060e-03 -1.29144294e+01] [ 1.76399237e-02 -2.84810344e-04 9.99844364e-01 1.53722780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.882755096 meters 0.01989245069051756 Centerline is valid? [True, True] Translation: X:79.05, Y:-12.93, Z:1.54 [[ 9.58136841e-01 2.85820583e-01 -1.67448009e-02 7.90524030e+01] [-2.85771312e-01 9.58283100e-01 5.31580988e-03 -1.29327585e+01] [ 1.75656276e-02 -3.08089575e-04 9.99845665e-01 1.53762073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.942755096 meters 0.020196432280871417 Centerline is valid? [True, True] Translation: X:79.11, Y:-12.95, Z:1.54 [[ 9.58417151e-01 2.84806263e-01 -1.79431658e-02 7.91121098e+01] [-2.84749399e-01 9.58585033e-01 5.70207817e-03 -1.29514776e+01] [ 1.88240377e-02 -3.55663860e-04 9.99822749e-01 1.53747847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.002755096 meters 0.02030759865532801 Centerline is valid? [True, True] Translation: X:79.17, Y:-12.97, Z:1.54 [[ 9.58677094e-01 2.83879515e-01 -1.87256693e-02 7.91707024e+01] [-2.83817289e-01 9.58859877e-01 5.95671694e-03 -1.29708506e+01] [ 1.96462829e-02 -3.95899397e-04 9.99806915e-01 1.53822514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06275509599999 meters 0.02063438282991383 Centerline is valid? [True, True] Translation: X:79.23, Y:-12.99, Z:1.54 [[ 9.58337340e-01 2.85094473e-01 -1.76262507e-02 7.92297277e+01] [-2.85039450e-01 9.58499356e-01 5.61213576e-03 -1.29883071e+01] [ 1.84947388e-02 -3.54142454e-04 9.99828895e-01 1.54009517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12275509599999 meters 0.02022302338089463 Centerline is valid? [True, True] Translation: X:79.29, Y:-13.01, Z:1.54 [[ 9.58173260e-01 2.85518114e-01 -1.95808691e-02 7.92899795e+01] [-2.85450162e-01 9.58373233e-01 6.24111714e-03 -1.30050073e+01] [ 2.05477329e-02 -3.90709302e-04 9.99788797e-01 1.53955446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.182755096 meters 0.019705775191500095 Centerline is valid? [True, True] Translation: X:79.35, Y:-13.02, Z:1.54 [[ 9.57810445e-01 2.86704566e-01 -1.99910907e-02 7.93495533e+01] [-2.86633847e-01 9.58018971e-01 6.37883444e-03 -1.30216407e+01] [ 2.09806850e-02 -3.79591027e-04 9.99779809e-01 1.53975589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.242755096 meters 0.019030061318915298 Centerline is valid? [True, True] Translation: X:79.41, Y:-13.04, Z:1.54 [[ 9.57320910e-01 2.88340268e-01 -1.99139417e-02 7.94100969e+01] [-2.88270321e-01 9.57527947e-01 6.36031579e-03 -1.30374199e+01] [ 2.09020908e-02 -3.48264942e-04 9.99781467e-01 1.54223463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.302755096 meters 0.018766531797683415 Centerline is valid? [True, True] Translation: X:79.47, Y:-13.05, Z:1.54 [[ 9.57072559e-01 2.89184331e-01 -1.96096602e-02 7.94707079e+01] [-2.89116557e-01 9.57273374e-01 6.26922360e-03 -1.30546635e+01] [ 2.05847668e-02 -3.30624444e-04 9.99788057e-01 1.54375179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.362755096 meters 0.018659429773887133 Centerline is valid? [True, True] Translation: X:79.53, Y:-13.07, Z:1.55 [[ 9.56834280e-01 2.90011452e-01 -1.90136493e-02 7.95312388e+01] [-2.89947767e-01 9.57023125e-01 6.08528630e-03 -1.30730488e+01] [ 1.99613047e-02 -3.09645397e-04 9.99800705e-01 1.54594525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42275509599999 meters 0.01840619916981002 Centerline is valid? [True, True] Translation: X:79.59, Y:-13.09, Z:1.55 [[ 9.56417495e-01 2.91396574e-01 -1.88045643e-02 7.95908165e+01] [-2.91334420e-01 9.56602298e-01 6.02490805e-03 -1.30918311e+01] [ 1.97441270e-02 -2.83910630e-04 9.99805025e-01 1.54734648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48275509599999 meters 0.018120639022673305 Centerline is valid? [True, True] Translation: X:79.65, Y:-13.11, Z:1.55 [[ 9.56101995e-01 2.92402525e-01 -1.92285731e-02 7.96502237e+01] [-2.92337619e-01 9.56295293e-01 6.16674150e-03 -1.31093664e+01] [ 2.01913648e-02 -2.74798580e-04 9.99796096e-01 1.54801736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.542755096 meters 0.018377316690295593 Centerline is valid? [True, True] Translation: X:79.71, Y:-13.13, Z:1.55 [[ 9.56343757e-01 2.91617972e-01 -1.91200389e-02 7.97095310e+01] [-2.91553525e-01 9.56534825e-01 6.13769101e-03 -1.31292870e+01] [ 2.00788441e-02 -2.95227747e-04 9.99798356e-01 1.54826209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.602755096 meters 0.020372849108012517 Centerline is valid? [True, True] Translation: X:79.77, Y:-13.15, Z:1.55 [[ 9.57459565e-01 2.87942708e-01 -1.89783828e-02 7.97655479e+01] [-2.87878380e-01 9.57647564e-01 6.09770286e-03 -1.31531554e+01] [ 1.99303911e-02 -3.74837848e-04 9.99801300e-01 1.54818561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.662755096 meters 0.02252868751499901 Centerline is valid? [True, True] Translation: X:79.82, Y:-13.18, Z:1.55 [[ 9.58839267e-01 2.83351678e-01 -1.84143197e-02 7.98228862e+01] [-2.83290219e-01 9.59015962e-01 5.91907487e-03 -1.31768862e+01] [ 1.93368063e-02 -4.58844748e-04 9.99812921e-01 1.54932615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.722755096 meters 0.02546746773078771 Centerline is valid? [True, True] Translation: X:79.88, Y:-13.20, Z:1.55 [[ 9.59705311e-01 2.80435733e-01 -1.79308575e-02 7.98799543e+01] [-2.80376924e-01 9.59872671e-01 5.76513074e-03 -1.31987656e+01] [ 1.88280888e-02 -5.05427918e-04 9.99822608e-01 1.55025972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78275509599999 meters 0.025543124396217223 Centerline is valid? [True, True] Translation: X:79.94, Y:-13.22, Z:1.55 [[ 9.59530274e-01 2.81004329e-01 -1.83907825e-02 7.99401322e+01] [-2.80942471e-01 9.59706364e-01 5.91800228e-03 -1.32179557e+01] [ 1.93127353e-02 -5.11750466e-04 9.99813361e-01 1.55045860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84275509599999 meters 0.02146100844800471 Centerline is valid? [True, True] Translation: X:80.00, Y:-13.23, Z:1.55 [[ 9.58481705e-01 2.84385959e-01 -2.09152273e-02 8.00016140e+01] [-2.84306594e-01 9.58709739e-01 6.73766108e-03 -1.32304422e+01] [ 2.19677283e-02 -5.11587851e-04 9.99758549e-01 1.54930002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90275509599999 meters 0.01959488292784053 Centerline is valid? [True, True] Translation: X:80.06, Y:-13.25, Z:1.55 [[ 9.57013111e-01 2.89129656e-01 -2.30205679e-02 8.00618524e+01] [-2.89034694e-01 9.57289841e-01 7.42340125e-03 -1.32457775e+01] [ 2.41836812e-02 -4.50549523e-04 9.99707430e-01 1.54801951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.962755096 meters 0.019038048203070215 Centerline is valid? [True, True] Translation: X:80.12, Y:-13.26, Z:1.55 [[ 9.56171484e-01 2.91926726e-01 -2.26909648e-02 8.01206222e+01] [-2.91835088e-01 9.56440611e-01 7.32392719e-03 -1.32640760e+01] [ 2.38406103e-02 -3.80910631e-04 9.99715700e-01 1.54893020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.022755096 meters 0.01754181451622302 Centerline is valid? [True, True] Translation: X:80.18, Y:-13.28, Z:1.55 [[ 9.55462307e-01 2.94315461e-01 -2.16838312e-02 8.01804794e+01] [-2.94232249e-01 9.55708277e-01 7.00516541e-03 -1.32816396e+01] [ 2.27851454e-02 -3.13089099e-04 9.99740336e-01 1.55188006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.082755096 meters 0.017663560356414927 Centerline is valid? [True, True] Translation: X:80.24, Y:-13.30, Z:1.55 [[ 9.55482025e-01 2.94376851e-01 -1.99090118e-02 8.02396117e+01] [-2.94306596e-01 9.55689377e-01 6.43765272e-03 -1.33041335e+01] [ 2.09219270e-02 -2.91707984e-04 9.99781070e-01 1.55466205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14275509599999 meters 0.017826071584614408 Centerline is valid? [True, True] Translation: X:80.30, Y:-13.32, Z:1.56 [[ 9.55493895e-01 2.94373568e-01 -1.93808985e-02 8.02979657e+01] [-2.94306858e-01 9.55690388e-01 6.27336357e-03 -1.33246178e+01] [ 2.03688509e-02 -2.90229227e-04 9.99792491e-01 1.55655773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20275509599999 meters 0.018225941539570183 Centerline is valid? [True, True] Translation: X:80.36, Y:-13.35, Z:1.56 [[ 9.55666806e-01 2.93832637e-01 -1.90613936e-02 8.03571410e+01] [-2.93767916e-01 9.55856836e-01 6.17418008e-03 -1.33463569e+01] [ 2.00341390e-02 -3.00833084e-04 9.99799251e-01 1.55818576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26275509599999 meters 0.01872456990677694 Centerline is valid? [True, True] Translation: X:80.41, Y:-13.37, Z:1.56 [[ 9.56088723e-01 2.92502928e-01 -1.83409514e-02 8.04146500e+01] [-2.92442647e-01 9.56264573e-01 5.94684443e-03 -1.33686404e+01] [ 1.92782714e-02 -3.22034530e-04 9.99814105e-01 1.56006349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.322755096 meters 0.020850630696742985 Centerline is valid? [True, True] Translation: X:80.47, Y:-13.39, Z:1.56 [[ 9.56283768e-01 2.91857465e-01 -1.84546804e-02 8.04711965e+01] [-2.91796213e-01 9.56461763e-01 5.98885712e-03 -1.33926472e+01] [ 1.93990888e-02 -3.42040984e-04 9.99811761e-01 1.56102762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.382755096 meters 0.018539567830040824 Centerline is valid? [True, True] Translation: X:80.53, Y:-13.41, Z:1.56 [[ 9.55781641e-01 2.93460172e-01 -1.90415897e-02 8.05325625e+01] [-2.93395178e-01 9.55971246e-01 6.18445477e-03 -1.34064136e+01] [ 2.00181034e-02 -3.24277732e-04 9.99799565e-01 1.56186507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.442755096 meters 0.01797765916719696 Centerline is valid? [True, True] Translation: X:80.59, Y:-13.42, Z:1.56 [[ 9.55062514e-01 2.95747357e-01 -1.97255151e-02 8.05928808e+01] [-2.95678044e-01 9.55266150e-01 6.40911046e-03 -1.34228983e+01] [ 2.07385944e-02 -2.88699399e-04 9.99784891e-01 1.56239695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.502755096 meters 0.017698667247217276 Centerline is valid? [True, True] Translation: X:80.65, Y:-13.44, Z:1.56 [[ 9.54384215e-01 2.97762040e-01 -2.21028975e-02 8.06510721e+01] [-2.97675397e-01 9.54640083e-01 7.18815108e-03 -1.34410997e+01] [ 2.32406704e-02 -2.80769147e-04 9.99729860e-01 1.56113555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56275509599999 meters 0.017255798524187044 Centerline is valid? [True, True] Translation: X:80.71, Y:-13.46, Z:1.56 [[ 9.54160307e-01 2.98406094e-01 -2.30632023e-02 8.07113779e+01] [-2.98311826e-01 9.54438958e-01 7.50535485e-03 -1.34578042e+01] [ 2.42520624e-02 -2.81285680e-04 9.99705836e-01 1.56280512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62275509599999 meters 0.018379055566627323 Centerline is valid? [True, True] Translation: X:80.77, Y:-13.48, Z:1.57 [[ 9.55204301e-01 2.95076939e-01 -2.26791209e-02 8.07702245e+01] [-2.94984665e-01 9.55473425e-01 7.38798252e-03 -1.34786567e+01] [ 2.38493206e-02 -3.67039799e-04 9.99715497e-01 1.56514834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.682755096 meters 0.01938440304910838 Centerline is valid? [True, True] Translation: X:80.83, Y:-13.50, Z:1.57 [[ 9.56052625e-01 2.92320803e-01 -2.26257698e-02 8.08281963e+01] [-2.92228027e-01 9.56320215e-01 7.37746380e-03 -1.34997183e+01] [ 2.37940672e-02 -4.41359548e-04 9.99716784e-01 1.56753737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.742755096 meters 0.02101182307622706 Centerline is valid? [True, True] Translation: X:80.89, Y:-13.52, Z:1.57 [[ 9.57007850e-01 2.89285341e-01 -2.12123988e-02 8.08855468e+01] [-2.89202921e-01 9.57242786e-01 6.92234047e-03 -1.35212773e+01] [ 2.23079474e-02 -4.90046466e-04 9.99751027e-01 1.57033027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.802755096 meters 0.02206129829470303 Centerline is valid? [True, True] Translation: X:80.94, Y:-13.54, Z:1.57 [[ 9.57451597e-01 2.87864064e-01 -2.05114607e-02 8.09444801e+01] [-2.87786554e-01 9.57671144e-01 6.69923162e-03 -1.35410635e+01] [ 2.15717021e-02 -5.11267408e-04 9.99767173e-01 1.57180743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.862755096 meters 0.022070628724458242 Centerline is valid? [True, True] Translation: X:81.00, Y:-13.56, Z:1.57 [[ 9.57807601e-01 2.86633044e-01 -2.11210126e-02 8.10035264e+01] [-2.86550426e-01 9.58040283e-01 6.90431907e-03 -1.35586404e+01] [ 2.22137869e-02 -5.60774139e-04 9.99753086e-01 1.57276825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92275509599999 meters 0.022402416541800134 Centerline is valid? [True, True] Translation: X:81.06, Y:-13.58, Z:1.57 [[ 9.57818073e-01 2.86541551e-01 -2.18741619e-02 8.10636876e+01] [-2.86452809e-01 9.58067636e-01 7.15496522e-03 -1.35774574e+01] [ 2.30071214e-02 -5.87239887e-04 9.99735129e-01 1.57299526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98275509599999 meters 0.021997002976378573 Centerline is valid? [True, True] Translation: X:81.12, Y:-13.59, Z:1.57 [[ 9.57416140e-01 2.87892942e-01 -2.17252981e-02 8.11239538e+01] [-2.87805584e-01 9.57662437e-01 7.11358942e-03 -1.35937993e+01] [ 2.28534541e-02 -5.58003203e-04 9.99738670e-01 1.57400036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.042755096 meters 0.02071013249728085 Centerline is valid? [True, True] Translation: X:81.18, Y:-13.61, Z:1.58 [[ 9.56807568e-01 2.89931070e-01 -2.14301897e-02 8.11839434e+01] [-2.89846436e-01 9.57047395e-01 7.02335633e-03 -1.36087426e+01] [ 2.25459964e-02 -5.08536386e-04 9.99745677e-01 1.57551022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.102755096 meters 0.020101898433867397 Centerline is valid? [True, True] Translation: X:81.24, Y:-13.62, Z:1.58 [[ 9.56045046e-01 2.92457906e-01 -2.11244879e-02 8.12434257e+01] [-2.92376153e-01 9.56278292e-01 6.92911980e-03 -1.36242719e+01] [ 2.22273651e-02 -4.48254149e-04 9.99752841e-01 1.57704157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.162755096 meters 0.020632396428712216 Centerline is valid? [True, True] Translation: X:81.30, Y:-13.64, Z:1.58 [[ 9.55571307e-01 2.93982388e-01 -2.13970233e-02 8.13014419e+01] [-2.93898801e-01 9.55810744e-01 7.02261452e-03 -1.36430965e+01] [ 2.25160297e-02 -4.22049439e-04 9.99746393e-01 1.57690353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.222755096 meters 0.018517606174176627 Centerline is valid? [True, True] Translation: X:81.36, Y:-13.66, Z:1.58 [[ 9.54869301e-01 2.96186738e-01 -2.23166981e-02 8.13624348e+01] [-2.96096260e-01 9.55129972e-01 7.33089017e-03 -1.36576004e+01] [ 2.34866596e-02 -3.92151132e-04 9.99724073e-01 1.57796189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28275509599999 meters 0.017971512859188476 Centerline is valid? [True, True] Translation: X:81.42, Y:-13.68, Z:1.58 [[ 9.54180035e-01 2.98395322e-01 -2.23761695e-02 8.14220345e+01] [-2.98304810e-01 9.54442304e-01 7.35715069e-03 -1.36753975e+01] [ 2.35521021e-02 -3.45127309e-04 9.99722551e-01 1.57932099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34275509599999 meters 0.017485045605312617 Centerline is valid? [True, True] Translation: X:81.48, Y:-13.69, Z:1.58 [[ 9.53532369e-01 3.00417301e-01 -2.29230501e-02 8.14814061e+01] [-3.00322726e-01 9.53807816e-01 7.54387875e-03 -1.36929346e+01] [ 2.41304960e-02 -3.09019675e-04 9.99708769e-01 1.58072502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40275509599999 meters 0.017372866959575125 Centerline is valid? [True, True] Translation: X:81.54, Y:-13.71, Z:1.58 [[ 9.53301119e-01 3.01126814e-01 -2.32296775e-02 8.15414685e+01] [-3.01029729e-01 9.53584056e-01 7.65185846e-03 -1.37128565e+01] [ 2.44556299e-02 -3.01701697e-04 9.99700871e-01 1.58177213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.462755096 meters 0.017841553278966835 Centerline is valid? [True, True] Translation: X:81.60, Y:-13.73, Z:1.58 [[ 9.53328902e-01 3.00984541e-01 -2.39230354e-02 8.15995918e+01] [-3.00881329e-01 9.53628965e-01 7.88817330e-03 -1.37337131e+01] [ 2.51879177e-02 -3.22028909e-04 9.99682682e-01 1.58260149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.522755096 meters 0.018020359626220183 Centerline is valid? [True, True] Translation: X:81.66, Y:-13.75, Z:1.58 [[ 9.53660607e-01 2.99866684e-01 -2.47268848e-02 8.16579880e+01] [-2.99755845e-01 9.53981045e-01 8.16084711e-03 -1.37541531e+01] [ 2.60361456e-02 -3.70650177e-04 9.99660933e-01 1.58383841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.582755096 meters 0.01846447473434287 Centerline is valid? [True, True] Translation: X:81.72, Y:-13.78, Z:1.59 [[ 9.54329987e-01 2.97747443e-01 -2.45099264e-02 8.17156517e+01] [-2.97637681e-01 9.54644580e-01 8.09544511e-03 -1.37760846e+01] [ 2.58086664e-02 -4.30648373e-04 9.99666808e-01 1.58634206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64275509599999 meters 0.019940965911346406 Centerline is valid? [True, True] Translation: X:81.77, Y:-13.80, Z:1.59 [[ 9.55002145e-01 2.95610060e-01 -2.41990793e-02 8.17725501e+01] [-2.95502262e-01 9.55308566e-01 7.99735129e-03 -1.37986456e+01] [ 2.54816853e-02 -4.86604953e-04 9.99675171e-01 1.58760031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70275509599999 meters 0.02248764693459153 Centerline is valid? [True, True] Translation: X:81.83, Y:-13.82, Z:1.59 [[ 9.56348111e-01 2.91258711e-01 -2.38044705e-02 8.18300186e+01] [-2.91152920e-01 9.56644137e-01 7.87220367e-03 -1.38234080e+01] [ 2.50652551e-02 -5.97826011e-04 9.99685638e-01 1.58854091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76275509599999 meters 0.023071275779153445 Centerline is valid? [True, True] Translation: X:81.89, Y:-13.85, Z:1.59 [[ 9.56951896e-01 2.89283189e-01 -2.36285083e-02 8.18881105e+01] [-2.89178275e-01 9.57243343e-01 7.81717850e-03 -1.38452856e+01] [ 2.48796106e-02 -6.47812510e-04 9.99690245e-01 1.58977979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.822755096 meters 0.0245664389295904 Centerline is valid? [True, True] Translation: X:81.95, Y:-13.87, Z:1.59 [[ 9.57269255e-01 2.88252935e-01 -2.33627703e-02 8.19453032e+01] [-2.88149898e-01 9.57554067e-01 7.73591354e-03 -1.38672885e+01] [ 2.46010155e-02 -6.73372304e-04 9.99697122e-01 1.59087594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.882755096 meters 0.024024504693822137 Centerline is valid? [True, True] Translation: X:82.00, Y:-13.89, Z:1.59 [[ 9.56787213e-01 2.89872375e-01 -2.30702377e-02 8.20045312e+01] [-2.89772222e-01 9.57065102e-01 7.64524778e-03 -1.38859519e+01] [ 2.42958656e-02 -6.29761268e-04 9.99704614e-01 1.59209013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.942755096 meters 0.021396637330302334 Centerline is valid? [True, True] Translation: X:82.06, Y:-13.90, Z:1.59 [[ 9.56043207e-01 2.92366459e-01 -2.24330007e-02 8.20642631e+01] [-2.92272301e-01 9.56306198e-01 7.44035342e-03 -1.39023493e+01] [ 2.36281274e-02 -5.56754621e-04 9.99720662e-01 1.59441885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.002755096 meters 0.020987125844492926 Centerline is valid? [True, True] Translation: X:82.12, Y:-13.92, Z:1.60 [[ 9.55778577e-01 2.93226797e-01 -2.24801530e-02 8.21232754e+01] [-2.93132321e-01 9.56042756e-01 7.46270474e-03 -1.39212480e+01] [ 2.36802525e-02 -5.43033890e-04 9.99719436e-01 1.59558165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06275509599999 meters 0.020981105416477467 Centerline is valid? [True, True] Translation: X:82.18, Y:-13.94, Z:1.60 [[ 9.55738259e-01 2.93350665e-01 -2.25780442e-02 8.21832721e+01] [-2.93255233e-01 9.56004752e-01 7.50219201e-03 -1.39407884e+01] [ 2.37854906e-02 -5.49002316e-04 9.99716934e-01 1.59637592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12275509599999 meters 0.021690092777062984 Centerline is valid? [True, True] Translation: X:82.24, Y:-13.96, Z:1.60 [[ 9.56062460e-01 2.92329283e-01 -2.20944089e-02 8.22413009e+01] [-2.92237456e-01 9.56317555e-01 7.34868081e-03 -1.39615270e+01] [ 2.32775057e-02 -5.68984001e-04 9.99728880e-01 1.59759810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.182755096 meters 0.022639237010785872 Centerline is valid? [True, True] Translation: X:82.30, Y:-13.98, Z:1.60 [[ 9.56356526e-01 2.91413020e-01 -2.14627053e-02 8.22999257e+01] [-2.91326005e-01 9.56597154e-01 7.14445816e-03 -1.39827225e+01] [ 2.26131509e-02 -5.80005005e-04 9.99744122e-01 1.59944893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.242755096 meters 0.02308644028746794 Centerline is valid? [True, True] Translation: X:82.36, Y:-14.00, Z:1.60 [[ 9.56909434e-01 2.89625168e-01 -2.10142015e-02 8.23590389e+01] [-2.89541187e-01 9.57139950e-01 7.00126523e-03 -1.40023140e+01] [ 2.21412744e-02 -6.15099909e-04 9.99754663e-01 1.60075874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.302755096 meters 0.02257405656201484 Centerline is valid? [True, True] Translation: X:82.42, Y:-14.02, Z:1.60 [[ 9.57057004e-01 2.89131060e-01 -2.10979019e-02 8.24185240e+01] [-2.89046146e-01 9.57289312e-01 7.03553307e-03 -1.40199414e+01] [ 2.22309871e-02 -6.35138962e-04 9.99752659e-01 1.60073229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.362755096 meters 0.02323491018832276 Centerline is valid? [True, True] Translation: X:82.48, Y:-14.04, Z:1.60 [[ 9.56835115e-01 2.89860101e-01 -2.11585589e-02 8.24760662e+01] [-2.89774740e-01 9.57068822e-01 7.06185861e-03 -1.40394232e+01] [ 2.22971481e-02 -6.25818391e-04 9.99751192e-01 1.60045590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42275509599999 meters 0.02212171589582039 Centerline is valid? [True, True] Translation: X:82.54, Y:-14.06, Z:1.60 [[ 9.56603368e-01 2.90586644e-01 -2.16656336e-02 8.25360975e+01] [-2.90497229e-01 9.56848477e-01 7.23544701e-03 -1.40565027e+01] [ 2.28332528e-02 -6.27646452e-04 9.99739090e-01 1.60066114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48275509599999 meters 0.02224670402685994 Centerline is valid? [True, True] Translation: X:82.59, Y:-14.07, Z:1.60 [[ 9.56101226e-01 2.92232842e-01 -2.16889952e-02 8.25947985e+01] [-2.92143505e-01 9.56347014e-01 7.24987940e-03 -1.40747503e+01] [ 2.28608587e-02 -5.95319501e-04 9.99738479e-01 1.60122437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.542755096 meters 0.021472356383447442 Centerline is valid? [True, True] Translation: X:82.65, Y:-14.09, Z:1.60 [[ 9.55317460e-01 2.94805470e-01 -2.14075825e-02 8.26541389e+01] [-2.94718945e-01 9.55557142e-01 7.16186729e-03 -1.40926165e+01] [ 2.25675260e-02 -5.32636747e-04 9.99745179e-01 1.60270859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.602755096 meters 0.020640929585394648 Centerline is valid? [True, True] Translation: X:82.71, Y:-14.11, Z:1.60 [[ 9.54692071e-01 2.96858124e-01 -2.09356889e-02 8.27139964e+01] [-2.96775730e-01 9.54921476e-01 7.01009554e-03 -1.41105772e+01] [ 2.20729427e-02 -4.79278280e-04 9.99756248e-01 1.60393898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.662755096 meters 0.020774721013135166 Centerline is valid? [True, True] Translation: X:82.77, Y:-14.13, Z:1.61 [[ 9.54229722e-01 2.98411754e-01 -1.99013314e-02 8.27720821e+01] [-2.98337522e-01 9.54437134e-01 6.66932748e-03 -1.41293462e+01] [ 2.09847754e-02 -4.26756625e-04 9.99779704e-01 1.60505472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.722755096 meters 0.02126516785026917 Centerline is valid? [True, True] Translation: X:82.83, Y:-14.15, Z:1.61 [[ 9.54211669e-01 2.98489377e-01 -1.96005636e-02 8.28314075e+01] [-2.98417279e-01 9.54412862e-01 6.57385365e-03 -1.41505393e+01] [ 2.06692555e-02 -4.23701008e-04 9.99786278e-01 1.60595602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78275509599999 meters 0.021804197370579516 Centerline is valid? [True, True] Translation: X:82.89, Y:-14.17, Z:1.61 [[ 9.54383796e-01 2.97907739e-01 -2.00636074e-02 8.28902502e+01] [-2.97831927e-01 9.54594560e-01 6.73566366e-03 -1.41715585e+01] [ 2.11592168e-02 -4.52825401e-04 9.99776016e-01 1.60655791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84275509599999 meters 0.020616924803582688 Centerline is valid? [True, True] Translation: X:82.95, Y:-14.19, Z:1.61 [[ 9.54824127e-01 2.96473023e-01 -2.03625672e-02 8.29496460e+01] [-2.96394482e-01 9.55041098e-01 6.84188902e-03 -1.41901082e+01] [ 2.14755241e-02 -4.97448137e-04 9.99769251e-01 1.60696860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90275509599999 meters 0.020612553975058106 Centerline is valid? [True, True] Translation: X:83.01, Y:-14.21, Z:1.61 [[ 9.55254574e-01 2.95038037e-01 -2.10060745e-02 8.30079631e+01] [-2.94953958e-01 9.55485349e-01 7.06478364e-03 -1.42110415e+01] [ 2.21553763e-02 -5.52842059e-04 9.99754387e-01 1.60767144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.962755096 meters 0.02304530436885637 Centerline is valid? [True, True] Translation: X:83.06, Y:-14.24, Z:1.61 [[ 9.56227576e-01 2.91842045e-01 -2.13786035e-02 8.30643399e+01] [-2.91754006e-01 9.56466312e-01 7.19685000e-03 -1.42359091e+01] [ 2.25482575e-02 -6.44533207e-04 9.99745548e-01 1.60834046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.022755096 meters 0.028310746551433435 Centerline is valid? [True, True] Translation: X:83.12, Y:-14.26, Z:1.61 [[ 9.56982974e-01 2.89347566e-01 -2.14842726e-02 8.31191905e+01] [-2.89257886e-01 9.57223839e-01 7.23862792e-03 -1.42636482e+01] [ 2.26597373e-02 -7.12748415e-04 9.99742981e-01 1.60865220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.082755096 meters 0.025180725274562978 Centerline is valid? [True, True] Translation: X:83.18, Y:-14.28, Z:1.61 [[ 9.57865336e-01 2.86382222e-01 -2.18911226e-02 8.31788489e+01] [-2.86288213e-01 9.58115117e-01 7.38115903e-03 -1.42819266e+01] [ 2.30880482e-02 -8.02986014e-04 9.99733113e-01 1.61097199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14275509599999 meters 0.026664404369693792 Centerline is valid? [True, True] Translation: X:83.24, Y:-14.30, Z:1.61 [[ 9.57996862e-01 2.85967675e-01 -2.15523135e-02 8.32355813e+01] [-2.85876397e-01 9.58238929e-01 7.26913738e-03 -1.43045328e+01] [ 2.27310041e-02 -8.02513075e-04 9.99741295e-01 1.61244228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20275509599999 meters 0.024654680543738993 Centerline is valid? [True, True] Translation: X:83.30, Y:-14.32, Z:1.61 [[ 9.57555444e-01 2.87449872e-01 -2.14509543e-02 8.32957994e+01] [-2.87359745e-01 9.57795376e-01 7.23837267e-03 -1.43216555e+01] [ 2.26262942e-02 -7.67002366e-04 9.99743698e-01 1.61455248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26275509599999 meters 0.025864222581756028 Centerline is valid? [True, True] Translation: X:83.35, Y:-14.34, Z:1.62 [[ 9.56139737e-01 2.92107126e-01 -2.16847817e-02 8.33524823e+01] [-2.92016168e-01 9.56385374e-01 7.31947518e-03 -1.43434580e+01] [ 2.28770789e-02 -6.66134229e-04 9.99738063e-01 1.61572802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.322755096 meters 0.020632577176691636 Centerline is valid? [True, True] Translation: X:83.41, Y:-14.36, Z:1.62 [[ 9.54314493e-01 2.98022697e-01 -2.15944601e-02 8.34132466e+01] [-2.97933981e-01 9.54558641e-01 7.29003012e-03 -1.43569121e+01] [ 2.27857729e-02 -5.23257927e-04 9.99740234e-01 1.61770215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.382755096 meters 0.019338635093572056 Centerline is valid? [True, True] Translation: X:83.47, Y:-14.38, Z:1.62 [[ 9.53043519e-01 3.02075388e-01 -2.14128726e-02 8.34717735e+01] [-3.01989130e-01 9.53283945e-01 7.23091724e-03 -1.43754187e+01] [ 2.25968298e-02 -4.24924050e-04 9.99744569e-01 1.61939517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.442755096 meters 0.01710965965592847 Centerline is valid? [True, True] Translation: X:83.53, Y:-14.39, Z:1.62 [[ 9.51477673e-01 3.07081835e-01 -1.97733459e-02 8.35320223e+01] [-3.07009251e-01 9.51683069e-01 6.68250092e-03 -1.43919983e+01] [ 2.08700331e-02 -2.87650307e-04 9.99782156e-01 1.62208655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50275509599999 meters 0.016491020639428457 Centerline is valid? [True, True] Translation: X:83.59, Y:-14.41, Z:1.62 [[ 9.50674731e-01 3.09586731e-01 -1.93290542e-02 8.35906722e+01] [-3.09517769e-01 9.50871180e-01 6.53830551e-03 -1.44121516e+01] [ 2.04036132e-02 -2.33116106e-04 9.99791797e-01 1.62402345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56275509599999 meters 0.016343306042771667 Centerline is valid? [True, True] Translation: X:83.65, Y:-14.43, Z:1.63 [[ 9.50216586e-01 3.11064795e-01 -1.80868242e-02 8.36474254e+01] [-3.11004579e-01 9.50388687e-01 6.12336960e-03 -1.44343472e+01] [ 1.90942778e-02 -1.93442203e-04 9.99817669e-01 1.62588085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62275509599999 meters 0.01648033112100828 Centerline is valid? [True, True] Translation: X:83.71, Y:-14.46, Z:1.63 [[ 9.50401170e-01 3.10554992e-01 -1.71234565e-02 8.37064718e+01] [-3.10500856e-01 9.50555394e-01 5.80177592e-03 -1.44566319e+01] [ 1.80785644e-02 -1.97166719e-04 9.99836550e-01 1.62746544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.682755096 meters 0.016942649198048675 Centerline is valid? [True, True] Translation: X:83.77, Y:-14.48, Z:1.63 [[ 9.50641396e-01 3.09820965e-01 -1.70852584e-02 8.37656838e+01] [-3.09766845e-01 9.50794890e-01 5.79472990e-03 -1.44789100e+01] [ 1.80399052e-02 -2.16263532e-04 9.99837244e-01 1.62881339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.742755096 meters 0.017470331924462772 Centerline is valid? [True, True] Translation: X:83.82, Y:-14.50, Z:1.63 [[ 9.51593207e-01 3.06917482e-01 -1.64932364e-02 8.38231182e+01] [-3.06866516e-01 9.51736092e-01 5.59939831e-03 -1.45012310e+01] [ 1.74157616e-02 -2.67127404e-04 9.99848298e-01 1.63008217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.802755096 meters 0.018323562616406924 Centerline is valid? [True, True] Translation: X:83.88, Y:-14.52, Z:1.63 [[ 9.52242185e-01 3.04892620e-01 -1.65925323e-02 8.38804101e+01] [-3.04840646e-01 9.52386683e-01 5.63797898e-03 -1.45240265e+01] [ 1.75214850e-02 -3.10643147e-04 9.99846439e-01 1.63104512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.862755096 meters 0.019971070250505468 Centerline is valid? [True, True] Translation: X:83.94, Y:-14.55, Z:1.63 [[ 9.53250430e-01 3.01695622e-01 -1.71280502e-02 8.39384485e+01] [-3.01639630e-01 9.53404218e-01 5.82504184e-03 -1.45470018e+01] [ 1.80873450e-02 -3.86224894e-04 9.99836336e-01 1.63051156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92275509599999 meters 0.021421347931408888 Centerline is valid? [True, True] Translation: X:84.00, Y:-14.57, Z:1.63 [[ 9.54236333e-01 2.98459606e-01 -1.88383840e-02 8.39957128e+01] [-2.98391116e-01 9.54422137e-01 6.41299361e-03 -1.45698141e+01] [ 1.98937902e-02 -4.98305080e-04 9.99801975e-01 1.62975508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98275509599999 meters 0.022592204257236702 Centerline is valid? [True, True] Translation: X:84.05, Y:-14.59, Z:1.63 [[ 9.54557460e-01 2.97401161e-01 -1.93029761e-02 8.40529756e+01] [-2.97328923e-01 9.54752460e-01 6.57658917e-03 -1.45916185e+01] [ 2.03854492e-02 -5.38399134e-04 9.99792050e-01 1.63052138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.042755096 meters 0.022626181152698648 Centerline is valid? [True, True] Translation: X:84.11, Y:-14.61, Z:1.63 [[ 9.55208013e-01 2.95239917e-01 -2.02742015e-02 8.41113415e+01] [-2.95159659e-01 9.55422948e-01 6.91126644e-03 -1.46110033e+01] [ 2.14109191e-02 -6.17570687e-04 9.99770569e-01 1.63154573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.102755096 meters 0.0225461732265485 Centerline is valid? [True, True] Translation: X:84.17, Y:-14.63, Z:1.63 [[ 9.55136129e-01 2.95525563e-01 -1.94837444e-02 8.41715563e+01] [-2.95451387e-01 9.55334649e-01 6.64736175e-03 -1.46300843e+01] [ 2.05779614e-02 -5.92636083e-04 9.99788076e-01 1.63386749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.162755096 meters 0.021805788187334387 Centerline is valid? [True, True] Translation: X:84.23, Y:-14.65, Z:1.64 [[ 9.54483017e-01 2.97681316e-01 -1.86548923e-02 8.42318056e+01] [-2.97613607e-01 9.54665153e-01 6.37078762e-03 -1.46470442e+01] [ 1.97056400e-02 -5.28858808e-04 9.99805685e-01 1.63661359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.222755096 meters 0.02018225160508022 Centerline is valid? [True, True] Translation: X:84.29, Y:-14.66, Z:1.64 [[ 9.53618849e-01 3.00484460e-01 -1.78935650e-02 8.42917382e+01] [-3.00422602e-01 9.53786602e-01 6.11370429e-03 -1.46629336e+01] [ 1.89037157e-02 -4.54512289e-04 9.99821205e-01 1.63829671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28275509599999 meters 0.01830499031716279 Centerline is valid? [True, True] Translation: X:84.35, Y:-14.68, Z:1.64 [[ 9.52169889e-01 3.05069613e-01 -1.74652284e-02 8.43517052e+01] [-3.05011350e-01 9.52329986e-01 5.97280853e-03 -1.46773549e+01] [ 1.84547831e-02 -3.60035532e-04 9.99829631e-01 1.63970362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34275509599999 meters 0.017078635702496365 Centerline is valid? [True, True] Translation: X:84.41, Y:-14.69, Z:1.64 [[ 9.50811022e-01 3.09291104e-01 -1.72456971e-02 8.44116873e+01] [-3.09234978e-01 9.50967369e-01 5.89837642e-03 -1.46931365e+01] [ 1.82244106e-02 -2.75268541e-04 9.99833884e-01 1.64070506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40275509599999 meters 0.017366838361016906 Centerline is valid? [True, True] Translation: X:84.47, Y:-14.71, Z:1.64 [[ 9.50204857e-01 3.11112543e-01 -1.78805609e-02 8.44694129e+01] [-3.11052421e-01 9.50373043e-01 6.12133740e-03 -1.47125972e+01] [ 1.88976279e-02 -2.54732772e-04 9.99821391e-01 1.64057020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.462755096 meters 0.01689162561696684 Centerline is valid? [True, True] Translation: X:84.53, Y:-14.73, Z:1.64 [[ 9.50169060e-01 3.11214058e-01 -1.80157517e-02 8.45297210e+01] [-3.11152942e-01 9.50339804e-01 6.17284483e-03 -1.47322359e+01] [ 1.90421620e-02 -2.59592045e-04 9.99818648e-01 1.64129209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.522755096 meters 0.017584131303049918 Centerline is valid? [True, True] Translation: X:84.59, Y:-14.75, Z:1.64 [[ 9.51055574e-01 3.08472466e-01 -1.83856747e-02 8.45878080e+01] [-3.08408175e-01 9.51233216e-01 6.30613615e-03 -1.47546174e+01] [ 1.94343338e-02 -3.27193569e-04 9.99811082e-01 1.64141563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.582755096 meters 0.01833711581636225 Centerline is valid? [True, True] Translation: X:84.65, Y:-14.78, Z:1.64 [[ 9.51802635e-01 3.06156093e-01 -1.84442742e-02 8.46453542e+01] [-3.06090842e-01 9.51981250e-01 6.33207292e-03 -1.47774189e+01] [ 1.94972060e-02 -3.81260248e-04 9.99809839e-01 1.64204682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64275509599999 meters 0.02016025937882928 Centerline is valid? [True, True] Translation: X:84.70, Y:-14.80, Z:1.64 [[ 9.52947588e-01 3.02562567e-01 -1.86222232e-02 8.47009509e+01] [-3.02495251e-01 9.53129413e-01 6.39888390e-03 -1.48020889e+01] [ 1.96854514e-02 -4.64666900e-04 9.99806115e-01 1.64278970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70275509599999 meters 0.021366516515128612 Centerline is valid? [True, True] Translation: X:84.76, Y:-14.83, Z:1.64 [[ 9.53540180e-01 3.00697472e-01 -1.84974295e-02 8.47584163e+01] [-3.00630685e-01 9.53719445e-01 6.35702709e-03 -1.48251108e+01] [ 1.95529002e-02 -5.00785862e-04 9.99808698e-01 1.64440821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76275509599999 meters 0.022830112888996595 Centerline is valid? [True, True] Translation: X:84.82, Y:-14.85, Z:1.64 [[ 9.53987423e-01 2.99259892e-01 -1.87487261e-02 8.48152055e+01] [-2.99190884e-01 9.54171485e-01 6.44922089e-03 -1.48485240e+01] [ 1.98194930e-02 -5.43027665e-04 9.99803427e-01 1.64472609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.822755096 meters 0.02362189395151278 Centerline is valid? [True, True] Translation: X:84.87, Y:-14.87, Z:1.64 [[ 9.53969248e-01 2.99214692e-01 -2.03283631e-02 8.48738276e+01] [-2.99133419e-01 9.54185628e-01 6.99888078e-03 -1.48717912e+01] [ 2.14911999e-02 -5.95824264e-04 9.99768860e-01 1.64454497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.882755096 meters 0.021911448046123407 Centerline is valid? [True, True] Translation: X:84.93, Y:-14.89, Z:1.64 [[ 9.53617445e-01 3.00231071e-01 -2.17961411e-02 8.49336037e+01] [-3.00137743e-01 9.53866300e-01 7.51113163e-03 -1.48907287e+01] [ 2.30456796e-02 -6.20901551e-04 9.99734220e-01 1.64424972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.942755096 meters 0.01977325719928614 Centerline is valid? [True, True] Translation: X:84.99, Y:-14.91, Z:1.64 [[ 9.51952111e-01 3.05476001e-01 -2.17161537e-02 8.49935894e+01] [-3.05384669e-01 9.52199647e-01 7.48570441e-03 -1.49052414e+01] [ 2.29648170e-02 -4.94251700e-04 9.99736152e-01 1.64430627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00275509599999 meters 0.01845948404224196 Centerline is valid? [True, True] Translation: X:85.05, Y:-14.92, Z:1.65 [[ 9.51043458e-01 3.08261009e-01 -2.21696174e-02 8.50531779e+01] [-3.08166547e-01 9.51301718e-01 7.64331442e-03 -1.49243201e+01] [ 2.34461309e-02 -4.37189745e-04 9.99725006e-01 1.64508463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06275509599999 meters 0.01810189644994742 Centerline is valid? [True, True] Translation: X:85.11, Y:-14.95, Z:1.65 [[ 9.50509003e-01 3.09986601e-01 -2.09986241e-02 8.51118670e+01] [-3.09902212e-01 9.50740851e-01 7.24247980e-03 -1.49455008e+01] [ 2.22093215e-02 -3.76522183e-04 9.99753272e-01 1.64795273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12275509599999 meters 0.01830753137825876 Centerline is valid? [True, True] Translation: X:85.17, Y:-14.97, Z:1.65 [[ 9.50387616e-01 3.10483567e-01 -1.90613187e-02 8.51717382e+01] [-3.10414024e-01 9.50578688e-01 6.57971730e-03 -1.49651717e+01] [ 2.01621774e-02 -3.36381199e-04 9.99796666e-01 1.65118800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.182755096 meters 0.018217793958824943 Centerline is valid? [True, True] Translation: X:85.23, Y:-14.99, Z:1.65 [[ 9.50468266e-01 3.10311107e-01 -1.78070930e-02 8.52311099e+01] [-3.10250275e-01 9.50635005e-01 6.15256615e-03 -1.49855415e+01] [ 1.88372555e-02 -3.23163381e-04 9.99822511e-01 1.65311793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.242755096 meters 0.01830084530501673 Centerline is valid? [True, True] Translation: X:85.29, Y:-15.01, Z:1.65 [[ 9.50408129e-01 3.10477039e-01 -1.81217144e-02 8.52905511e+01] [-3.10413942e-01 9.50580822e-01 6.26785692e-03 -1.50070413e+01] [ 1.91721799e-02 -3.31789348e-04 9.99816142e-01 1.65427019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.302755096 meters 0.01882954397279036 Centerline is valid? [True, True] Translation: X:85.35, Y:-15.03, Z:1.65 [[ 9.50454892e-01 3.10332142e-01 -1.81510364e-02 8.53497424e+01] [-3.10268689e-01 9.50628132e-01 6.28454399e-03 -1.50278545e+01] [ 1.92051819e-02 -3.41477294e-04 9.99815505e-01 1.65447034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.362755096 meters 0.01945317253839541 Centerline is valid? [True, True] Translation: X:85.41, Y:-15.05, Z:1.65 [[ 9.50684230e-01 3.09593784e-01 -1.87398851e-02 8.54084934e+01] [-3.09525868e-01 9.50868839e-01 6.49521779e-03 -1.50482696e+01] [ 1.98300519e-02 -3.74421902e-04 9.99803295e-01 1.65442008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42275509599999 meters 0.020766092895922274 Centerline is valid? [True, True] Translation: X:85.47, Y:-15.07, Z:1.66 [[ 9.51368824e-01 3.07440253e-01 -1.94383902e-02 8.54662482e+01] [-3.07366604e-01 9.51567284e-01 6.74349060e-03 -1.50714968e+01] [ 2.05701566e-02 -4.40834742e-04 9.99788315e-01 1.65539020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48275509599999 meters 0.021852395731289075 Centerline is valid? [True, True] Translation: X:85.52, Y:-15.09, Z:1.66 [[ 9.52108909e-01 3.05196738e-01 -1.85358100e-02 8.55243201e+01] [-3.05129239e-01 9.52289204e-01 6.43574892e-03 -1.50932045e+01] [ 1.96156214e-02 -4.71716271e-04 9.99807484e-01 1.65737166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.542755096 meters 0.021628524000095368 Centerline is valid? [True, True] Translation: X:85.58, Y:-15.11, Z:1.66 [[ 9.52051194e-01 3.05385169e-01 -1.83962494e-02 8.55840443e+01] [-3.05318609e-01 9.52228795e-01 6.39290204e-03 -1.51134852e+01] [ 1.94697359e-02 -4.69652739e-04 9.99810336e-01 1.65823868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.602755096 meters 0.020582585032439576 Centerline is valid? [True, True] Translation: X:85.64, Y:-15.13, Z:1.66 [[ 9.51640558e-01 3.06630965e-01 -1.89129492e-02 8.56438138e+01] [-3.06560726e-01 9.51828365e-01 6.57905500e-03 -1.51323816e+01] [ 2.00192235e-02 -4.62928122e-04 9.99799488e-01 1.65893038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.662755096 meters 0.019523955373993904 Centerline is valid? [True, True] Translation: X:85.70, Y:-15.15, Z:1.66 [[ 9.50377952e-01 3.10498893e-01 -1.92921233e-02 8.57036352e+01] [-3.10426559e-01 9.50573661e-01 6.71319592e-03 -1.51508633e+01] [ 2.04230241e-02 -3.91285956e-04 9.99791352e-01 1.65926543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.722755096 meters 0.0179913705746006 Centerline is valid? [True, True] Translation: X:85.76, Y:-15.17, Z:1.66 [[ 9.48518213e-01 3.16078183e-01 -2.01935951e-02 8.57633591e+01] [-3.16000131e-01 9.48733103e-01 7.02973448e-03 -1.51677779e+01] [ 2.13802779e-02 -2.86652481e-04 9.99771375e-01 1.65993901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78275509599999 meters 0.016760516620259486 Centerline is valid? [True, True] Translation: X:85.82, Y:-15.18, Z:1.66 [[ 9.46620962e-01 3.21731318e-01 -1.99427716e-02 8.58224809e+01] [-3.21656317e-01 9.46830995e-01 6.94845964e-03 -1.51844104e+01] [ 2.11179713e-02 -1.62839096e-04 9.99776978e-01 1.66151892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84275509599999 meters 0.01645195843262244 Centerline is valid? [True, True] Translation: X:85.88, Y:-15.20, Z:1.66 [[ 9.46098542e-01 3.23277697e-01 -1.97251025e-02 8.58822113e+01] [-3.23204542e-01 9.46304133e-01 6.87829409e-03 -1.52042022e+01] [ 2.08895451e-02 -1.32301275e-04 9.99781781e-01 1.66325295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90275509599999 meters 0.017511156333383383 Centerline is valid? [True, True] Translation: X:85.94, Y:-15.22, Z:1.66 [[ 9.45414052e-01 3.25301644e-01 -1.92642204e-02 8.59403650e+01] [-3.25232152e-01 9.45610296e-01 6.72423249e-03 -1.52242631e+01] [ 2.04038491e-02 -9.18400061e-05 9.99791816e-01 1.66346947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.962755096 meters 0.016429901235802714 Centerline is valid? [True, True] Translation: X:86.00, Y:-15.24, Z:1.67 [[ 9.45404050e-01 3.25362968e-01 -1.87115245e-02 8.60000175e+01] [-3.25297314e-01 9.45589198e-01 6.53659317e-03 -1.52448887e+01] [ 1.98201808e-02 -9.29129906e-05 9.99803557e-01 1.66650279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.022755096 meters 0.01741110512673872 Centerline is valid? [True, True] Translation: X:86.06, Y:-15.27, Z:1.67 [[ 9.46082624e-01 3.23471868e-01 -1.71353069e-02 8.60558640e+01] [-3.23416397e-01 9.46237779e-01 5.99159283e-03 -1.52693581e+01] [ 1.81521865e-02 -1.26702635e-04 9.99835227e-01 1.66866691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.082755096 meters 0.017284829331747208 Centerline is valid? [True, True] Translation: X:86.11, Y:-15.29, Z:1.67 [[ 9.46851765e-01 3.21225560e-01 -1.69078264e-02 8.61136429e+01] [-3.21171110e-01 9.47002698e-01 5.91677091e-03 -1.52914314e+01] [ 1.79123753e-02 -1.71999615e-04 9.99839546e-01 1.67103066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14275509599999 meters 0.017640422217525015 Centerline is valid? [True, True] Translation: X:86.17, Y:-15.31, Z:1.67 [[ 9.47183744e-01 3.20207703e-01 -1.76063006e-02 8.61708227e+01] [-3.20148377e-01 9.47347341e-01 6.16700059e-03 -1.53129143e+01] [ 1.86540032e-02 -2.04654134e-04 9.99825978e-01 1.67045602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20275509599999 meters 0.018213629140551198 Centerline is valid? [True, True] Translation: X:86.23, Y:-15.34, Z:1.67 [[ 9.47765729e-01 3.18400535e-01 -1.90058428e-02 8.62288995e+01] [-3.18330919e-01 9.47956238e-01 6.66313628e-03 -1.53356401e+01] [ 2.01382534e-02 -2.64944824e-04 9.99797170e-01 1.66944677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26275509599999 meters 0.021908115246011255 Centerline is valid? [True, True] Translation: X:86.29, Y:-15.36, Z:1.67 [[ 9.48456216e-01 3.16219209e-01 -2.08858477e-02 8.62862707e+01] [-3.16134453e-01 9.48686086e-01 7.32921201e-03 -1.53583327e+01] [ 2.21317507e-02 -3.48700654e-04 9.99755002e-01 1.66602975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.322755096 meters 0.019042006158878088 Centerline is valid? [True, True] Translation: X:86.34, Y:-15.38, Z:1.67 [[ 9.48567423e-01 3.15877074e-01 -2.10123301e-02 8.63449881e+01] [-3.15791060e-01 9.48800053e-01 7.38008960e-03 -1.53800795e+01] [ 2.22677011e-02 -3.65006569e-04 9.99751977e-01 1.66962124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.382755096 meters 0.020007173147654485 Centerline is valid? [True, True] Translation: X:86.40, Y:-15.40, Z:1.67 [[ 9.49073794e-01 3.14357578e-01 -2.09343257e-02 8.64019590e+01] [-3.14271667e-01 9.49304560e-01 7.36007218e-03 -1.54024933e+01] [ 2.21867453e-02 -4.06186205e-04 9.99753761e-01 1.67037600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.442755096 meters 0.02007836551011722 Centerline is valid? [True, True] Translation: X:86.46, Y:-15.42, Z:1.67 [[ 9.49015740e-01 3.14536910e-01 -2.08723913e-02 8.64613573e+01] [-3.14451413e-01 9.49245156e-01 7.34455603e-03 -1.54228016e+01] [ 2.21231503e-02 -4.06746343e-04 9.99755170e-01 1.67173291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50275509599999 meters 0.02074507670126437 Centerline is valid? [True, True] Translation: X:86.52, Y:-15.44, Z:1.67 [[ 9.48816423e-01 3.15098347e-01 -2.14575433e-02 8.65198167e+01] [-3.15007956e-01 9.49058935e-01 7.55815021e-03 -1.54427318e+01] [ 2.27460339e-02 -4.12000174e-04 9.99741191e-01 1.67183440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56275509599999 meters 0.021262208184485553 Centerline is valid? [True, True] Translation: X:86.58, Y:-15.46, Z:1.67 [[ 9.49041344e-01 3.14408175e-01 -2.16339257e-02 8.65790738e+01] [-3.14315951e-01 9.49287789e-01 7.62732949e-03 -1.54627832e+01] [ 2.29349162e-02 -4.38763121e-04 9.99736864e-01 1.67172036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62275509599999 meters 0.02146507956279248 Centerline is valid? [True, True] Translation: X:86.64, Y:-15.48, Z:1.67 [[ 9.49499441e-01 3.13094262e-01 -2.05619969e-02 8.66367551e+01] [-3.13010520e-01 9.49721948e-01 7.25504790e-03 -1.54845015e+01] [ 2.17996936e-02 -4.52542588e-04 9.99762256e-01 1.67427147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.682755096 meters 0.022077811578648365 Centerline is valid? [True, True] Translation: X:86.70, Y:-15.50, Z:1.68 [[ 9.50416728e-01 3.10366663e-01 -1.95084154e-02 8.66951115e+01] [-3.10290641e-01 9.50616796e-01 6.88661899e-03 -1.55043609e+01] [ 2.06824043e-02 -4.91879161e-04 9.99785975e-01 1.67594425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.742755096 meters 0.023081553718735968 Centerline is valid? [True, True] Translation: X:86.75, Y:-15.53, Z:1.68 [[ 9.51101596e-01 3.08324859e-01 -1.84806698e-02 8.67538866e+01] [-3.08256150e-01 9.51280988e-01 6.52898601e-03 -1.55253699e+01] [ 1.95933585e-02 -5.12948905e-04 9.99807900e-01 1.67678633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.802755096 meters 0.023740653360559874 Centerline is valid? [True, True] Translation: X:86.81, Y:-15.55, Z:1.68 [[ 9.51691233e-01 3.06509920e-01 -1.83157437e-02 8.68122840e+01] [-3.06441984e-01 9.51867305e-01 6.47647458e-03 -1.55461189e+01] [ 1.94192613e-02 -5.50891235e-04 9.99811277e-01 1.67755345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.862755096 meters 0.02444233218421975 Centerline is valid? [True, True] Translation: X:86.87, Y:-15.57, Z:1.68 [[ 9.51863365e-01 3.05975366e-01 -1.83087282e-02 8.68706532e+01] [-3.05907270e-01 9.52039261e-01 6.47983748e-03 -1.55669732e+01] [ 1.94132987e-02 -5.67146855e-04 9.99811383e-01 1.67827799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92275509599999 meters 0.02518525797939341 Centerline is valid? [True, True] Translation: X:86.93, Y:-15.59, Z:1.68 [[ 9.51821637e-01 3.06090473e-01 -1.85524544e-02 8.69291024e+01] [-3.06020459e-01 9.52002252e-01 6.57193306e-03 -1.55879204e+01] [ 1.96735844e-02 -5.77877486e-04 9.99806289e-01 1.67904586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98275509599999 meters 0.023838419283233044 Centerline is valid? [True, True] Translation: X:86.99, Y:-15.61, Z:1.68 [[ 9.51312618e-01 3.07642638e-01 -1.89818049e-02 8.69889853e+01] [-3.07569565e-01 9.51501808e-01 6.72844501e-03 -1.56050096e+01] [ 2.01311783e-02 -5.62629141e-04 9.99797189e-01 1.67989052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.042755096 meters 0.0266925175095746 Centerline is valid? [True, True] Translation: X:87.05, Y:-15.63, Z:1.68 [[ 9.50572193e-01 3.09869411e-01 -1.98356939e-02 8.70458927e+01] [-3.09789963e-01 9.50778971e-01 7.03756657e-03 -1.56277934e+01] [ 2.10400872e-02 -5.44816202e-04 9.99778484e-01 1.67922294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.102755096 meters 0.022375583796976156 Centerline is valid? [True, True] Translation: X:87.11, Y:-15.64, Z:1.68 [[ 9.49111567e-01 3.14288686e-01 -2.02448676e-02 8.71078318e+01] [-3.14206814e-01 9.49327345e-01 7.18810322e-03 -1.56379647e+01] [ 2.14781459e-02 -4.61236565e-04 9.99769212e-01 1.68037675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.162755096 meters 0.02023812683633563 Centerline is valid? [True, True] Translation: X:87.17, Y:-15.65, Z:1.68 [[ 9.47580223e-01 3.18889406e-01 -2.00316764e-02 8.71687467e+01] [-3.18810241e-01 9.47791866e-01 7.11400781e-03 -1.56537627e+01] [ 2.12544417e-02 -3.54789517e-04 9.99774036e-01 1.68253536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.222755096 meters 0.020722725232251934 Centerline is valid? [True, True] Translation: X:87.23, Y:-15.68, Z:1.68 [[ 9.46884175e-01 3.20950166e-01 -2.00337212e-02 8.72264650e+01] [-3.20871367e-01 9.47096032e-01 7.11849113e-03 -1.56751770e+01] [ 2.12585388e-02 -3.12139093e-04 9.99773963e-01 1.68297920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28275509599999 meters 0.019563220421376225 Centerline is valid? [True, True] Translation: X:87.29, Y:-15.69, Z:1.69 [[ 9.46844610e-01 3.21133024e-01 -1.89437496e-02 8.72865505e+01] [-3.21062489e-01 9.47034051e-01 6.73681709e-03 -1.56935797e+01] [ 2.01037904e-02 -2.96591542e-04 9.99797854e-01 1.68608259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34275509599999 meters 0.021670549496432465 Centerline is valid? [True, True] Translation: X:87.34, Y:-15.72, Z:1.69 [[ 9.47138498e-01 3.20260485e-01 -1.90233289e-02 8.73429893e+01] [-3.20189041e-01 9.47329466e-01 6.77203098e-03 -1.57162491e+01] [ 2.01901739e-02 -3.22989821e-04 9.99796105e-01 1.68610285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40275509599999 meters 0.021285551050787582 Centerline is valid? [True, True] Translation: X:87.40, Y:-15.74, Z:1.69 [[ 9.48163229e-01 3.17302595e-01 -1.74801102e-02 8.74005494e+01] [-3.17241683e-01 9.48324277e-01 6.22735371e-03 -1.57387167e+01] [ 1.85527684e-02 -3.59128215e-04 9.99827818e-01 1.69006579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.462755096 meters 0.023093999969718056 Centerline is valid? [True, True] Translation: X:87.46, Y:-15.76, Z:1.69 [[ 9.49827551e-01 3.12324583e-01 -1.67623947e-02 8.74576027e+01] [-3.12267703e-01 9.49975347e-01 5.97684060e-03 -1.57642408e+01] [ 1.77905759e-02 -4.42613391e-04 9.99841637e-01 1.69213345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.522755096 meters 0.026797252914713725 Centerline is valid? [True, True] Translation: X:87.51, Y:-15.79, Z:1.69 [[ 9.51365224e-01 3.07561455e-01 -1.76113887e-02 8.75137401e+01] [-3.07497820e-01 9.51528054e-01 6.28121763e-03 -1.57900338e+01] [ 1.86895909e-02 -5.60268391e-04 9.99825177e-01 1.69162489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.582755096 meters 0.026405951120470773 Centerline is valid? [True, True] Translation: X:87.57, Y:-15.81, Z:1.69 [[ 9.51739658e-01 3.06356684e-01 -1.83631518e-02 8.75718412e+01] [-3.06287255e-01 9.51916598e-01 6.55036113e-03 -1.58114284e+01] [ 1.94869359e-02 -6.09839121e-04 9.99809926e-01 1.69276054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64275509599999 meters 0.02699684140577388 Centerline is valid? [True, True] Translation: X:87.63, Y:-15.83, Z:1.69 [[ 9.51577659e-01 3.06761942e-01 -1.99266244e-02 8.76301540e+01] [-3.06680134e-01 9.51786046e-01 7.11468875e-03 -1.58325815e+01] [ 2.11483988e-02 -6.59079035e-04 9.99776130e-01 1.69233427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70275509599999 meters 0.026941089869721505 Centerline is valid? [True, True] Translation: X:87.69, Y:-15.85, Z:1.69 [[ 9.50994270e-01 3.08427547e-01 -2.19623872e-02 8.76880694e+01] [-3.08328447e-01 9.51247585e-01 7.84858738e-03 -1.58528220e+01] [ 2.33123883e-02 -6.92332906e-04 9.99727990e-01 1.69219704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76275509599999 meters 0.02720141319254865 Centerline is valid? [True, True] Translation: X:87.75, Y:-15.87, Z:1.69 [[ 9.50620824e-01 3.09540121e-01 -2.24713877e-02 8.77452148e+01] [-3.09436579e-01 9.50886137e-01 8.03485617e-03 -1.58741005e+01] [ 2.38548413e-02 -6.84632280e-04 9.99715198e-01 1.69311353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.822755096 meters 0.023388144597677043 Centerline is valid? [True, True] Translation: X:87.81, Y:-15.89, Z:1.70 [[ 9.49569806e-01 3.12660377e-01 -2.36785245e-02 8.78060962e+01] [-3.12546203e-01 9.49864765e-01 8.47340728e-03 -1.58885801e+01] [ 2.51406948e-02 -6.45458770e-04 9.99683714e-01 1.69504600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.882755096 meters 0.022278191255910913 Centerline is valid? [True, True] Translation: X:87.87, Y:-15.91, Z:1.70 [[ 9.48523856e-01 3.15794420e-01 -2.40078763e-02 8.78656613e+01] [-3.15677854e-01 9.48827461e-01 8.59894692e-03 -1.59062621e+01] [ 2.54948317e-02 -5.77551451e-04 9.99674787e-01 1.69729170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.942755096 meters 0.021689294617030144 Centerline is valid? [True, True] Translation: X:87.92, Y:-15.93, Z:1.70 [[ 9.47916327e-01 3.17672879e-01 -2.32072987e-02 8.79241120e+01] [-3.17564345e-01 9.48200229e-01 8.31935587e-03 -1.59260653e+01] [ 2.46479997e-02 -5.16242648e-04 9.99696059e-01 1.70016532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00275509599999 meters 0.021489665966895548 Centerline is valid? [True, True] Translation: X:87.98, Y:-15.95, Z:1.70 [[ 9.47271416e-01 3.19571657e-01 -2.34695537e-02 8.79822025e+01] [-3.19461052e-01 9.47561991e-01 8.42081067e-03 -1.59463539e+01] [ 2.49299094e-02 -4.79184941e-04 9.99689087e-01 1.70264684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06275509599999 meters 0.021378482159185506 Centerline is valid? [True, True] Translation: X:88.04, Y:-15.97, Z:1.70 [[ 9.46825481e-01 3.20822557e-01 -2.43802277e-02 8.80408944e+01] [-3.20703414e-01 9.47139201e-01 8.75529981e-03 -1.59663971e+01] [ 2.59003671e-02 -4.70918689e-04 9.99664418e-01 1.70347297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12275509599999 meters 0.020654058313436488 Centerline is valid? [True, True] Translation: X:88.10, Y:-15.99, Z:1.70 [[ 9.46536824e-01 3.21569796e-01 -2.57081164e-02 8.81006717e+01] [-3.21437358e-01 9.46885755e-01 9.24079544e-03 -1.59850211e+01] [ 2.73142099e-02 -4.83204156e-04 9.99626781e-01 1.70450300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.182755096 meters 0.021102973821754977 Centerline is valid? [True, True] Translation: X:88.16, Y:-16.01, Z:1.71 [[ 9.46567913e-01 3.21383435e-01 -2.68677277e-02 8.81586413e+01] [-3.21238426e-01 9.46949005e-01 9.66728192e-03 -1.60070734e+01] [ 2.85492722e-02 -5.19792336e-04 9.99592251e-01 1.70573546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.242755096 meters 0.021743581840886143 Centerline is valid? [True, True] Translation: X:88.22, Y:-16.03, Z:1.71 [[ 9.47151981e-01 3.19624014e-01 -2.72693043e-02 8.82166968e+01] [-3.19473655e-01 9.47544269e-01 9.82048520e-03 -1.60286690e+01] [ 2.89777359e-02 -5.89667711e-04 9.99579883e-01 1.70757142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.302755096 meters 0.022560933879852505 Centerline is valid? [True, True] Translation: X:88.27, Y:-16.05, Z:1.71 [[ 9.47812102e-01 3.17696273e-01 -2.68569853e-02 8.82749212e+01] [-3.17549412e-01 9.48192312e-01 9.68046703e-03 -1.60512058e+01] [ 2.85410353e-02 -6.46843902e-04 9.99592412e-01 1.71022662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.362755096 meters 0.023494787686527446 Centerline is valid? [True, True] Translation: X:88.33, Y:-16.07, Z:1.71 [[ 9.48168969e-01 3.16569407e-01 -2.75575300e-02 8.83329125e+01] [-3.16414046e-01 9.48569086e-01 9.94187369e-03 -1.60733237e+01] [ 2.92875141e-02 -7.06986560e-04 9.99570779e-01 1.71184722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42275509599999 meters 0.024096480283761944 Centerline is valid? [True, True] Translation: X:88.39, Y:-16.09, Z:1.71 [[ 9.48268014e-01 3.16220097e-01 -2.81535777e-02 8.83911948e+01] [-3.16057518e-01 9.48685564e-01 1.01658750e-02 -1.60949035e+01] [ 2.99235467e-02 -7.41824195e-04 9.99551915e-01 1.71367967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48275509599999 meters 0.025159572947943437 Centerline is valid? [True, True] Translation: X:88.45, Y:-16.11, Z:1.71 [[ 9.47981719e-01 3.16967265e-01 -2.93668804e-02 8.84510737e+01] [-3.16790413e-01 9.48436175e-01 1.06140004e-02 -1.61142207e+01] [ 3.12169024e-02 -7.58732157e-04 9.99512346e-01 1.71319965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.542755096 meters 0.02377971956961263 Centerline is valid? [True, True] Translation: X:88.51, Y:-16.13, Z:1.72 [[ 9.46963443e-01 3.19982855e-01 -2.95162658e-02 8.85083423e+01] [-3.19805350e-01 9.47423095e-01 1.06778920e-02 -1.61343691e+01] [ 3.13811343e-02 -6.72113646e-04 9.99507265e-01 1.71664975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.602755096 meters 0.02335238540603482 Centerline is valid? [True, True] Translation: X:88.57, Y:-16.15, Z:1.72 [[ 9.46509045e-01 3.21349204e-01 -2.92457852e-02 8.85676126e+01] [-3.21175394e-01 9.46960557e-01 1.05863446e-02 -1.61545136e+01] [ 3.10965184e-02 -6.27044384e-04 9.99516190e-01 1.71835576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.662755096 meters 0.022705972494175202 Centerline is valid? [True, True] Translation: X:88.63, Y:-16.17, Z:1.72 [[ 9.45706956e-01 3.23738008e-01 -2.88453814e-02 8.86257388e+01] [-3.23569885e-01 9.46146608e-01 1.04462949e-02 -1.61732893e+01] [ 3.06738224e-02 -5.45636997e-04 9.99529299e-01 1.72045032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.722755096 meters 0.02394013195238199 Centerline is valid? [True, True] Translation: X:88.68, Y:-16.19, Z:1.72 [[ 9.45203238e-01 3.25319198e-01 -2.75364798e-02 8.86839165e+01] [-3.25166449e-01 9.45604140e-01 9.97948177e-03 -1.61929324e+01] [ 2.92851263e-02 -4.78699149e-04 9.99570984e-01 1.72030807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78275509599999 meters 0.021497416409549542 Centerline is valid? [True, True] Translation: X:88.74, Y:-16.21, Z:1.72 [[ 9.44595238e-01 3.27180323e-01 -2.63224646e-02 8.87435094e+01] [-3.27041277e-01 9.44961835e-01 9.54643167e-03 -1.62117888e+01] [ 2.79971291e-02 -4.08981451e-04 9.99607920e-01 1.72438935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84275509599999 meters 0.02330296482681861 Centerline is valid? [True, True] Translation: X:88.80, Y:-16.23, Z:1.72 [[ 9.44816070e-01 3.26594407e-01 -2.56648845e-02 8.88023824e+01] [-3.26461806e-01 9.45164491e-01 9.31531021e-03 -1.62333354e+01] [ 2.72998657e-02 -4.22650245e-04 9.99627200e-01 1.72398162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90275509599999 meters 0.022165820655344677 Centerline is valid? [True, True] Translation: X:88.86, Y:-16.25, Z:1.73 [[ 9.44984073e-01 3.26223366e-01 -2.41540383e-02 8.88614298e+01] [-3.26105610e-01 9.45292623e-01 8.77424720e-03 -1.62548009e+01] [ 2.56949987e-02 -4.14756458e-04 9.99669743e-01 1.72849717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.962755096 meters 0.02276043342930369 Centerline is valid? [True, True] Translation: X:88.92, Y:-16.28, Z:1.73 [[ 9.45165291e-01 3.25766600e-01 -2.32097981e-02 8.89190967e+01] [-3.25657564e-01 9.45450130e-01 8.43815800e-03 -1.62769582e+01] [ 2.46925767e-02 -4.17007733e-04 9.99695005e-01 1.73017322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.022755096 meters 0.022014748968915622 Centerline is valid? [True, True] Translation: X:88.98, Y:-16.30, Z:1.73 [[ 9.45715140e-01 3.24138383e-01 -2.36047008e-02 8.89777294e+01] [-3.24024926e-01 9.46009558e-01 8.58855240e-03 -1.62961266e+01] [ 2.51141521e-02 -4.73812606e-04 9.99684478e-01 1.73157609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.082755096 meters 0.022971765132652824 Centerline is valid? [True, True] Translation: X:89.04, Y:-16.32, Z:1.73 [[ 9.45918054e-01 3.23517824e-01 -2.39844289e-02 8.90351000e+01] [-3.23400318e-01 9.46221942e-01 8.73335189e-03 -1.63179869e+01] [ 2.55199878e-02 -5.04463299e-04 9.99674185e-01 1.73146533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14275509599999 meters 0.023350427846858635 Centerline is valid? [True, True] Translation: X:89.09, Y:-16.34, Z:1.73 [[ 9.45847598e-01 3.23732676e-01 -2.38636882e-02 8.90934511e+01] [-3.23616266e-01 9.46148457e-01 8.69538068e-03 -1.63388858e+01] [ 2.53935706e-02 -5.01827258e-04 9.99677405e-01 1.73209156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20275509599999 meters 0.02250570974258003 Centerline is valid? [True, True] Translation: X:89.15, Y:-16.36, Z:1.73 [[ 9.46217323e-01 3.22681691e-01 -2.34372211e-02 8.91522657e+01] [-3.22568952e-01 9.46507396e-01 8.54523009e-03 -1.63576306e+01] [ 2.49408924e-02 -5.25524908e-04 9.99688789e-01 1.73420178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26275509599999 meters 0.023866955792965272 Centerline is valid? [True, True] Translation: X:89.21, Y:-16.38, Z:1.74 [[ 9.47036184e-01 3.20470872e-01 -2.05155142e-02 8.92107385e+01] [-3.20383854e-01 9.47258230e-01 7.48544594e-03 -1.63796027e+01] [ 2.18323570e-02 -5.16148650e-04 9.99761512e-01 1.73751108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.322755096 meters 0.022808491683744648 Centerline is valid? [True, True] Translation: X:89.27, Y:-16.40, Z:1.74 [[ 9.47554160e-01 3.19069506e-01 -1.83238448e-02 8.92700983e+01] [-3.18999733e-01 9.47731188e-01 6.69064627e-03 -1.63981861e+01] [ 1.95008604e-02 -4.94448102e-04 9.99809718e-01 1.74067895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.382755096 meters 0.024479280088377665 Centerline is valid? [True, True] Translation: X:89.33, Y:-16.42, Z:1.74 [[ 9.48428658e-01 3.16551414e-01 -1.66818490e-02 8.93272180e+01] [-3.16493111e-01 9.48575221e-01 6.09591963e-03 -1.64205471e+01] [ 1.77536606e-02 -5.01854596e-04 9.99842265e-01 1.74196334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.442755096 meters 0.025343143163781206 Centerline is valid? [True, True] Translation: X:89.39, Y:-16.44, Z:1.74 [[ 9.48784882e-01 3.15495926e-01 -1.64185281e-02 8.93855429e+01] [-3.15439210e-01 9.48926790e-01 6.00434794e-03 -1.64421733e+01] [ 1.74743285e-02 -5.17787016e-04 9.99847178e-01 1.74248191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50275509599999 meters 0.02483246565705115 Centerline is valid? [True, True] Translation: X:89.45, Y:-16.46, Z:1.74 [[ 9.48502161e-01 3.16361614e-01 -1.60928311e-02 8.94451969e+01] [-3.16307163e-01 9.48638541e-01 5.89036760e-03 -1.64614573e+01] [ 1.71297660e-02 -4.96748653e-04 9.99853151e-01 1.74212744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56275509599999 meters 0.024589803030411708 Centerline is valid? [True, True] Translation: X:89.50, Y:-16.48, Z:1.74 [[ 9.47856960e-01 3.18239916e-01 -1.70451995e-02 8.95034626e+01] [-3.18179097e-01 9.48010081e-01 6.24084027e-03 -1.64825968e+01] [ 1.81451055e-02 -4.91997686e-04 9.99835243e-01 1.74184914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62275509599999 meters 0.023514431076708933 Centerline is valid? [True, True] Translation: X:89.56, Y:-16.50, Z:1.74 [[ 9.46974583e-01 3.20907400e-01 -1.60492808e-02 8.95620563e+01] [-3.20853786e-01 9.47110482e-01 5.88076669e-03 -1.65036966e+01] [ 1.70876236e-02 -4.19464080e-04 9.99853908e-01 1.74283676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.682755096 meters 0.023110087815902507 Centerline is valid? [True, True] Translation: X:89.62, Y:-16.52, Z:1.74 [[ 9.46515426e-01 3.22260454e-01 -1.60233765e-02 8.96204817e+01] [-3.22207124e-01 9.46650960e-01 5.87607622e-03 -1.65248852e+01] [ 1.70621717e-02 -3.98950731e-04 9.99854351e-01 1.74377698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.742755096 meters 0.02087748263415094 Centerline is valid? [True, True] Translation: X:89.68, Y:-16.54, Z:1.75 [[ 9.45532293e-01 3.25216388e-01 -1.42471980e-02 8.96799374e+01] [-3.25174508e-01 9.45639574e-01 5.22833916e-03 -1.65435262e+01] [ 1.51730558e-02 -3.10737918e-04 9.99884834e-01 1.74552716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.802755096 meters 0.02054682171633628 Centerline is valid? [True, True] Translation: X:89.74, Y:-16.57, Z:1.75 [[ 9.44958812e-01 3.26967941e-01 -1.20336327e-02 8.97372040e+01] [-3.26938159e-01 9.45035400e-01 4.41967963e-03 -1.65655813e+01] [ 1.28173024e-02 -2.42161498e-04 9.99917826e-01 1.74831206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.862755096 meters 0.01952733475044835 Centerline is valid? [True, True] Translation: X:89.80, Y:-16.59, Z:1.75 [[ 9.44645071e-01 3.27869005e-01 -1.21492621e-02 8.97959737e+01] [-3.27838704e-01 9.44723166e-01 4.46352998e-03 -1.65861785e+01] [ 1.29411425e-02 -2.33453237e-04 9.99916233e-01 1.74872631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92275509599999 meters 0.019618993502780572 Centerline is valid? [True, True] Translation: X:89.86, Y:-16.61, Z:1.75 [[ 9.44654478e-01 3.27851570e-01 -1.18854776e-02 8.98550980e+01] [-3.27822526e-01 9.44729218e-01 4.37000532e-03 -1.66081920e+01] [ 1.26612711e-02 -2.31817803e-04 9.99919816e-01 1.74946327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98275509599999 meters 0.02019527003867165 Centerline is valid? [True, True] Translation: X:89.91, Y:-16.63, Z:1.75 [[ 9.44852318e-01 3.27282010e-01 -1.18567648e-02 8.99120879e+01] [-3.27253002e-01 9.44926678e-01 4.36414395e-03 -1.66315783e+01] [ 1.26320791e-02 -2.43309666e-04 9.99920183e-01 1.75117979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.042755096 meters 0.021505382809087568 Centerline is valid? [True, True] Translation: X:89.97, Y:-16.66, Z:1.75 [[ 9.45496109e-01 3.25400883e-01 -1.23034113e-02 8.99680496e+01] [-3.25369431e-01 9.45576113e-01 4.53293493e-03 -1.66564011e+01] [ 1.31088328e-02 -2.82718408e-04 9.99914036e-01 1.75178982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.102755096 meters 0.02265163667433976 Centerline is valid? [True, True] Translation: X:90.02, Y:-16.68, Z:1.75 [[ 9.46094269e-01 3.23619047e-01 -1.32795528e-02 9.00248192e+01] [-3.23582204e-01 9.46187403e-01 4.89447249e-03 -1.66804490e+01] [ 1.41488901e-02 -3.33605410e-04 9.99899844e-01 1.75178103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.162755096 meters 0.02413335734169202 Centerline is valid? [True, True] Translation: X:90.08, Y:-16.71, Z:1.75 [[ 9.46856940e-01 3.21348288e-01 -1.40432563e-02 9.00821402e+01] [-3.21306774e-01 9.46960994e-01 5.18007294e-03 -1.67054495e+01] [ 1.49630236e-02 -3.92594617e-04 9.99887971e-01 1.75169835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.222755096 meters 0.02507720340964601 Centerline is valid? [True, True] Translation: X:90.14, Y:-16.73, Z:1.75 [[ 9.47020660e-01 3.20870077e-01 -1.39378049e-02 9.01395457e+01] [-3.20829072e-01 9.47123135e-01 5.14525624e-03 -1.67292211e+01] [ 1.48517763e-02 -4.01010930e-04 9.99889626e-01 1.75394651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28275509599999 meters 0.022961669357909335 Centerline is valid? [True, True] Translation: X:90.20, Y:-16.75, Z:1.76 [[ 9.46718521e-01 3.21752612e-01 -1.41173005e-02 9.01990330e+01] [-3.21710580e-01 9.46823690e-01 5.21561177e-03 -1.67479824e+01] [ 1.50447312e-02 -3.96031341e-04 9.99886743e-01 1.75526529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34275509599999 meters 0.02182015031186163 Centerline is valid? [True, True] Translation: X:90.26, Y:-16.77, Z:1.76 [[ 9.46191844e-01 3.23300318e-01 -1.40676514e-02 9.02576342e+01] [-3.23258688e-01 9.46296341e-01 5.20158058e-03 -1.67685550e+01] [ 1.49938397e-02 -3.74202590e-04 9.99887516e-01 1.75636112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40275509599999 meters 0.021147879109304966 Centerline is valid? [True, True] Translation: X:90.32, Y:-16.79, Z:1.76 [[ 9.45806271e-01 3.24378813e-01 -1.51289050e-02 9.03160212e+01] [-3.24330719e-01 9.45927182e-01 5.59912500e-03 -1.67901937e+01] [ 1.61270800e-02 -3.88918889e-04 9.99869875e-01 1.75726330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.462755096 meters 0.020194558304579335 Centerline is valid? [True, True] Translation: X:90.37, Y:-16.81, Z:1.76 [[ 9.45504190e-01 3.25240552e-01 -1.55051634e-02 9.03747496e+01] [-3.25190069e-01 9.45631235e-01 5.74338987e-03 -1.68107736e+01] [ 1.65301501e-02 -3.88274043e-04 9.99863292e-01 1.75791735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.522755096 meters 0.020631582982574483 Centerline is valid? [True, True] Translation: X:90.43, Y:-16.83, Z:1.76 [[ 9.45427673e-01 3.25437700e-01 -1.60255656e-02 9.04324239e+01] [-3.25383707e-01 9.45563399e-01 5.94154977e-03 -1.68345117e+01] [ 1.70867925e-02 -4.02847648e-04 9.99853929e-01 1.75941480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.582755096 meters 0.020645011482579963 Centerline is valid? [True, True] Translation: X:90.49, Y:-16.86, Z:1.76 [[ 9.45193390e-01 3.26086279e-01 -1.66491441e-02 9.04902230e+01] [-3.26027997e-01 9.45339922e-01 6.17872034e-03 -1.68573116e+01] [ 1.77538966e-02 -4.11998510e-04 9.99842302e-01 1.76000613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64275509599999 meters 0.01997802592317816 Centerline is valid? [True, True] Translation: X:90.55, Y:-16.88, Z:1.76 [[ 9.44869953e-01 3.27012965e-01 -1.68312721e-02 9.05482696e+01] [-3.26953451e-01 9.45019766e-01 6.25165344e-03 -1.68781173e+01] [ 1.79502566e-02 -4.03956979e-04 9.99838800e-01 1.76084832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70275509599999 meters 0.01969915685165668 Centerline is valid? [True, True] Translation: X:90.61, Y:-16.90, Z:1.76 [[ 9.44699844e-01 3.27462651e-01 -1.76186487e-02 9.06071928e+01] [-3.27397406e-01 9.44864030e-01 6.55002120e-03 -1.69002507e+01] [ 1.87921147e-02 -4.19504131e-04 9.99823325e-01 1.76145489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76275509599999 meters 0.02068533444665524 Centerline is valid? [True, True] Translation: X:90.66, Y:-16.93, Z:1.76 [[ 9.45095711e-01 3.26239746e-01 -1.90190470e-02 9.06643635e+01] [-3.26163316e-01 9.45286936e-01 7.07813562e-03 -1.69255580e+01] [ 2.02876258e-02 -4.86200194e-04 9.99794067e-01 1.76146566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.822755096 meters 0.021543973670252767 Centerline is valid? [True, True] Translation: X:90.72, Y:-16.95, Z:1.76 [[ 9.45331788e-01 3.25509435e-01 -1.97842761e-02 9.07203158e+01] [-3.25426439e-01 9.45538645e-01 7.36912648e-03 -1.69499953e+01] [ 2.11055178e-02 -5.27943014e-04 9.99777114e-01 1.76172820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.882755096 meters 0.021825967711353037 Centerline is valid? [True, True] Translation: X:90.78, Y:-16.97, Z:1.76 [[ 9.45423430e-01 3.25171299e-01 -2.09323824e-02 9.07770866e+01] [-3.25078211e-01 9.45654959e-01 7.80100530e-03 -1.69744890e+01] [ 2.23314742e-02 -5.70591758e-04 9.99750459e-01 1.76173719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.942755096 meters 0.021373238739052138 Centerline is valid? [True, True] Translation: X:90.83, Y:-17.00, Z:1.76 [[ 9.44958111e-01 3.26459923e-01 -2.18652213e-02 9.08347344e+01] [-3.26358531e-01 9.45210872e-01 8.15576172e-03 -1.69983570e+01] [ 2.33297743e-02 -5.70951670e-04 9.99727661e-01 1.76273797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00275509599999 meters 0.020080918750211493 Centerline is valid? [True, True] Translation: X:90.89, Y:-17.02, Z:1.76 [[ 9.43804207e-01 3.29729477e-01 -2.26294371e-02 9.08929550e+01] [-3.29621659e-01 9.44075319e-01 8.44708244e-03 -1.70211242e+01] [ 2.41491451e-02 -5.13239356e-04 9.99708235e-01 1.76378803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06275509599999 meters 0.019557073502616002 Centerline is valid? [True, True] Translation: X:90.95, Y:-17.04, Z:1.76 [[ 9.42675670e-01 3.32881164e-01 -2.35098132e-02 9.09497532e+01] [-3.32765677e-01 9.42968677e-01 8.77942900e-03 -1.70438148e+01] [ 2.50915240e-02 -4.52895202e-04 9.99685056e-01 1.76418208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12275509599999 meters 0.017514401542823774 Centerline is valid? [True, True] Translation: X:91.01, Y:-17.07, Z:1.77 [[ 9.41033422e-01 3.37423551e-01 -2.45243879e-02 9.10078137e+01] [-3.37299226e-01 9.41352868e-01 9.16565372e-03 -1.70651634e+01] [ 2.61788103e-02 -3.53129427e-04 9.99657214e-01 1.76564985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.182755096 meters 0.016916257767081826 Centerline is valid? [True, True] Translation: X:91.07, Y:-17.09, Z:1.77 [[ 9.40005297e-01 3.40269858e-01 -2.46265082e-02 9.10651728e+01] [-3.40145272e-01 9.40327786e-01 9.21137408e-03 -1.70888371e+01] [ 2.62913429e-02 -2.82150086e-04 9.99654283e-01 1.76759192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.242755096 meters 0.01686214581810405 Centerline is valid? [True, True] Translation: X:91.12, Y:-17.12, Z:1.77 [[ 9.39863597e-01 3.40716074e-01 -2.38532187e-02 9.11221055e+01] [-3.40599149e-01 9.40166201e-01 8.92942041e-03 -1.71159731e+01] [ 2.54683870e-02 -2.68051207e-04 9.99675592e-01 1.76959968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.302755096 meters 0.017517688779566377 Centerline is valid? [True, True] Translation: X:91.18, Y:-17.14, Z:1.77 [[ 9.40299965e-01 3.39523581e-01 -2.36582690e-02 9.11780873e+01] [-3.39407987e-01 9.40597494e-01 8.86416452e-03 -1.71434019e+01] [ 2.52625014e-02 -3.05168119e-04 9.99680806e-01 1.77153811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.362755096 meters 0.016937918774365002 Centerline is valid? [True, True] Translation: X:91.24, Y:-17.17, Z:1.77 [[ 9.40075447e-01 3.40213614e-01 -2.26462115e-02 9.12357506e+01] [-3.40107743e-01 9.40348137e-01 8.49145748e-03 -1.71669190e+01] [ 2.41842322e-02 -2.80458793e-04 9.99707479e-01 1.77494753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42275509599999 meters 0.015986818752987242 Centerline is valid? [True, True] Translation: X:91.29, Y:-17.19, Z:1.78 [[ 9.38965487e-01 3.43248279e-01 -2.29004880e-02 9.12948488e+01] [-3.43140744e-01 9.39244683e-01 8.59393177e-03 -1.71867163e+01] [ 2.44590139e-02 -2.11314835e-04 9.99700811e-01 1.77684726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48275509599999 meters 0.015686620259864538 Centerline is valid? [True, True] Translation: X:91.35, Y:-17.21, Z:1.78 [[ 9.38039716e-01 3.45691237e-01 -2.40636708e-02 9.13533446e+01] [-3.45573091e-01 9.38348305e-01 9.03864887e-03 -1.72085323e+01] [ 2.57046864e-02 -1.62854518e-04 9.99669567e-01 1.77672568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.542755096 meters 0.015483226272644651 Centerline is valid? [True, True] Translation: X:91.41, Y:-17.23, Z:1.78 [[ 9.37608072e-01 3.46810165e-01 -2.47752435e-02 9.14122715e+01] [-3.46685076e-01 9.37935333e-01 9.31501253e-03 -1.72293367e+01] [ 2.64681173e-02 -1.44623757e-04 9.99649648e-01 1.77724288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.602755096 meters 0.01541254526219363 Centerline is valid? [True, True] Translation: X:91.47, Y:-17.25, Z:1.78 [[ 9.37380649e-01 3.47382182e-01 -2.53601832e-02 9.14714580e+01] [-3.47251073e-01 9.37723627e-01 9.54422571e-03 -1.72517603e+01] [ 2.70963369e-02 -1.40221664e-04 9.99632817e-01 1.77769217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.662755096 meters 0.01553464625663652 Centerline is valid? [True, True] Translation: X:91.53, Y:-17.27, Z:1.78 [[ 9.37564616e-01 3.46762071e-01 -2.69936468e-02 9.15291535e+01] [-3.46613029e-01 9.37953109e-01 1.01672723e-02 -1.72735750e+01] [ 2.88443993e-02 -1.76125114e-04 9.99583898e-01 1.77730694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.722755096 meters 0.016130036987777745 Centerline is valid? [True, True] Translation: X:91.59, Y:-17.30, Z:1.78 [[ 9.38223527e-01 3.44908445e-01 -2.78348331e-02 9.15853839e+01] [-3.44748969e-01 9.38636300e-01 1.04901974e-02 -1.72968651e+01] [ 2.97449424e-02 -2.46120033e-04 9.99557491e-01 1.77753933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78275509599999 meters 0.016528155010901106 Centerline is valid? [True, True] Translation: X:91.64, Y:-17.32, Z:1.78 [[ 9.38642564e-01 3.43887496e-01 -2.62969083e-02 9.16431090e+01] [-3.43744545e-01 9.39010818e-01 9.91819424e-03 -1.73201338e+01] [ 2.81038243e-02 -2.70220494e-04 9.99604973e-01 1.78008553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84275509599999 meters 0.01600275634832586 Centerline is valid? [True, True] Translation: X:91.70, Y:-17.34, Z:1.78 [[ 9.38867856e-01 3.43362576e-01 -2.50856697e-02 9.17024246e+01] [-3.43232084e-01 9.39202887e-01 9.46964114e-03 -1.73411239e+01] [ 2.68120538e-02 -2.80534990e-04 9.99640453e-01 1.78379003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90275509599999 meters 0.016448570850524823 Centerline is valid? [True, True] Translation: X:91.76, Y:-17.36, Z:1.78 [[ 9.38695048e-01 3.43863842e-01 -2.46832794e-02 9.17598803e+01] [-3.43737438e-01 9.39019481e-01 9.32676352e-03 -1.73637259e+01] [ 2.63852169e-02 -2.70419509e-04 9.99651813e-01 1.78435759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.962755096 meters 0.016275532218732257 Centerline is valid? [True, True] Translation: X:91.82, Y:-17.39, Z:1.79 [[ 9.38515200e-01 3.44411444e-01 -2.38741930e-02 9.18190625e+01] [-3.44293161e-01 9.38818775e-01 9.02922647e-03 -1.73851588e+01] [ 2.55233096e-02 -2.54344902e-04 9.99674195e-01 1.78589400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.022755096 meters 0.016487554373101388 Centerline is valid? [True, True] Translation: X:91.88, Y:-17.41, Z:1.79 [[ 9.38786941e-01 3.43729508e-01 -2.30022769e-02 9.18778079e+01] [-3.43619306e-01 9.39068662e-01 8.70748633e-03 -1.74067871e+01] [ 2.45937374e-02 -2.70448042e-04 9.99697492e-01 1.78782348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.082755096 meters 0.01680721785351454 Centerline is valid? [True, True] Translation: X:91.94, Y:-17.43, Z:1.79 [[ 9.39076283e-01 3.43000739e-01 -2.20505642e-02 9.19358865e+01] [-3.42899089e-01 9.39335090e-01 8.35482849e-03 -1.74298162e+01] [ 2.35785811e-02 -2.84702906e-04 9.99721946e-01 1.78974422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14275509599999 meters 0.01766002055247058 Centerline is valid? [True, True] Translation: X:91.99, Y:-17.45, Z:1.79 [[ 9.39929689e-01 3.40630993e-01 -2.24210984e-02 9.19929602e+01] [-3.40525034e-01 9.40197000e-01 8.50305436e-03 -1.74535625e+01] [ 2.39766533e-02 -3.57327942e-04 9.99712455e-01 1.79052876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20275509599999 meters 0.01967259344174827 Centerline is valid? [True, True] Translation: X:92.05, Y:-17.48, Z:1.79 [[ 9.41187407e-01 3.37121907e-01 -2.26954687e-02 9.20487201e+01] [-3.37012148e-01 9.41460891e-01 8.61410844e-03 -1.74781891e+01] [ 2.42709008e-02 -4.58841738e-04 9.99705313e-01 1.79013548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26275509599999 meters 0.019996916738248736 Centerline is valid? [True, True] Translation: X:92.11, Y:-17.50, Z:1.79 [[ 9.42274419e-01 3.34083961e-01 -2.25128076e-02 9.21063997e+01] [-3.33974937e-01 9.42543164e-01 8.55133184e-03 -1.75005304e+01] [ 2.40761557e-02 -5.38987750e-04 9.99709982e-01 1.79143186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.322755096 meters 0.0240878414116166 Centerline is valid? [True, True] Translation: X:92.16, Y:-17.53, Z:1.79 [[ 9.43765226e-01 3.29915231e-01 -2.15206570e-02 9.21607813e+01] [-3.29814392e-01 9.44010357e-01 8.18005530e-03 -1.75283428e+01] [ 2.30144479e-02 -6.22229345e-04 9.99734939e-01 1.79236754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.382755096 meters 0.023493846034559923 Centerline is valid? [True, True] Translation: X:92.22, Y:-17.55, Z:1.79 [[ 9.44353372e-01 3.28152872e-01 -2.26362810e-02 9.22189890e+01] [-3.28040740e-01 9.44624370e-01 8.60654918e-03 -1.75489479e+01] [ 2.42070465e-02 -7.02001363e-04 9.99706720e-01 1.79276982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.442755096 meters 0.023026624142317396 Centerline is valid? [True, True] Translation: X:92.28, Y:-17.57, Z:1.79 [[ 9.43702377e-01 3.29983326e-01 -2.31695486e-02 9.22773570e+01] [-3.29866216e-01 9.43986518e-01 8.81668646e-03 -1.75696996e+01] [ 2.47811011e-02 -6.77476625e-04 9.99692672e-01 1.79374534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50275509599999 meters 0.021050319269370475 Centerline is valid? [True, True] Translation: X:92.34, Y:-17.59, Z:1.80 [[ 9.42709138e-01 3.32813101e-01 -2.31283596e-02 9.23367009e+01] [-3.32697079e-01 9.42992613e-01 8.80824078e-03 -1.75873556e+01] [ 2.47413702e-02 -6.08871400e-04 9.99693700e-01 1.79540252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56275509599999 meters 0.020820786005230848 Centerline is valid? [True, True] Translation: X:92.39, Y:-17.61, Z:1.80 [[ 9.41394013e-01 3.36462638e-01 -2.38789659e-02 9.23947005e+01] [-3.36339955e-01 9.41696663e-01 9.10104709e-03 -1.76061020e+01] [ 2.55489048e-02 -5.36220941e-04 9.99673430e-01 1.79594473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62275509599999 meters 0.01963458960924725 Centerline is valid? [True, True] Translation: X:92.45, Y:-17.63, Z:1.80 [[ 9.40756618e-01 3.38263068e-01 -2.35601818e-02 9.24544037e+01] [-3.38144107e-01 9.41051466e-01 8.98334812e-03 -1.76252399e+01] [ 2.52100786e-02 -4.84407540e-04 9.99682058e-01 1.79778462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.682755096 meters 0.01832048503593809 Centerline is valid? [True, True] Translation: X:92.51, Y:-17.64, Z:1.80 [[ 9.39942121e-01 3.40586781e-01 -2.25710753e-02 9.25139890e+01] [-3.40478186e-01 9.40212996e-01 8.60969726e-03 -1.76432062e+01] [ 2.41539674e-02 -4.07658339e-04 9.99708167e-01 1.80094801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.742755096 meters 0.018590817734961854 Centerline is valid? [True, True] Translation: X:92.57, Y:-17.66, Z:1.80 [[ 9.39686746e-01 3.41321513e-01 -2.21007864e-02 9.25718982e+01] [-3.41217436e-01 9.39946528e-01 8.43716955e-03 -1.76636431e+01] [ 2.36533449e-02 -3.87122709e-04 9.99720146e-01 1.80218872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.802755096 meters 0.01979841026858005 Centerline is valid? [True, True] Translation: X:92.63, Y:-17.69, Z:1.80 [[ 9.40388303e-01 3.39429187e-01 -2.13931559e-02 9.26281530e+01] [-3.39331041e-01 9.40631514e-01 8.17309980e-03 -1.76870296e+01] [ 2.28972652e-02 -4.26525598e-04 9.99737732e-01 1.80411053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.862755096 meters 0.021177043099418015 Centerline is valid? [True, True] Translation: X:92.69, Y:-17.71, Z:1.81 [[ 9.42024893e-01 3.34842595e-01 -2.16688033e-02 9.26854853e+01] [-3.34740564e-01 9.42273916e-01 8.28380006e-03 -1.77115505e+01] [ 2.31917173e-02 -5.50118424e-04 9.99730885e-01 1.80541986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92275509599999 meters 0.023325759327913104 Centerline is valid? [True, True] Translation: X:92.74, Y:-17.74, Z:1.81 [[ 9.43162668e-01 3.31622583e-01 -2.16943352e-02 9.27407264e+01] [-3.31519407e-01 9.43411926e-01 8.29577909e-03 -1.77366058e+01] [ 2.32177623e-02 -6.32175990e-04 9.99730232e-01 1.80640155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98275509599999 meters 0.025164241694065385 Centerline is valid? [True, True] Translation: X:92.80, Y:-17.76, Z:1.81 [[ 9.44425833e-01 3.28028314e-01 -2.13839096e-02 9.27976213e+01] [-3.27927080e-01 9.44667622e-01 8.18007441e-03 -1.77612237e+01] [ 2.28839831e-02 -7.13110546e-04 9.99737873e-01 1.80795096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.042755096 meters 0.02506891985965415 Centerline is valid? [True, True] Translation: X:92.86, Y:-17.78, Z:1.81 [[ 9.44816023e-01 3.26826361e-01 -2.25213600e-02 9.28558684e+01] [-3.26713650e-01 9.45084078e-01 8.61839108e-03 -1.77827572e+01] [ 2.41012961e-02 -7.84758253e-04 9.99709214e-01 1.80767981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.102755096 meters 0.024285441177500464 Centerline is valid? [True, True] Translation: X:92.92, Y:-17.80, Z:1.81 [[ 9.44546135e-01 3.27537226e-01 -2.34939200e-02 9.29153505e+01] [-3.27414588e-01 9.44837930e-01 8.99852295e-03 -1.78046372e+01] [ 2.51452980e-02 -8.07267921e-04 9.99683481e-01 1.80795848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.162755096 meters 0.024951901352496565 Centerline is valid? [True, True] Translation: X:92.97, Y:-17.83, Z:1.81 [[ 9.43940689e-01 3.29274986e-01 -2.35363294e-02 9.29721433e+01] [-3.29152254e-01 9.44233759e-01 9.02230426e-03 -1.78274578e+01] [ 2.51946159e-02 -7.69484230e-04 9.99682269e-01 1.80858982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.222755096 meters 0.022039224837151712 Centerline is valid? [True, True] Translation: X:93.03, Y:-17.85, Z:1.81 [[ 9.43234446e-01 3.31318389e-01 -2.31712084e-02 9.30322680e+01] [-3.31199949e-01 9.43518746e-01 8.88647457e-03 -1.78453514e+01] [ 2.48067219e-02 -7.07725892e-04 9.99692015e-01 1.81122462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28275509599999 meters 0.021604387139116096 Centerline is valid? [True, True] Translation: X:93.09, Y:-17.87, Z:1.81 [[ 9.41863541e-01 3.35269185e-01 -2.20826757e-02 9.30890780e+01] [-3.35162612e-01 9.42122199e-01 8.47259935e-03 -1.78657405e+01] [ 2.36451804e-02 -5.78745181e-04 9.99720246e-01 1.81393866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34275509599999 meters 0.020491917157746287 Centerline is valid? [True, True] Translation: X:93.15, Y:-17.89, Z:1.82 [[ 9.41038021e-01 3.37640690e-01 -2.11236300e-02 9.31480072e+01] [-3.37543693e-01 9.41274941e-01 8.10806232e-03 -1.78862983e+01] [ 2.26207554e-02 -4.99846837e-04 9.99743993e-01 1.81658530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40275509599999 meters 0.01963082678147529 Centerline is valid? [True, True] Translation: X:93.21, Y:-17.91, Z:1.82 [[ 9.40424120e-01 3.39405929e-01 -2.01516636e-02 9.32064664e+01] [-3.39317929e-01 9.40639899e-01 7.74099461e-03 -1.79066886e+01] [ 2.15827983e-02 -4.41997271e-04 9.99766967e-01 1.81944139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.462755096 meters 0.019236954455446202 Centerline is valid? [True, True] Translation: X:93.27, Y:-17.93, Z:1.82 [[ 9.40309810e-01 3.39743666e-01 -1.97914863e-02 9.32653707e+01] [-3.39658727e-01 9.40517972e-01 7.60885542e-03 -1.79282914e+01] [ 2.11993090e-02 -4.32330371e-04 9.99775176e-01 1.82160974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.522755096 meters 0.019807632273115175 Centerline is valid? [True, True] Translation: X:93.32, Y:-17.95, Z:1.82 [[ 9.40335338e-01 3.39693261e-01 -1.94406771e-02 9.33232567e+01] [-3.39611152e-01 9.40536178e-01 7.48092619e-03 -1.79502263e+01] [ 2.08258804e-02 -4.32308519e-04 9.99783024e-01 1.82304808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.582755096 meters 0.020450666015486046 Centerline is valid? [True, True] Translation: X:93.38, Y:-17.97, Z:1.82 [[ 9.40938769e-01 3.38021604e-01 -1.93811513e-02 9.33813868e+01] [-3.37939507e-01 9.41138232e-01 7.46449441e-03 -1.79721452e+01] [ 2.07635028e-02 -4.73975462e-04 9.99784303e-01 1.82452654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64275509599999 meters 0.0223687620661812 Centerline is valid? [True, True] Translation: X:93.44, Y:-18.00, Z:1.82 [[ 9.42197496e-01 3.34471024e-01 -1.98245563e-02 9.34388118e+01] [-3.34384216e-01 9.42405862e-01 7.64114003e-03 -1.79968887e+01] [ 2.12385180e-02 -5.70444284e-04 9.99774274e-01 1.82489369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70275509599999 meters 0.023041628499226228 Centerline is valid? [True, True] Translation: X:93.50, Y:-18.02, Z:1.83 [[ 9.43303266e-01 3.31317422e-01 -2.01919547e-02 9.34966249e+01] [-3.31226604e-01 9.43519124e-01 7.78460110e-03 -1.80194520e+01] [ 2.16306693e-02 -6.55127064e-04 9.99765815e-01 1.82530157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76275509599999 meters 0.02543959993251279 Centerline is valid? [True, True] Translation: X:93.55, Y:-18.04, Z:1.83 [[ 9.44543509e-01 3.27718706e-01 -2.09286874e-02 9.35531095e+01] [-3.27620207e-01 9.44775033e-01 8.07081521e-03 -1.80438185e+01] [ 2.24178585e-02 -7.66575221e-04 9.99748394e-01 1.82572153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.822755096 meters 0.02780013285828036 Centerline is valid? [True, True] Translation: X:93.61, Y:-18.07, Z:1.83 [[ 9.44640173e-01 3.27418449e-01 -2.12627270e-02 9.36093630e+01] [-3.27316619e-01 9.44879112e-01 8.20333144e-03 -1.80677590e+01] [ 2.27766286e-02 -7.89552520e-04 9.99740267e-01 1.82656469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.882755096 meters 0.02948682410872753 Centerline is valid? [True, True] Translation: X:93.67, Y:-18.09, Z:1.83 [[ 9.44076756e-01 3.29031376e-01 -2.13876754e-02 9.36660104e+01] [-3.28928618e-01 9.44318683e-01 8.25771058e-03 -1.80908273e+01] [ 2.29138274e-02 -7.60894089e-04 9.99737154e-01 1.82702308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.942755096 meters 0.024826082678945427 Centerline is valid? [True, True] Translation: X:93.73, Y:-18.10, Z:1.83 [[ 9.42579239e-01 3.33289154e-01 -2.15108970e-02 9.37269729e+01] [-3.33186196e-01 9.42824425e-01 8.31038957e-03 -1.81046389e+01] [ 2.30507618e-02 -6.66066711e-04 9.99734074e-01 1.82933746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00275509599999 meters 0.02072200610152301 Centerline is valid? [True, True] Translation: X:93.79, Y:-18.12, Z:1.83 [[ 9.40443194e-01 3.39253311e-01 -2.17667395e-02 9.37869839e+01] [-3.39149450e-01 9.40694910e-01 8.41056885e-03 -1.81189912e+01] [ 2.33291744e-02 -5.27484488e-04 9.99727699e-01 1.83180630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06275509599999 meters 0.01837960186995938 Centerline is valid? [True, True] Translation: X:93.85, Y:-18.13, Z:1.83 [[ 9.38115080e-01 3.45660649e-01 -2.14199104e-02 9.38458508e+01] [-3.45561716e-01 9.38359517e-01 8.27750472e-03 -1.81347814e+01] [ 2.29607844e-02 -3.63351012e-04 9.99736300e-01 1.83339740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12275509599999 meters 0.01716513974134945 Centerline is valid? [True, True] Translation: X:93.90, Y:-18.15, Z:1.83 [[ 9.36979856e-01 3.48709262e-01 -2.16933335e-02 9.39046811e+01] [-3.48608554e-01 9.37230902e-01 8.38524785e-03 -1.81536459e+01] [ 2.32556761e-02 -2.94326708e-04 9.99729507e-01 1.83468741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.182755096 meters 0.016569973043107974 Centerline is valid? [True, True] Translation: X:93.96, Y:-18.17, Z:1.84 [[ 9.36274451e-01 3.50566366e-01 -2.22120754e-02 9.39634250e+01] [-3.50461138e-01 9.36537856e-01 8.59277678e-03 -1.81749473e+01] [ 2.38147880e-02 -2.60728136e-04 9.99716354e-01 1.83611198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.242755096 meters 0.017071706942153257 Centerline is valid? [True, True] Translation: X:94.02, Y:-18.20, Z:1.84 [[ 9.36789083e-01 3.49221293e-01 -2.16956515e-02 9.40197161e+01] [-3.49120400e-01 9.37040235e-01 8.39908616e-03 -1.81994819e+01] [ 2.32628381e-02 -2.93777711e-04 9.99729340e-01 1.83775316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.302755096 meters 0.01748441730665449 Centerline is valid? [True, True] Translation: X:94.08, Y:-18.22, Z:1.84 [[ 9.37343564e-01 3.47730481e-01 -2.16922687e-02 9.40771222e+01] [-3.47629120e-01 9.37594475e-01 8.40208275e-03 -1.82237012e+01] [ 2.32602116e-02 -3.34773909e-04 9.99729389e-01 1.83921314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.362755096 meters 0.018739092737479316 Centerline is valid? [True, True] Translation: X:94.13, Y:-18.25, Z:1.84 [[ 9.38585137e-01 3.44311653e-01 -2.25261226e-02 9.41327769e+01] [-3.44201187e-01 9.38855308e-01 8.73229414e-03 -1.82506082e+01] [ 2.41554004e-02 -4.42483342e-04 9.99708118e-01 1.83975749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42275509599999 meters 0.020224756910605646 Centerline is valid? [True, True] Translation: X:94.19, Y:-18.28, Z:1.84 [[ 9.40150075e-01 3.39913053e-01 -2.40198266e-02 9.41887492e+01] [-3.39785843e-01 9.40456675e-01 9.31789126e-03 -1.82773004e+01] [ 2.57568791e-02 -5.98619147e-04 9.99668057e-01 1.83973437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48275509599999 meters 0.023194609576639724 Centerline is valid? [True, True] Translation: X:94.24, Y:-18.31, Z:1.84 [[ 9.41089990e-01 3.37221819e-01 -2.51211948e-02 9.42434359e+01] [-3.37081575e-01 9.41424954e-01 9.75030599e-03 -1.83055529e+01] [ 2.69377356e-02 -7.08023464e-04 9.99636863e-01 1.83957964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.542755096 meters 0.023289747173787418 Centerline is valid? [True, True] Translation: X:94.30, Y:-18.33, Z:1.84 [[ 9.41335147e-01 3.36451086e-01 -2.62451707e-02 9.43008495e+01] [-3.36297478e-01 9.41700628e-01 1.01947652e-02 -1.83298202e+01] [ 2.81451335e-02 -7.70506059e-04 9.99603550e-01 1.84047491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.602755096 meters 0.02468946796565032 Centerline is valid? [True, True] Translation: X:94.36, Y:-18.36, Z:1.84 [[ 9.41652203e-01 3.35507021e-01 -2.69475084e-02 9.43562910e+01] [-3.35344452e-01 9.42037342e-01 1.04759369e-02 -1.83564493e+01] [ 2.89003095e-02 -8.27991616e-04 9.99581956e-01 1.84101808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.662755096 meters 0.023417278018283947 Centerline is valid? [True, True] Translation: X:94.41, Y:-18.38, Z:1.84 [[ 9.41053917e-01 3.37254526e-01 -2.60175056e-02 9.44142295e+01] [-3.37103444e-01 9.41413201e-01 1.01219053e-02 -1.83783554e+01] [ 2.79068816e-02 -7.54667879e-04 9.99610242e-01 1.84323166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.722755096 meters 0.023064083000833294 Centerline is valid? [True, True] Translation: X:94.47, Y:-18.40, Z:1.84 [[ 9.40261302e-01 3.39490220e-01 -2.55944147e-02 9.44713311e+01] [-3.39344624e-01 9.40609335e-01 9.96516942e-03 -1.84012345e+01] [ 2.74574229e-02 -6.84536145e-04 9.99622740e-01 1.84481883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78275509599999 meters 0.022020768460958916 Centerline is valid? [True, True] Translation: X:94.53, Y:-18.42, Z:1.85 [[ 9.38937209e-01 3.43177089e-01 -2.50280575e-02 9.45280425e+01] [-3.43038975e-01 9.39270546e-01 9.75201807e-03 -1.84236530e+01] [ 2.68547864e-02 -5.70933416e-04 9.99639182e-01 1.84664359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84275509599999 meters 0.020297957536579574 Centerline is valid? [True, True] Translation: X:94.59, Y:-18.44, Z:1.85 [[ 9.37388939e-01 3.47436338e-01 -2.42892662e-02 9.45862378e+01] [-3.47307551e-01 9.37703469e-01 9.46932349e-03 -1.84444536e+01] [ 2.60661163e-02 -4.40593517e-04 9.99660124e-01 1.84867276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90275509599999 meters 0.018481063248093316 Centerline is valid? [True, True] Translation: X:94.65, Y:-18.46, Z:1.85 [[ 9.36445859e-01 3.50063490e-01 -2.29064735e-02 9.46452771e+01] [-3.49949668e-01 9.36725910e-01 8.93301237e-03 -1.84641224e+01] [ 2.45842088e-02 -3.49169636e-04 9.99697702e-01 1.85191053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.962755096 meters 0.017898768039331558 Centerline is valid? [True, True] Translation: X:94.70, Y:-18.49, Z:1.86 [[ 9.35777036e-01 3.51960042e-01 -2.11061027e-02 9.47032850e+01] [-3.51863763e-01 9.36014984e-01 8.23665663e-03 -1.84877096e+01] [ 2.26546024e-02 -2.81201434e-04 9.99743312e-01 1.85531042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.022755096 meters 0.017969974700135852 Centerline is valid? [True, True] Translation: X:94.76, Y:-18.51, Z:1.86 [[ 9.35647763e-01 3.52335353e-01 -2.05684842e-02 9.47617231e+01] [-3.52243919e-01 9.35873777e-01 8.03085758e-03 -1.85121925e+01] [ 2.20790601e-02 -2.68930436e-04 9.99756192e-01 1.85716689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.082755096 meters 0.018616295012092426 Centerline is valid? [True, True] Translation: X:94.82, Y:-18.54, Z:1.86 [[ 9.36095772e-01 3.51139707e-01 -2.06303559e-02 9.48176668e+01] [-3.51047274e-01 9.36323028e-01 8.06217752e-03 -1.85373715e+01] [ 2.21476280e-02 -3.04740103e-04 9.99754665e-01 1.85752308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14275509599999 meters 0.019655140086949265 Centerline is valid? [True, True] Translation: X:94.87, Y:-18.56, Z:1.86 [[ 9.36976997e-01 3.48792165e-01 -2.04482865e-02 9.48739259e+01] [-3.48700668e-01 9.37200029e-01 7.99686852e-03 -1.85638481e+01] [ 2.19533797e-02 -3.62550706e-04 9.99758930e-01 1.85801654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20275509599999 meters 0.021773396921652113 Centerline is valid? [True, True] Translation: X:94.93, Y:-18.59, Z:1.86 [[ 9.37814191e-01 3.46502435e-01 -2.09906071e-02 9.49292873e+01] [-3.46405301e-01 9.38048973e-01 8.21539679e-03 -1.85908942e+01] [ 2.25368724e-02 -4.33258120e-04 9.99745919e-01 1.85759505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26275509599999 meters 0.022336642131760905 Centerline is valid? [True, True] Translation: X:94.99, Y:-18.62, Z:1.86 [[ 9.38219335e-01 3.45371731e-01 -2.15138867e-02 9.49865799e+01] [-3.45269252e-01 9.38465844e-01 8.42637294e-03 -1.86156333e+01] [ 2.31002788e-02 -4.77702444e-04 9.99733039e-01 1.85715973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.322755096 meters 0.022997406296347212 Centerline is valid? [True, True] Translation: X:95.04, Y:-18.64, Z:1.86 [[ 9.38181062e-01 3.45452370e-01 -2.18850480e-02 9.50430988e+01] [-3.45346191e-01 9.38436157e-01 8.57838208e-03 -1.86411175e+01] [ 2.35011427e-02 -4.90157661e-04 9.99723690e-01 1.85773536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.382755096 meters 0.022749089608254183 Centerline is valid? [True, True] Translation: X:95.10, Y:-18.66, Z:1.86 [[ 9.38018274e-01 3.45897331e-01 -2.18347008e-02 9.51013696e+01] [-3.45791598e-01 9.38272243e-01 8.56555019e-03 -1.86648117e+01] [ 2.34496947e-02 -4.84386496e-04 9.99724901e-01 1.85884935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.442755096 meters 0.021113210286382456 Centerline is valid? [True, True] Translation: X:95.16, Y:-18.69, Z:1.86 [[ 9.37836927e-01 3.46419250e-01 -2.13448299e-02 9.51601809e+01] [-3.46318182e-01 9.38079679e-01 8.38048673e-03 -1.86865877e+01] [ 2.29263131e-02 -4.67427251e-04 9.99737048e-01 1.86068564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50275509599999 meters 0.023250977736965217 Centerline is valid? [True, True] Translation: X:95.22, Y:-18.71, Z:1.86 [[ 9.37641354e-01 3.46975327e-01 -2.09000890e-02 9.52155860e+01] [-3.46878399e-01 9.37874149e-01 8.21320899e-03 -1.87148552e+01] [ 2.24514341e-02 -4.51254971e-04 9.99747833e-01 1.86185610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56275509599999 meters 0.02149662812298773 Centerline is valid? [True, True] Translation: X:95.27, Y:-18.74, Z:1.86 [[ 9.37537716e-01 3.47305902e-01 -2.00410063e-02 9.52740917e+01] [-3.47216716e-01 9.37751793e-01 7.88210088e-03 -1.87369295e+01] [ 2.15309897e-02 -4.31194464e-04 9.99768088e-01 1.86438346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62275509599999 meters 0.020943290383966206 Centerline is valid? [True, True] Translation: X:95.33, Y:-18.76, Z:1.87 [[ 9.37552603e-01 3.47320043e-01 -1.90762912e-02 9.53320566e+01] [-3.47239110e-01 9.37746562e-01 7.50906888e-03 -1.87624464e+01] [ 2.04967767e-02 -4.16112672e-04 9.99789832e-01 1.86757501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.682755096 meters 0.02053650378614163 Centerline is valid? [True, True] Translation: X:95.39, Y:-18.79, Z:1.87 [[ 9.37381614e-01 3.47799289e-01 -1.87447078e-02 9.53899289e+01] [-3.47721107e-01 9.37568926e-01 7.38520222e-03 -1.87868968e+01] [ 2.01430237e-02 -4.04822214e-04 9.99797027e-01 1.86950781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.742755096 meters 0.02060987267066717 Centerline is valid? [True, True] Translation: X:95.45, Y:-18.81, Z:1.87 [[ 9.37074706e-01 3.48638451e-01 -1.84993583e-02 9.54469734e+01] [-3.48562334e-01 9.37257211e-01 7.29515122e-03 -1.88112564e+01] [ 1.98820272e-02 -3.87922164e-04 9.99802258e-01 1.87111974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.802755096 meters 0.01998908101425025 Centerline is valid? [True, True] Translation: X:95.50, Y:-18.84, Z:1.87 [[ 9.37007960e-01 3.48827796e-01 -1.83098879e-02 9.55049960e+01] [-3.48753153e-01 9.37186759e-01 7.22618104e-03 -1.88354293e+01] [ 1.96804773e-02 -3.85358015e-04 9.99806246e-01 1.87217895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.862755096 meters 0.02160075701304434 Centerline is valid? [True, True] Translation: X:95.56, Y:-18.86, Z:1.87 [[ 9.36894341e-01 3.49143531e-01 -1.81049298e-02 9.55615786e+01] [-3.49070482e-01 9.37069181e-01 7.15185099e-03 -1.88607165e+01] [ 1.94625942e-02 -3.80632146e-04 9.99810513e-01 1.87236813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92275509599999 meters 0.021431000307247094 Centerline is valid? [True, True] Translation: X:95.62, Y:-18.88, Z:1.87 [[ 9.36473487e-01 3.50259476e-01 -1.83223203e-02 9.56198922e+01] [-3.50184790e-01 9.36652639e-01 7.24201346e-03 -1.88833186e+01] [ 1.96982335e-02 -3.65755721e-04 9.99805904e-01 1.87392978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98275509599999 meters 0.019996945056488726 Centerline is valid? [True, True] Translation: X:95.68, Y:-18.90, Z:1.87 [[ 9.36216881e-01 3.50894321e-01 -1.92646771e-02 9.56792253e+01] [-3.50811764e-01 9.36414990e-01 7.62049895e-03 -1.89040833e+01] [ 2.07137222e-02 -3.76164410e-04 9.99785377e-01 1.87381699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.042755096 meters 0.02022705753324647 Centerline is valid? [True, True] Translation: X:95.74, Y:-18.93, Z:1.87 [[ 9.36105527e-01 3.51165562e-01 -1.97278941e-02 9.57374554e+01] [-3.51078893e-01 9.36313302e-01 7.81100135e-03 -1.89255982e+01] [ 2.12144444e-02 -3.85874316e-04 9.99774874e-01 1.87412876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.102755096 meters 0.020362836784001158 Centerline is valid? [True, True] Translation: X:95.80, Y:-18.95, Z:1.88 [[ 9.36271241e-01 3.50721942e-01 -1.97556047e-02 9.57958011e+01] [-3.50634790e-01 9.36479555e-01 7.82856384e-03 -1.89479678e+01] [ 2.12463690e-02 -4.02656887e-04 9.99774189e-01 1.87552144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.162755096 meters 0.02104193870132088 Centerline is valid? [True, True] Translation: X:95.85, Y:-18.97, Z:1.88 [[ 9.36819592e-01 3.49282756e-01 -1.92512047e-02 9.58530686e+01] [-3.49199577e-01 9.37017274e-01 7.63436091e-03 -1.89705684e+01] [ 2.07052619e-02 -4.29506359e-04 9.99785531e-01 1.87792126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.222755096 meters 0.022031169638377666 Centerline is valid? [True, True] Translation: X:95.91, Y:-18.99, Z:1.88 [[ 9.37286072e-01 3.48067603e-01 -1.85408320e-02 9.59112396e+01] [-3.47990148e-01 9.37469332e-01 7.35586430e-03 -1.89933040e+01] [ 1.99417994e-02 -4.42522292e-04 9.99801045e-01 1.87975219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28275509599999 meters 0.02205203252611315 Centerline is valid? [True, True] Translation: X:95.97, Y:-19.01, Z:1.88 [[ 9.37567218e-01 3.47315523e-01 -1.84293006e-02 9.59698427e+01] [-3.47238740e-01 9.37748215e-01 7.31729491e-03 -1.90144731e+01] [ 1.98234538e-02 -4.61088722e-04 9.99803390e-01 1.88147208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34275509599999 meters 0.022999288852910593 Centerline is valid? [True, True] Translation: X:96.03, Y:-19.04, Z:1.88 [[ 9.37795065e-01 3.46727898e-01 -1.78935865e-02 9.60262074e+01] [-3.46655301e-01 9.37965644e-01 7.11008902e-03 -1.90376821e+01] [ 1.92488356e-02 -4.64899782e-04 9.99814616e-01 1.88318441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40275509599999 meters 0.02355036809231074 Centerline is valid? [True, True] Translation: X:96.08, Y:-19.06, Z:1.89 [[ 9.38183693e-01 3.45735606e-01 -1.66808321e-02 9.60839769e+01] [-3.45672280e-01 9.38331862e-01 6.63267082e-03 -1.90603463e+01] [ 1.79453067e-02 -4.56562350e-04 9.99838866e-01 1.88544462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.462755096 meters 0.024529582153852997 Centerline is valid? [True, True] Translation: X:96.14, Y:-19.08, Z:1.89 [[ 9.38413681e-01 3.45170036e-01 -1.54080763e-02 9.61408609e+01] [-3.45115857e-01 9.38540066e-01 6.13099445e-03 -1.90834656e+01] [ 1.65773326e-02 -4.35837598e-04 9.99862492e-01 1.88765656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.522755096 meters 0.025309732793323117 Centerline is valid? [True, True] Translation: X:96.20, Y:-19.11, Z:1.89 [[ 9.38427339e-01 3.45194183e-01 -1.39680041e-02 9.61982269e+01] [-3.45149611e-01 9.38531202e-01 5.56133166e-03 -1.91068383e+01] [ 1.50291470e-02 -3.97854507e-04 9.99886977e-01 1.89020459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.582755096 meters 0.022045782614679602 Centerline is valid? [True, True] Translation: X:96.26, Y:-19.12, Z:1.89 [[ 9.37753546e-01 3.46982885e-01 -1.48715942e-02 9.62581811e+01] [-3.46932503e-01 9.37871377e-01 5.92616976e-03 -1.91230430e+01] [ 1.60039220e-02 -3.97847299e-04 9.99871850e-01 1.88959517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64275509599999 meters 0.02347468816082135 Centerline is valid? [True, True] Translation: X:96.32, Y:-19.15, Z:1.89 [[ 9.36582472e-01 3.50059542e-01 -1.64800115e-02 9.63151540e+01] [-3.49998039e-01 9.36727370e-01 6.57313617e-03 -1.91458631e+01] [ 1.77382669e-02 -3.88312401e-04 9.99842589e-01 1.88920135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70275509599999 meters 0.021166802343485554 Centerline is valid? [True, True] Translation: X:96.38, Y:-19.16, Z:1.89 [[ 9.35719615e-01 3.52327959e-01 -1.71409166e-02 9.63750795e+01] [-3.52261705e-01 9.35876528e-01 6.84211342e-03 -1.91645483e+01] [ 1.84524494e-02 -3.64211231e-04 9.99829673e-01 1.88987421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76275509599999 meters 0.019156188167182002 Centerline is valid? [True, True] Translation: X:96.43, Y:-19.18, Z:1.89 [[ 9.34351817e-01 3.55943313e-01 -1.70599221e-02 9.64342003e+01] [-3.55878252e-01 9.34507503e-01 6.81156083e-03 -1.91842808e+01] [ 1.83671547e-02 -2.93138985e-04 9.99831267e-01 1.89194026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.822755096 meters 0.0185213411558651 Centerline is valid? [True, True] Translation: X:96.49, Y:-19.21, Z:1.89 [[ 9.33428705e-01 3.58371837e-01 -1.67474936e-02 9.64924461e+01] [-3.58309435e-01 9.33578902e-01 6.69198603e-03 -1.92056781e+01] [ 1.80333260e-02 -2.45706906e-04 9.99837356e-01 1.89313865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.882755096 meters 0.01752067041827294 Centerline is valid? [True, True] Translation: X:96.55, Y:-19.23, Z:1.89 [[ 9.32295415e-01 3.61285497e-01 -1.72641117e-02 9.65514356e+01] [-3.61219582e-01 9.32455227e-01 6.90392005e-03 -1.92255254e+01] [ 1.85922974e-02 -2.00357803e-04 9.99827128e-01 1.89463580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.942755096 meters 0.01719755264409595 Centerline is valid? [True, True] Translation: X:96.61, Y:-19.25, Z:1.90 [[ 9.31775037e-01 3.62591230e-01 -1.79688787e-02 9.66087446e+01] [-3.62519953e-01 9.31948263e-01 7.19161077e-03 -1.92483735e+01] [ 1.93536803e-02 -1.86886344e-04 9.99812683e-01 1.89539801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00275509599999 meters 0.01760351104651672 Centerline is valid? [True, True] Translation: X:96.67, Y:-19.27, Z:1.90 [[ 9.31739155e-01 3.62731280e-01 -1.69754435e-02 9.66656344e+01] [-3.62667596e-01 9.31893764e-01 6.79910614e-03 -1.92740808e+01] [ 1.82855584e-02 -1.78550107e-04 9.99832789e-01 1.89786097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06275509599999 meters 0.017273361453380785 Centerline is valid? [True, True] Translation: X:96.72, Y:-19.30, Z:1.90 [[ 9.31876512e-01 3.62407114e-01 -1.63477774e-02 9.67245558e+01] [-3.62347944e-01 9.32019877e-01 6.55105571e-03 -1.92968838e+01] [ 1.76106027e-02 -1.81191409e-04 9.99844905e-01 1.89946151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12275509599999 meters 0.017930567209924225 Centerline is valid? [True, True] Translation: X:96.78, Y:-19.32, Z:1.90 [[ 9.32511937e-01 3.60767561e-01 -1.63784349e-02 9.67811064e+01] [-3.60707811e-01 9.32655735e-01 6.56934710e-03 -1.93225627e+01] [ 1.76454486e-02 -2.18165197e-04 9.99844283e-01 1.89990439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.182755096 meters 0.018563671544379556 Centerline is valid? [True, True] Translation: X:96.84, Y:-19.35, Z:1.90 [[ 9.33019653e-01 3.59457254e-01 -1.62729491e-02 9.68380353e+01] [-3.59397983e-01 9.33161520e-01 6.53208250e-03 -1.93483903e+01] [ 1.75332943e-02 -2.46096273e-04 9.99846250e-01 1.90092696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.242755096 meters 0.02035655045094711 Centerline is valid? [True, True] Translation: X:96.89, Y:-19.38, Z:1.90 [[ 9.34388178e-01 3.55863570e-01 -1.67287783e-02 9.68929772e+01] [-3.55800259e-01 9.34537860e-01 6.72039438e-03 -1.93751483e+01] [ 1.80252202e-02 -3.27353423e-04 9.99837479e-01 1.90174582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.302755096 meters 0.021252953309131867 Centerline is valid? [True, True] Translation: X:96.95, Y:-19.40, Z:1.90 [[ 9.34856534e-01 3.54620411e-01 -1.69594826e-02 9.69503169e+01] [-3.54555048e-01 9.35010285e-01 6.81792012e-03 -1.93996243e+01] [ 1.82750643e-02 -3.60707026e-04 9.99832932e-01 1.90280095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.362755096 meters 0.024330177105104878 Centerline is valid? [True, True] Translation: X:97.00, Y:-19.43, Z:1.90 [[ 9.36706396e-01 3.49730524e-01 -1.64221611e-02 9.70047922e+01] [-3.49668400e-01 9.36850234e-01 6.60670008e-03 -1.94274496e+01] [ 1.76956701e-02 -4.46227435e-04 9.99843320e-01 1.90442746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42275509599999 meters 0.027714632768819802 Centerline is valid? [True, True] Translation: X:97.06, Y:-19.46, Z:1.91 [[ 9.38425156e-01 3.45114191e-01 -1.59505795e-02 9.70577237e+01] [-3.45054838e-01 9.38560559e-01 6.42160412e-03 -1.94557659e+01] [ 1.71867716e-02 -5.22370219e-04 9.99852160e-01 1.90608922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48275509599999 meters 0.029796683474042455 Centerline is valid? [True, True] Translation: X:97.11, Y:-19.48, Z:1.91 [[ 9.39266170e-01 3.42817917e-01 -1.59667512e-02 9.71146971e+01] [-3.42758113e-01 9.39401701e-01 6.42799781e-03 -1.94814064e+01] [ 1.72028261e-02 -5.64867374e-04 9.99851861e-01 1.90633951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.542755096 meters 0.024328139160271423 Centerline is valid? [True, True] Translation: X:97.18, Y:-19.50, Z:1.91 [[ 9.38823904e-01 3.44028356e-01 -1.59426166e-02 9.71753725e+01] [-3.43968891e-01 9.38959102e-01 6.41922611e-03 -1.94960638e+01] [ 1.71778608e-02 -5.42758778e-04 9.99852302e-01 1.90615388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.602755096 meters 0.023050044426105934 Centerline is valid? [True, True] Translation: X:97.23, Y:-19.52, Z:1.91 [[ 9.37359361e-01 3.47992870e-01 -1.60745462e-02 9.72324364e+01] [-3.47932899e-01 9.37497057e-01 6.47803064e-03 -1.95162380e+01] [ 1.73241482e-02 -4.79379204e-04 9.99849811e-01 1.90616196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.662755096 meters 0.024062122745828824 Centerline is valid? [True, True] Translation: X:97.29, Y:-19.54, Z:1.91 [[ 9.35977376e-01 3.51685855e-01 -1.62299644e-02 9.72882935e+01] [-3.51625272e-01 9.36117988e-01 6.54073231e-03 -1.95411722e+01] [ 1.74934447e-02 -4.15111811e-04 9.99846892e-01 1.90676597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.722755096 meters 0.01985617710231038 Centerline is valid? [True, True] Translation: X:97.35, Y:-19.56, Z:1.91 [[ 9.34305926e-01 3.56088275e-01 -1.65401492e-02 9.73480043e+01] [-3.56025955e-01 9.34452258e-01 6.67062346e-03 -1.95583261e+01] [ 1.78313106e-02 -3.43680594e-04 9.99840950e-01 1.90674381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78275509599999 meters 0.01947132802994894 Centerline is valid? [True, True] Translation: X:97.40, Y:-19.58, Z:1.91 [[ 9.33560415e-01 3.58052150e-01 -1.62360560e-02 9.74041827e+01] [-3.57992305e-01 9.33701539e-01 6.55323420e-03 -1.95813975e+01] [ 1.75060301e-02 -3.05456902e-04 9.99846711e-01 1.90738199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84275509599999 meters 0.018792557520034288 Centerline is valid? [True, True] Translation: X:97.46, Y:-19.61, Z:1.91 [[ 9.33288712e-01 3.58762850e-01 -1.61677794e-02 9.74629581e+01] [-3.58703568e-01 9.33428696e-01 6.52835418e-03 -1.96050989e+01] [ 1.74336002e-02 -2.93399132e-04 9.99847980e-01 1.90828147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90275509599999 meters 0.018840119673417758 Centerline is valid? [True, True] Translation: X:97.52, Y:-19.63, Z:1.91 [[ 9.33250785e-01 3.58843233e-01 -1.65682679e-02 9.75202978e+01] [-3.58780875e-01 9.33397794e-01 6.69642397e-03 -1.96300160e+01] [ 1.78677511e-02 -3.05065272e-04 9.99840312e-01 1.90920783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.962755096 meters 0.01906146935596735 Centerline is valid? [True, True] Translation: X:97.58, Y:-19.65, Z:1.91 [[ 9.33080064e-01 3.59289590e-01 -1.65101264e-02 9.75777409e+01] [-3.59227630e-01 9.33226071e-01 6.67905501e-03 -1.96535173e+01] [ 1.78073953e-02 -3.01199489e-04 9.99841390e-01 1.91038405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.022755096 meters 0.019095095291273626 Centerline is valid? [True, True] Translation: X:97.64, Y:-19.68, Z:1.91 [[ 9.32925029e-01 3.59667199e-01 -1.70410391e-02 9.76365852e+01] [-3.59601143e-01 9.33080602e-01 6.89983708e-03 -1.96769411e+01] [ 1.83823081e-02 -3.09053585e-04 9.99830983e-01 1.91089222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.082755096 meters 0.019027125751992054 Centerline is valid? [True, True] Translation: X:97.70, Y:-19.70, Z:1.91 [[ 9.33386829e-01 3.58369367e-01 -1.89848319e-02 9.76952317e+01] [-3.58286958e-01 9.33579805e-01 7.69438281e-03 -1.96987294e+01] [ 2.04812867e-02 -3.79817922e-04 9.99790164e-01 1.90994367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14275509599999 meters 0.019931406266480083 Centerline is valid? [True, True] Translation: X:97.75, Y:-19.72, Z:1.91 [[ 9.34274211e-01 3.55944279e-01 -2.08654785e-02 9.77528865e+01] [-3.55843959e-01 9.34507056e-01 8.46402592e-03 -1.97222738e+01] [ 2.25116585e-02 -4.82866659e-04 9.99746464e-01 1.90943501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20275509599999 meters 0.020911243100555595 Centerline is valid? [True, True] Translation: X:97.81, Y:-19.75, Z:1.91 [[ 9.34985830e-01 3.54058325e-01 -2.10760670e-02 9.78099916e+01] [-3.53955331e-01 9.35223188e-01 8.55644843e-03 -1.97465982e+01] [ 2.27403083e-02 -5.40171778e-04 9.99741260e-01 1.91013673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26275509599999 meters 0.022904373177758695 Centerline is valid? [True, True] Translation: X:97.87, Y:-19.77, Z:1.91 [[ 9.36079474e-01 3.51176140e-01 -2.07493798e-02 9.78661126e+01] [-3.51075458e-01 9.36309217e-01 8.43044895e-03 -1.97707161e+01] [ 2.23884081e-02 -6.06972208e-04 9.99749164e-01 1.91116534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.322755096 meters 0.024045705896743146 Centerline is valid? [True, True] Translation: X:97.92, Y:-19.79, Z:1.91 [[ 9.36383508e-01 3.50432300e-01 -1.95736675e-02 9.79233545e+01] [-3.50342427e-01 9.36587876e-01 7.95830779e-03 -1.97924683e+01] [ 2.11213077e-02 -5.94542008e-04 9.99776744e-01 1.91304217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.382755096 meters 0.023530634555827 Centerline is valid? [True, True] Translation: X:97.98, Y:-19.81, Z:1.92 [[ 9.36011793e-01 3.51494687e-01 -1.82594760e-02 9.79820579e+01] [-3.51416582e-01 9.36189722e-01 7.42898562e-03 -1.98138679e+01] [ 1.97055828e-02 -5.36935507e-04 9.99805682e-01 1.91591310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.442755096 meters 0.021478846152520187 Centerline is valid? [True, True] Translation: X:98.04, Y:-19.83, Z:1.92 [[ 9.34918310e-01 3.54461301e-01 -1.68801437e-02 9.80425003e+01] [-3.54394942e-01 9.35070580e-01 6.87279424e-03 -1.98310484e+01] [ 1.82202654e-02 -4.43263625e-04 9.99833899e-01 1.91868415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50275509599999 meters 0.02194526303134536 Centerline is valid? [True, True] Translation: X:98.10, Y:-19.85, Z:1.92 [[ 9.33789719e-01 3.57437928e-01 -1.65797803e-02 9.80995092e+01] [-3.57374345e-01 9.33936820e-01 6.75234622e-03 -1.98522646e+01] [ 1.78980119e-02 -3.80083340e-04 9.99839746e-01 1.92036283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56275509599999 meters 0.01931720472023441 Centerline is valid? [True, True] Translation: X:98.16, Y:-19.87, Z:1.92 [[ 9.32246459e-01 3.61446356e-01 -1.65248811e-02 9.81612116e+01] [-3.61383767e-01 9.32392857e-01 6.73307417e-03 -1.98664268e+01] [ 1.78413262e-02 -3.05060787e-04 9.99840784e-01 1.92202123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62275509599999 meters 0.019194740003796222 Centerline is valid? [True, True] Translation: X:98.22, Y:-19.89, Z:1.92 [[ 9.31634681e-01 3.63062242e-01 -1.55766069e-02 9.82190768e+01] [-3.63006833e-01 9.31764853e-01 6.34807213e-03 -1.98854144e+01] [ 1.68184801e-02 -2.59669426e-04 9.99858526e-01 1.92386811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.682755096 meters 0.020251751677849577 Centerline is valid? [True, True] Translation: X:98.28, Y:-19.91, Z:1.93 [[ 9.32456231e-01 3.60993454e-01 -1.44603727e-02 9.82763650e+01] [-3.60945393e-01 9.32568307e-01 5.89703996e-03 -1.99090058e+01] [ 1.56140781e-02 -2.79326753e-04 9.99878054e-01 1.92555609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.742755096 meters 0.02088427290831811 Centerline is valid? [True, True] Translation: X:98.33, Y:-19.93, Z:1.93 [[ 9.33407325e-01 3.58522921e-01 -1.45629715e-02 9.83331836e+01] [-3.58473803e-01 9.33520866e-01 5.94345665e-03 -1.99332402e+01] [ 1.57257032e-02 -3.27222216e-04 9.99876290e-01 1.92605155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.802755096 meters 0.023094469890704506 Centerline is valid? [True, True] Translation: X:98.39, Y:-19.96, Z:1.93 [[ 9.35164169e-01 3.53909540e-01 -1.46974381e-02 9.83891040e+01] [-3.53858854e-01 9.35279566e-01 6.00377147e-03 -1.99601118e+01] [ 1.58710055e-02 -4.13693355e-04 9.99873962e-01 1.92627026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.862755096 meters 0.024340719514971354 Centerline is valid? [True, True] Translation: X:98.45, Y:-19.99, Z:1.93 [[ 9.36265687e-01 3.50992027e-01 -1.45313258e-02 9.84458358e+01] [-3.50942108e-01 9.36378335e-01 5.93723529e-03 -1.99853345e+01] [ 1.56907409e-02 -4.59175572e-04 9.99876787e-01 1.92676782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92275509599999 meters 0.025927488599804878 Centerline is valid? [True, True] Translation: X:98.50, Y:-20.01, Z:1.93 [[ 9.37513709e-01 3.47636784e-01 -1.47211015e-02 9.85025548e+01] [-3.47585117e-01 9.37629134e-01 6.01615111e-03 -2.00106559e+01] [ 1.58943691e-02 -5.23388349e-04 9.99873540e-01 1.92686144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98275509599999 meters 0.027332914586140213 Centerline is valid? [True, True] Translation: X:98.56, Y:-20.04, Z:1.93 [[ 9.38042977e-01 3.46180444e-01 -1.53125327e-02 9.85590995e+01] [-3.46124331e-01 9.38167775e-01 6.25887114e-03 -2.00358992e+01] [ 1.65324235e-02 -5.71049995e-04 9.99863167e-01 1.92711671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.042755096 meters 0.02868859203173482 Centerline is valid? [True, True] Translation: X:98.62, Y:-20.06, Z:1.93 [[ 9.38094093e-01 3.46000998e-01 -1.62105763e-02 9.86151596e+01] [-3.45937986e-01 9.38233944e-01 6.63144398e-03 -2.00606106e+01] [ 1.75037992e-02 -6.13064302e-04 9.99846609e-01 1.92774632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.102755096 meters 0.028651605452134014 Centerline is valid? [True, True] Translation: X:98.67, Y:-20.08, Z:1.93 [[ 9.37971264e-01 3.46328698e-01 -1.63199843e-02 9.86735356e+01] [-3.46264799e-01 9.38113029e-01 6.68090981e-03 -2.00841682e+01] [ 1.76237806e-02 -6.15465352e-04 9.99844500e-01 1.92847192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.162755096 meters 0.02968665264875204 Centerline is valid? [True, True] Translation: X:98.73, Y:-20.11, Z:1.93 [[ 9.37934747e-01 3.46446701e-01 -1.59089328e-02 9.87305879e+01] [-3.46385904e-01 9.38069464e-01 6.51813260e-03 -2.01093348e+01] [ 1.71818696e-02 -6.02952966e-04 9.99852199e-01 1.93045524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.222755096 meters 0.029535605992792757 Centerline is valid? [True, True] Translation: X:98.79, Y:-20.13, Z:1.93 [[ 9.37793142e-01 3.46849816e-01 -1.54670274e-02 9.87892896e+01] [-3.46792323e-01 9.37920500e-01 6.34190864e-03 -2.01329688e+01] [ 1.67065319e-02 -5.83552074e-04 9.99860266e-01 1.93212829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28275509599999 meters 0.029276443390356118 Centerline is valid? [True, True] Translation: X:98.85, Y:-20.16, Z:1.93 [[ 9.37292665e-01 3.48213448e-01 -1.51609868e-02 9.88476587e+01] [-3.48158293e-01 9.37415110e-01 6.22208904e-03 -2.01555319e+01] [ 1.63787532e-02 -5.53495119e-04 9.99865706e-01 1.93406647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34275509599999 meters 0.025628615838989517 Centerline is valid? [True, True] Translation: X:98.91, Y:-20.17, Z:1.93 [[ 9.36512218e-01 3.50279952e-01 -1.57740787e-02 9.89078763e+01] [-3.50220514e-01 9.36644898e-01 6.47512361e-03 -2.01732774e+01] [ 1.70428163e-02 -5.39626428e-04 9.99854615e-01 1.93480882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40275509599999 meters 0.02462471666129495 Centerline is valid? [True, True] Translation: X:98.96, Y:-20.19, Z:1.94 [[ 9.35321989e-01 3.53428216e-01 -1.61639217e-02 9.89646820e+01] [-3.53366174e-01 9.35461515e-01 6.64081002e-03 -2.01936683e+01] [ 1.74677763e-02 -4.99512465e-04 9.99847302e-01 1.93658150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.462755096 meters 0.02329440489122351 Centerline is valid? [True, True] Translation: X:99.02, Y:-20.21, Z:1.94 [[ 9.34059469e-01 3.56724522e-01 -1.67488159e-02 9.90237546e+01] [-3.56658434e-01 9.34209510e-01 6.88132468e-03 -2.02137386e+01] [ 1.81016404e-02 -4.53960023e-04 9.99836049e-01 1.93744409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.522755096 meters 0.02157677373700495 Centerline is valid? [True, True] Translation: X:99.08, Y:-20.23, Z:1.94 [[ 9.33034532e-01 3.59374334e-01 -1.72235456e-02 9.90836062e+01] [-3.59304793e-01 9.33193395e-01 7.08190721e-03 -2.02331131e+01] [ 1.86179546e-02 -4.19161505e-04 9.99826583e-01 1.93791795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.582755096 meters 0.0224307103857672 Centerline is valid? [True, True] Translation: X:99.14, Y:-20.26, Z:1.94 [[ 9.32782226e-01 3.60024312e-01 -1.73151167e-02 9.91396397e+01] [-3.59954104e-01 9.32942831e-01 7.12153924e-03 -2.02572923e+01] [ 1.87179412e-02 -4.10197908e-04 9.99824720e-01 1.93909330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64275509599999 meters 0.024034568353336876 Centerline is valid? [True, True] Translation: X:99.20, Y:-20.28, Z:1.94 [[ 9.33398398e-01 3.58462121e-01 -1.65026794e-02 9.91954328e+01] [-3.58398020e-01 9.33544175e-01 6.79207612e-03 -2.02828624e+01] [ 1.78406823e-02 -4.25185333e-04 9.99840752e-01 1.94091489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70275509599999 meters 0.023737101724332747 Centerline is valid? [True, True] Translation: X:99.25, Y:-20.31, Z:1.94 [[ 9.34276350e-01 3.56171977e-01 -1.64080834e-02 9.92534026e+01] [-3.56108212e-01 9.34420303e-01 6.75560273e-03 -2.03062086e+01] [ 1.77382026e-02 -4.68546633e-04 9.99842556e-01 1.94229528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76275509599999 meters 0.025198987776136172 Centerline is valid? [True, True] Translation: X:99.31, Y:-20.33, Z:1.94 [[ 9.35601216e-01 3.52694362e-01 -1.60328439e-02 9.93096418e+01] [-3.52632884e-01 9.35738430e-01 6.60603779e-03 -2.03315133e+01] [ 1.73324605e-02 -5.26909002e-04 9.99849643e-01 1.94290577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.822755096 meters 0.03008617301002057 Centerline is valid? [True, True] Translation: X:99.36, Y:-20.36, Z:1.94 [[ 9.36589596e-01 3.50048454e-01 -1.63097688e-02 9.93630444e+01] [-3.49984345e-01 9.36731408e-01 6.72510192e-03 -2.03612525e+01] [ 1.76319843e-02 -5.90496720e-04 9.99844370e-01 1.94314954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.882755096 meters 0.027779817203742833 Centerline is valid? [True, True] Translation: X:99.42, Y:-20.38, Z:1.94 [[ 9.36943319e-01 3.49042518e-01 -1.75081991e-02 9.94214342e+01] [-3.48968354e-01 9.37106657e-01 7.22512856e-03 -2.03812513e+01] [ 1.89289269e-02 -6.59728543e-04 9.99820614e-01 1.94273927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.942755096 meters 0.028799854228658092 Centerline is valid? [True, True] Translation: X:99.48, Y:-20.41, Z:1.94 [[ 9.36855389e-01 3.49234093e-01 -1.83719578e-02 9.94777955e+01] [-3.49152348e-01 9.37035254e-01 7.58755472e-03 -2.04060492e+01] [ 1.98650050e-02 -6.93829308e-04 9.99802431e-01 1.94205539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00275509599999 meters 0.02842371599637327 Centerline is valid? [True, True] Translation: X:99.53, Y:-20.43, Z:1.94 [[ 9.36540778e-01 3.50090029e-01 -1.81202407e-02 9.95348907e+01] [-3.50010590e-01 9.36715817e-01 7.48762061e-03 -2.04294761e+01] [ 1.95948574e-02 -6.70185888e-04 9.99807778e-01 1.94296555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06275509599999 meters 0.02706705483949846 Centerline is valid? [True, True] Translation: X:99.59, Y:-20.45, Z:1.94 [[ 9.35653915e-01 3.52491179e-01 -1.73700650e-02 9.95926925e+01] [-3.52418499e-01 9.35814944e-01 7.18274865e-03 -2.04520203e+01] [ 1.87870220e-02 -5.99034656e-04 9.99823329e-01 1.94473091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12275509599999 meters 0.0264194282958036 Centerline is valid? [True, True] Translation: X:99.65, Y:-20.48, Z:1.95 [[ 9.34687139e-01 3.55106322e-01 -1.61075153e-02 9.96490152e+01] [-3.55044131e-01 9.34825780e-01 6.66527117e-03 -2.04753958e+01] [ 1.74246005e-02 -5.11064460e-04 9.99848050e-01 1.94748002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.182755096 meters 0.023452152459074265 Centerline is valid? [True, True] Translation: X:99.71, Y:-20.50, Z:1.95 [[ 9.33984750e-01 3.56972584e-01 -1.55904232e-02 9.97072634e+01] [-3.56914513e-01 9.34114746e-01 6.45543842e-03 -2.04964540e+01] [ 1.68676587e-02 -4.64832752e-04 9.99857623e-01 1.94981060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.242755096 meters 0.02283988955099735 Centerline is valid? [True, True] Translation: X:99.76, Y:-20.52, Z:1.95 [[ 9.33589623e-01 3.58012666e-01 -1.54060324e-02 9.97643356e+01] [-3.57956019e-01 9.33716623e-01 6.38404210e-03 -2.05201840e+01] [ 1.66704365e-02 -4.45393423e-04 9.99860939e-01 1.95092895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.302755096 meters 0.023180730475503536 Centerline is valid? [True, True] Translation: X:99.82, Y:-20.54, Z:1.95 [[ 9.33085073e-01 3.59292889e-01 -1.61513771e-02 9.98200370e+01] [-3.59230721e-01 9.33224742e-01 6.69851144e-03 -2.05445804e+01] [ 1.74795922e-02 -4.48210208e-04 9.99847120e-01 1.95119573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36275509599999 meters 0.02303944299172396 Centerline is valid? [True, True] Translation: X:99.88, Y:-20.57, Z:1.95 [[ 9.32729123e-01 3.60185087e-01 -1.68251625e-02 9.98766423e+01] [-3.60117674e-01 9.32880752e-01 6.98312702e-03 -2.05690923e+01] [ 1.82110885e-02 -4.54327561e-04 9.99834061e-01 1.95148207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42275509599999 meters 0.023361538002242187 Centerline is valid? [True, True] Translation: X:99.93, Y:-20.59, Z:1.95 [[ 9.32447991e-01 3.60857398e-01 -1.79633802e-02 9.99324591e+01] [-3.60780565e-01 9.32620883e-01 7.46139809e-03 -2.05945435e+01] [ 1.94455242e-02 -4.76527206e-04 9.99810804e-01 1.95179446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48275509599999 meters 0.023464185881963872 Centerline is valid? [True, True] Translation: X:99.99, Y:-20.62, Z:1.95 [[ 9.32747734e-01 3.60033475e-01 -1.89093126e-02 9.99890784e+01] [-3.59948093e-01 9.32939239e-01 7.85796285e-03 -2.06204075e+01] [ 2.04703694e-02 -5.23126025e-04 9.99790323e-01 1.95167850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.542755096 meters 0.02473347452693905 Centerline is valid? [True, True] Translation: X:100.05, Y:-20.65, Z:1.95 [[ 9.33355071e-01 3.58448225e-01 -1.90573264e-02 1.00045074e+02] [-3.58361047e-01 9.33549435e-01 7.92543824e-03 -2.06484101e+01] [ 2.06318156e-02 -5.67844530e-04 9.99786980e-01 1.95276160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.602755096 meters 0.026961410653581222 Centerline is valid? [True, True] Translation: X:100.10, Y:-20.68, Z:1.95 [[ 9.34329053e-01 3.55916017e-01 -1.87885545e-02 1.00099402e+02] [-3.55830658e-01 9.34517739e-01 7.81911745e-03 -2.06776566e+01] [ 2.03411867e-02 -6.20084865e-04 9.99792904e-01 1.95472217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.662755096 meters 0.027377139664263896 Centerline is valid? [True, True] Translation: X:100.16, Y:-20.70, Z:1.96 [[ 9.34907960e-01 3.54347010e-01 -1.96291035e-02 1.00156185e+02] [-3.54253425e-01 9.35113750e-01 8.17228013e-03 -2.07038841e+01] [ 2.12512676e-02 -6.86652611e-04 9.99773931e-01 1.95529102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.722755096 meters 0.028142967897543638 Centerline is valid? [True, True] Translation: X:100.21, Y:-20.73, Z:1.96 [[ 9.34948181e-01 3.54205478e-01 -2.02577987e-02 1.00211081e+02] [-3.54105628e-01 9.35167345e-01 8.44039885e-03 -2.07301462e+01] [ 2.19340673e-02 -7.17935032e-04 9.99759162e-01 1.95617878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78275509599999 meters 0.028781910027902986 Centerline is valid? [True, True] Translation: X:100.27, Y:-20.76, Z:1.96 [[ 9.34168175e-01 3.56234887e-01 -2.06525007e-02 1.00265998e+02] [-3.56131469e-01 9.34396185e-01 8.61080848e-03 -2.07566800e+01] [ 2.23650882e-02 -6.88937854e-04 9.99749633e-01 1.95716690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84275509599999 meters 0.022599353222104386 Centerline is valid? [True, True] Translation: X:100.33, Y:-20.77, Z:1.96 [[ 9.32435325e-01 3.60688571e-01 -2.16360868e-02 1.00325694e+02] [-3.60576140e-01 9.32686108e-01 9.02608117e-03 -2.07731468e+01] [ 2.34352819e-02 -6.14780272e-04 9.99725167e-01 1.95843973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90275509599999 meters 0.02114768916141575 Centerline is valid? [True, True] Translation: X:100.38, Y:-20.80, Z:1.96 [[ 9.31014470e-01 3.64343682e-01 -2.15809848e-02 1.00383684e+02] [-3.64232753e-01 9.31264413e-01 9.00523581e-03 -2.07960405e+01] [ 2.33786039e-02 -5.23503345e-04 9.99726546e-01 1.95916591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.962755096 meters 0.019240820474740697 Centerline is valid? [True, True] Translation: X:100.44, Y:-20.82, Z:1.96 [[ 9.29227674e-01 3.68876971e-01 -2.15803313e-02 1.00441437e+02] [-3.68767109e-01 9.29478137e-01 9.01177108e-03 -2.08195993e+01] [ 2.33826810e-02 -4.15870681e-04 9.99726501e-01 1.96037386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.022755096 meters 0.018178988004242565 Centerline is valid? [True, True] Translation: X:100.50, Y:-20.84, Z:1.96 [[ 9.27903520e-01 3.72242928e-01 -2.07427176e-02 1.00497818e+02] [-3.72142129e-01 9.28135280e-01 8.66825239e-03 -2.08441036e+01] [ 2.24787436e-02 -3.24062842e-04 9.99747269e-01 1.96305001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.082755096 meters 0.017702403423805104 Centerline is valid? [True, True] Translation: X:100.56, Y:-20.87, Z:1.96 [[ 9.27584669e-01 3.73025408e-01 -2.09458247e-02 1.00555569e+02] [-3.72922673e-01 9.27821074e-01 8.75980286e-03 -2.08684368e+01] [ 2.27016066e-02 -3.14285917e-04 9.99742236e-01 1.96449637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14275509599999 meters 0.017807725916589273 Centerline is valid? [True, True] Translation: X:100.61, Y:-20.90, Z:1.97 [[ 9.27518872e-01 3.73204323e-01 -2.06706455e-02 1.00612330e+02] [-3.73104152e-01 9.27749123e-01 8.65192240e-03 -2.08956933e+01] [ 2.24061081e-02 -3.12517638e-04 9.99748903e-01 1.96614324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20275509599999 meters 0.018487717771567824 Centerline is valid? [True, True] Translation: X:100.67, Y:-20.92, Z:1.97 [[ 9.27792536e-01 3.72492475e-01 -2.12218175e-02 1.00666741e+02] [-3.72386537e-01 9.28035148e-01 8.88988659e-03 -2.09230482e+01] [ 2.30060084e-02 -3.45251288e-04 9.99735267e-01 1.96710518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26275509599999 meters 0.017925669914553737 Centerline is valid? [True, True] Translation: X:100.72, Y:-20.95, Z:1.97 [[ 9.28513981e-01 3.70636654e-01 -2.21417725e-02 1.00723311e+02] [-3.70520644e-01 9.28777852e-01 9.28186098e-03 -2.09491997e+01] [ 2.40049858e-02 -4.14353855e-04 9.99711753e-01 1.96820021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.322755096 meters 0.01871903502968766 Centerline is valid? [True, True] Translation: X:100.78, Y:-20.98, Z:1.97 [[ 9.29256415e-01 3.68691671e-01 -2.34300275e-02 1.00778989e+02] [-3.68560945e-01 9.29551614e-01 9.82994254e-03 -2.09766200e+01] [ 2.54036378e-02 -4.99144112e-04 9.99677151e-01 1.96854070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.382755096 meters 0.02101537058522851 Centerline is valid? [True, True] Translation: X:100.83, Y:-21.01, Z:1.97 [[ 9.30879934e-01 3.64518279e-01 -2.42687648e-02 1.00831778e+02] [-3.64376439e-01 9.31196013e-01 1.01880798e-02 -2.10078337e+01] [ 2.63127183e-02 -6.40912971e-04 9.99653555e-01 1.96827227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.442755096 meters 0.02333162522489734 Centerline is valid? [True, True] Translation: X:100.89, Y:-21.04, Z:1.97 [[ 9.32244827e-01 3.61021374e-01 -2.41484875e-02 1.00885942e+02] [-3.60879689e-01 9.32557249e-01 1.01404212e-02 -2.10382180e+01] [ 2.61807558e-02 -7.38656601e-04 9.99656952e-01 1.96999306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50275509599999 meters 0.021881260504126848 Centerline is valid? [True, True] Translation: X:100.94, Y:-21.06, Z:1.97 [[ 9.32399185e-01 3.60613599e-01 -2.42815235e-02 1.00943902e+02] [-3.60470012e-01 9.32714990e-01 1.02037913e-02 -2.10612093e+01] [ 2.63273669e-02 -7.61245577e-04 9.99653085e-01 1.97195252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56275509599999 meters 0.02255475641230756 Centerline is valid? [True, True] Translation: X:101.00, Y:-21.09, Z:1.97 [[ 9.31807047e-01 3.62148806e-01 -2.41634023e-02 1.00999988e+02] [-3.62006917e-01 9.32120014e-01 1.01622383e-02 -2.10865710e+01] [ 2.62034334e-02 -7.21926437e-04 9.99656370e-01 1.97298060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62275509599999 meters 0.02094803969469742 Centerline is valid? [True, True] Translation: X:101.06, Y:-21.11, Z:1.97 [[ 9.30162040e-01 3.66316522e-01 -2.47140750e-02 1.01057564e+02] [-3.66169392e-01 9.30490094e-01 1.04000254e-02 -2.11074699e+01] [ 2.68059031e-02 -6.24170966e-04 9.99640462e-01 1.97366495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.682755096 meters 0.019359538878043436 Centerline is valid? [True, True] Translation: X:101.12, Y:-21.13, Z:1.98 [[ 9.28841613e-01 3.69688202e-01 -2.41638268e-02 1.01116397e+02] [-3.69548612e-01 9.29155727e-01 1.01714503e-02 -2.11281308e+01] [ 2.62122232e-02 -5.17957695e-04 9.99656266e-01 1.97513266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.742755096 meters 0.01832727282565558 Centerline is valid? [True, True] Translation: X:101.17, Y:-21.15, Z:1.98 [[ 9.27277485e-01 3.73640266e-01 -2.34396606e-02 1.01173511e+02] [-3.73509996e-01 9.27573604e-01 9.87379004e-03 -2.11490286e+01] [ 2.54312560e-02 -4.00795655e-04 9.99676493e-01 1.97694918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.802755096 meters 0.016953891471814236 Centerline is valid? [True, True] Translation: X:101.23, Y:-21.17, Z:1.98 [[ 9.26118914e-01 3.76515688e-01 -2.32313332e-02 1.01232065e+02] [-3.76388453e-01 9.26410185e-01 9.79293083e-03 -2.11696672e+01] [ 2.52089357e-02 -3.25412912e-04 9.99682151e-01 1.97935541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86275509599999 meters 0.016553432967842417 Centerline is valid? [True, True] Translation: X:101.29, Y:-21.19, Z:1.98 [[ 9.25648619e-01 3.77689007e-01 -2.29270245e-02 1.01289269e+02] [-3.77565264e-01 9.25932463e-01 9.67187228e-03 -2.11931111e+01] [ 2.48818361e-02 -2.96307165e-04 9.99690355e-01 1.98083302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92275509599999 meters 0.01692701377192022 Centerline is valid? [True, True] Translation: X:101.35, Y:-21.22, Z:1.98 [[ 9.25581869e-01 3.77848672e-01 -2.29909683e-02 1.01345876e+02] [-3.77724101e-01 9.25867318e-01 9.70631562e-03 -2.12173539e+01] [ 2.49541046e-02 -2.99746928e-04 9.99688553e-01 1.98102348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98275509599999 meters 0.01672783136032932 Centerline is valid? [True, True] Translation: X:101.40, Y:-21.24, Z:1.98 [[ 9.26241423e-01 3.76263761e-01 -2.24144613e-02 1.01402569e+02] [-3.76144715e-01 9.26512529e-01 9.47033367e-03 -2.12422875e+01] [ 2.43306226e-02 -3.40734168e-04 9.99703909e-01 1.98327090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.042755096 meters 0.017994380889867746 Centerline is valid? [True, True] Translation: X:101.46, Y:-21.27, Z:1.98 [[ 9.26883471e-01 3.74661839e-01 -2.27054614e-02 1.01457814e+02] [-3.74539016e-01 9.27161448e-01 9.60079272e-03 -2.12695786e+01] [ 2.46486792e-02 -3.94734907e-04 9.99696097e-01 1.98277652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.102755096 meters 0.018975838326280678 Centerline is valid? [True, True] Translation: X:101.51, Y:-21.30, Z:1.98 [[ 9.27926049e-01 3.72044105e-01 -2.31610056e-02 1.01513719e+02] [-3.71915304e-01 9.28214928e-01 9.80069306e-03 -2.12963113e+01] [ 2.51446812e-02 -4.80385938e-04 9.99683707e-01 1.98367745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.162755096 meters 0.019714786303957448 Centerline is valid? [True, True] Translation: X:101.57, Y:-21.32, Z:1.98 [[ 9.28786033e-01 3.69863143e-01 -2.36169482e-02 1.01570246e+02] [-3.69728315e-01 9.29086080e-01 1.00014333e-02 -2.13225288e+01] [ 2.56413394e-02 -5.57337101e-04 9.99671051e-01 1.98432870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.222755096 meters 0.02088724840741162 Centerline is valid? [True, True] Translation: X:101.63, Y:-21.35, Z:1.98 [[ 9.29638607e-01 3.67715713e-01 -2.36054106e-02 1.01626479e+02] [-3.67580124e-01 9.29938044e-01 1.00043312e-02 -2.13485987e+01] [ 2.56303191e-02 -6.23532794e-04 9.99671295e-01 1.98428005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28275509599999 meters 0.02125326318849132 Centerline is valid? [True, True] Translation: X:101.68, Y:-21.37, Z:1.99 [[ 9.29943709e-01 3.66932337e-01 -2.37772390e-02 1.01682804e+02] [-3.66794308e-01 9.30247401e-01 1.00850268e-02 -2.13737749e+01] [ 2.58192372e-02 -6.57151295e-04 9.99666412e-01 1.98511684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34275509599999 meters 0.022277196419795794 Centerline is valid? [True, True] Translation: X:101.74, Y:-21.40, Z:1.99 [[ 9.30303592e-01 3.66013062e-01 -2.38676740e-02 1.01738816e+02] [-3.65873500e-01 9.30609456e-01 1.01302583e-02 -2.13996787e+01] [ 2.59192900e-02 -6.91666281e-04 9.99663799e-01 1.98608073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40275509599999 meters 0.023868585909013335 Centerline is valid? [True, True] Translation: X:101.79, Y:-21.43, Z:1.99 [[ 9.30024985e-01 3.66718298e-01 -2.39001700e-02 1.01793989e+02] [-3.66578477e-01 9.30331786e-01 1.01483042e-02 -2.14258238e+01] [ 2.59566566e-02 -6.76888552e-04 9.99662840e-01 1.98640418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.462755096 meters 0.02248725766846996 Centerline is valid? [True, True] Translation: X:101.85, Y:-21.45, Z:1.99 [[ 9.29365670e-01 3.68381472e-01 -2.39696249e-02 1.01852474e+02] [-3.68241289e-01 9.29674506e-01 1.01816789e-02 -2.14481796e+01] [ 2.60346911e-02 -6.35897290e-04 9.99660838e-01 1.98729212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.522755096 meters 0.02062647090055094 Centerline is valid? [True, True] Translation: X:101.91, Y:-21.47, Z:1.99 [[ 9.28486404e-01 3.70583336e-01 -2.41036917e-02 1.01910416e+02] [-3.70442212e-01 9.28799038e-01 1.02427638e-02 -2.14694956e+01] [ 2.61832833e-02 -5.81242094e-04 9.99656990e-01 1.98904179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.582755096 meters 0.019086151863514415 Centerline is valid? [True, True] Translation: X:101.97, Y:-21.49, Z:1.99 [[ 9.26955674e-01 3.74442862e-01 -2.33606857e-02 1.01969105e+02] [-3.74311342e-01 9.27249873e-01 9.93438279e-03 -2.14900191e+01] [ 2.53810516e-02 -4.64562867e-04 9.99677741e-01 1.99108370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64275509599999 meters 0.01838023327327683 Centerline is valid? [True, True] Translation: X:102.03, Y:-21.51, Z:1.99 [[ 9.25866068e-01 3.77181939e-01 -2.24901755e-02 1.02026501e+02] [-3.77060679e-01 9.26139104e-01 9.57106545e-03 -2.15120255e+01] [ 2.44390640e-02 -3.81363914e-04 9.99701249e-01 1.99301605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70275509599999 meters 0.017369590455732616 Centerline is valid? [True, True] Translation: X:102.08, Y:-21.53, Z:2.00 [[ 9.25495605e-01 3.78184660e-01 -2.08386065e-02 1.02084766e+02] [-3.78080678e-01 9.25730118e-01 8.87410085e-03 -2.15344616e+01] [ 2.26469745e-02 -3.34266865e-04 9.99743469e-01 1.99579505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76275509599999 meters 0.01880493781307357 Centerline is valid? [True, True] Translation: X:102.14, Y:-21.56, Z:2.00 [[ 9.25806703e-01 3.77439074e-01 -2.05352021e-02 1.02139987e+02] [-3.77337766e-01 9.26034352e-01 8.75155771e-03 -2.15607332e+01] [ 2.23194824e-02 -3.53543520e-04 9.99750827e-01 1.99660854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.822755096 meters 0.019182220091238565 Centerline is valid? [True, True] Translation: X:102.20, Y:-21.59, Z:2.00 [[ 9.26811506e-01 3.75020482e-01 -1.94953818e-02 1.02196622e+02] [-3.74928519e-01 9.27016441e-01 8.31411555e-03 -2.15856780e+01] [ 2.11905031e-02 -3.96243324e-04 9.99775378e-01 1.99789480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.882755096 meters 0.02106679055687136 Centerline is valid? [True, True] Translation: X:102.25, Y:-21.61, Z:2.00 [[ 9.28066161e-01 3.71902861e-01 -1.95310481e-02 1.02252226e+02] [-3.71809738e-01 9.28271532e-01 8.33556124e-03 -2.16126006e+01] [ 2.12301350e-02 -4.74118455e-04 9.99774503e-01 1.99794508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.942755096 meters 0.022006614646359987 Centerline is valid? [True, True] Translation: X:102.31, Y:-21.64, Z:2.00 [[ 9.29782221e-01 3.67556110e-01 -2.01873230e-02 1.02308288e+02] [-3.67455462e-01 9.30001155e-01 8.62181990e-03 -2.16378587e+01] [ 2.19432363e-02 -5.98472751e-04 9.99759039e-01 1.99799452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00275509599999 meters 0.023434034694906604 Centerline is valid? [True, True] Translation: X:102.36, Y:-21.66, Z:2.00 [[ 9.30364989e-01 3.66082446e-01 -2.01153968e-02 1.02363615e+02] [-3.65982034e-01 9.30582203e-01 8.59730810e-03 -2.16640781e+01] [ 2.18663539e-02 -6.36760610e-04 9.99760700e-01 1.99885717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06275509599999 meters 0.025840767534557024 Centerline is valid? [True, True] Translation: X:102.42, Y:-21.69, Z:2.00 [[ 9.32234616e-01 3.61374578e-01 -1.86288615e-02 1.02418021e+02] [-3.61287420e-01 9.32420468e-01 7.96686219e-03 -2.16915831e+01] [ 2.02489532e-02 -6.96611406e-04 9.99794726e-01 2.00067727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12275509599999 meters 0.02563762817953798 Centerline is valid? [True, True] Translation: X:102.47, Y:-21.72, Z:2.00 [[ 9.33116324e-01 3.59113838e-01 -1.81982886e-02 1.02474747e+02] [-3.59030220e-01 9.33293480e-01 7.78341501e-03 -2.17154653e+01] [ 1.97794761e-02 -7.29096037e-04 9.99804101e-01 2.00265378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.182755096 meters 0.027605612770548564 Centerline is valid? [True, True] Translation: X:102.53, Y:-21.74, Z:2.00 [[ 9.33727426e-01 3.57572648e-01 -1.71725114e-02 1.02530070e+02] [-3.57497836e-01 9.33885045e-01 7.34977743e-03 -2.17413360e+01] [ 1.86652310e-02 -7.23553091e-04 9.99825528e-01 2.00407071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.242755096 meters 0.027574812698650492 Centerline is valid? [True, True] Translation: X:102.59, Y:-21.76, Z:2.01 [[ 9.33446486e-01 3.58306534e-01 -1.71489187e-02 1.02587210e+02] [-3.58231952e-01 9.33603727e-01 7.34495809e-03 -2.17649717e+01] [ 1.86420409e-02 -7.12834676e-04 9.99825968e-01 2.00576214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.302755096 meters 0.025771722336472958 Centerline is valid? [True, True] Translation: X:102.65, Y:-21.79, Z:2.01 [[ 9.32564189e-01 3.60615614e-01 -1.67455063e-02 1.02645844e+02] [-3.60544775e-01 9.32714291e-01 7.17753647e-03 -2.17859681e+01] [ 1.82071047e-02 -6.56008690e-04 9.99834022e-01 2.00760223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36275509599999 meters 0.024675895646359313 Centerline is valid? [True, True] Translation: X:102.70, Y:-21.81, Z:2.01 [[ 9.30899914e-01 3.64934126e-01 -1.57617815e-02 1.02702929e+02] [-3.64871890e-01 9.31033184e-01 6.76125036e-03 -2.18063436e+01] [ 1.71421526e-02 -5.43016371e-04 9.99852915e-01 2.00983571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42275509599999 meters 0.021954109230427933 Centerline is valid? [True, True] Translation: X:102.76, Y:-21.83, Z:2.01 [[ 9.29377631e-01 3.68819290e-01 -1.51509175e-02 1.02762248e+02] [-3.68762291e-01 9.29501009e-01 6.49977940e-03 -2.18251080e+01] [ 1.64800371e-02 -4.53662524e-04 9.99864092e-01 2.01161993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48275509599999 meters 0.019534130685947792 Centerline is valid? [True, True] Translation: X:102.82, Y:-21.84, Z:2.01 [[ 9.26974707e-01 3.74840477e-01 -1.45776898e-02 1.02821143e+02] [-3.74788426e-01 9.27089265e-01 6.25544425e-03 -2.18429115e+01] [ 1.58596134e-02 -3.35089193e-04 9.99874172e-01 2.01334328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.542755096 meters 0.01886055826794001 Centerline is valid? [True, True] Translation: X:102.88, Y:-21.86, Z:2.01 [[ 9.25535790e-01 3.78383169e-01 -1.44803134e-02 1.02879030e+02] [-3.78332245e-01 9.25649017e-01 6.21364167e-03 -2.18632248e+01] [ 1.57548253e-02 -2.72578278e-04 9.99875848e-01 2.01465625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.602755096 meters 0.018531407578835816 Centerline is valid? [True, True] Translation: X:102.94, Y:-21.89, Z:2.02 [[ 9.25049093e-01 3.79562470e-01 -1.47141908e-02 1.02936405e+02] [-3.79509964e-01 9.25166073e-01 6.31854883e-03 -2.18859056e+01] [ 1.60113541e-02 -2.60785856e-04 9.99871776e-01 2.01595142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.662755096 meters 0.019087882833065787 Centerline is valid? [True, True] Translation: X:102.99, Y:-21.91, Z:2.02 [[ 9.25585395e-01 3.78257524e-01 -1.45918463e-02 1.02993916e+02] [-3.78205651e-01 9.25700364e-01 6.27067365e-03 -2.19099841e+01] [ 1.58796069e-02 -2.85325221e-04 9.99873870e-01 2.01767696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.722755096 meters 0.020668885202425488 Centerline is valid? [True, True] Translation: X:103.05, Y:-21.94, Z:2.02 [[ 9.26915179e-01 3.74969945e-01 -1.50263452e-02 1.03050391e+02] [-3.74914422e-01 9.27036900e-01 6.46243857e-03 -2.19362246e+01] [ 1.63531967e-02 -3.56538878e-04 9.99866214e-01 2.01833286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78275509599999 meters 0.02279672948418137 Centerline is valid? [True, True] Translation: X:103.11, Y:-21.96, Z:2.02 [[ 9.28531924e-01 3.70906113e-01 -1.60349698e-02 1.03106778e+02] [-3.70842177e-01 9.28670254e-01 6.90204200e-03 -2.19622254e+01] [ 1.74512090e-02 -4.62323225e-04 9.99847609e-01 2.01819102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84275509599999 meters 0.026053591071041417 Centerline is valid? [True, True] Translation: X:103.16, Y:-21.99, Z:2.02 [[ 9.29652448e-01 3.68064421e-01 -1.65803277e-02 1.03160916e+02] [-3.67995580e-01 9.29800138e-01 7.13839530e-03 -2.19900096e+01] [ 1.80437803e-02 -5.34739366e-04 9.99837055e-01 2.01889896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90275509599999 meters 0.026006075126169134 Centerline is valid? [True, True] Translation: X:103.22, Y:-22.01, Z:2.02 [[ 9.31134835e-01 3.64259745e-01 -1.73999246e-02 1.03217864e+02] [-3.64183249e-01 9.31297176e-01 7.49208844e-03 -2.20130062e+01] [ 1.89335669e-02 -6.39383454e-04 9.99820540e-01 2.01930482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.962755096 meters 0.02512817013015759 Centerline is valid? [True, True] Translation: X:103.28, Y:-22.03, Z:2.02 [[ 9.31896682e-01 3.62288671e-01 -1.77621366e-02 1.03275837e+02] [-3.62208580e-01 9.32065683e-01 7.64904555e-03 -2.20348175e+01] [ 1.93266405e-02 -6.94521907e-04 9.99812982e-01 2.02047052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.022755096 meters 0.027666268754771222 Centerline is valid? [True, True] Translation: X:103.33, Y:-22.06, Z:2.02 [[ 9.32536440e-01 3.60630704e-01 -1.79243744e-02 1.03331551e+02] [-3.60548718e-01 9.32708393e-01 7.72504630e-03 -2.20598241e+01] [ 1.95041033e-02 -7.41276958e-04 9.99809502e-01 2.02177189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.082755096 meters 0.027083655908553876 Centerline is valid? [True, True] Translation: X:103.39, Y:-22.08, Z:2.02 [[ 9.32542333e-01 3.60612030e-01 -1.79933649e-02 1.03390895e+02] [-3.60529296e-01 9.32715606e-01 7.76049306e-03 -2.20816355e+01] [ 1.95812194e-02 -7.49853108e-04 9.99807988e-01 2.02338057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14275509599999 meters 0.02676709485284115 Centerline is valid? [True, True] Translation: X:103.45, Y:-22.10, Z:2.02 [[ 9.31912599e-01 3.62228257e-01 -1.81548246e-02 1.03449686e+02] [-3.62144199e-01 9.32089136e-01 7.83715891e-03 -2.21029248e+01] [ 1.97607552e-02 -7.28882727e-04 9.99804472e-01 2.02482508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20275509599999 meters 0.02615934319369421 Centerline is valid? [True, True] Translation: X:103.51, Y:-22.12, Z:2.03 [[ 9.31063279e-01 3.64402723e-01 -1.82160739e-02 1.03508366e+02] [-3.64318392e-01 9.31241203e-01 7.86959079e-03 -2.21248336e+01] [ 1.98312589e-02 -6.90636235e-04 9.99803103e-01 2.02613724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26275509599999 meters 0.024306793353345287 Centerline is valid? [True, True] Translation: X:103.57, Y:-22.14, Z:2.03 [[ 9.29692075e-01 3.67892393e-01 -1.81061657e-02 1.03567411e+02] [-3.67809676e-01 9.29868167e-01 7.82522600e-03 -2.21433456e+01] [ 1.97151882e-02 -6.15427679e-04 9.99805447e-01 2.02795478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.322755096 meters 0.023308423607194418 Centerline is valid? [True, True] Translation: X:103.63, Y:-22.16, Z:2.03 [[ 9.28218031e-01 3.71606336e-01 -1.78890360e-02 1.03625068e+02] [-3.71526262e-01 9.28390246e-01 7.73222715e-03 -2.21628016e+01] [ 1.94813511e-02 -5.30945986e-04 9.99810079e-01 2.02946084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.382755096 meters 0.022047964693807504 Centerline is valid? [True, True] Translation: X:103.68, Y:-22.18, Z:2.03 [[ 9.27130300e-01 3.74337005e-01 -1.73555036e-02 1.03684139e+02] [-3.74262099e-01 9.27292615e-01 7.50244476e-03 -2.21826525e+01] [ 1.89020730e-02 -4.60236666e-04 9.99821234e-01 2.03080448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.442755096 meters 0.02212461682701786 Centerline is valid? [True, True] Translation: X:103.74, Y:-22.21, Z:2.03 [[ 9.26836800e-01 3.75075480e-01 -1.70860064e-02 1.03742019e+02] [-3.75002905e-01 9.26994168e-01 7.39139953e-03 -2.22058826e+01] [ 1.86109611e-02 -4.43319021e-04 9.99826703e-01 2.03149071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50275509599999 meters 0.02347624420217482 Centerline is valid? [True, True] Translation: X:103.80, Y:-22.23, Z:2.03 [[ 9.26942571e-01 3.74784641e-01 -1.77184167e-02 1.03797409e+02] [-3.74706428e-01 9.27111779e-01 7.67087109e-03 -2.22307623e+01] [ 1.93018775e-02 -4.71252360e-04 9.99813590e-01 2.03174235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56275509599999 meters 0.02417260767517395 Centerline is valid? [True, True] Translation: X:103.85, Y:-22.26, Z:2.03 [[ 9.27777141e-01 3.72710720e-01 -1.77847372e-02 1.03854501e+02] [-3.72631439e-01 9.27947438e-01 7.70472775e-03 -2.22551534e+01] [ 1.93749359e-02 -5.21118080e-04 9.99812153e-01 2.03260244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62275509599999 meters 0.02300256870708202 Centerline is valid? [True, True] Translation: X:103.91, Y:-22.28, Z:2.03 [[ 9.28258936e-01 3.71542869e-01 -1.70658452e-02 1.03912515e+02] [-3.71469634e-01 9.28415651e-01 7.39534494e-03 -2.22774640e+01] [ 1.85918855e-02 -5.25351767e-04 9.99827018e-01 2.03394899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.682755096 meters 0.02471093070614348 Centerline is valid? [True, True] Translation: X:103.97, Y:-22.30, Z:2.04 [[ 9.29398127e-01 3.68702112e-01 -1.66695699e-02 1.03968314e+02] [-3.68631674e-01 9.29547429e-01 7.22955474e-03 -2.23032873e+01] [ 1.81607080e-02 -5.74203161e-04 9.99834916e-01 2.03517266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.742755096 meters 0.026971939705891713 Centerline is valid? [True, True] Translation: X:104.02, Y:-22.33, Z:2.04 [[ 9.30900510e-01 3.64883596e-01 -1.68582911e-02 1.04023393e+02] [-3.64810828e-01 9.31052912e-01 7.31677081e-03 -2.23301809e+01] [ 1.83657306e-02 -6.61098549e-04 9.99831117e-01 2.03552880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.802755096 meters 0.03240071825121955 Centerline is valid? [True, True] Translation: X:104.08, Y:-22.36, Z:2.04 [[ 9.31452404e-01 3.63468342e-01 -1.69465114e-02 1.04076325e+02] [-3.63394563e-01 9.31606292e-01 7.35579137e-03 -2.23611026e+01] [ 1.84610739e-02 -6.93299461e-04 9.99829339e-01 2.03652072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86275509599999 meters 0.031088932573762967 Centerline is valid? [True, True] Translation: X:104.13, Y:-22.38, Z:2.04 [[ 9.31809830e-01 3.62571567e-01 -1.65014924e-02 1.04134682e+02] [-3.62501380e-01 9.31955671e-01 7.16775074e-03 -2.23827980e+01] [ 1.79774820e-02 -6.97166834e-04 9.99838149e-01 2.03773666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92275509599999 meters 0.027097276664829653 Centerline is valid? [True, True] Translation: X:104.19, Y:-22.40, Z:2.04 [[ 9.31375006e-01 3.63702711e-01 -1.61535413e-02 1.04194315e+02] [-3.63635520e-01 9.31514838e-01 7.02244009e-03 -2.24017792e+01] [ 1.76013439e-02 -6.66523781e-04 9.99844862e-01 2.03918154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98275509599999 meters 0.02999539981745195 Centerline is valid? [True, True] Translation: X:104.25, Y:-22.43, Z:2.04 [[ 9.30548845e-01 3.65816557e-01 -1.60341297e-02 1.04250098e+02] [-3.65750561e-01 9.30686764e-01 6.97666967e-03 -2.24307376e+01] [ 1.74749335e-02 -6.27639987e-04 9.99847105e-01 2.04101985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.042755096 meters 0.027219903061840953 Centerline is valid? [True, True] Translation: X:104.31, Y:-22.45, Z:2.04 [[ 9.28918054e-01 3.69994865e-01 -1.46645453e-02 1.04309246e+02] [-3.69940154e-01 9.29033662e-01 6.38254971e-03 -2.24500519e+01] [ 1.59853668e-02 -5.03861515e-04 9.99872099e-01 2.04272168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.102755096 meters 0.025069795041809635 Centerline is valid? [True, True] Translation: X:104.37, Y:-22.47, Z:2.04 [[ 9.27366349e-01 3.73892329e-01 -1.40064814e-02 1.04367697e+02] [-3.73842845e-01 9.27472022e-01 6.09717890e-03 -2.24703500e+01] [ 1.52703080e-02 -4.18095667e-04 9.99883315e-01 2.04417229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.162755096 meters 0.022356436051199916 Centerline is valid? [True, True] Translation: X:104.43, Y:-22.49, Z:2.05 [[ 9.26238051e-01 3.76689305e-01 -1.37200818e-02 1.04426755e+02] [-3.76642129e-01 9.26339589e-01 5.97258780e-03 -2.24911999e+01] [ 1.49592649e-02 -3.64477280e-04 9.99888038e-01 2.04517806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.222755096 meters 0.02280626732014185 Centerline is valid? [True, True] Translation: X:104.48, Y:-22.52, Z:2.05 [[ 9.24860293e-01 3.80091535e-01 -1.28008975e-02 1.04483305e+02] [-3.80050736e-01 9.24948830e-01 5.57664549e-03 -2.25161953e+01] [ 1.39598109e-02 -2.92627464e-04 9.99902514e-01 2.04787080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28275509599999 meters 0.021231759984315906 Centerline is valid? [True, True] Translation: X:104.54, Y:-22.54, Z:2.05 [[ 9.24076741e-01 3.82000670e-01 -1.25564830e-02 1.04541229e+02] [-3.81961532e-01 9.24162009e-01 5.47436334e-03 -2.25374852e+01] [ 1.36954350e-02 -2.62638350e-04 9.99906179e-01 2.04883623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34275509599999 meters 0.021488325596571555 Centerline is valid? [True, True] Translation: X:104.60, Y:-22.56, Z:2.05 [[ 9.24023712e-01 3.82130862e-01 -1.24973519e-02 1.04598523e+02] [-3.82092047e-01 9.24108184e-01 5.45276633e-03 -2.25633413e+01] [ 1.36325755e-02 -2.63346617e-04 9.99907037e-01 2.04956020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40275509599999 meters 0.023413200280982455 Centerline is valid? [True, True] Translation: X:104.65, Y:-22.59, Z:2.05 [[ 9.24972389e-01 3.79801651e-01 -1.32960611e-02 1.04653325e+02] [-3.79757399e-01 9.25067891e-01 5.80649113e-03 -2.25931701e+01] [ 1.45050741e-02 -3.21566406e-04 9.99894744e-01 2.04950150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.462755096 meters 0.024776989039250012 Centerline is valid? [True, True] Translation: X:104.71, Y:-22.62, Z:2.05 [[ 9.26964151e-01 3.74878838e-01 -1.42590298e-02 1.04708745e+02] [-3.74827266e-01 9.27073713e-01 6.23307957e-03 -2.26218876e+01] [ 1.55558213e-02 -4.33168144e-04 9.99878907e-01 2.04867075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.522755096 meters 0.024521980882452478 Centerline is valid? [True, True] Translation: X:104.77, Y:-22.65, Z:2.05 [[ 9.28398910e-01 3.71298505e-01 -1.45905714e-02 1.04765046e+02] [-3.71244041e-01 9.28513416e-01 6.37947850e-03 -2.26481154e+01] [ 1.59162322e-02 -5.06038190e-04 9.99873201e-01 2.04899561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.582755096 meters 0.026713241742959404 Centerline is valid? [True, True] Translation: X:104.82, Y:-22.68, Z:2.05 [[ 9.29911539e-01 3.67490277e-01 -1.46774186e-02 1.04818746e+02] [-3.67434663e-01 9.30027185e-01 6.41902385e-03 -2.26785394e+01] [ 1.60093272e-02 -5.76131976e-04 9.99871677e-01 2.05054080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64275509599999 meters 0.02829368898091915 Centerline is valid? [True, True] Translation: X:104.87, Y:-22.71, Z:2.05 [[ 9.30441338e-01 3.66152507e-01 -1.45347325e-02 1.04872561e+02] [-3.66097801e-01 9.30554667e-01 6.35700019e-03 -2.27070494e+01] [ 1.58529947e-02 -5.93682168e-04 9.99874157e-01 2.05161350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70275509599999 meters 0.029016071502183424 Centerline is valid? [True, True] Translation: X:104.93, Y:-22.73, Z:2.05 [[ 9.30471192e-01 3.66087217e-01 -1.42657377e-02 1.04929001e+02] [-3.66034480e-01 9.30580360e-01 6.24118664e-03 -2.27340989e+01] [ 1.55602340e-02 -5.85492474e-04 9.99878761e-01 2.05266585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76275509599999 meters 0.027586778678331376 Centerline is valid? [True, True] Translation: X:104.99, Y:-22.76, Z:2.05 [[ 9.29778382e-01 3.67825231e-01 -1.47227723e-02 1.04986460e+02] [-3.67769191e-01 9.29894760e-01 6.44657285e-03 -2.27591475e+01] [ 1.60618409e-02 -5.79302034e-04 9.99870832e-01 2.05443968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.822755096 meters 0.026310005988072545 Centerline is valid? [True, True] Translation: X:105.04, Y:-22.78, Z:2.06 [[ 9.28678064e-01 3.70609540e-01 -1.43395097e-02 1.05043212e+02] [-3.70556683e-01 9.28788619e-01 6.28051651e-03 -2.27836297e+01] [ 1.56459927e-02 -5.18976761e-04 9.99877459e-01 2.05673233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.882755096 meters 0.025501622150761065 Centerline is valid? [True, True] Translation: X:105.10, Y:-22.81, Z:2.06 [[ 9.27820685e-01 3.72756090e-01 -1.42012050e-02 1.05099969e+02] [-3.72704496e-01 9.27929237e-01 6.22016743e-03 -2.28082528e+01] [ 1.54963186e-02 -4.78347061e-04 9.99879810e-01 2.05889196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.942755096 meters 0.025483353925216168 Centerline is valid? [True, True] Translation: X:105.15, Y:-22.83, Z:2.06 [[ 9.26808296e-01 3.75253797e-01 -1.45248312e-02 1.05154906e+02] [-3.75200052e-01 9.26921995e-01 6.36684351e-03 -2.28347612e+01] [ 1.58525677e-02 -4.51125939e-04 9.99874238e-01 2.06026580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00275509599999 meters 0.02412522097002379 Centerline is valid? [True, True] Translation: X:105.21, Y:-22.86, Z:2.06 [[ 9.25767516e-01 3.77798653e-01 -1.49225763e-02 1.05212377e+02] [-3.77742173e-01 9.25887681e-01 6.54617924e-03 -2.28593941e+01] [ 1.62897672e-02 -4.23353724e-04 9.99867223e-01 2.06116046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06275509599999 meters 0.022440804102433362 Centerline is valid? [True, True] Translation: X:105.27, Y:-22.88, Z:2.06 [[ 9.25274222e-01 3.78961240e-01 -1.59997690e-02 1.05269662e+02] [-3.78896455e-01 9.25412444e-01 7.02039569e-03 -2.28832121e+01] [ 1.74668432e-02 -4.33535407e-04 9.99847349e-01 2.06142273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12275509599999 meters 0.022104505427611477 Centerline is valid? [True, True] Translation: X:105.33, Y:-22.91, Z:2.06 [[ 9.24966818e-01 3.79690695e-01 -1.64730259e-02 1.05325903e+02] [-3.79622035e-01 9.25113390e-01 7.23365387e-03 -2.29095019e+01] [ 1.79859679e-02 -4.37366170e-04 9.99838144e-01 2.06255975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.182755096 meters 0.022474285585939186 Centerline is valid? [True, True] Translation: X:105.38, Y:-22.94, Z:2.06 [[ 9.24999145e-01 3.79599396e-01 -1.67594773e-02 1.05382186e+02] [-3.79528208e-01 9.25150850e-01 7.36510440e-03 -2.29384900e+01] [ 1.83008338e-02 -4.52020885e-04 9.99832424e-01 2.06343556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.242755096 meters 0.023876731920048546 Centerline is valid? [True, True] Translation: X:105.44, Y:-22.97, Z:2.06 [[ 9.25620480e-01 3.78044305e-01 -1.75849473e-02 1.05436261e+02] [-3.77965518e-01 9.25787362e-01 7.73475984e-03 -2.29680748e+01] [ 1.92040038e-02 -5.12948406e-04 9.99815455e-01 2.06378294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.302755096 meters 0.025451766072440863 Centerline is valid? [True, True] Translation: X:105.49, Y:-23.00, Z:2.06 [[ 9.26281228e-01 3.76396406e-01 -1.81337392e-02 1.05489922e+02] [-3.76312243e-01 9.26458539e-01 7.97949853e-03 -2.29982063e+01] [ 1.98036121e-02 -5.67311631e-04 9.99803728e-01 2.06419457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36275509599999 meters 0.02452150559360527 Centerline is valid? [True, True] Translation: X:105.55, Y:-23.02, Z:2.07 [[ 9.26227404e-01 3.76501141e-01 -1.86999233e-02 1.05547468e+02] [-3.76411541e-01 9.26415968e-01 8.23445745e-03 -2.30242477e+01] [ 2.04241902e-02 -5.88113176e-04 9.99791231e-01 2.06537834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42275509599999 meters 0.023513887857585538 Centerline is valid? [True, True] Translation: X:105.60, Y:-23.05, Z:2.07 [[ 9.25278992e-01 3.78797591e-01 -1.92658237e-02 1.05603953e+02] [-3.78702828e-01 9.25479373e-01 8.49100063e-03 -2.30504357e+01] [ 2.10464930e-02 -5.60522572e-04 9.99778341e-01 2.06652047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48275509599999 meters 0.023957635685326897 Centerline is valid? [True, True] Translation: X:105.66, Y:-23.08, Z:2.07 [[ 9.23859358e-01 3.82198003e-01 -2.02131920e-02 1.05658678e+02] [-3.82094358e-01 9.24080312e-01 8.91504270e-03 -2.30782270e+01] [ 2.20859243e-02 -5.12898998e-04 9.99755945e-01 2.06719195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.542755096 meters 0.02173625983660079 Centerline is valid? [True, True] Translation: X:105.72, Y:-23.10, Z:2.07 [[ 9.22266565e-01 3.85996940e-01 -2.07544236e-02 1.05716177e+02] [-3.85888529e-01 9.22499957e-01 9.15816464e-03 -2.31019661e+01] [ 2.26809784e-02 -4.37375056e-04 9.99742658e-01 2.06906506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.602755096 meters 0.02017239537001056 Centerline is valid? [True, True] Translation: X:105.77, Y:-23.13, Z:2.07 [[ 9.21067590e-01 3.88822364e-01 -2.12524054e-02 1.05773066e+02] [-3.88709279e-01 9.21312663e-01 9.38476781e-03 -2.31258071e+01] [ 2.32291178e-02 -3.82998310e-04 9.99730094e-01 2.07090227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.662755096 meters 0.01953269640398028 Centerline is valid? [True, True] Translation: X:105.83, Y:-23.15, Z:2.07 [[ 9.19788792e-01 3.91805698e-01 -2.18374280e-02 1.05829328e+02] [-3.91686966e-01 9.20047929e-01 9.65038134e-03 -2.31522033e+01] [ 2.38725548e-02 -3.22876700e-04 9.99714958e-01 2.07278929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.722755096 meters 0.018687666125904705 Centerline is valid? [True, True] Translation: X:105.89, Y:-23.18, Z:2.08 [[ 9.19257728e-01 3.93051441e-01 -2.18127169e-02 1.05885759e+02] [-3.92933158e-01 9.19516436e-01 9.64657545e-03 -2.31788807e+01] [ 2.38487521e-02 -2.96749297e-04 9.99715534e-01 2.07513853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78275509599999 meters 0.018642580290228947 Centerline is valid? [True, True] Translation: X:105.94, Y:-23.21, Z:2.08 [[ 9.19240176e-01 3.93125422e-01 -2.12108948e-02 1.05941800e+02] [-3.93013429e-01 9.19484811e-01 9.38764828e-03 -2.32084638e+01] [ 2.31936188e-02 -2.93336970e-04 9.99730949e-01 2.07727584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84275509599999 meters 0.019056326923927946 Centerline is valid? [True, True] Translation: X:106.00, Y:-23.24, Z:2.08 [[ 9.19278999e-01 3.93052709e-01 -2.08731809e-02 1.05997334e+02] [-3.92944055e-01 9.19515894e-01 9.24609372e-03 -2.32359368e+01] [ 2.28274238e-02 -2.97747428e-04 9.99739376e-01 2.07822855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90275509599999 meters 0.01890820628672272 Centerline is valid? [True, True] Translation: X:106.05, Y:-23.26, Z:2.08 [[ 9.19411019e-01 3.92703654e-01 -2.16152312e-02 1.06054202e+02] [-3.92586848e-01 9.19665012e-01 9.58290314e-03 -2.32636599e+01] [ 2.36420130e-02 -3.24771240e-04 9.99720436e-01 2.07885913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.962755096 meters 0.0192848632280094 Centerline is valid? [True, True] Translation: X:106.11, Y:-23.29, Z:2.08 [[ 9.19636601e-01 3.92119157e-01 -2.26072483e-02 1.06108968e+02] [-3.91990988e-01 9.19914362e-01 1.00315009e-02 -2.32930829e+01] [ 2.47302761e-02 -3.63497755e-04 9.99694094e-01 2.07830253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.022755096 meters 0.019667647996582115 Centerline is valid? [True, True] Translation: X:106.16, Y:-23.32, Z:2.08 [[ 9.19782574e-01 3.91733683e-01 -2.33396213e-02 1.06162724e+02] [-3.91596767e-01 9.20078566e-01 1.03636059e-02 -2.33221316e+01] [ 2.55340588e-02 -3.92543836e-04 9.99673876e-01 2.07835003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.082755096 meters 0.02028479252297563 Centerline is valid? [True, True] Translation: X:106.22, Y:-23.35, Z:2.08 [[ 9.20274379e-01 3.90568219e-01 -2.34847583e-02 1.06217283e+02] [-3.90429080e-01 9.20573886e-01 1.04333209e-02 -2.33519079e+01] [ 2.56943787e-02 -4.32385315e-04 9.99669751e-01 2.07917710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14275509599999 meters 0.021034980875377522 Centerline is valid? [True, True] Translation: X:106.27, Y:-23.38, Z:2.08 [[ 9.21101578e-01 3.88612884e-01 -2.34927419e-02 1.06272262e+02] [-3.88472814e-01 9.21400989e-01 1.04446746e-02 -2.33820369e+01] [ 2.57051707e-02 -4.94314717e-04 9.99669445e-01 2.08091585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20275509599999 meters 0.02151184954823266 Centerline is valid? [True, True] Translation: X:106.33, Y:-23.41, Z:2.08 [[ 9.21536681e-01 3.87600682e-01 -2.31485817e-02 1.06327943e+02] [-3.87464173e-01 9.21827228e-01 1.02993210e-02 -2.34106469e+01] [ 2.53310167e-02 -5.21956039e-04 9.99678982e-01 2.08281315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26275509599999 meters 0.02133606773485405 Centerline is valid? [True, True] Translation: X:106.38, Y:-23.44, Z:2.08 [[ 9.21233022e-01 3.88327586e-01 -2.30522239e-02 1.06383908e+02] [-3.88192245e-01 9.21521258e-01 1.02640944e-02 -2.34370256e+01] [ 2.52289454e-02 -5.06928081e-04 9.99681571e-01 2.08462652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.322755096 meters 0.021032416956537146 Centerline is valid? [True, True] Translation: X:106.44, Y:-23.46, Z:2.09 [[ 9.20359809e-01 3.90420041e-01 -2.25835047e-02 1.06440381e+02] [-3.90290595e-01 9.20636732e-01 1.00627763e-02 -2.34615426e+01] [ 2.47199135e-02 -4.47245417e-04 9.99694316e-01 2.08651309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.382755096 meters 0.02122117482739216 Centerline is valid? [True, True] Translation: X:106.50, Y:-23.49, Z:2.09 [[ 9.19960273e-01 3.91378023e-01 -2.22786952e-02 1.06495559e+02] [-3.91252157e-01 9.20229898e-01 9.93402585e-03 -2.34878253e+01] [ 2.43894808e-02 -4.22321599e-04 9.99702443e-01 2.08768590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.442755096 meters 0.021614159984630812 Centerline is valid? [True, True] Translation: X:106.55, Y:-23.51, Z:2.09 [[ 9.20004658e-01 3.91262921e-01 -2.24667663e-02 1.06552298e+02] [-3.91134716e-01 9.20278837e-01 1.00247995e-02 -2.35138716e+01] [ 2.45980219e-02 -4.35329972e-04 9.99697328e-01 2.08856815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50275509599999 meters 0.0210988764187435 Centerline is valid? [True, True] Translation: X:106.61, Y:-23.54, Z:2.09 [[ 9.20508637e-01 3.90081899e-01 -2.23598252e-02 1.06609838e+02] [-3.89954383e-01 9.20780044e-01 9.98445798e-03 -2.35378532e+01] [ 2.44832371e-02 -4.71467965e-04 9.99700129e-01 2.09030952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56275509599999 meters 0.021295492517472387 Centerline is valid? [True, True] Translation: X:106.67, Y:-23.56, Z:2.09 [[ 9.20786882e-01 3.89481967e-01 -2.13381405e-02 1.06668018e+02] [-3.89365515e-01 9.21033971e-01 9.53523748e-03 -2.35617824e+01] [ 2.33669553e-02 -4.71585523e-04 9.99726844e-01 2.09155071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62275509599999 meters 0.022183704527016332 Centerline is valid? [True, True] Translation: X:106.72, Y:-23.59, Z:2.09 [[ 9.21642751e-01 3.87421842e-01 -2.18850704e-02 1.06724514e+02] [-3.87298564e-01 9.21902391e-01 9.78792349e-03 -2.35881525e+01] [ 2.39679541e-02 -5.44912383e-04 9.99712579e-01 2.09237357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.682755096 meters 0.024417153329071215 Centerline is valid? [True, True] Translation: X:106.78, Y:-23.62, Z:2.09 [[ 9.21995763e-01 3.86576945e-01 -2.19562931e-02 1.06779281e+02] [-3.86452451e-01 9.22256978e-01 9.82696548e-03 -2.36162651e+01] [ 2.40482229e-02 -5.75357244e-04 9.99710634e-01 2.09282657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.742755096 meters 0.022815123480288513 Centerline is valid? [True, True] Translation: X:106.84, Y:-23.64, Z:2.09 [[ 9.22292300e-01 3.85826275e-01 -2.26935840e-02 1.06837934e+02] [-3.85692891e-01 9.22571244e-01 1.01633579e-02 -2.36359569e+01] [ 2.48577386e-02 -6.20832690e-04 9.99690806e-01 2.09450788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.802755096 meters 0.02361019020301111 Centerline is valid? [True, True] Translation: X:106.89, Y:-23.66, Z:2.10 [[ 9.22195814e-01 3.86020235e-01 -2.33079203e-02 1.06894702e+02] [-3.85879452e-01 9.22490093e-01 1.04439448e-02 -2.36612344e+01] [ 2.55328995e-02 -6.37314631e-04 9.99673779e-01 2.09583962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86275509599999 meters 0.023855492934875173 Centerline is valid? [True, True] Translation: X:106.95, Y:-23.69, Z:2.10 [[ 9.22539616e-01 3.85161207e-01 -2.39061017e-02 1.06951778e+02] [-3.85012594e-01 9.22849053e-01 1.07204803e-02 -2.36858352e+01] [ 2.61908364e-02 -6.85917561e-04 9.99656726e-01 2.09769503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92275509599999 meters 0.024094935659002323 Centerline is valid? [True, True] Translation: X:107.01, Y:-23.71, Z:2.10 [[ 9.23009071e-01 3.84039848e-01 -2.38254007e-02 1.07008591e+02] [-3.83891658e-01 9.23316237e-01 1.06921538e-02 -2.37101341e+01] [ 2.61045924e-02 -7.22582339e-04 9.99658956e-01 2.10009710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98275509599999 meters 0.026264189538206046 Centerline is valid? [True, True] Translation: X:107.06, Y:-23.74, Z:2.10 [[ 9.23846807e-01 3.82029187e-01 -2.36807201e-02 1.07063331e+02] [-3.81881932e-01 9.24149928e-01 1.06349015e-02 -2.37371402e+01] [ 2.59473786e-02 -7.81780679e-04 9.99663004e-01 2.10228303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.042755096 meters 0.026762793034243497 Centerline is valid? [True, True] Translation: X:107.12, Y:-23.76, Z:2.10 [[ 9.24108378e-01 3.81344630e-01 -2.44944782e-02 1.07120400e+02] [-3.81186629e-01 9.24432569e-01 1.10081235e-02 -2.37616615e+01] [ 2.68413822e-02 -8.35731536e-04 9.99639356e-01 2.10404300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.102755096 meters 0.027169661918364226 Centerline is valid? [True, True] Translation: X:107.18, Y:-23.79, Z:2.11 [[ 9.23989879e-01 3.81619473e-01 -2.46836275e-02 1.07177882e+02] [-3.81458896e-01 9.24319138e-01 1.11014359e-02 -2.37864169e+01] [ 2.70520734e-02 -8.41825151e-04 9.99633671e-01 2.10514092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.162755096 meters 0.026375483620154596 Centerline is valid? [True, True] Translation: X:107.24, Y:-23.81, Z:2.11 [[ 9.23887161e-01 3.81879244e-01 -2.45103275e-02 1.07236283e+02] [-3.81720765e-01 9.24211850e-01 1.10324287e-02 -2.38097904e+01] [ 2.68657907e-02 -8.36618303e-04 9.99638699e-01 2.10745917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.222755096 meters 0.026634897080317865 Centerline is valid? [True, True] Translation: X:107.29, Y:-23.83, Z:2.11 [[ 9.23675131e-01 3.82419359e-01 -2.40766615e-02 1.07293305e+02] [-3.82266399e-01 9.23988512e-01 1.08456951e-02 -2.38338157e+01] [ 2.63941625e-02 -8.14200166e-04 9.99651282e-01 2.10941909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28275509599999 meters 0.024654716475612043 Centerline is valid? [True, True] Translation: X:107.35, Y:-23.86, Z:2.11 [[ 9.23202675e-01 3.83581559e-01 -2.37067182e-02 1.07351704e+02] [-3.83433449e-01 9.23506679e-01 1.06866297e-02 -2.38551974e+01] [ 2.59925067e-02 -7.75976347e-04 9.99661837e-01 2.11181845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34275509599999 meters 0.023516742326225998 Centerline is valid? [True, True] Translation: X:107.41, Y:-23.88, Z:2.11 [[ 9.22200195e-01 3.85990141e-01 -2.36307222e-02 1.07409427e+02] [-3.85843564e-01 9.22502630e-01 1.06602649e-02 -2.38774904e+01] [ 2.59141605e-02 -7.13136301e-04 9.99663917e-01 2.11348323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40275509599999 meters 0.02215431765678783 Centerline is valid? [True, True] Translation: X:107.47, Y:-23.90, Z:2.11 [[ 9.20471431e-01 3.90083981e-01 -2.38082368e-02 1.07466000e+02] [-3.89936404e-01 9.20779082e-01 1.07462889e-02 -2.38981752e+01] [ 2.61140816e-02 -6.07953630e-04 9.99658784e-01 2.11401003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.462755096 meters 0.021170412878563562 Centerline is valid? [True, True] Translation: X:107.52, Y:-23.92, Z:2.11 [[ 9.19307482e-01 3.92782524e-01 -2.44057836e-02 1.07524288e+02] [-3.92628360e-01 9.19631225e-01 1.10172796e-02 -2.39211791e+01] [ 2.67717156e-02 -5.45864741e-04 9.99641424e-01 2.11477774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.522755096 meters 0.02061201917304509 Centerline is valid? [True, True] Translation: X:107.58, Y:-23.94, Z:2.12 [[ 9.18204473e-01 3.95375626e-01 -2.40553663e-02 1.07581066e+02] [-3.95226638e-01 9.18519404e-01 1.08631853e-02 -2.39444205e+01] [ 2.63903594e-02 -4.67303787e-04 9.99651605e-01 2.11581345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.582755096 meters 0.020770821555068753 Centerline is valid? [True, True] Translation: X:107.64, Y:-23.97, Z:2.12 [[ 9.18379100e-01 3.94964626e-01 -2.41406788e-02 1.07637996e+02] [-3.94814240e-01 9.18696199e-01 1.09091561e-02 -2.39702396e+01] [ 2.64866806e-02 -4.87657164e-04 9.99649047e-01 2.11690334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64275509599999 meters 0.022603038483082837 Centerline is valid? [True, True] Translation: X:107.69, Y:-24.00, Z:2.12 [[ 9.19675408e-01 3.91999427e-01 -2.30996309e-02 1.07691923e+02] [-3.91860657e-01 9.19965294e-01 1.04442367e-02 -2.39982657e+01] [ 2.53449935e-02 -5.53471130e-04 9.99678611e-01 2.11859616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70275509599999 meters 0.023556704635247828 Centerline is valid? [True, True] Translation: X:107.75, Y:-24.03, Z:2.12 [[ 9.20057629e-01 3.91097143e-01 -2.31729382e-02 1.07747803e+02] [-3.90957137e-01 9.20349219e-01 1.04800341e-02 -2.40251494e+01] [ 2.54259070e-02 -5.82609692e-04 9.99676540e-01 2.11988033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76275509599999 meters 0.023256879575433126 Centerline is valid? [True, True] Translation: X:107.80, Y:-24.05, Z:2.12 [[ 9.21587259e-01 3.87499873e-01 -2.28204180e-02 1.07804663e+02] [-3.87362849e-01 9.21869508e-01 1.03263324e-02 -2.40497113e+01] [ 2.50389001e-02 -6.76834236e-04 9.99686248e-01 2.12215012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.822755096 meters 0.027574933233037245 Centerline is valid? [True, True] Translation: X:107.86, Y:-24.08, Z:2.12 [[ 9.22519296e-01 3.85258646e-01 -2.31067841e-02 1.07857606e+02] [-3.85117369e-01 9.22808330e-01 1.04594009e-02 -2.40804404e+01] [ 2.53527074e-02 -7.50175260e-04 9.99678287e-01 2.12227072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.882755096 meters 0.02693758999396787 Centerline is valid? [True, True] Translation: X:107.92, Y:-24.10, Z:2.12 [[ 9.23772728e-01 3.82229588e-01 -2.33342661e-02 1.07915709e+02] [-3.82084400e-01 9.24067002e-01 1.05682062e-02 -2.41031830e+01] [ 2.56019064e-02 -8.46961644e-04 9.99671859e-01 2.12403287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.942755096 meters 0.02818264416945892 Centerline is valid? [True, True] Translation: X:107.97, Y:-24.13, Z:2.12 [[ 9.24287427e-01 3.80965153e-01 -2.36284476e-02 1.07972479e+02] [-3.80815772e-01 9.24588962e-01 1.07051395e-02 -2.41289867e+01] [ 2.59248869e-02 -8.96540341e-04 9.99663492e-01 2.12478962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00275509599999 meters 0.02617327385817358 Centerline is valid? [True, True] Translation: X:108.03, Y:-24.15, Z:2.13 [[ 9.24290902e-01 3.80900404e-01 -2.45195860e-02 1.08030953e+02] [-3.80739297e-01 9.24615595e-01 1.11170518e-02 -2.41506013e+01] [ 2.69056812e-02 -9.39819857e-04 9.99637535e-01 2.12616440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06275509599999 meters 0.028941424856940918 Centerline is valid? [True, True] Translation: X:108.09, Y:-24.18, Z:2.13 [[ 9.23604246e-01 3.82530346e-01 -2.50146320e-02 1.08086216e+02] [-3.82363034e-01 9.23942472e-01 1.13498085e-02 -2.41776629e+01] [ 2.74537271e-02 -9.18060754e-04 9.99622654e-01 2.12513777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12275509599999 meters 0.024820657647092504 Centerline is valid? [True, True] Translation: X:108.15, Y:-24.20, Z:2.13 [[ 9.22535577e-01 3.85093022e-01 -2.51291458e-02 1.08145929e+02] [-3.84924904e-01 9.22877368e-01 1.14097111e-02 -2.41966386e+01] [ 2.75849200e-02 -8.53030362e-04 9.99619100e-01 2.12713097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.182755096 meters 0.022538005212441512 Centerline is valid? [True, True] Translation: X:108.20, Y:-24.22, Z:2.13 [[ 9.20332182e-01 3.90367494e-01 -2.45335436e-02 1.08204357e+02] [-3.90208957e-01 9.20658868e-01 1.11453502e-02 -2.42170168e+01] [ 2.69378069e-02 -6.84215999e-04 9.99636877e-01 2.12832764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.242755096 meters 0.02021903601257215 Centerline is valid? [True, True] Translation: X:108.26, Y:-24.24, Z:2.13 [[ 9.17828171e-01 3.96266377e-01 -2.37572456e-02 1.08262325e+02] [-3.96119647e-01 9.18135454e-01 1.07941620e-02 -2.42375061e+01] [ 2.60897329e-02 -4.96474207e-04 9.99659482e-01 2.13053860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.302755096 meters 0.018492084070124787 Centerline is valid? [True, True] Translation: X:108.32, Y:-24.26, Z:2.13 [[ 9.16177058e-01 4.00127160e-01 -2.27564238e-02 1.08320433e+02] [-3.99993657e-01 9.16459555e-01 1.03420148e-02 -2.42594335e+01] [ 2.49934630e-02 -3.72691501e-04 9.99687545e-01 2.13253253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36275509599999 meters 0.01706949308460953 Centerline is valid? [True, True] Translation: X:108.38, Y:-24.28, Z:2.13 [[ 9.14086438e-01 4.04935824e-01 -2.17476908e-02 1.08378149e+02] [-4.04815096e-01 9.14345079e-01 9.89017637e-03 -2.42804189e+01] [ 2.38897807e-02 -2.36682575e-04 9.99714570e-01 2.13371361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42275509599999 meters 0.01608293836950517 Centerline is valid? [True, True] Translation: X:108.44, Y:-24.30, Z:2.14 [[ 9.13200540e-01 4.06948840e-01 -2.13872764e-02 1.08435728e+02] [-4.06832484e-01 9.13450933e-01 9.73260384e-03 -2.43039214e+01] [ 2.34968994e-02 -1.86780304e-04 9.99723892e-01 2.13501652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48275509599999 meters 0.01612597070558763 Centerline is valid? [True, True] Translation: X:108.49, Y:-24.33, Z:2.14 [[ 9.13477008e-01 4.06346409e-01 -2.10321558e-02 1.08492611e+02] [-4.06233562e-01 9.13719078e-01 9.57806979e-03 -2.43312947e+01] [ 2.31094963e-02 -2.05378956e-04 9.99732919e-01 2.13626591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.542755096 meters 0.01724801792976607 Centerline is valid? [True, True] Translation: X:108.55, Y:-24.36, Z:2.14 [[ 9.15027209e-01 4.02850818e-01 -2.08908060e-02 1.08545770e+02] [-4.02738393e-01 9.15265606e-01 9.52144244e-03 -2.43615402e+01] [ 2.29563571e-02 -2.98849264e-04 9.99736423e-01 2.13689590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.602755096 meters 0.019314261718156856 Centerline is valid? [True, True] Translation: X:108.60, Y:-24.39, Z:2.14 [[ 9.17292381e-01 3.97694292e-01 -2.03454719e-02 1.08599004e+02] [-3.97586253e-01 9.17517886e-01 9.27902214e-03 -2.43931961e+01] [ 2.23575485e-02 -4.22496390e-04 9.99749949e-01 2.13842563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.662755096 meters 0.022612252464450516 Centerline is valid? [True, True] Translation: X:108.65, Y:-24.43, Z:2.14 [[ 9.19774507e-01 3.91921753e-01 -2.03026197e-02 1.08650252e+02] [-3.91812635e-01 9.19998380e-01 9.26504900e-03 -2.44251206e+01] [ 2.23095515e-02 -5.66932945e-04 9.99750950e-01 2.13911881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.722755096 meters 0.025169641581127083 Centerline is valid? [True, True] Translation: X:108.70, Y:-24.46, Z:2.14 [[ 9.21435508e-01 3.87973097e-01 -2.08202082e-02 1.08704523e+02] [-3.87857281e-01 9.21670446e-01 9.50358925e-03 -2.44555129e+01] [ 2.28765076e-02 -6.81675226e-04 9.99738066e-01 2.13877467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78275509599999 meters 0.029075613984317007 Centerline is valid? [True, True] Translation: X:108.76, Y:-24.49, Z:2.14 [[ 9.23822185e-01 3.82285013e-01 -2.02667144e-02 1.08756577e+02] [-3.82173867e-01 9.24044114e-01 9.25260564e-03 -2.44876263e+01] [ 2.22644706e-02 -8.02353761e-04 9.99751794e-01 2.13929617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84275509599999 meters 0.028958013888558252 Centerline is valid? [True, True] Translation: X:108.81, Y:-24.51, Z:2.14 [[ 9.25620665e-01 3.77953160e-01 -1.94369237e-02 1.08811481e+02] [-3.77849957e-01 9.25824309e-01 8.87462337e-03 -2.45141251e+01] [ 2.13493684e-02 -8.70293990e-04 9.99771697e-01 2.14145302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90275509599999 meters 0.029946460001014797 Centerline is valid? [True, True] Translation: X:108.87, Y:-24.54, Z:2.14 [[ 9.25826931e-01 3.77485662e-01 -1.86833735e-02 1.08867580e+02] [-3.77390193e-01 9.26015041e-01 8.53148442e-03 -2.45416947e+01] [ 2.05215979e-02 -8.47756123e-04 9.99789050e-01 2.14345912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.962755096 meters 0.028964964058819584 Centerline is valid? [True, True] Translation: X:108.92, Y:-24.57, Z:2.14 [[ 9.25193498e-01 3.79055494e-01 -1.82735523e-02 1.08924352e+02] [-3.78964355e-01 9.25373596e-01 8.35022162e-03 -2.45658591e+01] [ 2.00750601e-02 -8.00545806e-04 9.99798155e-01 2.14491378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.022755096 meters 0.025196324611542475 Centerline is valid? [True, True] Translation: X:108.98, Y:-24.58, Z:2.15 [[ 9.23388127e-01 3.83437197e-01 -1.81736684e-02 1.08983228e+02] [-3.83347783e-01 9.23566682e-01 8.31025731e-03 -2.45849860e+01] [ 1.99710564e-02 -7.06757431e-04 9.99800309e-01 2.14602748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.082755096 meters 0.022558862233708725 Centerline is valid? [True, True] Translation: X:109.04, Y:-24.60, Z:2.15 [[ 9.20590205e-01 3.90085021e-01 -1.86373408e-02 1.09040453e+02] [-3.89992317e-01 9.20778661e-01 8.52357140e-03 -2.46047064e+01] [ 2.04857832e-02 -5.78296625e-04 9.99789977e-01 2.14687212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14275509599999 meters 0.019202979926926694 Centerline is valid? [True, True] Translation: X:109.10, Y:-24.62, Z:2.15 [[ 9.17198328e-01 3.97985884e-01 -1.88272122e-02 1.09097740e+02] [-3.97892938e-01 9.17391449e-01 8.61040688e-03 -2.46235247e+01] [ 2.06987439e-02 -4.06236011e-04 9.99785676e-01 2.14814570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20275509599999 meters 0.01738597008983119 Centerline is valid? [True, True] Translation: X:109.16, Y:-24.65, Z:2.15 [[ 9.15227512e-01 4.02497518e-01 -1.88241857e-02 1.09155824e+02] [-4.02405541e-01 9.15421026e-01 8.60961215e-03 -2.46453830e+01] [ 2.06974029e-02 -3.04797287e-04 9.99785739e-01 2.14948448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26275509599999 meters 0.016162304845024 Centerline is valid? [True, True] Translation: X:109.21, Y:-24.67, Z:2.15 [[ 9.13330938e-01 4.06836685e-01 -1.76212813e-02 1.09212303e+02] [-4.06756788e-01 9.13500888e-01 8.06493622e-03 -2.46677768e+01] [ 1.93781680e-02 -1.98379992e-04 9.99812206e-01 2.15160279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.322755096 meters 0.015608375933105153 Centerline is valid? [True, True] Translation: X:109.27, Y:-24.69, Z:2.15 [[ 9.12616041e-01 4.08452294e-01 -1.72824860e-02 1.09269517e+02] [-4.08375631e-01 9.12779654e-01 7.91504803e-03 -2.46931069e+01] [ 1.90080211e-02 -1.65653655e-04 9.99819318e-01 2.15292317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.382755096 meters 0.01608584838797085 Centerline is valid? [True, True] Translation: X:109.32, Y:-24.72, Z:2.15 [[ 9.12873051e-01 4.07841733e-01 -1.81084118e-02 1.09324064e+02] [-4.07757321e-01 9.13052618e-01 8.29957640e-03 -2.47216200e+01] [ 1.99188464e-02 -1.92622138e-04 9.99801582e-01 2.15313562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.442755096 meters 0.01649184015970814 Centerline is valid? [True, True] Translation: X:109.38, Y:-24.75, Z:2.15 [[ 9.13582272e-01 4.06204879e-01 -1.91057060e-02 1.09379496e+02] [-4.06110416e-01 9.13781996e-01 8.76322310e-03 -2.47496348e+01] [ 2.10181141e-02 -2.46899065e-04 9.99779065e-01 2.15328280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50275509599999 meters 0.01818197271797288 Centerline is valid? [True, True] Translation: X:109.43, Y:-24.78, Z:2.15 [[ 9.15163686e-01 4.02599559e-01 -1.97236554e-02 1.09432756e+02] [-4.02497905e-01 9.15376138e-01 9.05328752e-03 -2.47809440e+01] [ 2.16994131e-02 -3.46509994e-04 9.99764480e-01 2.15349657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56275509599999 meters 0.02022858162997507 Centerline is valid? [True, True] Translation: X:109.49, Y:-24.81, Z:2.15 [[ 9.16748286e-01 3.98960031e-01 -2.00866383e-02 1.09485653e+02] [-3.98853606e-01 9.16968208e-01 9.22527796e-03 -2.48112018e+01] [ 2.20993259e-02 -4.45629631e-04 9.99755681e-01 2.15403181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62275509599999 meters 0.022624030899258744 Centerline is valid? [True, True] Translation: X:109.54, Y:-24.84, Z:2.15 [[ 9.18389581e-01 3.95147259e-01 -2.04749082e-02 1.09539471e+02] [-3.95035706e-01 9.18617626e-01 9.40470435e-03 -2.48424458e+01] [ 2.25248547e-02 -5.48862658e-04 9.99746133e-01 2.15466288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.682755096 meters 0.026375461720649026 Centerline is valid? [True, True] Translation: X:109.59, Y:-24.88, Z:2.16 [[ 9.21001290e-01 3.88979653e-01 -2.12474295e-02 1.09591361e+02] [-3.88857839e-01 9.21246058e-01 9.76123045e-03 -2.48756282e+01] [ 2.33710307e-02 -7.27876333e-04 9.99726595e-01 2.15506855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.742755096 meters 0.030036194661452197 Centerline is valid? [True, True] Translation: X:109.64, Y:-24.91, Z:2.16 [[ 9.22573352e-01 3.85248272e-01 -2.10280400e-02 1.09642990e+02] [-3.85127972e-01 9.22812606e-01 9.66125183e-03 -2.49069766e+01] [ 2.31269210e-02 -8.14727080e-04 9.99732205e-01 2.15635836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.802755096 meters 0.028002094457644806 Centerline is valid? [True, True] Translation: X:109.70, Y:-24.93, Z:2.16 [[ 9.24142300e-01 3.81496329e-01 -2.05319430e-02 1.09698632e+02] [-3.81380671e-01 9.24369926e-01 9.43521384e-03 -2.49311865e+01] [ 2.25786100e-02 -8.88994036e-04 9.99744675e-01 2.15891911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86275509599999 meters 0.03334272363430516 Centerline is valid? [True, True] Translation: X:109.75, Y:-24.96, Z:2.16 [[ 9.24314131e-01 3.81100056e-01 -2.01527747e-02 1.09750859e+02] [-3.80988507e-01 9.24533378e-01 9.26231643e-03 -2.49648117e+01] [ 2.21617822e-02 -8.83314412e-04 9.99754007e-01 2.15973516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92275509599999 meters 0.02962774350470088 Centerline is valid? [True, True] Translation: X:109.81, Y:-24.99, Z:2.16 [[ 9.23403247e-01 3.83351905e-01 -1.91770727e-02 1.09807801e+02] [-3.83251276e-01 9.23602017e-01 8.81890515e-03 -2.49873840e+01] [ 2.10927271e-02 -7.93768071e-04 9.99777209e-01 2.16188983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98275509599999 meters 0.023975785748797794 Centerline is valid? [True, True] Translation: X:109.87, Y:-25.01, Z:2.16 [[ 9.21313467e-01 3.88359887e-01 -1.89233838e-02 1.09865677e+02] [-3.88262939e-01 9.21507541e-01 8.70300589e-03 -2.50057883e+01] [ 2.08179393e-02 -6.70947917e-04 9.99783058e-01 2.16334072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.042755096 meters 0.020834022442366058 Centerline is valid? [True, True] Translation: X:109.92, Y:-25.03, Z:2.16 [[ 9.18485171e-01 3.95041987e-01 -1.80781090e-02 1.09923654e+02] [-3.94954796e-01 9.18662932e-01 8.31428265e-03 -2.50263386e+01] [ 1.98921793e-02 -4.96509468e-04 9.99802008e-01 2.16463303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.102755096 meters 0.01921063734212124 Centerline is valid? [True, True] Translation: X:109.98, Y:-25.05, Z:2.17 [[ 9.16549810e-01 3.99540213e-01 -1.74374444e-02 1.09979566e+02] [-3.99459897e-01 9.16715588e-01 8.02004006e-03 -2.50487157e+01] [ 1.91895056e-02 -3.85206438e-04 9.99815790e-01 2.16632829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.162755096 meters 0.017388021339289482 Centerline is valid? [True, True] Translation: X:110.04, Y:-25.07, Z:2.17 [[ 9.14376826e-01 4.04520879e-01 -1.66696981e-02 1.10037470e+02] [-4.04448301e-01 9.14528723e-01 7.66719208e-03 -2.50708633e+01] [ 1.83464570e-02 -2.68671675e-04 9.99831653e-01 2.16784531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.222755096 meters 0.016817767435940264 Centerline is valid? [True, True] Translation: X:110.09, Y:-25.10, Z:2.17 [[ 9.13592253e-01 4.06302339e-01 -1.63586326e-02 1.10094205e+02] [-4.06232634e-01 9.13738669e-01 7.52942763e-03 -2.50956902e+01] [ 1.80067392e-02 -2.33416344e-04 9.99837838e-01 2.16890107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28275509599999 meters 0.01653732355677294 Centerline is valid? [True, True] Translation: X:110.15, Y:-25.12, Z:2.17 [[ 9.13089465e-01 4.07460395e-01 -1.56094597e-02 1.10151033e+02] [-4.07397014e-01 9.13222856e-01 7.18949271e-03 -2.51208250e+01] [ 1.71843489e-02 -2.05402779e-04 9.99852317e-01 2.16997857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34275509599999 meters 0.017462417151641024 Centerline is valid? [True, True] Translation: X:110.21, Y:-25.15, Z:2.17 [[ 9.13513484e-01 4.06506727e-01 -1.56650885e-02 1.10205287e+02] [-4.06442659e-01 9.13647760e-01 7.22057900e-03 -2.51484078e+01] [ 1.72475869e-02 -2.29136073e-04 9.99851223e-01 2.17094574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40275509599999 meters 0.01847099953960623 Centerline is valid? [True, True] Translation: X:110.26, Y:-25.18, Z:2.17 [[ 9.14569150e-01 4.04107729e-01 -1.61311127e-02 1.10259964e+02] [-4.04039367e-01 9.14711354e-01 7.43827946e-03 -2.51771826e+01] [ 1.77611782e-02 -2.85216375e-04 9.99842217e-01 2.17129584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.462755096 meters 0.02002252427341304 Centerline is valid? [True, True] Translation: X:110.31, Y:-25.21, Z:2.17 [[ 9.15649709e-01 4.01617237e-01 -1.70060373e-02 1.10313853e+02] [-4.01540720e-01 9.15807549e-01 7.84746819e-03 -2.52057205e+01] [ 1.87259358e-02 -3.56915513e-04 9.99824591e-01 2.17103910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.522755096 meters 0.02164149885163046 Centerline is valid? [True, True] Translation: X:110.37, Y:-25.23, Z:2.17 [[ 9.17494952e-01 3.97336336e-01 -1.80789735e-02 1.10368780e+02] [-3.97248964e-01 9.17672932e-01 8.34568136e-03 -2.52347986e+01] [ 1.99066270e-02 -4.75267028e-04 9.99801731e-01 2.17102302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.582755096 meters 0.024231962032836254 Centerline is valid? [True, True] Translation: X:110.42, Y:-25.26, Z:2.17 [[ 9.18870050e-01 3.94132647e-01 -1.83654040e-02 1.10422148e+02] [-3.94041810e-01 9.19053398e-01 8.47956994e-03 -2.52643308e+01] [ 2.02208623e-02 -5.54885832e-04 9.99795383e-01 2.17209028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64275509599999 meters 0.025656825532078882 Centerline is valid? [True, True] Translation: X:110.48, Y:-25.29, Z:2.17 [[ 9.19778803e-01 3.92014357e-01 -1.82125561e-02 1.10477551e+02] [-3.91924588e-01 9.19958905e-01 8.41014262e-03 -2.52921961e+01] [ 2.00516998e-02 -5.97522361e-04 9.99798766e-01 2.17315828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70275509599999 meters 0.026084902116827673 Centerline is valid? [True, True] Translation: X:110.53, Y:-25.32, Z:2.17 [[ 9.19886514e-01 3.91773252e-01 -1.79588313e-02 1.10533534e+02] [-3.91685811e-01 9.20061606e-01 8.29854522e-03 -2.53191003e+01] [ 1.97743792e-02 -5.99500451e-04 9.99804288e-01 2.17451143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76275509599999 meters 0.02412571835885068 Centerline is valid? [True, True] Translation: X:110.59, Y:-25.34, Z:2.18 [[ 9.19844941e-01 3.91864261e-01 -1.81021052e-02 1.10592017e+02] [-3.91775321e-01 9.20022843e-01 8.37054142e-03 -2.53428240e+01] [ 1.99344663e-02 -6.07642096e-04 9.99801104e-01 2.17659690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.822755096 meters 0.025137169717978677 Centerline is valid? [True, True] Translation: X:110.65, Y:-25.37, Z:2.18 [[ 9.19967002e-01 3.91575192e-01 -1.81544628e-02 1.10647340e+02] [-3.91485546e-01 9.20145903e-01 8.40145246e-03 -2.53699233e+01] [ 1.99945549e-02 -6.21849266e-04 9.99799896e-01 2.17728142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.882755096 meters 0.025560025294982778 Centerline is valid? [True, True] Translation: X:110.70, Y:-25.40, Z:2.18 [[ 9.20000662e-01 3.91502891e-01 -1.80074712e-02 1.10704240e+02] [-3.91414610e-01 9.20176668e-01 8.33683563e-03 -2.53968103e+01] [ 1.98339501e-02 -6.21506978e-04 9.99803095e-01 2.17878735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.942755096 meters 0.026260202304201945 Centerline is valid? [True, True] Translation: X:110.76, Y:-25.42, Z:2.18 [[ 9.19903844e-01 3.91733754e-01 -1.79327907e-02 1.10760440e+02] [-3.91646117e-01 9.20078411e-01 8.30885333e-03 -2.54225654e+01] [ 1.97544319e-02 -6.20038270e-04 9.99804670e-01 2.18045098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00275509599999 meters 0.024382330277749924 Centerline is valid? [True, True] Translation: X:110.82, Y:-25.45, Z:2.18 [[ 9.19783014e-01 3.92040541e-01 -1.74190168e-02 1.10818904e+02] [-3.91957798e-01 9.19947745e-01 8.07660626e-03 -2.54454502e+01] [ 1.91909423e-02 -6.01205775e-04 9.99815656e-01 2.18219729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06275509599999 meters 0.024342922143559563 Centerline is valid? [True, True] Translation: X:110.88, Y:-25.47, Z:2.18 [[ 9.19173800e-01 3.93447112e-01 -1.78576371e-02 1.10876189e+02] [-3.93360277e-01 9.19347061e-01 8.28693637e-03 -2.54703308e+01] [ 1.96778373e-02 -5.92649733e-04 9.99806197e-01 2.18331495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12275509599999 meters 0.0222426856683715 Centerline is valid? [True, True] Translation: X:110.93, Y:-25.49, Z:2.18 [[ 9.17995253e-01 3.96131300e-01 -1.90973482e-02 1.10934596e+02] [-3.96032427e-01 9.18193694e-01 8.86893367e-03 -2.54916469e+01] [ 2.10483269e-02 -5.78469848e-04 9.99778292e-01 2.18361633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.182755096 meters 0.024212974952268426 Centerline is valid? [True, True] Translation: X:110.99, Y:-25.52, Z:2.18 [[ 9.16360076e-01 3.99861250e-01 -1.98794125e-02 1.10990165e+02] [-3.99754836e-01 9.16575535e-01 9.23908812e-03 -2.55183002e+01] [ 2.19153365e-02 -5.19440219e-04 9.99759695e-01 2.18290105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.242755096 meters 0.02290963838279639 Centerline is valid? [True, True] Translation: X:111.05, Y:-25.54, Z:2.18 [[ 9.15255292e-01 4.02398656e-01 -1.95722433e-02 1.11047463e+02] [-4.02295948e-01 9.15464424e-01 9.10264459e-03 -2.55415864e+01] [ 2.15805844e-02 -4.57409483e-04 9.99767007e-01 2.18384679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.302755096 meters 0.021095031914104605 Centerline is valid? [True, True] Translation: X:111.10, Y:-25.56, Z:2.18 [[ 9.13711510e-01 4.05902790e-01 -1.93442812e-02 1.11104535e+02] [-4.05803126e-01 9.13916180e-01 9.00217067e-03 -2.55633283e+01] [ 2.13330578e-02 -3.75417160e-04 9.99772354e-01 2.18498908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36275509599999 meters 0.01744715625782672 Centerline is valid? [True, True] Translation: X:111.16, Y:-25.58, Z:2.19 [[ 9.12608123e-01 4.08370986e-01 -1.94820596e-02 1.11164414e+02] [-4.08270342e-01 9.12815990e-01 9.07170398e-03 -2.55828104e+01] [ 2.14881562e-02 -3.24963605e-04 9.99769050e-01 2.18662237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42275509599999 meters 0.019753135667116783 Centerline is valid? [True, True] Translation: X:111.22, Y:-25.61, Z:2.19 [[ 9.12263416e-01 4.09156302e-01 -1.91462914e-02 1.11218016e+02] [-4.09059138e-01 9.12464260e-01 8.92161902e-03 -2.56125836e+01] [ 2.11206433e-02 -3.06901185e-04 9.99776887e-01 2.18710270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48275509599999 meters 0.017820165357404383 Centerline is valid? [True, True] Translation: X:111.28, Y:-25.64, Z:2.19 [[ 9.12494894e-01 4.08643970e-01 -1.90571247e-02 1.11276451e+02] [-4.08547472e-01 9.12693816e-01 8.88603148e-03 -2.56368487e+01] [ 2.10245430e-02 -3.22718229e-04 9.99778908e-01 2.18914810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.542755096 meters 0.018292365170924845 Centerline is valid? [True, True] Translation: X:111.33, Y:-25.66, Z:2.19 [[ 9.12746356e-01 4.08078708e-01 -1.91274071e-02 1.11331828e+02] [-4.07981222e-01 9.12946685e-01 8.92595992e-03 -2.56642759e+01] [ 2.11047971e-02 -3.43514470e-04 9.99777210e-01 2.19037116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.602755096 meters 0.020143130537097324 Centerline is valid? [True, True] Translation: X:111.38, Y:-25.69, Z:2.19 [[ 9.14142155e-01 4.04952966e-01 -1.89001588e-02 1.11384825e+02] [-4.04856986e-01 9.14337423e-01 8.82599885e-03 -2.56947724e+01] [ 2.08552369e-02 -4.16356263e-04 9.99782419e-01 2.19154327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.662755096 meters 0.021861360721736507 Centerline is valid? [True, True] Translation: X:111.44, Y:-25.73, Z:2.19 [[ 9.16094822e-01 4.00513586e-01 -1.89511138e-02 1.11438217e+02] [-4.00416018e-01 9.16290670e-01 8.85550129e-03 -2.57261683e+01] [ 2.09114774e-02 -5.24149326e-04 9.99781194e-01 2.19302429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.722755096 meters 0.026081186223031044 Centerline is valid? [True, True] Translation: X:111.49, Y:-25.76, Z:2.19 [[ 9.17331909e-01 3.97688237e-01 -1.86073834e-02 1.11490238e+02] [-3.97593480e-01 9.17520423e-01 8.70045985e-03 -2.57598232e+01] [ 2.05327248e-02 -5.83035135e-04 9.99789011e-01 2.19394340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78275509599999 meters 0.024986097530764802 Centerline is valid? [True, True] Translation: X:111.55, Y:-25.79, Z:2.20 [[ 9.18972400e-01 3.93908845e-01 -1.80430191e-02 1.11546237e+02] [-3.93818920e-01 9.19149279e-01 8.44167787e-03 -2.57853622e+01] [ 1.99094796e-02 -6.51986672e-04 9.99801574e-01 2.19542544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84275509599999 meters 0.02472849030569474 Centerline is valid? [True, True] Translation: X:111.60, Y:-25.81, Z:2.20 [[ 9.19518333e-01 3.92665475e-01 -1.73164726e-02 1.11601725e+02] [-3.92582376e-01 9.19681139e-01 8.10437417e-03 -2.58122729e+01] [ 1.91079412e-02 -6.53978670e-04 9.99817213e-01 2.19721557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90275509599999 meters 0.025443391558345515 Centerline is valid? [True, True] Translation: X:111.66, Y:-25.84, Z:2.20 [[ 9.19242969e-01 3.93335732e-01 -1.67142223e-02 1.11655993e+02] [-3.93258329e-01 9.19394700e-01 7.82768925e-03 -2.58397205e+01] [ 1.84458773e-02 -6.22541159e-04 9.99829667e-01 2.19904491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.962755096 meters 0.02674416814657943 Centerline is valid? [True, True] Translation: X:111.71, Y:-25.87, Z:2.20 [[ 9.18031200e-01 3.96161834e-01 -1.65685527e-02 1.11710151e+02] [-3.96086174e-01 9.18180529e-01 7.76269886e-03 -2.58662726e+01] [ 1.82882075e-02 -5.63825093e-04 9.99832598e-01 2.20015825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.022755096 meters 0.022478952808232325 Centerline is valid? [True, True] Translation: X:111.77, Y:-25.89, Z:2.20 [[ 9.16566147e-01 3.99521094e-01 -1.70115568e-02 1.11769100e+02] [-3.99441903e-01 9.16723860e-01 7.97066513e-03 -2.58855387e+01] [ 1.87793488e-02 -5.10513226e-04 9.99823522e-01 2.20034945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.082755096 meters 0.022147662496024848 Centerline is valid? [True, True] Translation: X:111.83, Y:-25.91, Z:2.20 [[ 9.15843395e-01 4.01165456e-01 -1.72381146e-02 1.11826101e+02] [-4.01084416e-01 9.16005482e-01 8.07766888e-03 -2.59114049e+01] [ 1.90306892e-02 -4.83940560e-04 9.99818783e-01 2.20120341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14275509599999 meters 0.022425313016605587 Centerline is valid? [True, True] Translation: X:111.88, Y:-25.94, Z:2.20 [[ 9.15523205e-01 4.01944526e-01 -1.60580119e-02 1.11881126e+02] [-4.01874295e-01 9.15663916e-01 7.52625703e-03 -2.59372115e+01] [ 1.77288799e-02 -4.37160728e-04 9.99842735e-01 2.20377112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20275509599999 meters 0.02331196724025134 Centerline is valid? [True, True] Translation: X:111.94, Y:-25.96, Z:2.21 [[ 9.15710641e-01 4.01561866e-01 -1.49026654e-02 1.11935923e+02] [-4.01501260e-01 9.15831805e-01 6.98885863e-03 -2.59637891e+01] [ 1.64547941e-02 -4.16333281e-04 9.99864524e-01 2.20629575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26275509599999 meters 0.02277255307684419 Centerline is valid? [True, True] Translation: X:111.99, Y:-25.99, Z:2.21 [[ 9.17072517e-01 3.98501551e-01 -1.32103275e-02 1.11993050e+02] [-3.98453552e-01 9.17167562e-01 6.19925095e-03 -2.59883860e+01] [ 1.45864950e-02 -4.21460764e-04 9.99893523e-01 2.20897472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.322755096 meters 0.02365995688936985 Centerline is valid? [True, True] Translation: X:112.05, Y:-26.02, Z:2.21 [[ 9.17735291e-01 3.96983414e-01 -1.28881655e-02 1.12049305e+02] [-3.96937575e-01 9.17825680e-01 6.04829604e-03 -2.60152162e+01] [ 1.42301624e-02 -4.34937576e-04 9.99898652e-01 2.20971113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.382755096 meters 0.02407782437817579 Centerline is valid? [True, True] Translation: X:112.11, Y:-26.04, Z:2.21 [[ 9.18392184e-01 3.95436496e-01 -1.36298753e-02 1.12105806e+02] [-3.95384984e-01 9.18493189e-01 6.40132542e-03 -2.60405123e+01] [ 1.50502653e-02 -4.89879214e-04 9.99886618e-01 2.20908380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.442755096 meters 0.02483129265938736 Centerline is valid? [True, True] Translation: X:112.16, Y:-26.07, Z:2.21 [[ 9.18329029e-01 3.95570120e-01 -1.40026910e-02 1.12161283e+02] [-3.95515690e-01 9.18435640e-01 6.58136651e-03 -2.60670237e+01] [ 1.54639624e-02 -5.05575907e-04 9.99880298e-01 2.20937002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50275509599999 meters 0.024059049836920032 Centerline is valid? [True, True] Translation: X:112.22, Y:-26.09, Z:2.21 [[ 9.17975667e-01 3.96376066e-01 -1.43767171e-02 1.12218427e+02] [-3.96318701e-01 9.18088097e-01 6.76263533e-03 -2.60911821e+01] [ 1.58796397e-02 -5.10172816e-04 9.99873780e-01 2.20977790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56275509599999 meters 0.024215594893037016 Centerline is valid? [True, True] Translation: X:112.27, Y:-26.12, Z:2.21 [[ 9.17205763e-01 3.98163670e-01 -1.41166426e-02 1.12274178e+02] [-3.98108498e-01 9.17314268e-01 6.64513190e-03 -2.61167766e+01] [ 1.55952478e-02 -4.74997903e-04 9.99878274e-01 2.21065464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62275509599999 meters 0.026257147684318374 Centerline is valid? [True, True] Translation: X:112.33, Y:-26.15, Z:2.21 [[ 9.16486596e-01 3.99810851e-01 -1.42689369e-02 1.12328910e+02] [-3.99754610e-01 9.16597554e-01 6.72131028e-03 -2.61451697e+01] [ 1.57661254e-02 -4.55917475e-04 9.99875603e-01 2.21200957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.682755096 meters 0.021696365235379638 Centerline is valid? [True, True] Translation: X:112.39, Y:-26.16, Z:2.21 [[ 9.15256709e-01 4.02623976e-01 -1.41099221e-02 1.12388838e+02] [-4.02569235e-01 9.15365374e-01 6.65158233e-03 -2.61648528e+01] [ 1.55938206e-02 -4.07684833e-04 9.99878326e-01 2.21276391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.742755096 meters 0.02097427765723211 Centerline is valid? [True, True] Translation: X:112.44, Y:-26.19, Z:2.21 [[ 9.13929358e-01 4.05636652e-01 -1.38576468e-02 1.12444745e+02] [-4.05584180e-01 9.14034345e-01 6.53373021e-03 -2.61902778e+01] [ 1.53166856e-02 -3.50925534e-04 9.99882631e-01 2.21409066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.802755096 meters 0.02045047984581726 Centerline is valid? [True, True] Translation: X:112.50, Y:-26.22, Z:2.22 [[ 9.12965704e-01 4.07807174e-01 -1.36722935e-02 1.12501630e+02] [-4.07756276e-01 9.13068021e-01 6.45048119e-03 -2.62161762e+01] [ 1.51142865e-02 -3.14104625e-04 9.99885723e-01 2.21541137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86275509599999 meters 0.019290174199579423 Centerline is valid? [True, True] Translation: X:112.56, Y:-26.24, Z:2.22 [[ 9.11872450e-01 4.10226948e-01 -1.42297304e-02 1.12558563e+02] [-4.10172032e-01 9.11983425e-01 6.71840389e-03 -2.62412255e+01] [ 1.57333486e-02 -2.89689981e-04 9.99876181e-01 2.21579926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92275509599999 meters 0.019417069366095344 Centerline is valid? [True, True] Translation: X:112.61, Y:-26.27, Z:2.22 [[ 9.11516511e-01 4.10995259e-01 -1.48508359e-02 1.12614433e+02] [-4.10935459e-01 9.11637434e-01 7.01696984e-03 -2.62690969e+01] [ 1.64225192e-02 -2.93348825e-04 9.99865098e-01 2.21640234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98275509599999 meters 0.02057291341850553 Centerline is valid? [True, True] Translation: X:112.67, Y:-26.30, Z:2.22 [[ 9.12139408e-01 4.09608473e-01 -1.49197667e-02 1.12667762e+02] [-4.09547847e-01 9.12261362e-01 7.05462970e-03 -2.62992427e+01] [ 1.65003628e-02 -3.24447441e-04 9.99863807e-01 2.21744370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.042755096 meters 0.0208148487079353 Centerline is valid? [True, True] Translation: X:112.72, Y:-26.33, Z:2.22 [[ 9.12925598e-01 4.07847657e-01 -1.50711923e-02 1.12722566e+02] [-4.07785476e-01 9.13049920e-01 7.13083369e-03 -2.63282252e+01] [ 1.66690448e-02 -3.64107274e-04 9.99860996e-01 2.21808630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.102755096 meters 0.022465087582139907 Centerline is valid? [True, True] Translation: X:112.78, Y:-26.36, Z:2.22 [[ 9.14495283e-01 4.04313976e-01 -1.51190588e-02 1.12775772e+02] [-4.04250830e-01 9.14620151e-01 7.15868193e-03 -2.63599594e+01] [ 1.67225509e-02 -4.34688821e-04 9.99860074e-01 2.21908333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.162755096 meters 0.02404492297612214 Centerline is valid? [True, True] Translation: X:112.83, Y:-26.39, Z:2.22 [[ 9.15297924e-01 4.02503884e-01 -1.48436425e-02 1.12829959e+02] [-4.02442705e-01 9.15418160e-01 7.03283577e-03 -2.63904184e+01] [ 1.64188837e-02 -4.63424326e-04 9.99865094e-01 2.22043687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22275509599999 meters 0.02512747426191252 Centerline is valid? [True, True] Translation: X:112.88, Y:-26.42, Z:2.22 [[ 9.16376485e-01 4.00049528e-01 -1.46462669e-02 1.12883827e+02] [-3.99989572e-01 9.16493382e-01 6.94419396e-03 -2.64208140e+01] [ 1.62012282e-02 -5.05142018e-04 9.99868624e-01 2.22084374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28275509599999 meters 0.025732757946226283 Centerline is valid? [True, True] Translation: X:112.94, Y:-26.45, Z:2.22 [[ 9.16996014e-01 3.98596473e-01 -1.54648921e-02 1.12938422e+02] [-3.98529333e-01 9.17126236e-01 7.33745279e-03 -2.64509094e+01] [ 1.71079411e-02 -5.65201815e-04 9.99853489e-01 2.22101207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34275509599999 meters 0.026317642256012744 Centerline is valid? [True, True] Translation: X:112.99, Y:-26.48, Z:2.22 [[ 9.16697909e-01 3.99256901e-01 -1.60894759e-02 1.12993369e+02] [-3.99184228e-01 9.16838912e-01 7.63951312e-03 -2.64795286e+01] [ 1.78015859e-02 -5.80460681e-04 9.99841371e-01 2.22135831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40275509599999 meters 0.02617724773061811 Centerline is valid? [True, True] Translation: X:113.05, Y:-26.51, Z:2.22 [[ 9.15998436e-01 4.00866466e-01 -1.59041281e-02 1.13049438e+02] [-4.00795607e-01 9.16136331e-01 7.55677103e-03 -2.65068406e+01] [ 1.75996056e-02 -5.47685793e-04 9.99844965e-01 2.22229508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.462755096 meters 0.025868217952861924 Centerline is valid? [True, True] Translation: X:113.11, Y:-26.53, Z:2.22 [[ 9.15162252e-01 4.02767134e-01 -1.60215115e-02 1.13105197e+02] [-4.02695422e-01 9.15302335e-01 7.61787818e-03 -2.65343388e+01] [ 1.77327579e-02 -5.19805203e-04 9.99842627e-01 2.22367156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.522755096 meters 0.02533068366162732 Centerline is valid? [True, True] Translation: X:113.16, Y:-26.56, Z:2.23 [[ 9.14246321e-01 4.04872617e-01 -1.52259101e-02 1.13161328e+02] [-4.04808063e-01 9.14372984e-01 7.24427167e-03 -2.65616811e+01] [ 1.68551681e-02 -4.59477560e-04 9.99857836e-01 2.22589669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.582755096 meters 0.02433285887310828 Centerline is valid? [True, True] Translation: X:113.22, Y:-26.59, Z:2.23 [[ 9.12746153e-01 4.08285921e-01 -1.40380442e-02 1.13217221e+02] [-4.08231386e-01 9.12854025e-01 6.68320817e-03 -2.65872261e+01] [ 1.55433449e-02 -3.69302325e-04 9.99879127e-01 2.22812361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64275509599999 meters 0.023761297883326718 Centerline is valid? [True, True] Translation: X:113.27, Y:-26.61, Z:2.23 [[ 9.11712055e-01 4.10625247e-01 -1.29628725e-02 1.13272963e+02] [-4.10578928e-01 9.11804152e-01 6.17506218e-03 -2.66134262e+01] [ 1.43552374e-02 -3.07596331e-04 9.99896911e-01 2.23095159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70275509599999 meters 0.023670678801649355 Centerline is valid? [True, True] Translation: X:113.33, Y:-26.64, Z:2.23 [[ 9.11152576e-01 4.11875941e-01 -1.26171824e-02 1.13328441e+02] [-4.11832127e-01 9.11239885e-01 6.01419101e-03 -2.66406187e+01] [ 1.39743804e-02 -2.83684584e-04 9.99902313e-01 2.23295195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76275509599999 meters 0.02193010305873094 Centerline is valid? [True, True] Translation: X:113.39, Y:-26.66, Z:2.23 [[ 9.10599188e-01 4.13062774e-01 -1.37209351e-02 1.13385904e+02] [-4.13011024e-01 9.10702508e-01 6.54486736e-03 -2.66649310e+01] [ 1.51991311e-02 -2.92853444e-04 9.99884444e-01 2.23271161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.822755096 meters 0.0217341456057753 Centerline is valid? [True, True] Translation: X:113.44, Y:-26.69, Z:2.23 [[ 9.10101298e-01 4.14123325e-01 -1.47478763e-02 1.13442018e+02] [-4.14063590e-01 9.10220732e-01 7.04001263e-03 -2.66911312e+01] [ 1.63392562e-02 -3.00566000e-04 9.99866460e-01 2.23181123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.882755096 meters 0.02181437357622498 Centerline is valid? [True, True] Translation: X:113.50, Y:-26.72, Z:2.23 [[ 9.10158749e-01 4.13998456e-01 -1.47081760e-02 1.13498742e+02] [-4.13938949e-01 9.10277532e-01 7.02581013e-03 -2.67191052e+01] [ 1.62971967e-02 -3.06315647e-04 9.99867145e-01 2.23215920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.942755096 meters 0.02407105499872489 Centerline is valid? [True, True] Translation: X:113.55, Y:-26.75, Z:2.23 [[ 9.10713140e-01 4.12768393e-01 -1.49609804e-02 1.13551352e+02] [-4.12706555e-01 9.10835956e-01 7.15268340e-03 -2.67510372e+01] [ 1.65794005e-02 -3.39548086e-04 9.99862495e-01 2.23328485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00275509599999 meters 0.023408243577811495 Centerline is valid? [True, True] Translation: X:113.61, Y:-26.78, Z:2.23 [[ 9.10989404e-01 4.12142963e-01 -1.53780302e-02 1.13608102e+02] [-4.12077456e-01 9.11119117e-01 7.35697226e-03 -2.67769169e+01] [ 1.70433416e-02 -3.65184212e-04 9.99854685e-01 2.23357371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06275509599999 meters 0.024948612335374848 Centerline is valid? [True, True] Translation: X:113.66, Y:-26.81, Z:2.23 [[ 9.11058045e-01 4.11979792e-01 -1.56808624e-02 1.13662315e+02] [-4.11911562e-01 9.11192903e-01 7.50725621e-03 -2.68068111e+01] [ 1.73811284e-02 -3.80417645e-04 9.99848864e-01 2.23447220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12275509599999 meters 0.02308644606015286 Centerline is valid? [True, True] Translation: X:113.72, Y:-26.83, Z:2.24 [[ 9.10637231e-01 4.12909012e-01 -1.56838200e-02 1.13719755e+02] [-4.12840832e-01 9.10772208e-01 7.51220416e-03 -2.68306817e+01] [ 1.73862442e-02 -3.65971486e-04 9.99848781e-01 2.23574378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.182755096 meters 0.022463745270320214 Centerline is valid? [True, True] Translation: X:113.78, Y:-26.86, Z:2.24 [[ 9.09699293e-01 4.14957750e-01 -1.60393788e-02 1.13776578e+02] [-4.14886664e-01 9.09840618e-01 7.68798630e-03 -2.68563917e+01] [ 1.77834678e-02 -3.39231324e-04 9.99841804e-01 2.23671759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.242755096 meters 0.022023189015868288 Centerline is valid? [True, True] Translation: X:113.83, Y:-26.88, Z:2.24 [[ 9.08539853e-01 4.17483983e-01 -1.62006016e-02 1.13832013e+02] [-4.17411764e-01 9.08684233e-01 7.77069464e-03 -2.68820506e+01] [ 1.79653717e-02 -2.97664093e-04 9.99838565e-01 2.23801452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.302755096 meters 0.02181961249767354 Centerline is valid? [True, True] Translation: X:113.89, Y:-26.91, Z:2.24 [[ 9.07940850e-01 4.18772692e-01 -1.65180301e-02 1.13887010e+02] [-4.18697735e-01 9.08091049e-01 7.92803928e-03 -2.69086446e+01] [ 1.83199216e-02 -2.82128923e-04 9.99832136e-01 2.23880294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36275509599999 meters 0.021362824216373276 Centerline is valid? [True, True] Translation: X:113.94, Y:-26.94, Z:2.24 [[ 9.07870075e-01 4.18919528e-01 -1.66840046e-02 1.13943679e+02] [-4.18842990e-01 9.08023318e-01 8.01265867e-03 -2.69355953e+01] [ 1.85061244e-02 -2.86474663e-04 9.99828706e-01 2.23977376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42275509599999 meters 0.022583452919953916 Centerline is valid? [True, True] Translation: X:114.00, Y:-26.97, Z:2.24 [[ 9.08259061e-01 4.18047068e-01 -1.73818283e-02 1.13996186e+02] [-4.17963702e-01 9.08425310e-01 8.35457174e-03 -2.69664858e+01] [ 1.92826970e-02 -3.23142182e-04 9.99814019e-01 2.24157361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48275509599999 meters 0.0219389069345706 Centerline is valid? [True, True] Translation: X:114.05, Y:-26.99, Z:2.24 [[ 9.08898452e-01 4.16626079e-01 -1.80641823e-02 1.14052386e+02] [-4.16535644e-01 9.09077869e-01 8.68821366e-03 -2.69936365e+01] [ 2.00414847e-02 -3.72328143e-04 9.99799080e-01 2.24269532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.542755096 meters 0.021772809631396425 Centerline is valid? [True, True] Translation: X:114.11, Y:-27.02, Z:2.24 [[ 9.09381375e-01 4.15572119e-01 -1.80368757e-02 1.14108360e+02] [-4.15481629e-01 9.09560143e-01 8.68116445e-03 -2.70210663e+01] [ 2.00132731e-02 -4.00498768e-04 9.99799634e-01 2.24375830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.602755096 meters 0.022770890726646734 Centerline is valid? [True, True] Translation: X:114.16, Y:-27.05, Z:2.24 [[ 9.09845255e-01 4.14561380e-01 -1.79017598e-02 1.14162267e+02] [-4.14471923e-01 9.10021253e-01 8.62229020e-03 -2.70504324e+01] [ 1.98654504e-02 -4.25173039e-04 9.99802572e-01 2.24497589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.662755096 meters 0.022424947559932656 Centerline is valid? [True, True] Translation: X:114.22, Y:-27.08, Z:2.25 [[ 9.10116439e-01 4.13955059e-01 -1.81459874e-02 1.14218379e+02] [-4.13862905e-01 9.10297208e-01 8.74579403e-03 -2.70762500e+01] [ 2.01386074e-02 -4.49739860e-04 9.99797097e-01 2.24585779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72275509599999 meters 0.022511862319624872 Centerline is valid? [True, True] Translation: X:114.28, Y:-27.10, Z:2.25 [[ 9.09941216e-01 4.14277854e-01 -1.95152034e-02 1.14275847e+02] [-4.14171182e-01 9.10150332e-01 9.41306177e-03 -2.71030583e+01] [ 2.16613919e-02 -4.82698024e-04 9.99765248e-01 2.24603395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78275509599999 meters 0.02180548096058836 Centerline is valid? [True, True] Translation: X:114.33, Y:-27.13, Z:2.25 [[ 9.08977212e-01 4.16328138e-01 -2.07679822e-02 1.14333017e+02] [-4.16207667e-01 9.09214310e-01 1.00258070e-02 -2.71275083e+01] [ 2.30565722e-02 -4.69436622e-04 9.99734052e-01 2.24536081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84275509599999 meters 0.021559780137431366 Centerline is valid? [True, True] Translation: X:114.39, Y:-27.15, Z:2.24 [[ 9.08212513e-01 4.17898116e-01 -2.26096196e-02 1.14388731e+02] [-4.17755625e-01 9.08493775e-01 1.09223892e-02 -2.71517921e+01] [ 2.51051445e-02 -4.74554813e-04 9.99684704e-01 2.24462205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90275509599999 meters 0.021245698348328807 Centerline is valid? [True, True] Translation: X:114.45, Y:-27.18, Z:2.25 [[ 9.07944451e-01 4.18434518e-01 -2.34398841e-02 1.14445628e+02] [-4.18281389e-01 9.08246840e-01 1.13294986e-02 -2.71777073e+01] [ 2.60298539e-02 -4.82088084e-04 9.99661050e-01 2.24577225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.962755096 meters 0.021328470314656893 Centerline is valid? [True, True] Translation: X:114.50, Y:-27.20, Z:2.25 [[ 9.07660092e-01 4.19114630e-01 -2.22729262e-02 1.14501178e+02] [-4.18976376e-01 9.07933217e-01 1.07735355e-02 -2.72040054e+01] [ 2.47376759e-02 -4.46878335e-04 9.99693877e-01 2.24813173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.022755096 meters 0.02175941131121972 Centerline is valid? [True, True] Translation: X:114.56, Y:-27.23, Z:2.25 [[ 9.07578191e-01 4.19318602e-01 -2.17655262e-02 1.14556710e+02] [-4.19186466e-01 9.07839038e-01 1.05350804e-02 -2.72308684e+01] [ 2.41771495e-02 -4.37595218e-04 9.99707594e-01 2.25003583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.082755096 meters 0.020986787551816398 Centerline is valid? [True, True] Translation: X:114.61, Y:-27.25, Z:2.25 [[ 9.07255399e-01 4.20049387e-01 -2.11223578e-02 1.14613905e+02] [-4.19924972e-01 9.07501153e-01 1.02311043e-02 -2.72545444e+01] [ 2.34661331e-02 -4.12419062e-04 9.99724547e-01 2.25226578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14275509599999 meters 0.021220237044087334 Centerline is valid? [True, True] Translation: X:114.67, Y:-27.28, Z:2.25 [[ 9.06921963e-01 4.20781214e-01 -2.08739648e-02 1.14669194e+02] [-4.20659740e-01 9.07162066e-01 1.01177620e-02 -2.72805286e+01] [ 2.31934332e-02 -3.95183985e-04 9.99730918e-01 2.25376776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20275509599999 meters 0.02107680807455238 Centerline is valid? [True, True] Translation: X:114.73, Y:-27.31, Z:2.26 [[ 9.06640719e-01 4.21396720e-01 -2.06739215e-02 1.14726161e+02] [-4.21277570e-01 9.06876319e-01 1.00274662e-02 -2.73070178e+01] [ 2.29742311e-02 -3.81849743e-04 9.99735985e-01 2.25517305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26275509599999 meters 0.02069364152068815 Centerline is valid? [True, True] Translation: X:114.78, Y:-27.33, Z:2.26 [[ 9.06435209e-01 4.21838167e-01 -2.06826616e-02 1.14783522e+02] [-4.21718851e-01 9.06671064e-01 1.00395522e-02 -2.73328188e+01] [ 2.29874371e-02 -3.77935334e-04 9.99735683e-01 2.25680037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.322755096 meters 0.02116681577116986 Centerline is valid? [True, True] Translation: X:114.84, Y:-27.36, Z:2.26 [[ 9.06319933e-01 4.22085260e-01 -2.06933168e-02 1.14838920e+02] [-4.21965703e-01 9.06556060e-01 1.00526270e-02 -2.73596435e+01] [ 2.30027174e-02 -3.79026214e-04 9.99735331e-01 2.25790661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.382755096 meters 0.0212209643783748 Centerline is valid? [True, True] Translation: X:114.90, Y:-27.39, Z:2.26 [[ 9.06410452e-01 4.21871740e-01 -2.10790835e-02 1.14895493e+02] [-4.21747445e-01 9.06655434e-01 1.02477442e-02 -2.73864757e+01] [ 2.34346993e-02 -3.98612889e-04 9.99725290e-01 2.25860253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.442755096 meters 0.021734663281125027 Centerline is valid? [True, True] Translation: X:114.95, Y:-27.41, Z:2.26 [[ 9.07103225e-01 4.20329469e-01 -2.20652967e-02 1.14951114e+02] [-4.20192609e-01 9.07371434e-01 1.07355269e-02 -2.74141879e+01] [ 2.45338782e-02 -4.66556451e-04 9.99698890e-01 2.25843612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50275509599999 meters 0.024421857420216533 Centerline is valid? [True, True] Translation: X:115.00, Y:-27.45, Z:2.26 [[ 9.08466129e-01 4.17323504e-01 -2.30301041e-02 1.15003679e+02] [-4.17173270e-01 9.08757811e-01 1.12117694e-02 -2.74455757e+01] [ 2.56077219e-02 -5.77968915e-04 9.99671901e-01 2.25854315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56275509599999 meters 0.026085015332298768 Centerline is valid? [True, True] Translation: X:115.06, Y:-27.48, Z:2.26 [[ 9.09640511e-01 4.14748225e-01 -2.31959232e-02 1.15057479e+02] [-4.14594862e-01 9.09935973e-01 1.12971215e-02 -2.74756789e+01] [ 2.57922660e-02 -6.59408808e-04 9.99667107e-01 2.25971543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62275509599999 meters 0.024842204792276504 Centerline is valid? [True, True] Translation: X:115.11, Y:-27.50, Z:2.26 [[ 9.11204915e-01 4.11282442e-01 -2.35022464e-02 1.15113621e+02] [-4.11123690e-01 9.11507628e-01 1.14523503e-02 -2.75011544e+01] [ 2.61326275e-02 -7.73107632e-04 9.99658186e-01 2.26237482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.682755096 meters 0.026461863749959902 Centerline is valid? [True, True] Translation: X:115.17, Y:-27.53, Z:2.26 [[ 9.11994088e-01 4.09501529e-01 -2.39850321e-02 1.15167064e+02] [-4.09335435e-01 9.12309039e-01 1.16926985e-02 -2.75305595e+01] [ 2.66699395e-02 -8.45748398e-04 9.99643936e-01 2.26341319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.742755096 meters 0.026889590478711662 Centerline is valid? [True, True] Translation: X:115.22, Y:-27.56, Z:2.27 [[ 9.12436664e-01 4.08514408e-01 -2.39856594e-02 1.15221996e+02] [-4.08347759e-01 9.12751445e-01 1.17007152e-02 -2.75589791e+01] [ 2.66728560e-02 -8.81671267e-04 9.99643827e-01 2.26528209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.802755096 meters 0.026439586249079387 Centerline is valid? [True, True] Translation: X:115.28, Y:-27.59, Z:2.27 [[ 9.12591715e-01 4.08184649e-01 -2.36992375e-02 1.15277554e+02] [-4.08021635e-01 9.12898956e-01 1.15689686e-02 -2.75859060e+01] [ 2.63572845e-02 -8.87943308e-04 9.99652192e-01 2.26778963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86275509599999 meters 0.02641648399232247 Centerline is valid? [True, True] Translation: X:115.33, Y:-27.61, Z:2.27 [[ 9.12289964e-01 4.08852040e-01 -2.38124000e-02 1.15333509e+02] [-4.08687474e-01 9.12600260e-01 1.16324445e-02 -2.76135032e+01] [ 2.64871511e-02 -8.80332794e-04 9.99648766e-01 2.26953668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92275509599999 meters 0.026458662437755538 Centerline is valid? [True, True] Translation: X:115.39, Y:-27.64, Z:2.27 [[ 9.12081608e-01 4.09278215e-01 -2.44639010e-02 1.15389856e+02] [-4.09104429e-01 9.12409191e-01 1.19596531e-02 -2.76405024e+01] [ 2.72159136e-02 -8.99889394e-04 9.99629173e-01 2.27063539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98275509599999 meters 0.02710659182470026 Centerline is valid? [True, True] Translation: X:115.45, Y:-27.67, Z:2.27 [[ 9.11580045e-01 4.10338241e-01 -2.53840485e-02 1.15446049e+02] [-4.10151267e-01 9.11932947e-01 1.24192315e-02 -2.76673276e+01] [ 2.82446358e-02 -9.09823975e-04 9.99600627e-01 2.27113198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.042755096 meters 0.024453247149504052 Centerline is valid? [True, True] Translation: X:115.50, Y:-27.69, Z:2.27 [[ 9.10407142e-01 4.12975969e-01 -2.46918089e-02 1.15503039e+02] [-4.12799797e-01 9.10741559e-01 1.20888259e-02 -2.76917643e+01] [ 2.74802511e-02 -8.12979703e-04 9.99622016e-01 2.27373092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.102755096 meters 0.022415104010368 Centerline is valid? [True, True] Translation: X:115.56, Y:-27.71, Z:2.27 [[ 9.08078708e-01 4.18081416e-01 -2.45151095e-02 1.15559317e+02] [-4.17909448e-01 9.08409321e-01 1.20082743e-02 -2.77134105e+01] [ 2.72901903e-02 -6.59362307e-04 9.99627336e-01 2.27495755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.162755096 meters 0.02065050501664703 Centerline is valid? [True, True] Translation: X:115.62, Y:-27.74, Z:2.28 [[ 9.05097324e-01 4.24430461e-01 -2.56440523e-02 1.15615723e+02] [-4.24244806e-01 9.05460404e-01 1.25619112e-02 -2.77357269e+01] [ 2.85513317e-02 -4.90396173e-04 9.99592207e-01 2.27500834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22275509599999 meters 0.017916722498457 Centerline is valid? [True, True] Translation: X:115.67, Y:-27.76, Z:2.28 [[ 9.02707069e-01 4.29494462e-01 -2.55823059e-02 1.15674317e+02] [-4.29311632e-01 9.03069431e-01 1.25349935e-02 -2.77565696e+01] [ 2.84863087e-02 -3.32645774e-04 9.99594127e-01 2.27757310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28275509599999 meters 0.017221392736994568 Centerline is valid? [True, True] Translation: X:115.73, Y:-27.78, Z:2.28 [[ 9.01959597e-01 4.31092511e-01 -2.50625759e-02 1.15730870e+02] [-4.30917419e-01 9.02307689e-01 1.22886973e-02 -2.77817334e+01] [ 2.79117204e-02 -2.84007933e-04 9.99610352e-01 2.27931908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34275509599999 meters 0.01759132588068893 Centerline is valid? [True, True] Translation: X:115.79, Y:-27.81, Z:2.28 [[ 9.02122705e-01 4.30815822e-01 -2.39238704e-02 1.15785829e+02] [-4.30655967e-01 9.02439829e-01 1.17385162e-02 -2.78100866e+01] [ 2.66469920e-02 -2.86624479e-04 9.99644865e-01 2.27968847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40275509599999 meters 0.01771606610046843 Centerline is valid? [True, True] Translation: X:115.84, Y:-27.84, Z:2.28 [[ 9.02532678e-01 4.29985675e-01 -2.33898493e-02 1.15841530e+02] [-4.29832377e-01 9.02835656e-01 1.14850265e-02 -2.78388155e+01] [ 2.60555868e-02 -3.11897193e-04 9.99660447e-01 2.28142709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.462755096 meters 0.018842006346332808 Centerline is valid? [True, True] Translation: X:115.90, Y:-27.87, Z:2.28 [[ 9.04058206e-01 4.26835307e-01 -2.21445393e-02 1.15895677e+02] [-4.26696759e-01 9.04329293e-01 1.08814776e-02 -2.78693611e+01] [ 2.46705544e-02 -3.88485968e-04 9.99695560e-01 2.28357255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.522755096 meters 0.020259921083505175 Centerline is valid? [True, True] Translation: X:115.95, Y:-27.90, Z:2.29 [[ 9.05835174e-01 4.23112989e-01 -2.09293062e-02 1.15949245e+02] [-4.22988078e-01 9.06076806e-01 1.02911125e-02 -2.79003879e+01] [ 2.33178623e-02 -4.69204721e-04 9.99727992e-01 2.28604302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.582755096 meters 0.02142182676048359 Centerline is valid? [True, True] Translation: X:116.00, Y:-27.93, Z:2.29 [[ 9.07343870e-01 4.19869262e-01 -2.09022734e-02 1.16003250e+02] [-4.19743649e-01 9.07584427e-01 1.02848429e-02 -2.79304317e+01] [ 2.32888672e-02 -5.58292620e-04 9.99728622e-01 2.28760206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64275509599999 meters 0.02240275688761848 Centerline is valid? [True, True] Translation: X:116.06, Y:-27.96, Z:2.29 [[ 9.07870533e-01 4.18696947e-01 -2.15397835e-02 1.16058056e+02] [-4.18563051e-01 9.08125812e-01 1.06057227e-02 -2.79593892e+01] [ 2.40014171e-02 -6.12865613e-04 9.99711737e-01 2.28815912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70275509599999 meters 0.021821851439645223 Centerline is valid? [True, True] Translation: X:116.11, Y:-27.99, Z:2.29 [[ 9.07532657e-01 4.19420854e-01 -2.16938613e-02 1.16114637e+02] [-4.19285061e-01 9.07791706e-01 1.06890718e-02 -2.79853973e+01] [ 2.41767270e-02 -6.04769804e-04 9.99707517e-01 2.28919574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76275509599999 meters 0.02269478489982393 Centerline is valid? [True, True] Translation: X:116.17, Y:-28.01, Z:2.29 [[ 9.06346781e-01 4.21976176e-01 -2.17168059e-02 1.16169370e+02] [-4.21840649e-01 9.06606756e-01 1.07077561e-02 -2.80126314e+01] [ 2.42070210e-02 -5.43908785e-04 9.99706819e-01 2.28961749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.822755096 meters 0.01979547632722506 Centerline is valid? [True, True] Translation: X:116.23, Y:-28.03, Z:2.29 [[ 9.04583910e-01 4.25774040e-01 -2.10811829e-02 1.16228365e+02] [-4.25647227e-01 9.04829419e-01 1.04000166e-02 -2.80342154e+01] [ 2.35029316e-02 -4.34540685e-04 9.99723674e-01 2.29228980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.882755096 meters 0.01920449352290983 Centerline is valid? [True, True] Translation: X:116.29, Y:-28.06, Z:2.29 [[ 9.03692352e-01 4.27688816e-01 -2.05526109e-02 1.16285146e+02] [-4.27568705e-01 9.03925956e-01 1.01424238e-02 -2.80591720e+01] [ 2.29158397e-02 -3.77977561e-04 9.99737326e-01 2.29384497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.942755096 meters 0.01886042480174542 Centerline is valid? [True, True] Translation: X:116.34, Y:-28.08, Z:2.30 [[ 9.03275433e-01 4.28642202e-01 -1.89566636e-02 1.16342555e+02] [-4.28540109e-01 9.03474268e-01 9.36065919e-03 -2.80838031e+01] [ 2.11392313e-02 -3.31562804e-04 9.99776487e-01 2.29622892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00275509599999 meters 0.019444589377498465 Centerline is valid? [True, True] Translation: X:116.40, Y:-28.11, Z:2.30 [[ 9.03937892e-01 4.27303316e-01 -1.75545787e-02 1.16398443e+02] [-4.27215410e-01 9.04108268e-01 8.67368923e-03 -2.81107879e+01] [ 1.95775359e-02 -3.40889819e-04 9.99808284e-01 2.29870214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06275509599999 meters 0.020416678310430286 Centerline is valid? [True, True] Translation: X:116.45, Y:-28.14, Z:2.30 [[ 9.05433060e-01 4.24152181e-01 -1.69086316e-02 1.16454239e+02] [-4.24069974e-01 9.05590839e-01 8.35992978e-03 -2.81383317e+01] [ 1.88581844e-02 -3.98913823e-04 9.99822089e-01 2.30016491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12275509599999 meters 0.023619592223988312 Centerline is valid? [True, True] Translation: X:116.51, Y:-28.17, Z:2.30 [[ 9.06846039e-01 4.21126439e-01 -1.68161832e-02 1.16506771e+02] [-4.21044500e-01 9.07001823e-01 8.31996674e-03 -2.81686998e+01] [ 1.87560668e-02 -4.64567421e-04 9.99823982e-01 2.30082173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.182755096 meters 0.025862052022558635 Centerline is valid? [True, True] Translation: X:116.56, Y:-28.20, Z:2.30 [[ 9.08256325e-01 4.18057947e-01 -1.72627238e-02 1.16561105e+02] [-4.17971027e-01 9.08420199e-01 8.54177662e-03 -2.81985446e+01] [ 1.92527646e-02 -5.42804226e-04 9.99814501e-01 2.30162500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.242755096 meters 0.02846189421981858 Centerline is valid? [True, True] Translation: X:116.62, Y:-28.23, Z:2.30 [[ 9.09796408e-01 4.14719230e-01 -1.66870271e-02 1.16615528e+02] [-4.14637423e-01 9.09949233e-01 8.25837635e-03 -2.82285794e+01] [ 1.86092550e-02 -5.94375242e-04 9.99826656e-01 2.30302565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.302755096 meters 0.025765948911360446 Centerline is valid? [True, True] Translation: X:116.67, Y:-28.25, Z:2.30 [[ 9.11467253e-01 4.11038885e-01 -1.65675164e-02 1.16672345e+02] [-4.10957610e-01 9.11617569e-01 8.20070233e-03 -2.82510391e+01] [ 1.84740466e-02 -6.66124675e-04 9.99829118e-01 2.30424244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36275509599999 meters 0.028434057742308026 Centerline is valid? [True, True] Translation: X:116.73, Y:-28.28, Z:2.30 [[ 9.12588799e-01 4.08499323e-01 -1.76064689e-02 1.16725947e+02] [-4.08407034e-01 9.12758303e-01 8.71631988e-03 -2.82797924e+01] [ 1.96310614e-02 -7.63810154e-04 9.99807000e-01 2.30425053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42275509599999 meters 0.028295629839175048 Centerline is valid? [True, True] Translation: X:116.78, Y:-28.31, Z:2.31 [[ 9.12419573e-01 4.08876851e-01 -1.76137296e-02 1.16783181e+02] [-4.08784534e-01 9.12589255e-01 8.72106640e-03 -2.83064188e+01] [ 1.96399426e-02 -7.57051408e-04 9.99806831e-01 2.30544220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48275509599999 meters 0.026782674208809754 Centerline is valid? [True, True] Translation: X:116.84, Y:-28.33, Z:2.31 [[ 9.10846645e-01 4.12371502e-01 -1.75537252e-02 1.16840753e+02] [-4.12280330e-01 9.11015518e-01 8.69796185e-03 -2.83291208e+01] [ 1.95785077e-02 -6.85453745e-04 9.99808088e-01 2.30704667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.542755096 meters 0.023493282188332357 Centerline is valid? [True, True] Translation: X:116.90, Y:-28.35, Z:2.31 [[ 9.07884002e-01 4.18839256e-01 -1.78973610e-02 1.16899503e+02] [-4.18745705e-01 9.08060222e-01 8.86950972e-03 -2.83483831e+01] [ 1.99667805e-02 -5.58042924e-04 9.99800488e-01 2.30791699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.602755096 meters 0.0205125718624298 Centerline is valid? [True, True] Translation: X:116.96, Y:-28.37, Z:2.31 [[ 9.04895201e-01 4.25233069e-01 -1.84800380e-02 1.16958302e+02] [-4.25134644e-01 9.05083781e-01 9.15880405e-03 -2.83691363e+01] [ 2.06206091e-02 -4.31253451e-04 9.99787280e-01 2.30907187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.662755096 meters 0.018990845399995227 Centerline is valid? [True, True] Translation: X:117.02, Y:-28.39, Z:2.31 [[ 9.03154637e-01 4.28944384e-01 -1.78442463e-02 1.17015790e+02] [-4.28853308e-01 9.03330838e-01 8.84518824e-03 -2.83930615e+01] [ 1.99133518e-02 -3.36008708e-04 9.99801653e-01 2.31045799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72275509599999 meters 0.017887881359445138 Centerline is valid? [True, True] Translation: X:117.07, Y:-28.42, Z:2.31 [[ 9.01435943e-01 4.32561590e-01 -1.74273315e-02 1.17072042e+02] [-4.32475286e-01 9.01604351e-01 8.64411255e-03 -2.84175093e+01] [ 1.94516690e-02 -2.55223554e-04 9.99810766e-01 2.31161804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78275509599999 meters 0.017470702127386373 Centerline is valid? [True, True] Translation: X:117.13, Y:-28.45, Z:2.31 [[ 9.00681352e-01 4.34137379e-01 -1.72579974e-02 1.17126727e+02] [-4.34052935e-01 9.00846650e-01 8.56525572e-03 -2.84455031e+01] [ 1.92653068e-02 -2.23681675e-04 9.99814382e-01 2.31322636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84275509599999 meters 0.016866296982029527 Centerline is valid? [True, True] Translation: X:117.18, Y:-28.47, Z:2.31 [[ 9.01009637e-01 4.33485183e-01 -1.64994277e-02 1.17182845e+02] [-4.33407806e-01 9.01160664e-01 8.19335374e-03 -2.84734919e+01] [ 1.84203326e-02 -2.31309938e-04 9.99830305e-01 2.31472482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90275509599999 meters 0.018021417138983656 Centerline is valid? [True, True] Translation: X:117.24, Y:-28.50, Z:2.32 [[ 9.01507349e-01 4.32450560e-01 -1.64624560e-02 1.17236086e+02] [-4.32373235e-01 9.01657610e-01 8.18164238e-03 -2.85045443e+01] [ 1.83816546e-02 -2.57885373e-04 9.99831010e-01 2.31587739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.962755096 meters 0.019427091643200507 Centerline is valid? [True, True] Translation: X:117.29, Y:-28.54, Z:2.32 [[ 9.02589389e-01 4.30177254e-01 -1.67309260e-02 1.17288586e+02] [-4.30096893e-01 9.02744389e-01 8.32052502e-03 -2.85361950e+01] [ 1.86830501e-02 -3.14098317e-04 9.99825407e-01 2.31617330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.022755096 meters 0.019494532715775014 Centerline is valid? [True, True] Translation: X:117.34, Y:-28.56, Z:2.32 [[ 9.03693599e-01 4.27798579e-01 -1.80625500e-02 1.17343223e+02] [-4.27704369e-01 9.03874007e-01 8.98627519e-03 -2.85647917e+01] [ 2.01705852e-02 -3.95407802e-04 9.99796475e-01 2.31648939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.082755096 meters 0.020313611891968262 Centerline is valid? [True, True] Translation: X:117.40, Y:-28.59, Z:2.32 [[ 9.04399985e-01 4.26271337e-01 -1.87993206e-02 1.17397449e+02] [-4.26168821e-01 9.04595237e-01 9.35914977e-03 -2.85943838e+01] [ 2.09953132e-02 -4.52730606e-04 9.99779472e-01 2.31683360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14275509599999 meters 0.022277536973116602 Centerline is valid? [True, True] Translation: X:117.45, Y:-28.63, Z:2.32 [[ 9.05925190e-01 4.23000185e-01 -1.92456372e-02 1.17450497e+02] [-4.22891859e-01 9.06129430e-01 9.58808383e-03 -2.86261573e+01] [ 2.14947995e-02 -5.47263388e-04 9.99768810e-01 2.31747139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20275509599999 meters 0.023881370741783352 Centerline is valid? [True, True] Translation: X:117.50, Y:-28.66, Z:2.32 [[ 9.07495989e-01 4.19627226e-01 -1.90793557e-02 1.17504403e+02] [-4.19519902e-01 9.07696314e-01 9.51071984e-03 -2.86568299e+01] [ 2.13092178e-02 -6.26770667e-04 9.99772736e-01 2.31934348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26275509599999 meters 0.028254038981930508 Centerline is valid? [True, True] Translation: X:117.56, Y:-28.69, Z:2.32 [[ 9.08643947e-01 4.17150907e-01 -1.87429541e-02 1.17555285e+02] [-4.17046767e-01 9.08836985e-01 9.34497620e-03 -2.86905641e+01] [ 2.09325552e-02 -6.74567670e-04 9.99780662e-01 2.32051588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.322755096 meters 0.027498909229103436 Centerline is valid? [True, True] Translation: X:117.61, Y:-28.72, Z:2.32 [[ 9.08904637e-01 4.16590528e-01 -1.85659103e-02 1.17610814e+02] [-4.16488159e-01 9.09093980e-01 9.26008722e-03 -2.87176496e+01] [ 2.07358219e-02 -6.84054414e-04 9.99784756e-01 2.32197501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.382755096 meters 0.024396274337814744 Centerline is valid? [True, True] Translation: X:117.67, Y:-28.74, Z:2.32 [[ 9.08577459e-01 4.17282250e-01 -1.90400877e-02 1.17667802e+02] [-4.17174601e-01 9.08776675e-01 9.50298923e-03 -2.87422527e+01] [ 2.12686164e-02 -6.91160810e-04 9.99773558e-01 2.32367349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.442755096 meters 0.027710207725443168 Centerline is valid? [True, True] Translation: X:117.72, Y:-28.77, Z:2.33 [[ 9.07579333e-01 4.19483457e-01 -1.82588247e-02 1.17720285e+02] [-4.19384780e-01 9.07762770e-01 9.11918780e-03 -2.87743574e+01] [ 2.04000297e-02 -6.18913209e-04 9.99791706e-01 2.32594036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50275509599999 meters 0.02378690164429529 Centerline is valid? [True, True] Translation: X:117.78, Y:-28.80, Z:2.33 [[ 9.06696507e-01 4.21419292e-01 -1.75278073e-02 1.17778926e+02] [-4.21328618e-01 9.06865740e-01 8.75934132e-03 -2.87971389e+01] [ 1.95867234e-02 -5.57097356e-04 9.99808007e-01 2.32872243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56275509599999 meters 0.022943749838693808 Centerline is valid? [True, True] Translation: X:117.84, Y:-28.82, Z:2.33 [[ 9.06026020e-01 4.22887209e-01 -1.68303160e-02 1.17835018e+02] [-4.22803824e-01 9.06182185e-01 8.41273845e-03 -2.88242713e+01] [ 1.88089721e-02 -5.06237953e-04 9.99822967e-01 2.33085324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62275509599999 meters 0.024077954563608003 Centerline is valid? [True, True] Translation: X:117.89, Y:-28.85, Z:2.33 [[ 9.05859298e-01 4.23199548e-01 -1.79185853e-02 1.17889803e+02] [-4.23104961e-01 9.06036342e-01 8.96317288e-03 -2.88537170e+01] [ 2.00281002e-02 -5.37931148e-04 9.99799273e-01 2.33103129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.682755096 meters 0.02451771920427636 Centerline is valid? [True, True] Translation: X:117.95, Y:-28.88, Z:2.33 [[ 9.06069046e-01 4.22722293e-01 -1.85673408e-02 1.17945549e+02] [-4.22620491e-01 9.06259087e-01 9.29447788e-03 -2.88816902e+01] [ 2.07558044e-02 -5.74500005e-04 9.99784410e-01 2.33145072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.742755096 meters 0.025447944315004457 Centerline is valid? [True, True] Translation: X:118.00, Y:-28.91, Z:2.33 [[ 9.06393060e-01 4.22037362e-01 -1.83326332e-02 1.18000283e+02] [-4.21937857e-01 9.06578248e-01 9.18288436e-03 -2.89104628e+01] [ 2.04954868e-02 -5.88070670e-04 9.99789772e-01 2.33308932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.802755096 meters 0.02392807612826004 Centerline is valid? [True, True] Translation: X:118.06, Y:-28.94, Z:2.33 [[ 9.06739120e-01 4.21249439e-01 -1.93152322e-02 1.18057704e+02] [-4.21138661e-01 9.06944593e-01 9.68161716e-03 -2.89352733e+01] [ 2.15962212e-02 -6.44309997e-04 9.99766567e-01 2.33423559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86275509599999 meters 0.025418422040729523 Centerline is valid? [True, True] Translation: X:118.11, Y:-28.96, Z:2.33 [[ 9.07384874e-01 4.19771406e-01 -2.10868782e-02 1.18111839e+02] [-4.19638792e-01 9.07629553e-01 1.05772569e-02 -2.89636064e+01] [ 2.35791039e-02 -7.48770802e-04 9.99721694e-01 2.33316111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92275509599999 meters 0.02612702666646432 Centerline is valid? [True, True] Translation: X:118.17, Y:-28.99, Z:2.33 [[ 9.08066722e-01 4.18258973e-01 -2.17775129e-02 1.18166968e+02] [-4.18116920e-01 9.08327451e-01 1.09307879e-02 -2.89927509e+01] [ 2.43530129e-02 -8.20338165e-04 9.99703085e-01 2.33387398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98275509599999 meters 0.028355560824596417 Centerline is valid? [True, True] Translation: X:118.22, Y:-29.02, Z:2.34 [[ 9.09412197e-01 4.15334248e-01 -2.16083079e-02 1.18221233e+02] [-4.15193421e-01 9.09668433e-01 1.08519759e-02 -2.90238499e+01] [ 2.41635929e-02 -8.97291938e-04 9.99707615e-01 2.33541499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.042755096 meters 0.028682920147341764 Centerline is valid? [True, True] Translation: X:118.28, Y:-29.05, Z:2.34 [[ 9.09811208e-01 4.14491923e-01 -2.09764288e-02 1.18276750e+02] [-4.14358920e-01 9.10052550e-01 1.05376247e-02 -2.90519513e+01] [ 2.34574128e-02 -8.95478675e-04 9.99724436e-01 2.33774827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.102755096 meters 0.028359470126438312 Centerline is valid? [True, True] Translation: X:118.33, Y:-29.08, Z:2.34 [[ 9.09292565e-01 4.15643721e-01 -2.06719359e-02 1.18333171e+02] [-4.15514690e-01 9.09527107e-01 1.03915420e-02 -2.90787377e+01] [ 2.31208653e-02 -8.59458859e-04 9.99732308e-01 2.33915963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.162755096 meters 0.0272517095255037 Centerline is valid? [True, True] Translation: X:118.39, Y:-29.10, Z:2.34 [[ 9.08095705e-01 4.18226558e-01 -2.11833981e-02 1.18389441e+02] [-4.18091591e-01 9.08342377e-01 1.06558880e-02 -2.91045213e+01] [ 2.36983535e-02 -8.19965530e-04 9.99718818e-01 2.34004511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22275509599999 meters 0.026585196960036566 Centerline is valid? [True, True] Translation: X:118.45, Y:-29.13, Z:2.34 [[ 9.05845584e-01 4.23040658e-01 -2.19175685e-02 1.18445007e+02] [-4.22897427e-01 9.06110412e-01 1.10312321e-02 -2.91289632e+01] [ 2.45263967e-02 -7.23709557e-04 9.99698921e-01 2.33922408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28275509599999 meters 0.023560528675057674 Centerline is valid? [True, True] Translation: X:118.50, Y:-29.15, Z:2.34 [[ 9.04347606e-01 4.26257273e-01 -2.14509847e-02 1.18502686e+02] [-4.26120949e-01 9.04601762e-01 1.07976180e-02 -2.91519116e+01] [ 2.40071617e-02 -6.24086000e-04 9.99711592e-01 2.34085170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34275509599999 meters 0.021918435663580337 Centerline is valid? [True, True] Translation: X:118.56, Y:-29.18, Z:2.34 [[ 9.02811074e-01 4.29556129e-01 -2.03395280e-02 1.18558351e+02] [-4.29434366e-01 9.03040017e-01 1.02398274e-02 -2.91775897e+01] [ 2.27659883e-02 -5.10137272e-04 9.99740691e-01 2.34291405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40275509599999 meters 0.021096229048013497 Centerline is valid? [True, True] Translation: X:118.61, Y:-29.20, Z:2.34 [[ 9.02211491e-01 4.30859782e-01 -1.93461401e-02 1.18614237e+02] [-4.30749888e-01 9.02418772e-01 9.74128984e-03 -2.92048445e+01] [ 2.16554500e-02 -4.55355941e-04 9.99765390e-01 2.34458720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.462755096 meters 0.02180258798134413 Centerline is valid? [True, True] Translation: X:118.67, Y:-29.23, Z:2.35 [[ 9.02174525e-01 4.30982619e-01 -1.83059654e-02 1.18668402e+02] [-4.30884135e-01 9.02360125e-01 9.22320617e-03 -2.92341786e+01] [ 2.04936148e-02 -4.33191568e-04 9.99789890e-01 2.34594718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.522755096 meters 0.02116939150474804 Centerline is valid? [True, True] Translation: X:118.72, Y:-29.26, Z:2.35 [[ 9.02728865e-01 4.29813057e-01 -1.84751636e-02 1.18723270e+02] [-4.29712367e-01 9.02917779e-01 9.31482269e-03 -2.92629418e+01] [ 2.06851861e-02 -4.69753019e-04 9.99785928e-01 2.34668081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.582755096 meters 0.024113412051840043 Centerline is valid? [True, True] Translation: X:118.78, Y:-29.30, Z:2.35 [[ 9.02961912e-01 4.29280956e-01 -1.94331229e-02 1.18775260e+02] [-4.29169283e-01 9.03170858e-01 9.80453019e-03 -2.92961840e+01] [ 2.17603284e-02 -5.13017897e-04 9.99763084e-01 2.34642931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64275509599999 meters 0.025332131492722794 Centerline is valid? [True, True] Translation: X:118.83, Y:-29.33, Z:2.35 [[ 9.03317226e-01 4.28516770e-01 -1.97829990e-02 1.18828318e+02] [-4.28400722e-01 9.03533662e-01 9.98712314e-03 -2.93262420e+01] [ 2.21542553e-02 -5.46489326e-04 9.99754415e-01 2.34668333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70275509599999 meters 0.023112457728220903 Centerline is valid? [True, True] Translation: X:118.88, Y:-29.35, Z:2.35 [[ 9.03697864e-01 4.27736672e-01 -1.92745991e-02 1.18884347e+02] [-4.27626219e-01 9.03903220e-01 9.73580647e-03 -2.93518475e+01] [ 2.15867337e-02 -5.55903565e-04 9.99766825e-01 2.34913360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76275509599999 meters 0.024761685992285017 Centerline is valid? [True, True] Translation: X:118.94, Y:-29.38, Z:2.35 [[ 9.04320510e-01 4.26460787e-01 -1.83197269e-02 1.18937622e+02] [-4.26360637e-01 9.04505877e-01 9.25884078e-03 -2.93824920e+01] [ 2.05188331e-02 -5.62149198e-04 9.99789309e-01 2.35105849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.822755096 meters 0.023454899135620048 Centerline is valid? [True, True] Translation: X:118.99, Y:-29.41, Z:2.35 [[ 9.04453640e-01 4.26199229e-01 -1.78278063e-02 1.18993988e+02] [-4.26104230e-01 9.04629154e-01 9.01551094e-03 -2.94090278e+01] [ 1.99699572e-02 -5.57607996e-04 9.99800425e-01 2.35245157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.882755096 meters 0.023183510092090215 Centerline is valid? [True, True] Translation: X:119.05, Y:-29.44, Z:2.35 [[ 9.04067111e-01 4.27018211e-01 -1.78355417e-02 1.19049439e+02] [-4.26923167e-01 9.04242860e-01 9.02544270e-03 -2.94372127e+01] [ 1.99816896e-02 -5.45199952e-04 9.99800197e-01 2.35394283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.942755096 meters 0.021073617295663462 Centerline is valid? [True, True] Translation: X:119.11, Y:-29.46, Z:2.36 [[ 9.02403508e-01 4.30517676e-01 -1.79566287e-02 1.19106685e+02] [-4.30421904e-01 9.02582021e-01 9.09290451e-03 -2.94616129e+01] [ 2.01219864e-02 -4.76542595e-04 9.99797419e-01 2.35525558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00275509599999 meters 0.020376432591910767 Centerline is valid? [True, True] Translation: X:119.16, Y:-29.49, Z:2.36 [[ 9.00430580e-01 4.34634917e-01 -1.78117953e-02 1.19162036e+02] [-4.34541372e-01 9.00606651e-01 9.02534090e-03 -2.94862613e+01] [ 1.99641496e-02 -3.86730996e-04 9.99800622e-01 2.35591537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06275509599999 meters 0.017859810718506997 Centerline is valid? [True, True] Translation: X:119.22, Y:-29.51, Z:2.36 [[ 8.99324353e-01 4.36916099e-01 -1.78894084e-02 1.19219600e+02] [-4.36822171e-01 8.99502200e-01 9.06548086e-03 -2.95095499e+01] [ 2.00524168e-02 -3.38317490e-04 9.99798873e-01 2.35743365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12275509599999 meters 0.017694032039881295 Centerline is valid? [True, True] Translation: X:119.27, Y:-29.54, Z:2.36 [[ 8.98490090e-01 4.38645255e-01 -1.74899674e-02 1.19274514e+02] [-4.38555684e-01 8.98660253e-01 8.86909996e-03 -2.95365254e+01] [ 1.96079271e-02 -2.98473815e-04 9.99807702e-01 2.35910567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.182755096 meters 0.01793418563142619 Centerline is valid? [True, True] Translation: X:119.33, Y:-29.56, Z:2.36 [[ 8.98582519e-01 4.38489874e-01 -1.66158697e-02 1.19330309e+02] [-4.38408912e-01 8.98736082e-01 8.43093768e-03 -2.95648898e+01] [ 1.86301624e-02 -2.91347873e-04 9.99826401e-01 2.36058445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.242755096 meters 0.018984041234475404 Centerline is valid? [True, True] Translation: X:119.39, Y:-29.60, Z:2.36 [[ 8.99528889e-01 4.36562201e-01 -1.61623705e-02 1.19385006e+02] [-4.36485175e-01 8.99674017e-01 8.20699322e-03 -2.95951633e+01] [ 1.81237278e-02 -3.27792369e-04 9.99835698e-01 2.36190782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.302755096 meters 0.020148080125397757 Centerline is valid? [True, True] Translation: X:119.44, Y:-29.63, Z:2.36 [[ 9.00660436e-01 4.34214060e-01 -1.63990628e-02 1.19438967e+02] [-4.34134268e-01 9.00809637e-01 8.33283942e-03 -2.96257148e+01] [ 1.83906699e-02 -3.85663657e-04 9.99830803e-01 2.36307335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36275509599999 meters 0.021993480355735978 Centerline is valid? [True, True] Translation: X:119.49, Y:-29.66, Z:2.36 [[ 9.01765411e-01 4.31891116e-01 -1.70060962e-02 1.19492344e+02] [-4.31804779e-01 9.01925639e-01 8.64725246e-03 -2.96553409e+01] [ 1.90729057e-02 -4.54479559e-04 9.99817992e-01 2.36291831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42275509599999 meters 0.023194136755136117 Centerline is valid? [True, True] Translation: X:119.55, Y:-29.68, Z:2.36 [[ 9.02423011e-01 4.30482142e-01 -1.78279299e-02 1.19546540e+02] [-4.30386869e-01 9.02598949e-01 9.07089176e-03 -2.96846346e+01] [ 1.99963277e-02 -5.12874520e-04 9.99799922e-01 2.36291995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48275509599999 meters 0.022223983190274556 Centerline is valid? [True, True] Translation: X:119.60, Y:-29.71, Z:2.36 [[ 9.03278557e-01 4.28674603e-01 -1.80536346e-02 1.19602714e+02] [-4.28576426e-01 9.03458779e-01 9.19136633e-03 -2.97117651e+01] [ 2.02508200e-02 -5.65001906e-04 9.99794771e-01 2.36328581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.542755096 meters 0.02355388622809071 Centerline is valid? [True, True] Translation: X:119.66, Y:-29.74, Z:2.36 [[ 9.03466805e-01 4.28261210e-01 -1.84409496e-02 1.19655814e+02] [-4.28158558e-01 9.03654793e-01 9.39489410e-03 -2.97413485e+01] [ 2.06877212e-02 -5.92324571e-04 9.99785811e-01 2.36391565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.602755096 meters 0.022395218586358148 Centerline is valid? [True, True] Translation: X:119.71, Y:-29.77, Z:2.36 [[ 9.02618910e-01 4.30050593e-01 -1.83191208e-02 1.19712060e+02] [-4.29949585e-01 9.02804621e-01 9.33654130e-03 -2.97682363e+01] [ 2.05537720e-02 -5.51040364e-04 9.99788597e-01 2.36497044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.662755096 meters 0.021411601451130344 Centerline is valid? [True, True] Translation: X:119.77, Y:-29.79, Z:2.37 [[ 9.01143942e-01 4.33133565e-01 -1.83005447e-02 1.19767096e+02] [-4.33033268e-01 9.01329617e-01 9.33328109e-03 -2.97945908e+01] [ 2.05373802e-02 -4.85885050e-04 9.99788968e-01 2.36666866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72275509599999 meters 0.01912735757748234 Centerline is valid? [True, True] Translation: X:119.82, Y:-29.82, Z:2.37 [[ 8.99248868e-01 4.37036845e-01 -1.87154724e-02 1.19824054e+02] [-4.36932664e-01 8.99443509e-01 9.55092502e-03 -2.98195239e+01] [ 2.10076163e-02 -4.11257290e-04 9.99779231e-01 2.36783512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78275509599999 meters 0.01867885475793338 Centerline is valid? [True, True] Translation: X:119.88, Y:-29.85, Z:2.37 [[ 8.97869347e-01 4.39867142e-01 -1.86422073e-02 1.19878742e+02] [-4.39764252e-01 8.98062790e-01 9.51988561e-03 -2.98466450e+01] [ 2.09293576e-02 -3.49437141e-04 9.99780896e-01 2.36902761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84275509599999 meters 0.017133085606746715 Centerline is valid? [True, True] Translation: X:119.93, Y:-29.87, Z:2.37 [[ 8.95929018e-01 4.43803917e-01 -1.86889943e-02 1.19934939e+02] [-4.43701239e-01 8.96123883e-01 9.54971160e-03 -2.98720393e+01] [ 2.09858536e-02 -2.63533794e-04 9.99779738e-01 2.37059101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90275509599999 meters 0.01629962145072871 Centerline is valid? [True, True] Translation: X:119.99, Y:-29.90, Z:2.37 [[ 8.95046436e-01 4.45582558e-01 -1.86563949e-02 1.19990867e+02] [-4.45480497e-01 8.95240824e-01 9.53911151e-03 -2.98994337e+01] [ 2.09524281e-02 -2.26887686e-04 9.99780448e-01 2.37234618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.962755096 meters 0.016335654908171262 Centerline is valid? [True, True] Translation: X:120.05, Y:-29.93, Z:2.37 [[ 8.95255179e-01 4.45181842e-01 -1.82014547e-02 1.20046256e+02] [-4.45084494e-01 8.95440155e-01 9.31241763e-03 -2.99293907e+01] [ 2.04440327e-02 -2.35804846e-04 9.99790971e-01 2.37452470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.022755096 meters 0.016700202100636573 Centerline is valid? [True, True] Translation: X:120.10, Y:-29.96, Z:2.38 [[ 8.95874376e-01 4.43938755e-01 -1.80965614e-02 1.20100562e+02] [-4.43842133e-01 8.96057091e-01 9.26560022e-03 -2.99589937e+01] [ 2.03289112e-02 -2.68797421e-04 9.99793310e-01 2.37555222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.082755096 meters 0.01662789687649332 Centerline is valid? [True, True] Translation: X:120.16, Y:-29.99, Z:2.38 [[ 8.96181972e-01 4.43303062e-01 -1.84463849e-02 1.20155885e+02] [-4.43202399e-01 8.96371747e-01 9.45120268e-03 -2.99877007e+01] [ 2.07245653e-02 -2.94515422e-04 9.99785180e-01 2.37647678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14275509599999 meters 0.01829906123976432 Centerline is valid? [True, True] Translation: X:120.21, Y:-30.02, Z:2.38 [[ 8.97695136e-01 4.40216674e-01 -1.87809203e-02 1.20208034e+02] [-4.40111507e-01 8.97891495e-01 9.62936891e-03 -3.00195355e+01] [ 2.11022374e-02 -3.78538500e-04 9.99777251e-01 2.37654681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20275509599999 meters 0.019979472362863373 Centerline is valid? [True, True] Translation: X:120.26, Y:-30.05, Z:2.38 [[ 8.99122523e-01 4.37277113e-01 -1.91680519e-02 1.20261685e+02] [-4.37166759e-01 8.99326699e-01 9.83427688e-03 -3.00516331e+01] [ 2.15386451e-02 -4.62584715e-04 9.99767909e-01 2.37685970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26275509599999 meters 0.02098322373331005 Centerline is valid? [True, True] Translation: X:120.32, Y:-30.08, Z:2.38 [[ 8.99855717e-01 4.35769250e-01 -1.91010344e-02 1.20315673e+02] [-4.35659184e-01 9.00058280e-01 9.80647867e-03 -3.00823604e+01] [ 2.14654061e-02 -5.02874813e-04 9.99769465e-01 2.37743187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.322755096 meters 0.0210941476732027 Centerline is valid? [True, True] Translation: X:120.37, Y:-30.11, Z:2.38 [[ 8.99997660e-01 4.35466436e-01 -1.93182608e-02 1.20370809e+02] [-4.35353636e-01 9.00204816e-01 9.92475523e-03 -3.01115826e+01] [ 2.17122892e-02 -5.21981421e-04 9.99764124e-01 2.37854755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.382755096 meters 0.02011915035292873 Centerline is valid? [True, True] Translation: X:120.43, Y:-30.14, Z:2.38 [[ 8.99695848e-01 4.36103496e-01 -1.90032195e-02 1.20426763e+02] [-4.35994347e-01 8.99896375e-01 9.76945992e-03 -3.01376439e+01] [ 2.13614240e-02 -5.04246226e-04 9.99771692e-01 2.38021415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.442755096 meters 0.020112095354927938 Centerline is valid? [True, True] Translation: X:120.48, Y:-30.17, Z:2.38 [[ 8.98842709e-01 4.37914756e-01 -1.76762711e-02 1.20480784e+02] [-4.37820552e-01 8.99016395e-01 9.09320761e-03 -3.01655665e+01] [ 1.98733073e-02 -4.34328592e-04 9.99802412e-01 2.38281026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50275509599999 meters 0.01918331998381491 Centerline is valid? [True, True] Translation: X:120.54, Y:-30.19, Z:2.38 [[ 8.97667042e-01 4.40355950e-01 -1.67487146e-02 1.20536849e+02] [-4.40271700e-01 8.97823203e-01 8.62126823e-03 -3.01920015e+01] [ 1.88338113e-02 -3.65043315e-04 9.99822561e-01 2.38482682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56275509599999 meters 0.018571270628894652 Centerline is valid? [True, True] Translation: X:120.59, Y:-30.22, Z:2.39 [[ 8.96816745e-01 4.42091487e-01 -1.65783820e-02 1.20593200e+02] [-4.42009130e-01 8.96969904e-01 8.53936564e-03 -3.02188475e+01] [ 1.86454905e-02 -3.30449903e-04 9.99826103e-01 2.38588039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62275509599999 meters 0.018533187778118885 Centerline is valid? [True, True] Translation: X:120.65, Y:-30.25, Z:2.39 [[ 8.96064033e-01 4.43628676e-01 -1.62125304e-02 1.20647629e+02] [-4.43550062e-01 8.96210639e-01 8.35658942e-03 -3.02460310e+01] [ 1.82370650e-02 -2.96970333e-04 9.99833647e-01 2.38679125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.682755096 meters 0.017943228869937364 Centerline is valid? [True, True] Translation: X:120.70, Y:-30.27, Z:2.39 [[ 8.95635503e-01 4.44500979e-01 -1.59977015e-02 1.20703374e+02] [-4.44424520e-01 8.95778322e-01 8.24888065e-03 -3.02726634e+01] [ 1.79970297e-02 -2.78219578e-04 9.99838002e-01 2.38785240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.742755096 meters 0.018188205427618637 Centerline is valid? [True, True] Translation: X:120.76, Y:-30.30, Z:2.39 [[ 8.95536197e-01 4.44719241e-01 -1.54827901e-02 1.20758921e+02] [-4.44647567e-01 8.95669986e-01 7.98855382e-03 -3.03014663e+01] [ 1.74201340e-02 -2.69654176e-04 9.99848222e-01 2.38898371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.802755096 meters 0.018607434088294843 Centerline is valid? [True, True] Translation: X:120.81, Y:-30.33, Z:2.39 [[ 8.96001986e-01 4.43786098e-01 -1.53081990e-02 1.20814274e+02] [-4.43715792e-01 8.96132700e-01 7.90448176e-03 -3.03305617e+01] [ 1.72260769e-02 -2.89941701e-04 9.99851578e-01 2.39039391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86275509599999 meters 0.01952490983262441 Centerline is valid? [True, True] Translation: X:120.87, Y:-30.36, Z:2.39 [[ 8.96199833e-01 4.43375042e-01 -1.56342727e-02 1.20868203e+02] [-4.43301548e-01 8.96336140e-01 8.07843715e-03 -3.03601459e+01] [ 1.75953411e-02 -3.09196729e-04 9.99845142e-01 2.39136889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92275509599999 meters 0.019586311046281602 Centerline is valid? [True, True] Translation: X:120.92, Y:-30.39, Z:2.39 [[ 8.95880996e-01 4.44000366e-01 -1.61529265e-02 1.20923890e+02] [-4.43921903e-01 8.96026550e-01 8.35260179e-03 -3.03889617e+01] [ 1.81820093e-02 -3.12299324e-04 9.99834645e-01 2.39205212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98275509599999 meters 0.019598179315346784 Centerline is valid? [True, True] Translation: X:120.98, Y:-30.42, Z:2.39 [[ 8.95474865e-01 4.44786545e-01 -1.70204266e-02 1.20979227e+02] [-4.44699438e-01 8.95636549e-01 8.80807179e-03 -3.04175603e+01] [ 1.91618280e-02 -3.18432753e-04 9.99816345e-01 2.39227911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.042755096 meters 0.020161566615931 Centerline is valid? [True, True] Translation: X:121.03, Y:-30.45, Z:2.39 [[ 8.95417091e-01 4.44850495e-01 -1.83376887e-02 1.21033172e+02] [-4.44749258e-01 8.95604777e-01 9.49634525e-03 -3.04472541e+01] [ 2.06477755e-02 -3.47516397e-04 9.99786752e-01 2.39278505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.102755096 meters 0.020592544522570855 Centerline is valid? [True, True] Translation: X:121.09, Y:-30.48, Z:2.39 [[ 8.95640266e-01 4.44404709e-01 -1.82474189e-02 1.21087537e+02] [-4.44304243e-01 8.95826057e-01 9.45596039e-03 -3.04771676e+01] [ 2.05487866e-02 -3.61733242e-04 9.99788786e-01 2.39428463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.162755096 meters 0.021315993892465013 Centerline is valid? [True, True] Translation: X:121.14, Y:-30.51, Z:2.40 [[ 8.95952969e-01 4.43781048e-01 -1.80736908e-02 1.21141792e+02] [-4.43682241e-01 8.96135168e-01 9.37176674e-03 -3.05077234e+01] [ 2.03554824e-02 -3.77686624e-04 9.99792734e-01 2.39699286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22275509599999 meters 0.02024669768084819 Centerline is valid? [True, True] Translation: X:121.20, Y:-30.54, Z:2.40 [[ 8.96168571e-01 4.43317290e-01 -1.87529392e-02 1.21197740e+02] [-4.43210681e-01 8.96364666e-01 9.73027585e-03 -3.05353041e+01] [ 2.11230716e-02 -4.08464435e-04 9.99776800e-01 2.39852220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28275509599999 meters 0.020209115432667773 Centerline is valid? [True, True] Translation: X:121.25, Y:-30.56, Z:2.40 [[ 8.96325936e-01 4.42966548e-01 -1.95052119e-02 1.21252574e+02] [-4.42850974e-01 8.96538033e-01 1.01277121e-02 -3.05643881e+01] [ 2.19734020e-02 -4.39828965e-04 9.99758459e-01 2.39979139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34275509599999 meters 0.020894161964931733 Centerline is valid? [True, True] Translation: X:121.31, Y:-30.60, Z:2.40 [[ 8.97068791e-01 4.41435158e-01 -2.00645262e-02 1.21306239e+02] [-4.41312309e-01 8.97293015e-01 1.04255434e-02 -3.05952862e+01] [ 2.26059606e-02 -4.97707239e-04 9.99744329e-01 2.40100679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40275509599999 meters 0.024464847064978444 Centerline is valid? [True, True] Translation: X:121.36, Y:-30.63, Z:2.40 [[ 8.98239642e-01 4.39027930e-01 -2.04944294e-02 1.21356886e+02] [-4.38898974e-01 8.98473230e-01 1.06557861e-02 -3.06304968e+01] [ 2.30918839e-02 -5.76465492e-04 9.99733181e-01 2.40184410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.462755096 meters 0.02303826352445862 Centerline is valid? [True, True] Translation: X:121.41, Y:-30.66, Z:2.40 [[ 8.98955239e-01 4.37537557e-01 -2.09848738e-02 1.21412168e+02] [-4.37401855e-01 8.99199914e-01 1.09147312e-02 -3.06578511e+01] [ 2.36452015e-02 -6.33032056e-04 9.99720213e-01 2.40445285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.522755096 meters 0.023509647673239556 Centerline is valid? [True, True] Translation: X:121.47, Y:-30.69, Z:2.41 [[ 8.99156351e-01 4.37114215e-01 -2.11900803e-02 1.21466851e+02] [-4.36975614e-01 8.99405767e-01 1.10262525e-02 -3.06879716e+01] [ 2.38782121e-02 -6.54776637e-04 9.99714660e-01 2.40603979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.582755096 meters 0.024301230299349063 Centerline is valid? [True, True] Translation: X:121.52, Y:-30.72, Z:2.41 [[ 8.99031771e-01 4.37319365e-01 -2.22181657e-02 1.21520651e+02] [-4.37166842e-01 8.99306010e-01 1.15694813e-02 -3.07185138e+01] [ 2.50404882e-02 -6.88285967e-04 9.99686201e-01 2.40704651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64275509599999 meters 0.024374995948030383 Centerline is valid? [True, True] Translation: X:121.58, Y:-30.75, Z:2.41 [[ 8.98799236e-01 4.37778490e-01 -2.25815524e-02 1.21575773e+02] [-4.37620861e-01 8.99082594e-01 1.17673559e-02 -3.07479845e+01] [ 2.54541760e-02 -6.94332064e-04 9.99675749e-01 2.40799891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70275509599999 meters 0.024544623899307595 Centerline is valid? [True, True] Translation: X:121.63, Y:-30.78, Z:2.41 [[ 8.98968470e-01 4.37398809e-01 -2.31942260e-02 1.21630147e+02] [-4.37232148e-01 8.99267338e-01 1.20955907e-02 -3.07782595e+01] [ 2.61484068e-02 -7.32293411e-04 9.99657804e-01 2.40916052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76275509599999 meters 0.02481147053153545 Centerline is valid? [True, True] Translation: X:121.68, Y:-30.81, Z:2.41 [[ 8.99144176e-01 4.37027124e-01 -2.33889585e-02 1.21684063e+02] [-4.36857312e-01 8.99448009e-01 1.22052581e-02 -3.08087172e+01] [ 2.63711810e-02 -7.56649219e-04 9.99651934e-01 2.41140083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.822755096 meters 0.025731249548644194 Centerline is valid? [True, True] Translation: X:121.74, Y:-30.84, Z:2.41 [[ 8.99169990e-01 4.36992007e-01 -2.30502927e-02 1.21737906e+02] [-4.36826879e-01 8.99465074e-01 1.20357426e-02 -3.08395734e+01] [ 2.59924565e-02 -7.53191145e-04 9.99661855e-01 2.41285079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.882755096 meters 0.02645497703677432 Centerline is valid? [True, True] Translation: X:121.79, Y:-30.87, Z:2.41 [[ 8.99162128e-01 4.36991215e-01 -2.33697788e-02 1.21792527e+02] [-4.36821301e-01 8.99465444e-01 1.22092265e-02 -3.08705533e+01] [ 2.63556332e-02 -7.69656903e-04 9.99652334e-01 2.41442899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.942755096 meters 0.02573303854448477 Centerline is valid? [True, True] Translation: X:121.85, Y:-30.90, Z:2.42 [[ 8.99125962e-01 4.37076364e-01 -2.31679955e-02 1.21848684e+02] [-4.36909169e-01 8.99424072e-01 1.21126438e-02 -3.08994023e+01] [ 2.61320032e-02 -7.68482888e-04 9.99658206e-01 2.41652917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00275509599999 meters 0.026171644830110304 Centerline is valid? [True, True] Translation: X:121.90, Y:-30.93, Z:2.42 [[ 8.99328633e-01 4.36650433e-01 -2.33325892e-02 1.21902462e+02] [-4.36480478e-01 8.99630907e-01 1.22075298e-02 -3.09301525e+01] [ 2.63211415e-02 -7.94361386e-04 9.99653223e-01 2.41804231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06275509599999 meters 0.026950831475342867 Centerline is valid? [True, True] Translation: X:121.96, Y:-30.96, Z:2.42 [[ 8.99343846e-01 4.36641362e-01 -2.29121932e-02 1.21956549e+02] [-4.36477272e-01 8.99635316e-01 1.19953840e-02 -3.09601076e+01] [ 2.58502990e-02 -7.87323150e-04 9.99665515e-01 2.41973880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12275509599999 meters 0.024760642580580396 Centerline is valid? [True, True] Translation: X:122.01, Y:-30.99, Z:2.42 [[ 8.98721034e-01 4.37918872e-01 -2.29687681e-02 1.22013313e+02] [-4.37754175e-01 8.99014174e-01 1.20332096e-02 -3.09856971e+01] [ 2.59188177e-02 -7.59824454e-04 9.99663762e-01 2.42245940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.182755096 meters 0.025311408834751924 Centerline is valid? [True, True] Translation: X:122.07, Y:-31.02, Z:2.42 [[ 8.98655273e-01 4.38034331e-01 -2.33372128e-02 1.22068379e+02] [-4.37864119e-01 8.98957909e-01 1.22348241e-02 -3.10152671e+01] [ 2.63384450e-02 -7.76361057e-04 9.99652782e-01 2.42313263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.242755096 meters 0.0259550544842114 Centerline is valid? [True, True] Translation: X:122.12, Y:-31.05, Z:2.42 [[ 8.98832911e-01 4.37672453e-01 -2.32856734e-02 1.22122791e+02] [-4.37502638e-01 8.99134136e-01 1.22166659e-02 -3.10454685e+01] [ 2.62838419e-02 -7.93197876e-04 9.99654205e-01 2.42441811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.302755096 meters 0.024845865960611366 Centerline is valid? [True, True] Translation: X:122.18, Y:-31.07, Z:2.43 [[ 8.98924546e-01 4.37460677e-01 -2.37237706e-02 1.22178568e+02] [-4.37284118e-01 8.99237166e-01 1.24546946e-02 -3.10717533e+01] [ 2.67817354e-02 -8.21802569e-04 9.99640967e-01 2.42581520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36275509599999 meters 0.025804758229025632 Centerline is valid? [True, True] Translation: X:122.23, Y:-31.10, Z:2.43 [[ 8.98718035e-01 4.37857207e-01 -2.42272529e-02 1.22233001e+02] [-4.37672983e-01 8.99044142e-01 1.27275508e-02 -3.11016845e+01] [ 2.73542196e-02 -8.34865438e-04 9.99625455e-01 2.42619747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42275509599999 meters 0.02502635638491976 Centerline is valid? [True, True] Translation: X:122.29, Y:-31.13, Z:2.43 [[ 8.98408483e-01 4.38507213e-01 -2.39503940e-02 1.22288839e+02] [-4.38327170e-01 8.98727301e-01 1.25908942e-02 -3.11292343e+01] [ 2.70460709e-02 -8.13657767e-04 9.99633857e-01 2.42786539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48275509599999 meters 0.024501220883936848 Centerline is valid? [True, True] Translation: X:122.34, Y:-31.16, Z:2.43 [[ 8.97540413e-01 4.40292788e-01 -2.37374774e-02 1.22344476e+02] [-4.40116333e-01 8.97853931e-01 1.24872512e-02 -3.11568503e+01] [ 2.68108341e-02 -7.60561132e-04 9.99640236e-01 2.42966036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.542755096 meters 0.02331048795425978 Centerline is valid? [True, True] Translation: X:122.40, Y:-31.18, Z:2.43 [[ 8.96553899e-01 4.42302271e-01 -2.36602375e-02 1.22401164e+02] [-4.42127481e-01 8.96865768e-01 1.24533073e-02 -3.11836476e+01] [ 2.67281832e-02 -7.04220015e-04 9.99642490e-01 2.43087698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.602755096 meters 0.022182890323573665 Centerline is valid? [True, True] Translation: X:122.46, Y:-31.21, Z:2.43 [[ 8.94941342e-01 4.45531210e-01 -2.41233537e-02 1.22457823e+02] [-4.45350548e-01 8.95266190e-01 1.27018842e-02 -3.12094814e+01] [ 2.72559088e-02 -6.24092455e-04 9.99628294e-01 2.43123577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.662755096 meters 0.020832016826263063 Centerline is valid? [True, True] Translation: X:122.51, Y:-31.23, Z:2.43 [[ 8.93585451e-01 4.48261541e-01 -2.38040569e-02 1.22514124e+02] [-4.48086371e-01 8.93902286e-01 1.25421953e-02 -3.12349081e+01] [ 2.69006847e-02 -5.41249806e-04 9.99637965e-01 2.43398821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72275509599999 meters 0.02101972740154061 Centerline is valid? [True, True] Translation: X:122.57, Y:-31.26, Z:2.44 [[ 8.93137264e-01 4.49185362e-01 -2.32021095e-02 1.22568551e+02] [-4.49019040e-01 8.93438444e-01 1.22331091e-02 -3.12632852e+01] [ 2.62245901e-02 -5.07656627e-04 9.99655947e-01 2.43573425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78275509599999 meters 0.02088937588796817 Centerline is valid? [True, True] Translation: X:122.62, Y:-31.29, Z:2.44 [[ 8.93327428e-01 4.48791162e-01 -2.35074393e-02 1.22623674e+02] [-4.48620082e-01 8.93636508e-01 1.24021500e-02 -3.12916094e+01] [ 2.65730813e-02 -5.33271357e-04 9.99646731e-01 2.43741342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84275509599999 meters 0.02187660052665942 Centerline is valid? [True, True] Translation: X:122.68, Y:-31.32, Z:2.44 [[ 8.94544144e-01 4.46373243e-01 -2.32744927e-02 1.22677309e+02] [-4.46204504e-01 8.94846668e-01 1.22874281e-02 -3.13218914e+01] [ 2.63118814e-02 -6.06463394e-04 9.99653599e-01 2.43923029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90275509599999 meters 0.02286313270098557 Centerline is valid? [True, True] Translation: X:122.73, Y:-31.35, Z:2.44 [[ 8.95389660e-01 4.44654108e-01 -2.36660334e-02 1.22731304e+02] [-4.44478823e-01 8.95702109e-01 1.25023225e-02 -3.13530868e+01] [ 2.67569251e-02 -6.75399602e-04 9.99641741e-01 2.44034715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.962755096 meters 0.0244030282221806 Centerline is valid? [True, True] Translation: X:122.78, Y:-31.38, Z:2.44 [[ 8.95557527e-01 4.44316657e-01 -2.36521466e-02 1.22784459e+02] [-4.44141265e-01 8.95869539e-01 1.25022746e-02 -3.13836617e+01] [ 2.67442066e-02 -6.91611823e-04 9.99642070e-01 2.44011592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.022755096 meters 0.02362406157752139 Centerline is valid? [True, True] Translation: X:122.84, Y:-31.41, Z:2.44 [[ 8.95123661e-01 4.45177201e-01 -2.38933378e-02 1.22839147e+02] [-4.44998362e-01 8.95442237e-01 1.26355505e-02 -3.14127734e+01] [ 2.70201629e-02 -6.77884031e-04 9.99634659e-01 2.44118437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.082755096 meters 0.023119705326717543 Centerline is valid? [True, True] Translation: X:122.89, Y:-31.44, Z:2.44 [[ 8.94439571e-01 4.46555708e-01 -2.37876657e-02 1.22893876e+02] [-4.46378714e-01 8.94755603e-01 1.25878854e-02 -3.14418859e+01] [ 2.69053392e-02 -6.40795254e-04 9.99637780e-01 2.44190440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14275509599999 meters 0.02304412632666056 Centerline is valid? [True, True] Translation: X:122.95, Y:-31.47, Z:2.44 [[ 8.93982244e-01 4.47484409e-01 -2.35255423e-02 1.22947981e+02] [-4.47311402e-01 8.94291523e-01 1.24572369e-02 -3.14719214e+01] [ 2.66131124e-02 -6.13305280e-04 9.99645620e-01 2.44328230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20275509599999 meters 0.022716534822411264 Centerline is valid? [True, True] Translation: X:123.00, Y:-31.50, Z:2.45 [[ 8.94260455e-01 4.46981463e-01 -2.24902524e-02 1.23002903e+02] [-4.46822991e-01 8.94543013e-01 1.19168553e-02 -3.15032571e+01] [ 2.54451116e-02 -6.07610585e-04 9.99676036e-01 2.44620195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26275509599999 meters 0.022469346909564484 Centerline is valid? [True, True] Translation: X:123.06, Y:-31.53, Z:2.45 [[ 8.94478952e-01 4.46570833e-01 -2.19521406e-02 1.23056744e+02] [-4.46419521e-01 8.94748075e-01 1.16402138e-02 -3.15337673e+01] [ 2.48398155e-02 -6.12062123e-04 9.99691257e-01 2.44811392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.322755096 meters 0.025683164044678745 Centerline is valid? [True, True] Translation: X:123.11, Y:-31.57, Z:2.45 [[ 8.95147782e-01 4.45248344e-01 -2.15490294e-02 1.23107082e+02] [-4.45101972e-01 8.95406890e-01 1.14339988e-02 -3.15693686e+01] [ 2.43861184e-02 -6.43603205e-04 9.99702407e-01 2.44955377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.382755096 meters 0.023828086486954378 Centerline is valid? [True, True] Translation: X:123.16, Y:-31.60, Z:2.45 [[ 8.94940404e-01 4.45638992e-01 -2.20808010e-02 1.23163363e+02] [-4.45485229e-01 8.95212522e-01 1.17239757e-02 -3.15984844e+01] [ 2.49916703e-02 -6.55588854e-04 9.99687444e-01 2.45185468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.442755096 meters 0.023116051687671946 Centerline is valid? [True, True] Translation: X:123.22, Y:-31.63, Z:2.45 [[ 8.94350905e-01 4.46777571e-01 -2.29403592e-02 1.23217878e+02] [-4.46611738e-01 8.94644830e-01 1.21894926e-02 -3.16272263e+01] [ 2.59694656e-02 -6.56250015e-04 9.99662521e-01 2.45292354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50275509599999 meters 0.022716166258040196 Centerline is valid? [True, True] Translation: X:123.27, Y:-31.66, Z:2.45 [[ 8.93742924e-01 4.47967853e-01 -2.34176888e-02 1.23272621e+02] [-4.47795231e-01 8.94049434e-01 1.24515215e-02 -3.16563599e+01] [ 2.65144528e-02 -6.42129835e-04 9.99648224e-01 2.45316244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56275509599999 meters 0.022257802221521336 Centerline is valid? [True, True] Translation: X:123.33, Y:-31.69, Z:2.45 [[ 8.92973083e-01 4.49514383e-01 -2.31493670e-02 1.23326955e+02] [-4.49346002e-01 8.93272894e-01 1.23169366e-02 -3.16855806e+01] [ 2.62153423e-02 -5.96617352e-04 9.99656141e-01 2.45458734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62275509599999 meters 0.021253099946230758 Centerline is valid? [True, True] Translation: X:123.38, Y:-31.71, Z:2.46 [[ 8.91990291e-01 4.51468972e-01 -2.30019302e-02 1.23382613e+02] [-4.51303168e-01 8.92286654e-01 1.22465505e-02 -3.17138161e+01] [ 2.60532528e-02 -5.42960173e-04 9.99660409e-01 2.45683578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.682755096 meters 0.020793917692138272 Centerline is valid? [True, True] Translation: X:123.44, Y:-31.74, Z:2.46 [[ 8.90884296e-01 4.53648585e-01 -2.29811412e-02 1.23436819e+02] [-4.53483597e-01 8.91180523e-01 1.22434529e-02 -3.17423655e+01] [ 2.60345705e-02 -4.85929284e-04 9.99660925e-01 2.45792361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.742755096 meters 0.019633460890585857 Centerline is valid? [True, True] Translation: X:123.49, Y:-31.77, Z:2.46 [[ 8.89769593e-01 4.55832407e-01 -2.29540315e-02 1.23491800e+02] [-4.55668334e-01 8.90065522e-01 1.22366832e-02 -3.17705706e+01] [ 2.60084688e-02 -4.28403378e-04 9.99661631e-01 2.45942377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.802755096 meters 0.01924242036412196 Centerline is valid? [True, True] Translation: X:123.55, Y:-31.80, Z:2.46 [[ 8.88952062e-01 4.57415768e-01 -2.31310875e-02 1.23546388e+02] [-4.57249470e-01 8.89252867e-01 1.23394194e-02 -3.18010003e+01] [ 2.62136309e-02 -3.92474793e-04 9.99656287e-01 2.46041017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86275509599999 meters 0.01937022635764903 Centerline is valid? [True, True] Translation: X:123.60, Y:-31.83, Z:2.46 [[ 8.88821803e-01 4.57664307e-01 -2.32203503e-02 1.23601138e+02] [-4.57496581e-01 8.89124978e-01 1.23956668e-02 -3.18311393e+01] [ 2.63188477e-02 -3.94308024e-04 9.99653521e-01 2.46147468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92275509599999 meters 0.019101086008914612 Centerline is valid? [True, True] Translation: X:123.66, Y:-31.86, Z:2.46 [[ 8.88645205e-01 4.58035479e-01 -2.26538937e-02 1.23656303e+02] [-4.57875726e-01 8.88933830e-01 1.21023048e-02 -3.18610165e+01] [ 2.56810975e-02 -3.81987167e-04 9.99670113e-01 2.46301718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98275509599999 meters 0.01996764877728358 Centerline is valid? [True, True] Translation: X:123.71, Y:-31.89, Z:2.46 [[ 8.88555771e-01 4.58234627e-01 -2.21284674e-02 1.23709624e+02] [-4.58082043e-01 8.88831191e-01 1.18303226e-02 -3.18919986e+01] [ 2.50895355e-02 -3.75247897e-04 9.99685138e-01 2.46417283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.042755096 meters 0.019232050684092436 Centerline is valid? [True, True] Translation: X:123.76, Y:-31.92, Z:2.47 [[ 8.88328895e-01 4.58689723e-01 -2.18062263e-02 1.23762323e+02] [-4.58541511e-01 8.88596424e-01 1.16652025e-02 -3.19220238e+01] [ 2.47276433e-02 -3.63476462e-04 9.99694159e-01 2.46581622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.102755096 meters 0.019726817132264048 Centerline is valid? [True, True] Translation: X:123.82, Y:-31.95, Z:2.47 [[ 8.88531623e-01 4.58314991e-01 -2.14225308e-02 1.23816738e+02] [-4.58171717e-01 8.88789756e-01 1.14650412e-02 -3.19529147e+01] [ 2.42947262e-02 -3.71853894e-04 9.99704770e-01 2.46665980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.162755096 meters 0.019059093544170857 Centerline is valid? [True, True] Translation: X:123.87, Y:-31.98, Z:2.47 [[ 8.88121220e-01 4.59086935e-01 -2.19062554e-02 1.23871485e+02] [-4.58937129e-01 8.88391272e-01 1.17328841e-02 -3.19838129e+01] [ 2.48477399e-02 -3.66629403e-04 9.99691180e-01 2.46784104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22275509599999 meters 0.019031968743229447 Centerline is valid? [True, True] Translation: X:123.93, Y:-32.02, Z:2.47 [[ 8.87688515e-01 4.59902021e-01 -2.23434826e-02 1.23926349e+02] [-4.59746204e-01 8.87969595e-01 1.19760492e-02 -3.20150698e+01] [ 2.53481425e-02 -3.58670008e-04 9.99678620e-01 2.46777362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28275509599999 meters 0.018359974683616196 Centerline is valid? [True, True] Translation: X:123.98, Y:-32.04, Z:2.47 [[ 8.87168715e-01 4.60895948e-01 -2.25076731e-02 1.23981056e+02] [-4.60737930e-01 8.87454117e-01 1.20727206e-02 -3.20442740e+01] [ 2.55387951e-02 -3.40401337e-04 9.99673774e-01 2.46881943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34275509599999 meters 0.01810311660616366 Centerline is valid? [True, True] Translation: X:124.03, Y:-32.07, Z:2.47 [[ 8.86338439e-01 4.62463554e-01 -2.30571781e-02 1.24034996e+02] [-4.62298036e-01 8.86638238e-01 1.23758021e-02 -3.20745198e+01] [ 2.61667332e-02 -3.09860955e-04 9.99657544e-01 2.46953906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40275509599999 meters 0.020898180644767114 Centerline is valid? [True, True] Translation: X:124.09, Y:-32.10, Z:2.47 [[ 8.85973567e-01 4.63122917e-01 -2.38328107e-02 1.24090255e+02] [-4.62946069e-01 8.86294008e-01 1.28010970e-02 -3.21049398e+01] [ 2.70513587e-02 -3.08127559e-04 9.99633998e-01 2.46734537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.462755096 meters 0.01727405057973674 Centerline is valid? [True, True] Translation: X:124.14, Y:-32.13, Z:2.47 [[ 8.84789784e-01 4.65414224e-01 -2.31654326e-02 1.24144826e+02] [-4.65247697e-01 8.85092957e-01 1.24514098e-02 -3.21344913e+01] [ 2.62986245e-02 -2.39216002e-04 9.99654103e-01 2.47143205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.522755096 meters 0.01715198823680701 Centerline is valid? [True, True] Translation: X:124.20, Y:-32.16, Z:2.47 [[ 8.84417267e-01 4.66158193e-01 -2.24195564e-02 1.24199380e+02] [-4.66002265e-01 8.84701358e-01 1.20580659e-02 -3.21645594e+01] [ 2.54555782e-02 -2.16797614e-04 9.99675931e-01 2.47323178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.582755096 meters 0.016784077058956497 Centerline is valid? [True, True] Translation: X:124.25, Y:-32.19, Z:2.47 [[ 8.83880281e-01 4.67200180e-01 -2.19006973e-02 1.24253348e+02] [-4.67051524e-01 8.84151546e-01 1.17863534e-02 -3.21945504e+01] [ 2.48701218e-02 -1.88971324e-04 9.99690673e-01 2.47485308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64275509599999 meters 0.01657625613613912 Centerline is valid? [True, True] Translation: X:124.31, Y:-32.23, Z:2.48 [[ 8.83812870e-01 4.67356639e-01 -2.12739738e-02 1.24308659e+02] [-4.67216239e-01 8.84068853e-01 1.14563872e-02 -3.22255097e+01] [ 2.41618762e-02 -1.85756420e-04 9.99708042e-01 2.47561590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70275509599999 meters 0.01648082662047045 Centerline is valid? [True, True] Translation: X:124.36, Y:-32.25, Z:2.48 [[ 8.83677248e-01 4.67639640e-01 -2.06806226e-02 1.24363540e+02] [-4.67506856e-01 8.83919190e-01 1.11447562e-02 -3.22542201e+01] [ 2.34917289e-02 -1.80034630e-04 9.99724015e-01 2.47682077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76275509599999 meters 0.016012609043857963 Centerline is valid? [True, True] Translation: X:124.42, Y:-32.28, Z:2.48 [[ 8.83428120e-01 4.68121350e-01 -2.04244421e-02 1.24419921e+02] [-4.67991787e-01 8.83664174e-01 1.10143109e-02 -3.22825784e+01] [ 2.32043818e-02 -1.71880800e-04 9.99730727e-01 2.47829762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.822755096 meters 0.01594998184482069 Centerline is valid? [True, True] Translation: X:124.48, Y:-32.31, Z:2.48 [[ 8.83233683e-01 4.68485725e-01 -2.04789169e-02 1.24476344e+02] [-4.68355368e-01 8.83471050e-01 1.10522793e-02 -3.23111811e+01] [ 2.32703654e-02 -1.70334700e-04 9.99729194e-01 2.47899520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.882755096 meters 0.01565765533952102 Centerline is valid? [True, True] Translation: X:124.53, Y:-32.34, Z:2.48 [[ 8.82632618e-01 4.69620106e-01 -2.04112321e-02 1.24532527e+02] [-4.69490717e-01 8.82868583e-01 1.10241348e-02 -3.23378942e+01] [ 2.31975909e-02 -1.47377004e-04 9.99730889e-01 2.47970196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.942755096 meters 0.015896068331617358 Centerline is valid? [True, True] Translation: X:124.59, Y:-32.37, Z:2.48 [[ 8.83252741e-01 4.68396590e-01 -2.16617112e-02 1.24587812e+02] [-4.68250280e-01 8.83518305e-01 1.17081346e-02 -3.23664701e+01] [ 2.46225686e-02 -1.98139638e-04 9.99696799e-01 2.47893176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.002755096 meters 0.017132897371973866 Centerline is valid? [True, True] Translation: X:124.64, Y:-32.40, Z:2.48 [[ 8.85252837e-01 4.64580449e-01 -2.21905580e-02 1.24641435e+02] [-4.64425500e-01 8.85530860e-01 1.20021196e-02 -3.23986113e+01] [ 2.52263740e-02 -3.19049419e-04 9.99681713e-01 2.47919125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.062755096 meters 0.018180505454714797 Centerline is valid? [True, True] Translation: X:124.69, Y:-32.43, Z:2.48 [[ 8.86504675e-01 4.62213352e-01 -2.16397410e-02 1.24694973e+02] [-4.62065111e-01 8.86768668e-01 1.17116543e-02 -3.24289981e+01] [ 2.46027273e-02 -3.83466912e-04 9.99697234e-01 2.48078867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.122755096 meters 0.019411784451514546 Centerline is valid? [True, True] Translation: X:124.75, Y:-32.46, Z:2.48 [[ 8.88079748e-01 4.59227719e-01 -2.05976753e-02 1.24750000e+02] [-4.59092454e-01 8.88318468e-01 1.11542856e-02 -3.24583895e+01] [ 2.34196525e-02 -4.49657837e-04 9.99725621e-01 2.48341705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.182755096 meters 0.01955039786238903 Centerline is valid? [True, True] Translation: X:124.80, Y:-32.49, Z:2.49 [[ 8.88898522e-01 4.57668739e-01 -1.99685528e-02 1.24804954e+02] [-4.57541061e-01 8.89122653e-01 1.08205809e-02 -3.24864233e+01] [ 2.27067343e-02 -4.81965557e-04 9.99742053e-01 2.48643215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.242755096 meters 0.020339530136976113 Centerline is valid? [True, True] Translation: X:124.86, Y:-32.51, Z:2.49 [[ 8.88787615e-01 4.57900120e-01 -1.95973215e-02 1.24860187e+02] [-4.57777041e-01 8.89003518e-01 1.06266307e-02 -3.25141936e+01] [ 2.22880233e-02 -4.73613948e-04 9.99751479e-01 2.48797626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.302755096 meters 0.019659172336846206 Centerline is valid? [True, True] Translation: X:124.92, Y:-32.54, Z:2.49 [[ 8.88042218e-01 4.59370945e-01 -1.89566474e-02 1.24917217e+02] [-4.59255964e-01 8.88244421e-01 1.02863439e-02 -3.25387599e+01] [ 2.15633838e-02 -4.28754223e-04 9.99767391e-01 2.48986282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.362755096 meters 0.01973181237913378 Centerline is valid? [True, True] Translation: X:124.97, Y:-32.57, Z:2.49 [[ 8.87806779e-01 4.59852793e-01 -1.82902199e-02 1.24973203e+02] [-4.59745723e-01 8.87995069e-01 9.93117081e-03 -3.25664727e+01] [ 2.08085017e-02 -4.08110397e-04 9.99783396e-01 2.49218765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.422755096 meters 0.020051361210114128 Centerline is valid? [True, True] Translation: X:125.03, Y:-32.59, Z:2.49 [[ 8.87693186e-01 4.60097125e-01 -1.76477554e-02 1.25029437e+02] [-4.59997357e-01 8.87868504e-01 9.58910490e-03 -3.25932624e+01] [ 2.00808058e-02 -3.94262212e-04 9.99798283e-01 2.49412035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.482755096 meters 0.02048832137352562 Centerline is valid? [True, True] Translation: X:125.09, Y:-32.62, Z:2.50 [[ 8.87761991e-01 4.59973116e-01 -1.74177931e-02 1.25085709e+02] [-4.59875820e-01 8.87932754e-01 9.46860274e-03 -3.26208744e+01] [ 1.98211317e-02 -3.95843727e-04 9.99803464e-01 2.49555767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54275509599998 meters 0.02122767151759854 Centerline is valid? [True, True] Translation: X:125.14, Y:-32.65, Z:2.50 [[ 8.88201206e-01 4.59154266e-01 -1.66125838e-02 1.25142176e+02] [-4.59065498e-01 8.88356460e-01 9.03708544e-03 -3.26479631e+01] [ 1.89073125e-02 -4.00486115e-04 9.99821161e-01 2.49616494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60275509599998 meters 0.020422215193590207 Centerline is valid? [True, True] Translation: X:125.20, Y:-32.67, Z:2.50 [[ 8.88667085e-01 4.58269713e-01 -1.61146461e-02 1.25198831e+02] [-4.58185944e-01 8.88813085e-01 8.77154271e-03 -3.26727716e+01] [ 1.83426407e-02 -4.11476953e-04 9.99831675e-01 2.49711092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66275509599998 meters 0.022896291784595076 Centerline is valid? [True, True] Translation: X:125.25, Y:-32.70, Z:2.50 [[ 8.88737288e-01 4.58151432e-01 -1.55980163e-02 1.25252525e+02] [-4.58072881e-01 8.88874065e-01 8.49312075e-03 -3.27035289e+01] [ 1.77558076e-02 -4.03124838e-04 9.99842272e-01 2.49805172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.722755096 meters 0.023713670817077804 Centerline is valid? [True, True] Translation: X:125.31, Y:-32.73, Z:2.50 [[ 8.89129010e-01 4.57437330e-01 -1.41665691e-02 1.25308322e+02] [-4.57372366e-01 8.89241779e-01 7.71860892e-03 -3.27305134e+01] [ 1.61282850e-02 -3.83441884e-04 9.99869857e-01 2.49997291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.782755096 meters 0.02078408390754559 Centerline is valid? [True, True] Translation: X:125.37, Y:-32.75, Z:2.50 [[ 8.89254603e-01 4.57211756e-01 -1.35522116e-02 1.25365448e+02] [-4.57152215e-01 8.89357785e-01 7.38797776e-03 -3.27544162e+01] [ 1.54306352e-02 -3.74369669e-04 9.99880871e-01 2.50070457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.842755096 meters 0.02177000784141724 Centerline is valid? [True, True] Translation: X:125.42, Y:-32.78, Z:2.50 [[ 8.90172841e-01 4.55468638e-01 -1.18588687e-02 1.25421432e+02] [-4.55422849e-01 8.90251758e-01 6.46809128e-03 -3.27810313e+01] [ 1.35033914e-02 -3.56919432e-04 9.99908761e-01 2.50245865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.902755096 meters 0.025865754180297556 Centerline is valid? [True, True] Translation: X:125.47, Y:-32.81, Z:2.50 [[ 8.91060597e-01 4.53775201e-01 -9.95383787e-03 1.25473988e+02] [-4.53742805e-01 8.91116133e-01 5.43181897e-03 -3.28112899e+01] [ 1.13348503e-02 -3.23597542e-04 9.99935706e-01 2.50443743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.962755096 meters 0.024008817627798752 Centerline is valid? [True, True] Translation: X:125.53, Y:-32.83, Z:2.50 [[ 8.91152361e-01 4.53603271e-01 -9.56775886e-03 1.25532090e+02] [-4.53573298e-01 8.91203665e-01 5.22409183e-03 -3.28347846e+01] [ 1.08964869e-02 -3.15781832e-04 9.99940582e-01 2.50361685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.022755096 meters 0.026733962087569254 Centerline is valid? [True, True] Translation: X:125.59, Y:-32.87, Z:2.51 [[ 8.90855571e-01 4.54199106e-01 -8.91765071e-03 1.25586990e+02] [-4.54173070e-01 8.90900156e-01 4.87177686e-03 -3.28660952e+01] [ 1.01574931e-02 -2.89892751e-04 9.99948369e-01 2.50564596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.082755096 meters 0.025697546964351326 Centerline is valid? [True, True] Translation: X:125.64, Y:-32.89, Z:2.50 [[ 8.90641762e-01 4.54612805e-01 -9.18961887e-03 1.25644682e+02] [-4.54585137e-01 8.90689120e-01 5.02430614e-03 -3.28915405e+01] [ 1.04692075e-02 -2.97392716e-04 9.99945152e-01 2.50476152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.142755096 meters 0.02928251523177771 Centerline is valid? [True, True] Translation: X:125.70, Y:-32.92, Z:2.51 [[ 8.91183579e-01 4.53562652e-01 -8.52930989e-03 1.25697397e+02] [-4.53538731e-01 8.91224346e-01 4.66727720e-03 -3.29227728e+01] [ 9.71843126e-03 -2.91028412e-04 9.99952733e-01 2.50680240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.202755096 meters 0.029650341733773095 Centerline is valid? [True, True] Translation: X:125.75, Y:-32.95, Z:2.51 [[ 8.92364472e-01 4.51251716e-01 -7.58541305e-03 1.25752558e+02] [-4.51232695e-01 8.92396665e-01 4.15285438e-03 -3.29503260e+01] [ 8.64317998e-03 -2.83073329e-04 9.99962607e-01 2.50719773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.262755096 meters 0.02945773946313568 Centerline is valid? [True, True] Translation: X:125.81, Y:-32.98, Z:2.51 [[ 8.92914737e-01 4.50173694e-01 -6.84961384e-03 1.25807773e+02] [-4.50158141e-01 8.92940969e-01 3.75148451e-03 -3.29784083e+01] [ 7.80512046e-03 -2.66346375e-04 9.99969504e-01 2.50816926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32275509599998 meters 0.031370867753324955 Centerline is valid? [True, True] Translation: X:125.86, Y:-33.01, Z:2.51 [[ 8.93525834e-01 4.48961711e-01 -6.70559277e-03 1.25860461e+02] [-4.48946746e-01 8.93550954e-01 3.67591979e-03 -3.30082536e+01] [ 7.64213605e-03 -2.74075241e-04 9.99970761e-01 2.50941068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38275509599998 meters 0.03434415572022433 Centerline is valid? [True, True] Translation: X:125.91, Y:-33.04, Z:2.51 [[ 8.93620411e-01 4.48765071e-01 -7.24380225e-03 1.25913628e+02] [-4.48747576e-01 8.93649720e-01 3.97384783e-03 -3.30409894e+01] [ 8.25674595e-03 -3.00472824e-04 9.99965867e-01 2.51076364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44275509599998 meters 0.03211609146574928 Centerline is valid? [True, True] Translation: X:125.97, Y:-33.07, Z:2.51 [[ 8.93324285e-01 4.49350981e-01 -7.44422440e-03 1.25970870e+02] [-4.49332516e-01 8.93355250e-01 4.08495251e-03 -3.30663774e+01] [ 8.48591437e-03 -3.04255201e-04 9.99963948e-01 2.51021067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.502755096 meters 0.03226479222563383 Centerline is valid? [True, True] Translation: X:126.03, Y:-33.09, Z:2.51 [[ 8.92784673e-01 4.50410358e-01 -8.12630191e-03 1.26025709e+02] [-4.50388340e-01 8.92821596e-01 4.46550041e-03 -3.30939786e+01] [ 9.26664548e-03 -3.26738690e-04 9.99957010e-01 2.51077097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.562755096 meters 0.032275322691162914 Centerline is valid? [True, True] Translation: X:126.08, Y:-33.12, Z:2.51 [[ 8.92479645e-01 4.51009548e-01 -8.39470710e-03 1.26078495e+02] [-4.50986066e-01 8.92519062e-01 4.61430004e-03 -3.31218437e+01] [ 9.57352949e-03 -3.32272937e-04 9.99954118e-01 2.51179316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.622755096 meters 0.0314831090990601 Centerline is valid? [True, True] Translation: X:126.13, Y:-33.15, Z:2.51 [[ 8.91439121e-01 4.53053457e-01 -8.88027267e-03 1.26131254e+02] [-4.53027282e-01 8.91483290e-01 4.88106840e-03 -3.31471231e+01] [ 1.01279996e-02 -3.28169531e-04 9.99948657e-01 2.51303266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.682755096 meters 0.029240581102404052 Centerline is valid? [True, True] Translation: X:126.19, Y:-33.17, Z:2.51 [[ 8.89575349e-01 4.56691719e-01 -9.40060674e-03 1.26185473e+02] [-4.56662602e-01 8.89624967e-01 5.16581602e-03 -3.31705674e+01] [ 1.07221999e-02 -3.02477053e-04 9.99942470e-01 2.51371995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.742755096 meters 0.027027540564764887 Centerline is valid? [True, True] Translation: X:126.24, Y:-33.19, Z:2.52 [[ 8.88025885e-01 4.59695537e-01 -9.48896741e-03 1.26239346e+02] [-4.59666047e-01 8.88076540e-01 5.21381941e-03 -3.31948028e+01] [ 1.08236989e-02 -2.68250453e-04 9.99941386e-01 2.51524085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.802755096 meters 0.019230194231896265 Centerline is valid? [True, True] Translation: X:126.30, Y:-33.21, Z:2.51 [[ 8.84552389e-01 4.66336992e-01 -9.84284613e-03 1.26298927e+02] [-4.66305685e-01 8.84607129e-01 5.40694770e-03 -3.32100279e+01] [ 1.12285116e-02 -1.92953395e-04 9.99936940e-01 2.51375541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.862755096 meters 0.01899000404930702 Centerline is valid? [True, True] Translation: X:126.35, Y:-33.24, Z:2.52 [[ 8.83137321e-01 4.69019353e-01 -9.45084143e-03 1.26350890e+02] [-4.68990647e-01 8.83187876e-01 5.19130391e-03 -3.32368866e+01] [ 1.07816906e-02 -1.52277996e-04 9.99941864e-01 2.51566864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.922755096 meters 0.017656524111683572 Centerline is valid? [True, True] Translation: X:126.40, Y:-33.26, Z:2.52 [[ 8.81361607e-01 4.72354182e-01 -9.12382978e-03 1.26403525e+02] [-4.72327610e-01 8.81408824e-01 5.01138019e-03 -3.32604272e+01] [ 1.04089705e-02 -1.07401384e-04 9.99945819e-01 2.51597734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.982755096 meters 0.017698196812847726 Centerline is valid? [True, True] Translation: X:126.46, Y:-33.29, Z:2.52 [[ 8.80769250e-01 4.73450616e-01 -9.48911952e-03 1.26455710e+02] [-4.73421954e-01 8.80820359e-01 5.21044597e-03 -3.32884012e+01] [ 1.08250985e-02 -9.68430861e-05 9.99941402e-01 2.51746485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04275509599998 meters 0.01778933319008263 Centerline is valid? [True, True] Translation: X:126.51, Y:-33.32, Z:2.52 [[ 8.80780067e-01 4.73420785e-01 -9.96162577e-03 1.26507175e+02] [-4.73389208e-01 8.80836393e-01 5.46878222e-03 -3.33170957e+01] [ 1.13635977e-02 -1.01068238e-04 9.99935427e-01 2.51734468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10275509599998 meters 0.0188973819034968 Centerline is valid? [True, True] Translation: X:126.56, Y:-33.35, Z:2.52 [[ 8.82309814e-01 4.70561961e-01 -1.00415313e-02 1.26556519e+02] [-4.70529703e-01 8.82366943e-01 5.51151069e-03 -3.33495831e+01] [ 1.14538226e-02 -1.38021231e-04 9.99934393e-01 2.51866449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16275509599998 meters 0.020351707366686775 Centerline is valid? [True, True] Translation: X:126.61, Y:-33.38, Z:2.52 [[ 8.83984378e-01 4.67408578e-01 -1.00419257e-02 1.26606526e+02] [-4.67376126e-01 8.84041396e-01 5.51062714e-03 -3.33809719e+01] [ 1.14531925e-02 -1.77951954e-04 9.99934394e-01 2.51956031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.222755096 meters 0.02286678068510837 Centerline is valid? [True, True] Translation: X:126.66, Y:-33.42, Z:2.52 [[ 8.86258015e-01 4.63056910e-01 -1.11816735e-02 1.26655825e+02] [-4.63016348e-01 8.86328512e-01 6.13435893e-03 -3.34153408e+01] [ 1.27511933e-02 -2.59327117e-04 9.99918667e-01 2.51916282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.282755096 meters 0.024708775945205194 Centerline is valid? [True, True] Translation: X:126.71, Y:-33.45, Z:2.52 [[ 8.87808183e-01 4.60053424e-01 -1.21440228e-02 1.26705894e+02] [-4.60005308e-01 8.87891176e-01 6.66158213e-03 -3.34486514e+01] [ 1.38472544e-02 -3.27892166e-04 9.99904068e-01 2.51893669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.342755096 meters 0.02577672115726175 Centerline is valid? [True, True] Translation: X:126.76, Y:-33.48, Z:2.52 [[ 8.88457029e-01 4.58783533e-01 -1.27191960e-02 1.26756208e+02] [-4.58730629e-01 8.88547994e-01 6.97656218e-03 -3.34794410e+01] [ 1.45023480e-02 -3.63690922e-04 9.99894769e-01 2.51982984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.402755096 meters 0.026083043600623065 Centerline is valid? [True, True] Translation: X:126.81, Y:-33.51, Z:2.52 [[ 8.88320681e-01 4.59036016e-01 -1.31264719e-02 1.26807313e+02] [-4.58979721e-01 8.88417582e-01 7.19840434e-03 -3.35096630e+01] [ 1.49661153e-02 -3.69707044e-04 9.99887933e-01 2.52123429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.462755096 meters 0.02597707919311702 Centerline is valid? [True, True] Translation: X:126.86, Y:-33.54, Z:2.52 [[ 8.88196018e-01 4.59269911e-01 -1.33784773e-02 1.26858723e+02] [-4.59211474e-01 8.88296691e-01 7.33560326e-03 -3.35389248e+01] [ 1.52530790e-02 -3.71903321e-04 9.99883596e-01 2.52278037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.522755096 meters 0.024028174296472762 Centerline is valid? [True, True] Translation: X:126.91, Y:-33.57, Z:2.52 [[ 8.87628014e-01 4.60357756e-01 -1.36837196e-02 1.26913466e+02] [-4.60296782e-01 8.87733410e-01 7.50105400e-03 -3.35664134e+01] [ 1.56006634e-02 -3.59573589e-04 9.99878238e-01 2.52336161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.582755096 meters 0.023799331519180296 Centerline is valid? [True, True] Translation: X:126.97, Y:-33.60, Z:2.52 [[ 8.87363612e-01 4.60871587e-01 -1.35351314e-02 1.26967025e+02] [-4.60811978e-01 8.87466765e-01 7.42034657e-03 -3.35963520e+01] [ 1.54318062e-02 -3.47394855e-04 9.99880862e-01 2.52464348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.642755096 meters 0.02416715509662257 Centerline is valid? [True, True] Translation: X:127.02, Y:-33.63, Z:2.53 [[ 8.87070949e-01 4.61402027e-01 -1.46048405e-02 1.27017544e+02] [-4.61332677e-01 8.87191093e-01 8.00782600e-03 -3.36276878e+01] [ 1.66521116e-02 -3.65819628e-04 9.99861277e-01 2.52525479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.702755096 meters 0.02316970194139607 Centerline is valid? [True, True] Translation: X:127.07, Y:-33.66, Z:2.53 [[ 8.87001927e-01 4.61533902e-01 -1.46300688e-02 1.27072797e+02] [-4.61464352e-01 8.87122497e-01 8.02038625e-03 -3.36569907e+01] [ 1.66803434e-02 -3.62842822e-04 9.99860808e-01 2.52601117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.762755096 meters 0.023813529905168034 Centerline is valid? [True, True] Translation: X:127.13, Y:-33.69, Z:2.53 [[ 8.87195242e-01 4.61121723e-01 -1.58543348e-02 1.27125740e+02] [-4.61039836e-01 8.87336796e-01 8.69939769e-03 -3.36891122e+01] [ 1.80796159e-02 -4.08584294e-04 9.99836467e-01 2.52675010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82275509599998 meters 0.025462924371610636 Centerline is valid? [True, True] Translation: X:127.18, Y:-33.72, Z:2.53 [[ 8.87619783e-01 4.60299303e-01 -1.59897334e-02 1.27176616e+02] [-4.60215762e-01 8.87763686e-01 8.78005176e-03 -3.37230852e+01] [ 1.82365563e-02 -4.34620311e-04 9.99833606e-01 2.52796554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88275509599998 meters 0.02564576262479556 Centerline is valid? [True, True] Translation: X:127.23, Y:-33.75, Z:2.53 [[ 8.88030078e-01 4.59502354e-01 -1.61296903e-02 1.27229919e+02] [-4.59417103e-01 8.88176432e-01 8.86285319e-03 -3.37543526e+01] [ 1.83985127e-02 -4.60224618e-04 9.99830627e-01 2.52903528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94275509599998 meters 0.026638474868246494 Centerline is valid? [True, True] Translation: X:127.28, Y:-33.79, Z:2.53 [[ 8.88558153e-01 4.58479465e-01 -1.61551437e-02 1.27282357e+02] [-4.58393762e-01 8.88704871e-01 8.87762718e-03 -3.37875936e+01] [ 1.84273647e-02 -4.82870922e-04 9.99830085e-01 2.53056999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.002755096 meters 0.027429165607112498 Centerline is valid? [True, True] Translation: X:127.34, Y:-33.82, Z:2.53 [[ 8.88878661e-01 4.57861330e-01 -1.60539203e-02 1.27335212e+02] [-4.57776487e-01 8.89023483e-01 8.82801205e-03 -3.38199863e+01] [ 1.83143174e-02 -4.97924313e-04 9.99832155e-01 2.53215210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.062755096 meters 0.028606943624707108 Centerline is valid? [True, True] Translation: X:127.39, Y:-33.85, Z:2.53 [[ 8.88722738e-01 4.58174403e-01 -1.57515573e-02 1.27386403e+02] [-4.58092667e-01 8.88862182e-01 8.66779000e-03 -3.38510943e+01] [ 1.79723231e-02 -4.87589164e-04 9.99838366e-01 2.53346923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.122755096 meters 0.02513264504955846 Centerline is valid? [True, True] Translation: X:127.44, Y:-33.88, Z:2.53 [[ 8.88039002e-01 4.59497388e-01 -1.57759572e-02 1.27441690e+02] [-4.59415598e-01 8.88179001e-01 8.68168590e-03 -3.38751616e+01] [ 1.80010859e-02 -4.61954879e-04 9.99837861e-01 2.53437299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.182755096 meters 0.022319850955100758 Centerline is valid? [True, True] Translation: X:127.50, Y:-33.90, Z:2.53 [[ 8.86306995e-01 4.62813743e-01 -1.62280406e-02 1.27498729e+02] [-4.62727770e-01 8.86455456e-01 8.92951407e-03 -3.38999290e+01] [ 1.85181370e-02 -4.05125755e-04 9.99828443e-01 2.53478173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.242755096 meters 0.020837538683103785 Centerline is valid? [True, True] Translation: X:127.55, Y:-33.93, Z:2.54 [[ 8.83901784e-01 4.67383334e-01 -1.64455326e-02 1.27554088e+02] [-4.67295714e-01 8.84054703e-01 9.05528545e-03 -3.39266414e+01] [ 1.87710399e-02 -3.19056053e-04 9.99823758e-01 2.53572029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.302755096 meters 0.01995302248991413 Centerline is valid? [True, True] Translation: X:127.61, Y:-33.95, Z:2.54 [[ 8.82358001e-01 4.70287199e-01 -1.65622617e-02 1.27609531e+02] [-4.70198824e-01 8.82513390e-01 9.12047890e-03 -3.39548020e+01] [ 1.89056622e-02 -2.59971561e-04 9.99821238e-01 2.53739615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.362755096 meters 0.020960931129614727 Centerline is valid? [True, True] Translation: X:127.66, Y:-33.98, Z:2.54 [[ 8.81049065e-01 4.72760947e-01 -1.57997344e-02 1.27663616e+02] [-4.72680820e-01 8.81190698e-01 8.70612433e-03 -3.39846616e+01] [ 1.80384946e-02 -2.02291291e-04 9.99837273e-01 2.53716359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.422755096 meters 0.019421770486691286 Centerline is valid? [True, True] Translation: X:127.72, Y:-34.02, Z:2.54 [[ 8.80672638e-01 4.73468357e-01 -1.56018946e-02 1.27717866e+02] [-4.73390235e-01 8.80810808e-01 8.60268635e-03 -3.40156016e+01] [ 1.78154172e-02 -1.90365929e-04 9.99841275e-01 2.54173057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.482755096 meters 0.0196680941727326 Centerline is valid? [True, True] Translation: X:127.77, Y:-34.05, Z:2.54 [[ 8.80568850e-01 4.73675508e-01 -1.51662197e-02 1.27771259e+02] [-4.73601612e-01 8.80699426e-01 8.36862848e-03 -3.40476648e+01] [ 1.73208953e-02 -1.86407444e-04 9.99849965e-01 2.54359896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54275509599998 meters 0.020018004593815496 Centerline is valid? [True, True] Translation: X:127.82, Y:-34.08, Z:2.55 [[ 8.81221747e-01 4.72461983e-01 -1.50966002e-02 1.27824369e+02] [-4.72388486e-01 8.81351025e-01 8.33600996e-03 -3.40804390e+01] [ 1.72438519e-02 -2.14413131e-04 9.99851291e-01 2.54520364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60275509599998 meters 0.02062250199793965 Centerline is valid? [True, True] Translation: X:127.88, Y:-34.11, Z:2.55 [[ 8.82013031e-01 4.70945760e-01 -1.62204858e-02 1.27876898e+02] [-4.70860541e-01 8.82162128e-01 8.96281015e-03 -3.41137475e+01] [ 1.85300957e-02 -2.67728649e-04 9.99828267e-01 2.54519130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66275509599998 meters 0.021327725441982276 Centerline is valid? [True, True] Translation: X:127.93, Y:-34.15, Z:2.55 [[ 8.82672889e-01 4.69673421e-01 -1.71886061e-02 1.27930057e+02] [-4.69577359e-01 8.82840176e-01 9.50403925e-03 -3.41467227e+01] [ 1.96385867e-02 -3.17577499e-04 9.99807094e-01 2.54559761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.722755096 meters 0.02269970592031018 Centerline is valid? [True, True] Translation: X:127.98, Y:-34.18, Z:2.55 [[ 8.83825779e-01 4.67440357e-01 -1.87484835e-02 1.27980453e+02] [-4.67325424e-01 8.84024518e-01 1.03730526e-02 -3.41811443e+01] [ 2.14229025e-02 -4.06328278e-04 9.99770421e-01 2.54512914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.782755096 meters 0.024251422343834074 Centerline is valid? [True, True] Translation: X:128.03, Y:-34.22, Z:2.55 [[ 8.84985341e-01 4.65205045e-01 -1.96268047e-02 1.28032316e+02] [-4.65078451e-01 8.85202819e-01 1.08629633e-02 -3.42163928e+01] [ 2.24272082e-02 -4.85559378e-04 9.99748361e-01 2.54583937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.842755096 meters 0.02536851252084438 Centerline is valid? [True, True] Translation: X:128.08, Y:-34.25, Z:2.55 [[ 8.85959801e-01 4.63354701e-01 -1.94332702e-02 1.28083887e+02] [-4.63230004e-01 8.86172747e-01 1.07622346e-02 -3.42508919e+01] [ 2.22079665e-02 -5.32833372e-04 9.99753231e-01 2.54833544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.902755096 meters 0.0230316295084041 Centerline is valid? [True, True] Translation: X:128.14, Y:-34.28, Z:2.55 [[ 8.86178184e-01 4.62924673e-01 -1.97224117e-02 1.28139502e+02] [-4.62795979e-01 8.86397448e-01 1.09291381e-02 -3.42795381e+01] [ 2.25412631e-02 -5.57710876e-04 9.99745758e-01 2.55147783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.962755096 meters 0.023884363166042717 Centerline is valid? [True, True] Translation: X:128.19, Y:-34.31, Z:2.55 [[ 8.85824127e-01 4.63620616e-01 -1.92754033e-02 1.28191577e+02] [-4.63497701e-01 8.86033656e-01 1.06883810e-02 -3.43120116e+01] [ 2.20340098e-02 -5.33920610e-04 9.99757079e-01 2.55288289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.022755096 meters 0.02549303385496007 Centerline is valid? [True, True] Translation: X:128.25, Y:-34.34, Z:2.55 [[ 8.84502557e-01 4.66085724e-01 -2.04774015e-02 1.28245663e+02] [-4.65947487e-01 8.84739419e-01 1.13622380e-02 -3.43431321e+01] [ 2.34129413e-02 -5.08534811e-04 9.99725750e-01 2.55150249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.082755096 meters 0.022340054105776202 Centerline is valid? [True, True] Translation: X:128.30, Y:-34.37, Z:2.56 [[ 8.83185677e-01 4.68598987e-01 -1.99511608e-02 1.28301166e+02] [-4.68468245e-01 8.83410889e-01 1.10771923e-02 -3.43713747e+01] [ 2.28158338e-02 -4.36732289e-04 9.99739590e-01 2.55566244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.142755096 meters 0.020543674193059473 Centerline is valid? [True, True] Translation: X:128.36, Y:-34.40, Z:2.56 [[ 8.81198641e-01 4.72342962e-01 -1.95213126e-02 1.28355554e+02] [-4.72218554e-01 8.81414778e-01 1.08455492e-02 -3.44009437e+01] [ 2.23291922e-02 -3.38757191e-04 9.99750615e-01 2.55801565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.202755096 meters 0.021202179544004284 Centerline is valid? [True, True] Translation: X:128.41, Y:-34.43, Z:2.56 [[ 8.79674007e-01 4.75119346e-01 -2.08626123e-02 1.28409605e+02] [-4.74977843e-01 8.79921315e-01 1.15986147e-02 -3.44320191e+01] [ 2.38681835e-02 -2.93721313e-04 9.99715071e-01 2.55716632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.262755096 meters 0.01937930396043591 Centerline is valid? [True, True] Translation: X:128.46, Y:-34.46, Z:2.56 [[ 8.78849873e-01 4.76614042e-01 -2.14931747e-02 1.28462441e+02] [-4.76464107e-01 8.79112611e-01 1.19570747e-02 -3.44637637e+01] [ 2.45938306e-02 -2.67747285e-04 9.99697490e-01 2.55953502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32275509599998 meters 0.019498744593970555 Centerline is valid? [True, True] Translation: X:128.52, Y:-34.50, Z:2.56 [[ 8.78870920e-01 4.76559185e-01 -2.18460212e-02 1.28516327e+02] [-4.76404064e-01 8.79142346e-01 1.21615669e-02 -3.44966007e+01] [ 2.50014688e-02 -2.80914187e-04 9.99687375e-01 2.56020389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38275509599998 meters 0.020168005638069714 Centerline is valid? [True, True] Translation: X:128.57, Y:-34.53, Z:2.56 [[ 8.79643222e-01 4.75105822e-01 -2.24111481e-02 1.28567126e+02] [-4.74941873e-01 8.79928601e-01 1.24849646e-02 -3.45305489e+01] [ 2.56518896e-02 -3.38321848e-04 9.99670879e-01 2.56087640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44275509599998 meters 0.020879396614576506 Centerline is valid? [True, True] Translation: X:128.62, Y:-34.57, Z:2.56 [[ 8.81217948e-01 4.72157147e-01 -2.28594761e-02 1.28618414e+02] [-4.71985380e-01 8.81514285e-01 1.27423057e-02 -3.45652677e+01] [ 2.61673254e-02 -4.39409961e-04 9.99657480e-01 2.56196047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.502755096 meters 0.023034723591466952 Centerline is valid? [True, True] Translation: X:128.67, Y:-34.60, Z:2.56 [[ 8.82449074e-01 4.69827531e-01 -2.33607080e-02 1.28668487e+02] [-4.69647119e-01 8.82758072e-01 1.30295773e-02 -3.46007512e+01] [ 2.67435077e-02 -5.26649240e-04 9.99642190e-01 2.56181743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.562755096 meters 0.022013683651241577 Centerline is valid? [True, True] Translation: X:128.72, Y:-34.63, Z:2.56 [[ 8.83455200e-01 4.67909833e-01 -2.38180166e-02 1.28722550e+02] [-4.67721365e-01 8.83776003e-01 1.32928825e-02 -3.46314798e+01] [ 2.72696620e-02 -6.03470957e-04 9.99627931e-01 2.56362802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.622755096 meters 0.023428176369094125 Centerline is valid? [True, True] Translation: X:128.77, Y:-34.67, Z:2.56 [[ 8.84773298e-01 4.65350495e-01 -2.50025474e-02 1.28773659e+02] [-4.65141520e-01 8.85126201e-01 1.39633244e-02 -3.46660809e+01] [ 2.86282497e-02 -7.24653677e-04 9.99589865e-01 2.56431730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.682755096 meters 0.023558834004989145 Centerline is valid? [True, True] Translation: X:128.83, Y:-34.70, Z:2.57 [[ 8.85231032e-01 4.64465338e-01 -2.52580639e-02 1.28826651e+02] [-4.64251449e-01 8.85590966e-01 1.41150043e-02 -3.46979345e+01] [ 2.89242435e-02 -7.68947100e-04 9.99581311e-01 2.56590713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.742755096 meters 0.024334797497380208 Centerline is valid? [True, True] Translation: X:128.88, Y:-34.73, Z:2.57 [[ 8.85201032e-01 4.64500595e-01 -2.56579371e-02 1.28879258e+02] [-4.64279640e-01 8.85572457e-01 1.43470946e-02 -3.47315799e+01] [ 2.93861964e-02 -7.87605115e-04 9.99567822e-01 2.56672255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.802755096 meters 0.02370261720132023 Centerline is valid? [True, True] Translation: X:128.93, Y:-34.76, Z:2.57 [[ 8.84462484e-01 4.65900954e-01 -2.57374302e-02 1.28933293e+02] [-4.65678990e-01 8.84836560e-01 1.43993047e-02 -3.47622801e+01] [ 2.94820690e-02 -7.50264295e-04 9.99565028e-01 2.56858711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.862755096 meters 0.022199565045703872 Centerline is valid? [True, True] Translation: X:128.99, Y:-34.79, Z:2.57 [[ 8.83091611e-01 4.68533514e-01 -2.50110706e-02 1.28987843e+02] [-4.68324698e-01 8.83445483e-01 1.40019663e-02 -3.47921976e+01] [ 2.86563079e-02 -6.51716870e-04 9.99589111e-01 2.57157297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.922755096 meters 0.02065310882981503 Centerline is valid? [True, True] Translation: X:129.04, Y:-34.82, Z:2.57 [[ 8.80890865e-01 4.72677302e-01 -2.46465514e-02 1.29042398e+02] [-4.72475962e-01 8.81235441e-01 1.38044299e-02 -3.48213428e+01] [ 2.82444553e-02 -5.15293070e-04 9.99600913e-01 2.57373346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.982755096 meters 0.02105593024689746 Centerline is valid? [True, True] Translation: X:129.10, Y:-34.85, Z:2.57 [[ 8.78904407e-01 4.76359268e-01 -2.46757074e-02 1.29096354e+02] [-4.76158786e-01 8.79250639e-01 1.38247587e-02 -3.48497526e+01] [ 2.82816834e-02 -4.01086444e-04 9.99599913e-01 2.57342465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04275509599998 meters 0.018644894042748703 Centerline is valid? [True, True] Translation: X:129.15, Y:-34.88, Z:2.58 [[ 8.77242014e-01 4.79425333e-01 -2.44499327e-02 1.29150439e+02] [-4.79229468e-01 8.77582621e-01 1.37062066e-02 -3.48785905e+01] [ 2.80279387e-02 -3.06532077e-04 9.99607093e-01 2.57610895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10275509599998 meters 0.017854820664316356 Centerline is valid? [True, True] Translation: X:129.21, Y:-34.91, Z:2.58 [[ 8.75761516e-01 4.82127873e-01 -2.43819770e-02 1.29205726e+02] [-4.81933917e-01 8.76100829e-01 1.36761511e-02 -3.49077707e+01] [ 2.79547239e-02 -2.26545141e-04 9.99609165e-01 2.57732894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16275509599998 meters 0.017559320695653198 Centerline is valid? [True, True] Translation: X:129.26, Y:-34.94, Z:2.58 [[ 8.75540580e-01 4.82549382e-01 -2.39746984e-02 1.29260271e+02] [-4.82361775e-01 8.75868739e-01 1.34562727e-02 -3.49396188e+01] [ 2.74920050e-02 -2.17034728e-04 9.99622000e-01 2.57915532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.222755096 meters 0.018533616115045486 Centerline is valid? [True, True] Translation: X:129.31, Y:-34.97, Z:2.58 [[ 8.77008817e-01 4.79906773e-01 -2.33457549e-02 1.29310606e+02] [-4.79727716e-01 8.77319440e-01 1.31117937e-02 -3.49744953e+01] [ 2.67741232e-02 -2.99553030e-04 9.99641464e-01 2.58066446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.282755096 meters 0.019866997760998643 Centerline is valid? [True, True] Translation: X:129.36, Y:-35.01, Z:2.58 [[ 8.79718217e-01 4.74921144e-01 -2.33616124e-02 1.29361707e+02] [-4.74739923e-01 8.80028237e-01 1.31265843e-02 -3.50099284e+01] [ 2.67929710e-02 -4.57005236e-04 9.99640899e-01 2.58217238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.342755096 meters 0.02178483050612859 Centerline is valid? [True, True] Translation: X:129.41, Y:-35.04, Z:2.58 [[ 8.81537772e-01 4.71549177e-01 -2.30766114e-02 1.29411858e+02] [-4.71371121e-01 8.81839591e-01 1.29692402e-02 -3.50442664e+01] [ 2.64655041e-02 -5.55226927e-04 9.99649573e-01 2.58297632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.402755096 meters 0.024741908709863467 Centerline is valid? [True, True] Translation: X:129.46, Y:-35.08, Z:2.58 [[ 8.83897714e-01 4.67136663e-01 -2.25426342e-02 1.29460992e+02] [-4.66965236e-01 8.84184870e-01 1.26722074e-02 -3.50808959e+01] [ 2.58515087e-02 -6.74308628e-04 9.99665566e-01 2.58386580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.462755096 meters 0.02758689757787408 Centerline is valid? [True, True] Translation: X:129.51, Y:-35.12, Z:2.58 [[ 8.85618446e-01 4.63857239e-01 -2.27250792e-02 1.29511380e+02] [-4.63681899e-01 8.85909621e-01 1.27765722e-02 -3.51166830e+01] [ 2.60588718e-02 -7.77960123e-04 9.99660107e-01 2.58430988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.522755096 meters 0.028819027738775555 Centerline is valid? [True, True] Translation: X:129.56, Y:-35.15, Z:2.59 [[ 8.86023612e-01 4.63106878e-01 -2.22300999e-02 1.29563819e+02] [-4.62938745e-01 8.86302093e-01 1.25027016e-02 -3.51498330e+01] [ 2.54926712e-02 -7.86514296e-04 9.99674700e-01 2.58605822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.582755096 meters 0.02791576838919634 Centerline is valid? [True, True] Translation: X:129.62, Y:-35.18, Z:2.59 [[ 8.85239357e-01 4.64626092e-01 -2.17686682e-02 1.29618412e+02] [-4.64465152e-01 8.85506667e-01 1.22501530e-02 -3.51795444e+01] [ 2.49680415e-02 -7.33529840e-04 9.99687981e-01 2.58800168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.642755096 meters 0.024627488629088454 Centerline is valid? [True, True] Translation: X:129.67, Y:-35.21, Z:2.59 [[ 8.84062059e-01 4.66878000e-01 -2.14291690e-02 1.29674951e+02] [-4.66722530e-01 8.84321486e-01 1.20660739e-02 -3.52062247e+01] [ 2.45836590e-02 -6.65682134e-04 9.99697555e-01 2.58969713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.702755096 meters 0.021530320713738043 Centerline is valid? [True, True] Translation: X:129.73, Y:-35.23, Z:2.59 [[ 8.81939636e-01 4.70901541e-01 -2.08378685e-02 1.29730806e+02] [-4.70755517e-01 8.82185606e-01 1.17388109e-02 -3.52314405e+01] [ 2.39106918e-02 -5.43381042e-04 9.99713951e-01 2.59186433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.762755096 meters 0.018389586357572575 Centerline is valid? [True, True] Translation: X:129.79, Y:-35.26, Z:2.59 [[ 8.79005108e-01 4.76425029e-01 -1.92148919e-02 1.29787790e+02] [-4.76302162e-01 8.79215025e-01 1.08254362e-02 -3.52550587e+01] [ 2.20515304e-02 -3.63519165e-04 9.99756769e-01 2.59471817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82275509599998 meters 0.016840765163077163 Centerline is valid? [True, True] Translation: X:129.84, Y:-35.28, Z:2.60 [[ 8.75394025e-01 4.83050801e-01 -1.86339735e-02 1.29843743e+02] [-4.82936712e-01 8.75592306e-01 1.04997893e-02 -3.52808628e+01] [ 2.13876955e-02 -1.92422928e-04 9.99771239e-01 2.59507041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88275509599998 meters 0.01521482282770375 Centerline is valid? [True, True] Translation: X:129.90, Y:-35.30, Z:2.60 [[ 8.72738638e-01 4.87830604e-01 -1.86700805e-02 1.29901884e+02] [-4.87717020e-01 8.72938311e-01 1.05267952e-02 -3.53049772e+01] [ 2.14331214e-02 -8.14248944e-05 9.99770281e-01 2.59574670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94275509599998 meters 0.015045353045118988 Centerline is valid? [True, True] Translation: X:129.96, Y:-35.33, Z:2.60 [[ 8.71703593e-01 4.89693296e-01 -1.82570818e-02 1.29957390e+02] [-4.89584949e-01 8.71894761e-01 1.03006598e-02 -3.53343314e+01] [ 2.09624180e-02 -4.07296799e-05 9.99780264e-01 2.59628983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.002755096 meters 0.014805826186132055 Centerline is valid? [True, True] Translation: X:130.01, Y:-35.37, Z:2.60 [[ 8.71507131e-01 4.90054437e-01 -1.79434980e-02 1.30012595e+02] [-4.89949705e-01 8.71691830e-01 1.01311257e-02 -3.53651186e+01] [ 2.06060037e-02 -3.79367000e-05 9.99787673e-01 2.59719543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.062755096 meters 0.015077484425681112 Centerline is valid? [True, True] Translation: X:130.07, Y:-35.40, Z:2.60 [[ 8.72974724e-01 4.87427987e-01 -1.81408285e-02 1.30065173e+02] [-4.87320213e-01 8.73163184e-01 1.02500399e-02 -3.53989040e+01] [ 2.08360599e-02 -1.07633363e-04 9.99782900e-01 2.59763553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.122755096 meters 0.015484219892549366 Centerline is valid? [True, True] Translation: X:130.12, Y:-35.43, Z:2.60 [[ 8.74449286e-01 4.84795432e-01 -1.76588505e-02 1.30118073e+02] [-4.84692640e-01 8.74627555e-01 9.98423013e-03 -3.54324109e+01] [ 2.02852264e-02 -1.71588039e-04 9.99794219e-01 2.59955438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.182755096 meters 0.017177103763638513 Centerline is valid? [True, True] Translation: X:130.17, Y:-35.47, Z:2.60 [[ 8.76766549e-01 4.80587305e-01 -1.77837094e-02 1.30168425e+02] [-4.80482060e-01 8.76946843e-01 1.00609970e-02 -3.54664518e+01] [ 2.04305553e-02 -2.76392241e-04 9.99791236e-01 2.60026775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.242755096 meters 0.018332834432457163 Centerline is valid? [True, True] Translation: X:130.22, Y:-35.50, Z:2.60 [[ 8.79192750e-01 4.76099578e-01 -1.86895960e-02 1.30222031e+02] [-4.75982250e-01 8.79391283e-01 1.05767682e-02 -3.54984990e+01] [ 2.14710627e-02 -4.03101921e-04 9.99769389e-01 2.60014078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.302755096 meters 0.019461890289287485 Centerline is valid? [True, True] Translation: X:130.28, Y:-35.53, Z:2.60 [[ 8.80898850e-01 4.72931392e-01 -1.87913357e-02 1.30275217e+02] [-4.72812005e-01 8.81099122e-01 1.06369714e-02 -3.55306370e+01] [ 2.15875871e-02 -4.85326816e-04 9.99766843e-01 2.60023359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.362755096 meters 0.020619092018558237 Centerline is valid? [True, True] Translation: X:130.33, Y:-35.56, Z:2.60 [[ 8.82158852e-01 4.70589815e-01 -1.84657934e-02 1.30328493e+02] [-4.70473873e-01 8.82351934e-01 1.04594361e-02 -3.55630611e+01] [ 2.12154326e-02 -5.39210748e-04 9.99774782e-01 2.60133324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.422755096 meters 0.023066990651213308 Centerline is valid? [True, True] Translation: X:130.38, Y:-35.60, Z:2.60 [[ 8.83798915e-01 4.67534377e-01 -1.76375566e-02 1.30379667e+02] [-4.67427876e-01 8.83974693e-01 9.99614437e-03 -3.55959475e+01] [ 2.02646948e-02 -5.90295911e-04 9.99794476e-01 2.60244788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.482755096 meters 0.02298889837166149 Centerline is valid? [True, True] Translation: X:130.43, Y:-35.63, Z:2.60 [[ 8.84059052e-01 4.67058054e-01 -1.72153116e-02 1.30434177e+02] [-4.66956478e-01 8.84226458e-01 9.75799411e-03 -3.56263618e+01] [ 1.97797837e-02 -5.87841743e-04 9.99804188e-01 2.60400024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54275509599998 meters 0.023734250435209846 Centerline is valid? [True, True] Translation: X:130.49, Y:-35.66, Z:2.61 [[ 8.83901401e-01 4.67366582e-01 -1.69349378e-02 1.30487890e+02] [-4.67268228e-01 8.84063429e-01 9.60504963e-03 -3.56576710e+01] [ 1.94606384e-02 -5.76758443e-04 9.99810457e-01 2.60510962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60275509599998 meters 0.02278066983718861 Centerline is valid? [True, True] Translation: X:130.54, Y:-35.68, Z:2.61 [[ 8.82251425e-01 4.70532921e-01 -1.52050126e-02 1.30543078e+02] [-4.70454047e-01 8.82382321e-01 8.62726491e-03 -3.56842692e+01] [ 1.74760464e-02 -4.58157069e-04 9.99847177e-01 2.60682080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66275509599998 meters 0.020620733306445142 Centerline is valid? [True, True] Translation: X:130.60, Y:-35.71, Z:2.61 [[ 8.80936993e-01 4.73023076e-01 -1.41132312e-02 1.30600076e+02] [-4.72955367e-01 8.81049955e-01 8.01239287e-03 -3.57108253e+01] [ 1.62245085e-02 -3.83484827e-04 9.99868300e-01 2.60778010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.722755096 meters 0.01966757735430597 Centerline is valid? [True, True] Translation: X:130.65, Y:-35.74, Z:2.61 [[ 8.78812989e-01 4.76973609e-01 -1.35612241e-02 1.30654585e+02] [-4.76911532e-01 8.78917565e-01 7.70093471e-03 -3.57366623e+01] [ 1.55923406e-02 -3.00177300e-04 9.99878387e-01 2.60947277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.782755096 meters 0.017782633212548107 Centerline is valid? [True, True] Translation: X:130.71, Y:-35.76, Z:2.61 [[ 8.77098501e-01 4.80145782e-01 -1.25796428e-02 1.30712032e+02] [-4.80092705e-01 8.77188678e-01 7.14263163e-03 -3.57619716e+01] [ 1.44642247e-02 -2.25396764e-04 9.99895362e-01 2.61038641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.842755096 meters 0.01664092492957191 Centerline is valid? [True, True] Translation: X:130.77, Y:-35.79, Z:2.61 [[ 8.76666257e-01 4.80946401e-01 -1.21175013e-02 1.30768841e+02] [-4.80897179e-01 8.76749974e-01 6.88384154e-03 -3.57892050e+01] [ 1.39347777e-02 -2.07559415e-04 9.99902885e-01 2.61045431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.902755096 meters 0.016815181471336163 Centerline is valid? [True, True] Translation: X:130.83, Y:-35.82, Z:2.61 [[ 8.76757472e-01 4.80787263e-01 -1.18297660e-02 1.30825012e+02] [-4.80740271e-01 8.76837250e-01 6.72519721e-03 -3.58185138e+01] [ 1.36061686e-02 -2.09322007e-04 9.99907410e-01 2.61122031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.962755096 meters 0.018373461885629813 Centerline is valid? [True, True] Translation: X:130.88, Y:-35.85, Z:2.61 [[ 8.77424698e-01 4.79580269e-01 -1.13430578e-02 1.30878051e+02] [-4.79536899e-01 8.77497987e-01 6.45341874e-03 -3.58494452e+01] [ 1.30484426e-02 -2.22974252e-04 9.99914841e-01 2.61286211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.022755096 meters 0.018481000916238197 Centerline is valid? [True, True] Translation: X:130.93, Y:-35.88, Z:2.61 [[ 8.78381738e-01 4.77839348e-01 -1.07275399e-02 1.30933453e+02] [-4.77800389e-01 8.78447210e-01 6.10635687e-03 -3.58780143e+01] [ 1.23414351e-02 -2.38089635e-04 9.99923813e-01 2.61304826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.082755096 meters 0.019353998428209097 Centerline is valid? [True, True] Translation: X:130.99, Y:-35.91, Z:2.61 [[ 8.79040739e-01 4.76622888e-01 -1.08629030e-02 1.30987256e+02] [-4.76582795e-01 8.79107817e-01 6.18750527e-03 -3.59081687e+01] [ 1.24987696e-02 -2.61996523e-04 9.99921853e-01 2.61355996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.142755096 meters 0.02117130768260047 Centerline is valid? [True, True] Translation: X:131.04, Y:-35.94, Z:2.61 [[ 8.80353350e-01 4.74192121e-01 -1.09458750e-02 1.31040808e+02] [-4.74151153e-01 8.80421343e-01 6.24051937e-03 -3.59366339e+01] [ 1.25961871e-02 -3.03862895e-04 9.99920619e-01 2.61287173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.202755096 meters 0.02038882453021327 Centerline is valid? [True, True] Translation: X:131.10, Y:-35.97, Z:2.61 [[ 8.80439675e-01 4.74018904e-01 -1.14916169e-02 1.31096860e+02] [-4.73973750e-01 8.80514609e-01 6.55048688e-03 -3.59652887e+01] [ 1.32235912e-02 -3.20583787e-04 9.99912513e-01 2.61259382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.262755096 meters 0.02085966496882544 Centerline is valid? [True, True] Translation: X:131.15, Y:-35.99, Z:2.61 [[ 8.80100735e-01 4.74643877e-01 -1.16570563e-02 1.31151130e+02] [-4.74597385e-01 8.80177872e-01 6.65092203e-03 -3.59944542e+01] [ 1.34171025e-02 -3.21072907e-04 9.99909935e-01 2.61381345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32275509599998 meters 0.02178030370563267 Centerline is valid? [True, True] Translation: X:131.21, Y:-36.02, Z:2.62 [[ 8.78886265e-01 4.76913549e-01 -1.06018665e-02 1.31205307e+02] [-4.76875244e-01 8.78950168e-01 6.05007259e-03 -3.60233266e+01] [ 1.22038739e-02 -2.61558044e-04 9.99925496e-01 2.61714699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38275509599998 meters 0.021083231242983957 Centerline is valid? [True, True] Translation: X:131.26, Y:-36.05, Z:2.62 [[ 8.76784256e-01 4.80788990e-01 -9.55590702e-03 1.31261099e+02] [-4.80758070e-01 8.76836308e-01 5.45584712e-03 -3.60496899e+01] [ 1.10020775e-02 -1.89521440e-04 9.99939457e-01 2.61883737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44275509599998 meters 0.019096463752431327 Centerline is valid? [True, True] Translation: X:131.32, Y:-36.08, Z:2.62 [[ 8.74493224e-01 4.84944205e-01 -9.52465983e-03 1.31315882e+02] [-4.84913697e-01 8.74545081e-01 5.44137772e-03 -3.60764646e+01] [ 1.09685090e-02 -1.39809941e-04 9.99939834e-01 2.62020363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.502755096 meters 0.018689869303526424 Centerline is valid? [True, True] Translation: X:131.37, Y:-36.11, Z:2.62 [[ 8.73583573e-01 4.86584144e-01 -9.36013002e-03 1.31368240e+02] [-4.86554718e-01 8.73633708e-01 5.35257805e-03 -3.61054525e+01] [ 1.07818047e-02 -1.21708829e-04 9.99941867e-01 2.62086566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.562755096 meters 0.018001816842965975 Centerline is valid? [True, True] Translation: X:131.42, Y:-36.14, Z:2.62 [[ 8.73255352e-01 4.87170780e-01 -9.47210277e-03 1.31422649e+02] [-4.87140720e-01 8.73306715e-01 5.41300859e-03 -3.61375103e+01] [ 1.09091106e-02 -1.12691762e-04 9.99940488e-01 2.61948259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.622755096 meters 0.019457189084520116 Centerline is valid? [True, True] Translation: X:131.47, Y:-36.17, Z:2.62 [[ 8.74108145e-01 4.85629227e-01 -9.96019674e-03 1.31472851e+02] [-4.85595833e-01 8.74164878e-01 5.69681817e-03 -3.61740231e+01] [ 1.14733956e-02 -1.43005133e-04 9.99934168e-01 2.61915154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.682755096 meters 0.019526229036667307 Centerline is valid? [True, True] Translation: X:131.52, Y:-36.21, Z:2.62 [[ 8.74917393e-01 4.84176457e-01 -9.62878359e-03 1.31524423e+02] [-4.84145124e-01 8.74970361e-01 5.51048449e-03 -3.62087377e+01] [ 1.10929471e-02 -1.59490095e-04 9.99938459e-01 2.62011827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.742755096 meters 0.020802486787525356 Centerline is valid? [True, True] Translation: X:131.57, Y:-36.25, Z:2.62 [[ 8.76150905e-01 4.81939924e-01 -9.66959969e-03 1.31573908e+02] [-4.81908147e-01 8.76204242e-01 5.53756485e-03 -3.62460282e+01] [ 1.11413178e-02 -1.91883588e-04 9.99937915e-01 2.62111679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.802755096 meters 0.02156173644111912 Centerline is valid? [True, True] Translation: X:131.62, Y:-36.28, Z:2.62 [[ 8.77223286e-01 4.79981399e-01 -9.85715972e-03 1.31624003e+02] [-4.79948218e-01 8.77278637e-01 5.64812024e-03 -3.62827602e+01] [ 1.13584683e-02 -2.23736352e-04 9.99935465e-01 2.62113965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.862755096 meters 0.02285060636153311 Centerline is valid? [True, True] Translation: X:131.67, Y:-36.32, Z:2.62 [[ 8.78292276e-01 4.78017930e-01 -1.00765342e-02 1.31674775e+02] [-4.77983082e-01 8.78350040e-01 5.77762060e-03 -3.63193391e+01] [ 1.16125305e-02 -2.58026662e-04 9.99932539e-01 2.62214163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.922755096 meters 0.023646284884879354 Centerline is valid? [True, True] Translation: X:131.73, Y:-36.35, Z:2.62 [[ 8.78340252e-01 4.77932023e-01 -9.96914588e-03 1.31726729e+02] [-4.77897870e-01 8.78396786e-01 5.71943853e-03 -3.63540021e+01] [ 1.14903685e-02 -2.59379498e-04 9.99933950e-01 2.62347718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.982755096 meters 0.02376323551052799 Centerline is valid? [True, True] Translation: X:131.78, Y:-36.38, Z:2.62 [[ 8.77329370e-01 4.79779416e-01 -1.02415054e-02 1.31781466e+02] [-4.79743449e-01 8.77389111e-01 5.87978383e-03 -3.63838127e+01] [ 1.18067845e-02 -2.45211941e-04 9.99930267e-01 2.62053289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04275509599998 meters 0.021292285856800066 Centerline is valid? [True, True] Translation: X:131.84, Y:-36.41, Z:2.62 [[ 8.76483721e-01 4.81316189e-01 -1.05363124e-02 1.31835581e+02] [-4.81278182e-01 8.76547016e-01 6.05309559e-03 -3.64142654e+01] [ 1.21490261e-02 -2.34542489e-04 9.99926170e-01 2.62344070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10275509599998 meters 0.020527207735727655 Centerline is valid? [True, True] Translation: X:131.89, Y:-36.44, Z:2.63 [[ 8.74567692e-01 4.84814862e-01 -9.26832857e-03 1.31889157e+02] [-4.84785620e-01 8.74616786e-01 5.32739956e-03 -3.64444253e+01] [ 1.06890382e-02 -1.66019126e-04 9.99942857e-01 2.62589708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16275509599998 meters 0.020846663605207656 Centerline is valid? [True, True] Translation: X:131.94, Y:-36.47, Z:2.63 [[ 8.72082860e-01 4.89293343e-01 -7.96932331e-03 1.31944603e+02] [-4.89271891e-01 8.72119266e-01 4.58275364e-03 -3.64723780e+01] [ 9.19251125e-03 -9.73750099e-05 9.99957743e-01 2.62706582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.222755096 meters 0.01892959233654811 Centerline is valid? [True, True] Translation: X:132.00, Y:-36.50, Z:2.63 [[ 8.69769107e-01 4.93413315e-01 -6.70828734e-03 1.31998981e+02] [-4.93398223e-01 8.69794975e-01 3.85944415e-03 -3.64997634e+01] [ 7.73913575e-03 -4.69682328e-05 9.99970051e-01 2.63245472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.282755096 meters 0.018921477678973942 Centerline is valid? [True, True] Translation: X:132.05, Y:-36.53, Z:2.63 [[ 8.68391412e-01 4.95843682e-01 -5.94960445e-03 1.32054773e+02] [-4.95831864e-01 8.68411793e-01 3.42357194e-03 -3.65297025e+01] [ 6.86426319e-03 -2.29970107e-05 9.99976440e-01 2.63397906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.342755096 meters 0.01887307663774316 Centerline is valid? [True, True] Translation: X:132.11, Y:-36.56, Z:2.63 [[ 8.67823386e-01 4.96829263e-01 -6.57674196e-03 1.32109304e+02] [-4.96814820e-01 8.67848307e-01 3.78838240e-03 -3.65602887e+01] [ 7.58979360e-03 -2.02239749e-05 9.99971197e-01 2.63369399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.402755096 meters 0.01882135345752951 Centerline is valid? [True, True] Translation: X:132.16, Y:-36.59, Z:2.63 [[ 8.68144925e-01 4.96248422e-01 -7.86726471e-03 1.32162650e+02] [-4.96227693e-01 8.68180570e-01 4.53582515e-03 -3.65922001e+01] [ 9.08110243e-03 -3.37989688e-05 9.99958765e-01 2.63326951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.462755096 meters 0.01898206360506215 Centerline is valid? [True, True] Translation: X:132.21, Y:-36.63, Z:2.63 [[ 8.69056963e-01 4.94638636e-01 -8.52142958e-03 1.32214803e+02] [-4.94614196e-01 8.69098738e-01 4.91734845e-03 -3.66258405e+01] [ 9.83827422e-03 -5.86358765e-05 9.99951601e-01 2.63391278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.522755096 meters 0.01994178471836145 Centerline is valid? [True, True] Translation: X:132.27, Y:-36.66, Z:2.63 [[ 8.71141819e-01 4.90940976e-01 -9.42812422e-03 1.32265282e+02] [-4.90910818e-01 8.71192829e-01 5.44274695e-03 -3.66619835e+01] [ 1.08857817e-02 -1.13036308e-04 9.99940742e-01 2.63493489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.582755096 meters 0.02151368631893786 Centerline is valid? [True, True] Translation: X:132.32, Y:-36.70, Z:2.63 [[ 8.74099892e-01 4.85648535e-01 -9.74061355e-03 1.32316608e+02] [-4.85615957e-01 8.74154142e-01 5.62830062e-03 -3.66967392e+01] [ 1.12481736e-02 -1.89499596e-04 9.99936719e-01 2.63489032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.642755096 meters 0.02373615077572532 Centerline is valid? [True, True] Translation: X:132.37, Y:-36.73, Z:2.64 [[ 8.77150835e-01 4.80104754e-01 -1.02877607e-02 1.32367219e+02] [-4.80068033e-01 8.77211120e-01 5.94422016e-03 -3.67325592e+01] [ 1.18783864e-02 -2.75152646e-04 9.99929412e-01 2.63510469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.702755096 meters 0.02661594814135319 Centerline is valid? [True, True] Translation: X:132.42, Y:-36.77, Z:2.64 [[ 8.79729064e-01 4.75354250e-01 -1.07289710e-02 1.32416714e+02] [-4.75313890e-01 8.79794413e-01 6.20466806e-03 -3.67676349e+01] [ 1.23887041e-02 -3.58797868e-04 9.99923193e-01 2.63650997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.762755096 meters 0.027801557381152642 Centerline is valid? [True, True] Translation: X:132.47, Y:-36.80, Z:2.64 [[ 8.80441294e-01 4.74023762e-01 -1.11624430e-02 1.32469264e+02] [-4.73979984e-01 8.80511964e-01 6.45413456e-03 -3.67996884e+01] [ 1.28880778e-02 -3.91712041e-04 9.99916869e-01 2.63773678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82275509599998 meters 0.028619457681556305 Centerline is valid? [True, True] Translation: X:132.52, Y:-36.83, Z:2.64 [[ 8.80743724e-01 4.73432282e-01 -1.23436868e-02 1.32523240e+02] [-4.73378625e-01 8.80830106e-01 7.14159551e-03 -3.68301709e+01] [ 1.42537528e-02 -4.46677944e-04 9.99898310e-01 2.63854402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88275509599998 meters 0.02938661437457393 Centerline is valid? [True, True] Translation: X:132.58, Y:-36.86, Z:2.64 [[ 8.80364793e-01 4.74103935e-01 -1.35384638e-02 1.32576578e+02] [-4.74039384e-01 8.80468753e-01 7.83814471e-03 -3.68596466e+01] [ 1.56362896e-02 -4.82661597e-04 9.99877629e-01 2.63917016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94275509599998 meters 0.029650489313736535 Centerline is valid? [True, True] Translation: X:132.63, Y:-36.89, Z:2.64 [[ 8.79989122e-01 4.74812988e-01 -1.31061741e-02 1.32631610e+02] [-4.74752513e-01 8.80086596e-01 7.59179442e-03 -3.68886968e+01] [ 1.51392507e-02 -4.58507427e-04 9.99885290e-01 2.64110661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.002755096 meters 0.025617102399804047 Centerline is valid? [True, True] Translation: X:132.69, Y:-36.91, Z:2.64 [[ 8.79452735e-01 4.75823018e-01 -1.24636293e-02 1.32690634e+02] [-4.75768375e-01 8.79540947e-01 7.22328899e-03 -3.69111025e+01] [ 1.43992795e-02 -4.22740596e-04 9.99896236e-01 2.64285247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.062755096 meters 0.025337939359970398 Centerline is valid? [True, True] Translation: X:132.75, Y:-36.94, Z:2.64 [[ 8.78732841e-01 4.77150873e-01 -1.24755331e-02 1.32745880e+02] [-4.77096193e-01 8.78821301e-01 7.23486049e-03 -3.69389150e+01] [ 1.44158843e-02 -4.05480161e-04 9.99896004e-01 2.64432997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.122755096 meters 0.02569498456963383 Centerline is valid? [True, True] Translation: X:132.80, Y:-36.97, Z:2.65 [[ 8.78232350e-01 4.78072330e-01 -1.24413549e-02 1.32800051e+02] [-4.78017973e-01 8.78320382e-01 7.21973907e-03 -3.69678180e+01] [ 1.43790531e-02 -3.93417153e-04 9.99896539e-01 2.64593591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.182755096 meters 0.02544009005059947 Centerline is valid? [True, True] Translation: X:132.86, Y:-37.00, Z:2.65 [[ 8.77543428e-01 4.79314024e-01 -1.32513776e-02 1.32856474e+02] [-4.79252417e-01 8.77643381e-01 7.69523941e-03 -3.69954384e+01] [ 1.53184200e-02 -4.02152022e-04 9.99882585e-01 2.64641311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.242755096 meters 0.024297203986118555 Centerline is valid? [True, True] Translation: X:132.91, Y:-37.02, Z:2.65 [[ 8.77188388e-01 4.79924949e-01 -1.45799379e-02 1.32912856e+02] [-4.79850424e-01 8.77309442e-01 8.46841456e-03 -3.70221922e+01] [ 1.68553206e-02 -4.32205522e-04 9.99857846e-01 2.64691088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.302755096 meters 0.026326624983969912 Centerline is valid? [True, True] Translation: X:132.97, Y:-37.05, Z:2.65 [[ 8.77346396e-01 4.79600667e-01 -1.57003623e-02 1.32965126e+02] [-4.79514080e-01 8.77486736e-01 9.12551737e-03 -3.70545797e+01] [ 1.81534639e-02 -4.77695004e-04 9.99835098e-01 2.64717925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.362755096 meters 0.0258304029467936 Centerline is valid? [True, True] Translation: X:133.02, Y:-37.08, Z:2.65 [[ 8.77684798e-01 4.78963407e-01 -1.62311396e-02 1.33020658e+02] [-4.78870650e-01 8.77834718e-01 9.43972891e-03 -3.70822431e+01] [ 1.87695426e-02 -5.12490187e-04 9.99823705e-01 2.64817121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.422755096 meters 0.026940638358086706 Centerline is valid? [True, True] Translation: X:133.07, Y:-37.11, Z:2.65 [[ 8.78398447e-01 4.77624438e-01 -1.70606342e-02 1.33074941e+02] [-4.77521576e-01 8.78563923e-01 9.92863201e-03 -3.71130834e+01] [ 1.97310150e-02 -5.74473997e-04 9.99805160e-01 2.64857704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.482755096 meters 0.029140396800321492 Centerline is valid? [True, True] Translation: X:133.13, Y:-37.14, Z:2.65 [[ 8.79201216e-01 4.76104787e-01 -1.81508797e-02 1.33127039e+02] [-4.75987890e-01 8.79388313e-01 1.05699545e-02 -3.71449089e+01] [ 2.09940774e-02 -6.53517944e-04 9.99779386e-01 2.64775379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54275509599998 meters 0.03151646306373091 Centerline is valid? [True, True] Translation: X:133.18, Y:-37.18, Z:2.65 [[ 8.80203484e-01 4.74221703e-01 -1.88574130e-02 1.33179151e+02] [-4.74094957e-01 8.80405157e-01 1.09877545e-02 -3.71765915e+01] [ 2.18127953e-02 -7.31255429e-04 9.99761805e-01 2.64786247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60275509599998 meters 0.030551550217099557 Centerline is valid? [True, True] Translation: X:133.23, Y:-37.21, Z:2.65 [[ 8.80135762e-01 4.74369847e-01 -1.82835394e-02 1.33234691e+02] [-4.74250607e-01 8.80325362e-01 1.06592119e-02 -3.72071200e+01] [ 2.11518722e-02 -7.10573951e-04 9.99776022e-01 2.65208513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66275509599998 meters 0.02796973570770132 Centerline is valid? [True, True] Translation: X:133.29, Y:-37.23, Z:2.65 [[ 8.78819808e-01 4.76790831e-01 -1.86077713e-02 1.33291978e+02] [-4.76667719e-01 8.79016527e-01 1.08549790e-02 -3.72328825e+01] [ 2.15320930e-02 -6.69846616e-04 9.99767933e-01 2.65408741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.722755096 meters 0.024185494140423362 Centerline is valid? [True, True] Translation: X:133.35, Y:-37.26, Z:2.66 [[ 8.75826984e-01 4.82245565e-01 -1.91391922e-02 1.33350228e+02] [-4.82116563e-01 8.76035906e-01 1.11674301e-02 -3.72561326e+01] [ 2.21520632e-02 -5.53415047e-04 9.99754460e-01 2.65588226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.782755096 meters 0.022982668345827375 Centerline is valid? [True, True] Translation: X:133.40, Y:-37.28, Z:2.66 [[ 8.72248847e-01 4.88691622e-01 -1.90380492e-02 1.33404918e+02] [-4.88565463e-01 8.72456501e-01 1.11104286e-02 -3.72824933e+01] [ 2.20394432e-02 -3.89725227e-04 9.99757026e-01 2.65684579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.842755096 meters 0.021349884277781592 Centerline is valid? [True, True] Translation: X:133.46, Y:-37.31, Z:2.66 [[ 8.70053359e-01 4.92599431e-01 -1.87870755e-02 1.33457145e+02] [-4.92477473e-01 8.70256122e-01 1.09644905e-02 -3.73074768e+01] [ 2.17506692e-02 -2.87480304e-04 9.99763385e-01 2.65853863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.902755096 meters 0.019645142239474316 Centerline is valid? [True, True] Translation: X:133.51, Y:-37.33, Z:2.66 [[ 8.67326851e-01 4.97400756e-01 -1.83472354e-02 1.33513806e+02] [-4.97285537e-01 8.67520871e-01 1.07066948e-02 -3.73330189e+01] [ 2.12421277e-02 -1.62389120e-04 9.99774347e-01 2.66202863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.962755096 meters 0.019383694489478687 Centerline is valid? [True, True] Translation: X:133.57, Y:-37.36, Z:2.66 [[ 8.66241696e-01 4.99301107e-01 -1.79924684e-02 1.33567503e+02] [-4.99190581e-01 8.66428526e-01 1.05058891e-02 -3.73629260e+01] [ 2.08347899e-02 -1.18968392e-04 9.99782925e-01 2.66389459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.022755096 meters 0.01942380170999791 Centerline is valid? [True, True] Translation: X:133.62, Y:-37.39, Z:2.67 [[ 8.65931376e-01 4.99849242e-01 -1.77083867e-02 1.33618083e+02] [-4.99742225e-01 8.66112420e-01 1.03433697e-02 -3.73934416e+01] [ 2.05075792e-02 -1.07019806e-04 9.99789692e-01 2.66527751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.082755096 meters 0.019324669156581056 Centerline is valid? [True, True] Translation: X:133.67, Y:-37.43, Z:2.67 [[ 8.66364772e-01 4.99102335e-01 -1.75766965e-02 1.33668418e+02] [-4.98996742e-01 8.66543042e-01 1.02668553e-02 -3.74252919e+01] [ 2.03551755e-02 -1.24127466e-04 9.99792804e-01 2.66688287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.142755096 meters 0.019431621496423183 Centerline is valid? [True, True] Translation: X:133.72, Y:-37.46, Z:2.67 [[ 8.67542417e-01 4.97015091e-01 -1.86052279e-02 1.33720190e+02] [-4.96896296e-01 8.67741877e-01 1.08676566e-02 -3.74606477e+01] [ 2.15459247e-02 -1.83284262e-04 9.99767843e-01 2.66676148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.202755096 meters 0.019903847199068472 Centerline is valid? [True, True] Translation: X:133.77, Y:-37.49, Z:2.67 [[ 8.68508299e-01 4.95306144e-01 -1.91091226e-02 1.33771682e+02] [-4.95180267e-01 8.68718462e-01 1.11685374e-02 -3.74947340e+01] [ 2.21322928e-02 -2.37507033e-04 9.99755023e-01 2.66688287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.262755096 meters 0.02076079285353189 Centerline is valid? [True, True] Translation: X:133.82, Y:-37.53, Z:2.67 [[ 8.69729208e-01 4.93163698e-01 -1.89913299e-02 1.33823333e+02] [-4.93038766e-01 8.69936481e-01 1.11038133e-02 -3.75294258e+01] [ 2.19972483e-02 -2.93848910e-04 9.99757988e-01 2.66713959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32275509599998 meters 0.020924993547836935 Centerline is valid? [True, True] Translation: X:133.88, Y:-37.56, Z:2.67 [[ 8.71495702e-01 4.90040789e-01 -1.88485005e-02 1.33875389e+02] [-4.89916850e-01 8.71699423e-01 1.10270747e-02 -3.75641665e+01] [ 2.18339434e-02 -3.75850196e-04 9.99761540e-01 2.66907396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38275509599998 meters 0.02369147411532968 Centerline is valid? [True, True] Translation: X:133.92, Y:-37.60, Z:2.67 [[ 8.74605155e-01 4.84493748e-01 -1.82107256e-02 1.33921812e+02] [-4.84376725e-01 8.74794579e-01 1.06598584e-02 -3.76031308e+01] [ 2.10952788e-02 -5.02315478e-04 9.99777344e-01 2.67099462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44275509599998 meters 0.02559201861885279 Centerline is valid? [True, True] Translation: X:133.97, Y:-37.64, Z:2.67 [[ 8.76429693e-01 4.81187765e-01 -1.81474268e-02 1.33972439e+02] [-4.81070840e-01 8.76617362e-01 1.06230064e-02 -3.76392994e+01] [ 2.10200101e-02 -5.80120376e-04 9.99778887e-01 2.67222035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.502755096 meters 0.028090852696374166 Centerline is valid? [True, True] Translation: X:134.02, Y:-37.68, Z:2.67 [[ 8.78113428e-01 4.78130563e-01 -1.75491435e-02 1.34021645e+02] [-4.78020569e-01 8.78288542e-01 1.02748337e-02 -3.76764988e+01] [ 2.03259237e-02 -6.33617936e-04 9.99793206e-01 2.67352841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.562755096 meters 0.027579038236333068 Centerline is valid? [True, True] Translation: X:134.07, Y:-37.71, Z:2.68 [[ 8.79036163e-01 4.76464843e-01 -1.66336487e-02 1.34074810e+02] [-4.76365629e-01 8.79193291e-01 9.74398552e-03 -3.77083906e+01] [ 1.92668588e-02 -6.41617127e-04 9.99814171e-01 2.67586220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.622755096 meters 0.028074594948016958 Centerline is valid? [True, True] Translation: X:134.13, Y:-37.74, Z:2.68 [[ 8.78429379e-01 4.77601627e-01 -1.60783454e-02 1.34126359e+02] [-4.77509012e-01 8.78576306e-01 9.42434878e-03 -3.77416827e+01] [ 1.86271376e-02 -6.01070027e-04 9.99826319e-01 2.67697186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.682755096 meters 0.024806540921927127 Centerline is valid? [True, True] Translation: X:134.18, Y:-37.77, Z:2.68 [[ 8.76297926e-01 4.81490898e-01 -1.63847421e-02 1.34182043e+02] [-4.81395292e-01 8.76450929e-01 9.60943117e-03 -3.77689270e+01] [ 1.89872761e-02 -5.33186882e-04 9.99819583e-01 2.67727567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.742755096 meters 0.022506355499172077 Centerline is valid? [True, True] Translation: X:134.24, Y:-37.80, Z:2.68 [[ 8.74280880e-01 4.85131422e-01 -1.67465116e-02 1.34237627e+02] [-4.85032187e-01 8.74441128e-01 9.82295990e-03 -3.77961674e+01] [ 1.94092650e-02 -4.65428881e-04 9.99811514e-01 2.67847677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.802755096 meters 0.020488363841379285 Centerline is valid? [True, True] Translation: X:134.29, Y:-37.82, Z:2.68 [[ 8.71215420e-01 4.90600505e-01 -1.71708250e-02 1.34292846e+02] [-4.90497207e-01 8.71384542e-01 1.00732495e-02 -3.78234321e+01] [ 1.99043328e-02 -3.53728589e-04 9.99801827e-01 2.67880481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.862755096 meters 0.018595054038003524 Centerline is valid? [True, True] Translation: X:134.35, Y:-37.85, Z:2.68 [[ 8.68648420e-01 4.95103589e-01 -1.79543637e-02 1.34347525e+02] [-4.94991573e-01 8.68833912e-01 1.05345059e-02 -3.78522297e+01] [ 2.08150318e-02 -2.63523134e-04 9.99783309e-01 2.67916170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.922755096 meters 0.01780811735876846 Centerline is valid? [True, True] Translation: X:134.40, Y:-37.88, Z:2.68 [[ 8.66456598e-01 4.98919254e-01 -1.82357233e-02 1.34400729e+02] [-4.98804394e-01 8.66648455e-01 1.07066175e-02 -3.78816810e+01] [ 2.11456991e-02 -1.80760461e-04 9.99776388e-01 2.67965342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.982755096 meters 0.018223217555823786 Centerline is valid? [True, True] Translation: X:134.45, Y:-37.91, Z:2.68 [[ 8.65469004e-01 5.00644265e-01 -1.78527834e-02 1.34453656e+02] [-5.00534419e-01 8.65653106e-01 1.04879044e-02 -3.79129263e+01] [ 2.07050266e-02 -1.41023647e-04 9.99785618e-01 2.67939168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04275509599998 meters 0.017224322397105418 Centerline is valid? [True, True] Translation: X:134.51, Y:-37.95, Z:2.68 [[ 8.65165063e-01 5.01161470e-01 -1.80719275e-02 1.34506819e+02] [-5.01048889e-01 8.65353779e-01 1.06230245e-02 -3.79461664e+01] [ 2.09624614e-02 -1.35750462e-04 9.99780254e-01 2.68149175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10275509599998 meters 0.017432820496053377 Centerline is valid? [True, True] Translation: X:134.56, Y:-37.98, Z:2.68 [[ 8.65781987e-01 5.00101356e-01 -1.78936853e-02 1.34559483e+02] [-4.99990603e-01 8.65966862e-01 1.05256982e-02 -3.79801113e+01] [ 2.07592545e-02 -1.66285415e-04 9.99784490e-01 2.68281064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16275509599998 meters 0.017773086394064646 Centerline is valid? [True, True] Translation: X:134.61, Y:-38.01, Z:2.68 [[ 8.67299630e-01 4.97464852e-01 -1.78906116e-02 1.34610845e+02] [-4.97353421e-01 8.67484101e-01 1.05313090e-02 -3.80144222e+01] [ 2.07587772e-02 -2.35843465e-04 9.99784486e-01 2.68351896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.222755096 meters 0.019175768792009718 Centerline is valid? [True, True] Translation: X:134.66, Y:-38.05, Z:2.68 [[ 8.68737119e-01 4.94942975e-01 -1.80905821e-02 1.34660416e+02] [-4.94828353e-01 8.68925404e-01 1.06556480e-02 -3.80502054e+01] [ 2.09933044e-02 -3.05224000e-04 9.99779570e-01 2.68396162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.282755096 meters 0.020225630026027244 Centerline is valid? [True, True] Translation: X:134.71, Y:-38.09, Z:2.69 [[ 8.70953090e-01 4.91024443e-01 -1.83224078e-02 1.34711434e+02] [-4.90905908e-01 8.71145699e-01 1.07963039e-02 -3.80856692e+01] [ 2.12627359e-02 -4.08496061e-04 9.99773839e-01 2.68504638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.342755096 meters 0.021886692616367547 Centerline is valid? [True, True] Translation: X:134.76, Y:-38.12, Z:2.68 [[ 8.72930525e-01 4.87481486e-01 -1.88175418e-02 1.34762283e+02] [-4.87355491e-01 8.73133172e-01 1.10945164e-02 -3.81212876e+01] [ 2.18385913e-02 -5.13909708e-04 9.99761377e-01 2.68486241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.402755096 meters 0.022746767512940674 Centerline is valid? [True, True] Translation: X:134.81, Y:-38.16, Z:2.68 [[ 8.73622865e-01 4.86198525e-01 -1.98515613e-02 1.34814509e+02] [-4.86057897e-01 8.73848190e-01 1.17073193e-02 -3.81557747e+01] [ 2.30393323e-02 -5.78773738e-04 9.99734392e-01 2.68488238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.462755096 meters 0.022870854334660257 Centerline is valid? [True, True] Translation: X:134.87, Y:-38.19, Z:2.69 [[ 8.73341316e-01 4.86678480e-01 -2.04695849e-02 1.34868045e+02] [-4.86528902e-01 8.73580969e-01 1.20796952e-02 -3.81884540e+01] [ 2.37607675e-02 -5.90652183e-04 9.99717499e-01 2.68552991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.522755096 meters 0.02087228812972798 Centerline is valid? [True, True] Translation: X:134.92, Y:-38.22, Z:2.69 [[ 8.72075364e-01 4.88949685e-01 -2.03166220e-02 1.34922814e+02] [-4.88802755e-01 8.72311826e-01 1.19976913e-02 -3.82172666e+01] [ 2.35886970e-02 -5.32070246e-04 9.99721606e-01 2.68832271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.582755096 meters 0.02097414794565588 Centerline is valid? [True, True] Translation: X:134.98, Y:-38.25, Z:2.69 [[ 8.69934460e-01 4.92749517e-01 -2.02965076e-02 1.34975211e+02] [-4.92603727e-01 8.70171089e-01 1.19934938e-02 -3.82498208e+01] [ 2.35712225e-02 -4.35418282e-04 9.99722065e-01 2.68970028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.642755096 meters 0.01798758253156204 Centerline is valid? [True, True] Translation: X:135.03, Y:-38.28, Z:2.69 [[ 8.67332675e-01 4.97320225e-01 -2.01649583e-02 1.35031314e+02] [-4.97177376e-01 8.67566997e-01 1.19232078e-02 -3.82769878e+01] [ 2.34241047e-02 -3.15826697e-04 9.99725568e-01 2.69227692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.702755096 meters 0.01643207271615353 Centerline is valid? [True, True] Translation: X:135.09, Y:-38.31, Z:2.69 [[ 8.64887739e-01 5.01568389e-01 -1.99587307e-02 1.35085935e+02] [-5.01429407e-01 8.65117974e-01 1.18084895e-02 -3.83057798e+01] [ 2.31894217e-02 -2.05123271e-04 9.99731068e-01 2.69433302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76275509599998 meters 0.01574152466068025 Centerline is valid? [True, True] Translation: X:135.14, Y:-38.34, Z:2.70 [[ 8.63193379e-01 5.04482594e-01 -1.98620644e-02 1.35138593e+02] [-5.04345559e-01 8.63421852e-01 1.17585097e-02 -3.83362805e+01] [ 2.30813039e-02 -1.32523765e-04 9.99733582e-01 2.69526490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82275509599998 meters 0.01543341686547032 Centerline is valid? [True, True] Translation: X:135.19, Y:-38.37, Z:2.70 [[ 8.62383541e-01 5.05841664e-01 -2.04655482e-02 1.35192299e+02] [-5.05696379e-01 8.62626338e-01 1.21232199e-02 -3.83691379e+01] [ 2.37865507e-02 -1.05511661e-04 9.99717054e-01 2.69594084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88275509599998 meters 0.015138514755130162 Centerline is valid? [True, True] Translation: X:135.25, Y:-38.40, Z:2.70 [[ 8.62588646e-01 5.05498276e-01 -2.03056946e-02 1.35245396e+02] [-5.05354957e-01 8.62827606e-01 1.20370101e-02 -3.84036057e+01] [ 2.36050017e-02 -1.21404864e-04 9.99721356e-01 2.69731482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94275509599998 meters 0.015214059998100948 Centerline is valid? [True, True] Translation: X:135.30, Y:-38.44, Z:2.70 [[ 8.63267145e-01 5.04350103e-01 -2.00202575e-02 1.35297512e+02] [-5.04210278e-01 8.63499247e-01 1.18763201e-02 -3.84383837e+01] [ 2.32773006e-02 -1.58017383e-04 9.99729034e-01 2.69902938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.002755096 meters 0.015352691082376696 Centerline is valid? [True, True] Translation: X:135.35, Y:-38.47, Z:2.70 [[ 8.63601966e-01 5.03776439e-01 -2.00235912e-02 1.35349791e+02] [-5.03636211e-01 8.63834050e-01 1.18869833e-02 -3.84727817e+01] [ 2.32854420e-02 -1.81016524e-04 9.99728841e-01 2.70004909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.062755096 meters 0.015786289415460054 Centerline is valid? [True, True] Translation: X:135.40, Y:-38.51, Z:2.70 [[ 8.64367480e-01 5.02445007e-01 -2.04420093e-02 1.35400930e+02] [-5.02298275e-01 8.64609139e-01 1.21441173e-02 -3.85084923e+01] [ 2.37760992e-02 -2.28994080e-04 9.99717282e-01 2.70061860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.122755096 meters 0.016228933593452666 Centerline is valid? [True, True] Translation: X:135.45, Y:-38.54, Z:2.70 [[ 8.64424059e-01 5.02298775e-01 -2.16098884e-02 1.35451553e+02] [-5.02134562e-01 8.64694095e-01 1.28454109e-02 -3.85422741e+01] [ 2.51381771e-02 -2.52810387e-04 9.99683954e-01 2.70025539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.182755096 meters 0.01610324251982133 Centerline is valid? [True, True] Translation: X:135.51, Y:-38.57, Z:2.70 [[ 8.63946476e-01 5.03101641e-01 -2.20278206e-02 1.35505510e+02] [-5.02931128e-01 8.64227216e-01 1.30995903e-02 -3.85745548e+01] [ 2.56274675e-02 -2.38868269e-04 9.99671534e-01 2.70088761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.242755096 meters 0.015050113357682039 Centerline is valid? [True, True] Translation: X:135.56, Y:-38.60, Z:2.70 [[ 8.62022000e-01 5.06313087e-01 -2.37724483e-02 1.35559409e+02] [-5.06115431e-01 8.62349715e-01 1.41470443e-02 -3.86048033e+01] [ 2.76629977e-02 -1.63460494e-04 9.99617293e-01 2.70062490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.302755096 meters 0.014975960907720834 Centerline is valid? [True, True] Translation: X:135.61, Y:-38.64, Z:2.70 [[ 8.61143647e-01 5.07805536e-01 -2.37730132e-02 1.35612485e+02] [-5.07608189e-01 8.61471719e-01 1.41564029e-02 -3.86368958e+01] [ 2.76684783e-02 -1.23320296e-04 9.99617147e-01 2.70140040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.362755096 meters 0.014645977218945758 Centerline is valid? [True, True] Translation: X:135.67, Y:-38.67, Z:2.70 [[ 8.60994489e-01 5.08085282e-01 -2.31912752e-02 1.35666028e+02] [-5.07897330e-01 8.61306758e-01 1.38192058e-02 -3.86704587e+01] [ 2.69961371e-02 -1.19473273e-04 9.99635531e-01 2.70443650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.422755096 meters 0.014681026396336963 Centerline is valid? [True, True] Translation: X:135.72, Y:-38.71, Z:2.71 [[ 8.61370352e-01 5.07467757e-01 -2.27506442e-02 1.35718148e+02] [-5.07286412e-01 8.61670734e-01 1.35662104e-02 -3.87067374e+01] [ 2.64879787e-02 -1.44438749e-04 9.99649122e-01 2.70650394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.482755096 meters 0.014650690640224272 Centerline is valid? [True, True] Translation: X:135.77, Y:-38.74, Z:2.71 [[ 8.61240497e-01 5.07709935e-01 -2.22582135e-02 1.35770125e+02] [-5.07536199e-01 8.61528062e-01 1.32817825e-02 -3.87415656e+01] [ 2.59193684e-02 -1.41959890e-04 9.99664027e-01 2.70895513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54275509599998 meters 0.014413613748316822 Centerline is valid? [True, True] Translation: X:135.82, Y:-38.78, Z:2.71 [[ 8.60816632e-01 5.08489219e-01 -2.08192032e-02 1.35822606e+02] [-5.08337258e-01 8.61068348e-01 1.24310912e-02 -3.87751440e+01] [ 2.42478327e-02 -1.17713384e-04 9.99705971e-01 2.71134917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60275509599998 meters 0.014336480106474496 Centerline is valid? [True, True] Translation: X:135.87, Y:-38.81, Z:2.71 [[ 8.60427973e-01 5.09146454e-01 -2.08228416e-02 1.35874729e+02] [-5.08994447e-01 8.60679892e-01 1.24409091e-02 -3.88088040e+01] [ 2.42560459e-02 -1.05795474e-04 9.99705773e-01 2.71303378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66275509599998 meters 0.014008800506035514 Centerline is valid? [True, True] Translation: X:135.93, Y:-38.84, Z:2.72 [[ 8.59645024e-01 5.10485370e-01 -2.03744651e-02 1.35927731e+02] [-5.10340029e-01 8.59886435e-01 1.21808872e-02 -3.88418447e+01] [ 2.37378909e-02 -7.33339829e-05 9.99718214e-01 2.71557356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.722755096 meters 0.013914406638140074 Centerline is valid? [True, True] Translation: X:135.98, Y:-38.87, Z:2.72 [[ 8.58885565e-01 5.11792985e-01 -1.95838350e-02 1.35980830e+02] [-5.11658862e-01 8.59108805e-01 1.17162405e-02 -3.88739520e+01] [ 2.28209348e-02 -4.26671107e-05 9.99739568e-01 2.71672301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.782755096 meters 0.013970473062423872 Centerline is valid? [True, True] Translation: X:136.03, Y:-38.90, Z:2.72 [[ 8.58754632e-01 5.12037210e-01 -1.89308820e-02 1.36034376e+02] [-5.11911790e-01 8.58963267e-01 1.13324901e-02 -3.89048441e+01] [ 2.20635889e-02 -4.08866438e-05 9.99756569e-01 2.71779747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.842755096 meters 0.013970976849985491 Centerline is valid? [True, True] Translation: X:136.09, Y:-38.94, Z:2.72 [[ 8.58811424e-01 5.11955329e-01 -1.85655238e-02 1.36088708e+02] [-5.11834576e-01 8.59012071e-01 1.11188084e-02 -3.89372283e+01] [ 2.16403423e-02 -4.64826782e-05 9.99765819e-01 2.71955479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.902755096 meters 0.013936920276072377 Centerline is valid? [True, True] Translation: X:136.14, Y:-38.97, Z:2.72 [[ 8.59533018e-01 5.10739294e-01 -1.86645454e-02 1.36142809e+02] [-5.10616794e-01 8.59735638e-01 1.11858406e-02 -3.89693939e+01] [ 2.17596232e-02 -8.41690058e-05 9.99763228e-01 2.72107332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.962755096 meters 0.014393634508535796 Centerline is valid? [True, True] Translation: X:136.19, Y:-39.00, Z:2.72 [[ 8.60776509e-01 5.08597918e-01 -1.97979466e-02 1.36193961e+02] [-5.08459315e-01 8.61004143e-01 1.18739569e-02 -3.90023512e+01] [ 2.30851838e-02 -1.54372810e-04 9.99733490e-01 2.72098657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.022755096 meters 0.015180002975806878 Centerline is valid? [True, True] Translation: X:136.25, Y:-39.04, Z:2.72 [[ 8.62402509e-01 5.05811481e-01 -2.04121775e-02 1.36245892e+02] [-5.05663184e-01 8.62644009e-01 1.22498239e-02 -3.90356948e+01] [ 2.38045441e-02 -2.42592192e-04 9.99716602e-01 2.72123431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.082755096 meters 0.016190786556147328 Centerline is valid? [True, True] Translation: X:136.30, Y:-39.07, Z:2.72 [[ 8.64096758e-01 5.02927976e-01 -2.00060895e-02 1.36298296e+02] [-5.02784573e-01 8.64328264e-01 1.20135486e-02 -3.90697058e+01] [ 2.33337783e-02 -3.22115203e-04 9.99727678e-01 2.72272554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.142755096 meters 0.016468579433351564 Centerline is valid? [True, True] Translation: X:136.35, Y:-39.10, Z:2.72 [[ 8.64513094e-01 5.02238563e-01 -1.93270648e-02 1.36351786e+02] [-5.02104394e-01 8.64729040e-01 1.16130945e-02 -3.91019310e+01] [ 2.25452181e-02 -3.35468116e-04 9.99745768e-01 2.72476205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.202755096 meters 0.016388398028157877 Centerline is valid? [True, True] Translation: X:136.41, Y:-39.13, Z:2.73 [[ 8.63952407e-01 5.03271508e-01 -1.74363819e-02 1.36405924e+02] [-5.03162379e-01 8.64128294e-01 1.04838654e-02 -3.91318622e+01] [ 2.03435016e-02 -2.84229337e-04 9.99793009e-01 2.72760310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26275509599998 meters 0.015592515865678065 Centerline is valid? [True, True] Translation: X:136.46, Y:-39.16, Z:2.73 [[ 8.62711800e-01 5.05423925e-01 -1.65833156e-02 1.36460884e+02] [-5.05325497e-01 8.62871140e-01 9.97687258e-03 -3.91616660e+01] [ 1.93518145e-02 -2.27193506e-04 9.99812710e-01 2.72971651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32275509599998 meters 0.01479491607334379 Centerline is valid? [True, True] Translation: X:136.52, Y:-39.19, Z:2.73 [[ 8.61038698e-01 5.08312242e-01 -1.51995350e-02 1.36515907e+02] [-5.08229912e-01 8.61172829e-01 9.14962479e-03 -3.91901165e+01] [ 1.77402928e-02 -1.53322702e-04 9.99842617e-01 2.73204591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38275509599998 meters 0.01443124856961348 Centerline is valid? [True, True] Translation: X:136.57, Y:-39.22, Z:2.73 [[ 8.59575134e-01 5.10824680e-01 -1.37380991e-02 1.36570719e+02] [-5.10757668e-01 8.59684906e-01 8.27450257e-03 -3.92193579e+01] [ 1.60372565e-02 -9.57172160e-05 9.99871390e-01 2.73379471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44275509599998 meters 0.01421231227750827 Centerline is valid? [True, True] Translation: X:136.63, Y:-39.25, Z:2.73 [[ 8.58656144e-01 5.12372195e-01 -1.35779463e-02 1.36625398e+02] [-5.12306852e-01 8.58763488e-01 8.18291883e-03 -3.92513642e+01] [ 1.58529446e-02 -7.02385955e-05 9.99874332e-01 2.73494545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.502755096 meters 0.014381264253567998 Centerline is valid? [True, True] Translation: X:136.68, Y:-39.28, Z:2.74 [[ 8.58168462e-01 5.13210517e-01 -1.27222634e-02 1.36678677e+02] [-5.13153167e-01 8.58262758e-01 7.67233625e-03 -3.92840956e+01] [ 1.48565685e-02 -5.56872594e-05 9.99889634e-01 2.73686755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.562755096 meters 0.014632306168038862 Centerline is valid? [True, True] Translation: X:136.73, Y:-39.32, Z:2.74 [[ 8.58723889e-01 5.12289256e-01 -1.23693491e-02 1.36730512e+02] [-5.12234873e-01 8.58812967e-01 7.46475764e-03 -3.93185439e+01] [ 1.44470726e-02 -7.41537384e-05 9.99895633e-01 2.73729531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.622755096 meters 0.0152711662910631 Centerline is valid? [True, True] Translation: X:136.78, Y:-39.35, Z:2.74 [[ 8.59886493e-01 5.10325221e-01 -1.27823016e-02 1.36781010e+02] [-5.10266848e-01 8.59981485e-01 7.71936024e-03 -3.93545301e+01] [ 1.49319270e-02 -1.15388843e-04 9.99888506e-01 2.73693309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.682755096 meters 0.015920642496683214 Centerline is valid? [True, True] Translation: X:136.83, Y:-39.39, Z:2.74 [[ 8.60837536e-01 5.08716888e-01 -1.28788049e-02 1.36831980e+02] [-5.08657379e-01 8.60933857e-01 7.78236675e-03 -3.93904038e+01] [ 1.50468206e-02 -1.48454272e-04 9.99886779e-01 2.73701165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.742755096 meters 0.017319805365963663 Centerline is valid? [True, True] Translation: X:136.88, Y:-39.43, Z:2.74 [[ 8.62264381e-01 5.06294750e-01 -1.28748936e-02 1.36880414e+02] [-5.06234929e-01 8.62360474e-01 7.78517319e-03 -3.94274968e+01] [ 1.50443917e-02 -1.95156696e-04 9.99886808e-01 2.73768806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.802755096 meters 0.01684381537612758 Centerline is valid? [True, True] Translation: X:136.94, Y:-39.46, Z:2.74 [[ 8.61548969e-01 5.07536180e-01 -1.18490102e-02 1.36935300e+02] [-5.07485601e-01 8.61630431e-01 7.16691359e-03 -3.94577188e+01] [ 1.38469357e-02 -1.61444948e-04 9.99904114e-01 2.73944763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.862755096 meters 0.015519430375457425 Centerline is valid? [True, True] Translation: X:136.99, Y:-39.49, Z:2.74 [[ 8.59137830e-01 5.11617719e-01 -1.13797990e-02 1.36991284e+02] [-5.11571420e-01 8.59213188e-01 6.88333376e-03 -3.94853034e+01] [ 1.32993089e-02 -9.21524847e-05 9.99911556e-01 2.74070394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.922755096 meters 0.014980349635462787 Centerline is valid? [True, True] Translation: X:137.05, Y:-39.51, Z:2.74 [[ 8.56202169e-01 5.16521977e-01 -1.10857264e-02 1.37046412e+02] [-5.16478400e-01 8.56273932e-01 6.70933380e-03 -3.95132732e+01] [ 1.29579369e-02 -1.90079151e-05 9.99916042e-01 2.74160723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.982755096 meters 0.015132449982431675 Centerline is valid? [True, True] Translation: X:137.10, Y:-39.54, Z:2.74 [[ 8.54173734e-01 5.19876470e-01 -1.07558225e-02 1.37101891e+02] [-5.19835669e-01 8.54241450e-01 6.51323765e-03 -3.95432104e+01] [ 1.25741484e-02 2.78236620e-05 9.99920942e-01 2.74278978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04275509599998 meters 0.01621406820264359 Centerline is valid? [True, True] Translation: X:137.16, Y:-39.57, Z:2.75 [[ 8.52113429e-01 5.23284351e-01 -8.72886760e-03 1.37156501e+02] [-5.23257629e-01 8.52158134e-01 5.28862050e-03 -3.95730811e+01] [ 1.02058279e-02 6.09420133e-05 9.99947917e-01 2.74630274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10275509599998 meters 0.01657987302212748 Centerline is valid? [True, True] Translation: X:137.21, Y:-39.61, Z:2.75 [[ 8.51576144e-01 5.24176357e-01 -7.56428514e-03 1.37209517e+02] [-5.24156307e-01 8.51609737e-01 4.58500090e-03 -3.96050225e+01] [ 8.84516794e-03 6.03903784e-05 9.99960879e-01 2.74905796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16275509599998 meters 0.017159810579151162 Centerline is valid? [True, True] Translation: X:137.26, Y:-39.64, Z:2.75 [[ 8.52462991e-01 5.22772821e-01 -3.92763048e-03 1.37260984e+02] [-5.22767398e-01 8.52472039e-01 2.38138786e-03 -3.96371918e+01] [ 4.59312001e-03 2.31921506e-05 9.99989451e-01 2.75425800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.222755096 meters 0.017691810237897707 Centerline is valid? [True, True] Translation: X:137.31, Y:-39.67, Z:2.76 [[ 8.55041937e-01 5.18558622e-01 -4.92080692e-04 1.37309449e+02] [-5.18558538e-01 8.55042079e-01 2.93758446e-04 -3.96749188e+01] [ 5.73080673e-04 3.99685392e-06 9.99999836e-01 2.76062829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.282755096 meters 0.01867455221531448 Centerline is valid? [True, True] Translation: X:137.36, Y:-39.71, Z:2.77 [[ 8.58282408e-01 5.13169701e-01 2.85764847e-03 1.37358613e+02] [-5.13166759e-01 8.58287165e-01 -1.73767744e-03 -3.97137043e+01] [-3.34440642e-03 2.49677766e-05 9.99994407e-01 2.76513213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.342755096 meters 0.01955578895992127 Centerline is valid? [True, True] Translation: X:137.41, Y:-39.75, Z:2.77 [[ 8.61224319e-01 5.08186426e-01 6.26332996e-03 1.37409156e+02] [-5.08172181e-01 8.61247088e-01 -3.80623463e-03 -3.97486179e+01] [-7.32855147e-03 9.51717847e-05 9.99973141e-01 2.76607177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.402755096 meters 0.020716942105630985 Centerline is valid? [True, True] Translation: X:137.46, Y:-39.78, Z:2.77 [[ 8.62688901e-01 5.05677602e-01 7.61729017e-03 1.37460437e+02] [-5.05656368e-01 8.62722517e-01 -4.63638573e-03 -3.97828788e+01] [-8.91612416e-03 1.48027228e-04 9.99960240e-01 2.76826980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.462755096 meters 0.026480118480823885 Centerline is valid? [True, True] Translation: X:137.51, Y:-39.82, Z:2.78 [[ 8.64125745e-01 5.03206957e-01 8.33405600e-03 1.37508977e+02] [-5.03181402e-01 8.64165911e-01 -5.07493669e-03 -3.98203748e+01] [-9.75575055e-03 1.91841463e-04 9.99952393e-01 2.77846786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.522755096 meters 0.02254315228430868 Centerline is valid? [True, True] Translation: X:137.57, Y:-39.85, Z:2.77 [[ 8.64959295e-01 5.01780674e-01 7.84689801e-03 1.37565820e+02] [-5.01757926e-01 8.64994865e-01 -4.78208825e-03 -3.98466093e+01] [-9.18708594e-03 1.99068415e-04 9.99957778e-01 2.76880111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.582755096 meters 0.029552111684927974 Centerline is valid? [True, True] Translation: X:137.61, Y:-39.89, Z:2.78 [[ 8.66017215e-01 4.99975525e-01 6.21752809e-03 1.37613522e+02] [-4.99961189e-01 8.66039516e-01 -3.79023953e-03 -3.98866828e+01] [-7.27965202e-03 1.73889944e-04 9.99973488e-01 2.77610370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.642755096 meters 0.023011670095872582 Centerline is valid? [True, True] Translation: X:137.67, Y:-39.91, Z:2.76 [[ 8.66097176e-01 4.99852113e-01 4.85260261e-03 1.37672456e+02] [-4.99843352e-01 8.66110758e-01 -2.96277562e-03 -3.99092925e+01] [-5.68384098e-03 1.40510443e-04 9.99983837e-01 2.76423527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.702755096 meters 0.022945485053603863 Centerline is valid? [True, True] Translation: X:137.73, Y:-39.94, Z:2.76 [[ 8.66790197e-01 4.98664079e-01 2.98174738e-03 1.37728271e+02] [-4.98660747e-01 8.66795321e-01 -1.82519351e-03 -3.99386629e+01] [-3.49472312e-03 9.51794687e-05 9.99993889e-01 2.75976095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76275509599998 meters 0.026501966931135282 Centerline is valid? [True, True] Translation: X:137.78, Y:-39.97, Z:2.76 [[ 8.68492230e-01 4.95701339e-01 1.19521465e-03 1.37778637e+02] [-4.95700800e-01 8.68493051e-01 -7.32226484e-04 -3.99742500e+01] [-1.40100126e-03 4.34641553e-05 9.99999018e-01 2.75958589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82275509599998 meters 0.028679115066880357 Centerline is valid? [True, True] Translation: X:137.83, Y:-40.01, Z:2.76 [[ 8.69974784e-01 4.93094551e-01 -1.28015938e-03 1.37830513e+02] [-4.93093942e-01 8.69975725e-01 7.76732776e-04 -4.00058637e+01] [ 1.49671029e-03 -4.44990923e-05 9.99998879e-01 2.75568620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88275509599998 meters 0.025418205533216918 Centerline is valid? [True, True] Translation: X:137.89, Y:-40.03, Z:2.75 [[ 8.70362426e-01 4.92397374e-01 -3.75142605e-03 1.37887615e+02] [-4.92392095e-01 8.70370499e-01 2.28446361e-03 -4.00313890e+01] [ 4.38999445e-03 -1.41138765e-04 9.99990354e-01 2.74898058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94275509599998 meters 0.027706200701696857 Centerline is valid? [True, True] Translation: X:137.94, Y:-40.06, Z:2.74 [[ 8.70798674e-01 4.91574261e-01 -8.02597043e-03 1.37940584e+02] [-4.91549964e-01 8.70835601e-01 4.89788282e-03 -4.00625587e+01] [ 9.39697391e-03 -3.19904384e-04 9.99955796e-01 2.74359893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.002755096 meters 0.027274364325935403 Centerline is valid? [True, True] Translation: X:138.00, Y:-40.09, Z:2.74 [[ 8.70913974e-01 4.91263850e-01 -1.29876648e-02 1.37996777e+02] [-4.91200068e-01 8.71010648e-01 7.93377097e-03 -4.00907678e+01] [ 1.52099692e-02 -5.30090191e-04 9.99884181e-01 2.73647476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.062755096 meters 0.02612005277267652 Centerline is valid? [True, True] Translation: X:138.06, Y:-40.12, Z:2.73 [[ 8.70226861e-01 4.92350777e-01 -1.72024105e-02 1.38055028e+02] [-4.92238919e-01 8.70396602e-01 1.05167476e-02 -4.01152095e+01] [ 2.01508484e-02 -6.84260321e-04 9.99796717e-01 2.73013280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.122755096 meters 0.025326466078914738 Centerline is valid? [True, True] Translation: X:138.11, Y:-40.14, Z:2.73 [[ 8.68302765e-01 4.95606544e-01 -2.06024783e-02 1.38111903e+02] [-4.95446827e-01 8.68546840e-01 1.26027367e-02 -4.01378853e+01] [ 2.41402162e-02 -7.35558595e-04 9.99708312e-01 2.72569963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.182755096 meters 0.02421227540552105 Centerline is valid? [True, True] Translation: X:138.17, Y:-40.16, Z:2.72 [[ 8.66965720e-01 4.97887216e-01 -2.18805757e-02 1.38169888e+02] [-4.97707757e-01 8.67241494e-01 1.33857843e-02 -4.01632981e+01] [ 2.56403540e-02 -7.14883826e-04 9.99670976e-01 2.72441558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.242755096 meters 0.02262626290704044 Centerline is valid? [True, True] Translation: X:138.23, Y:-40.18, Z:2.72 [[ 8.66344186e-01 4.98901890e-01 -2.33378485e-02 1.38230221e+02] [-4.98697955e-01 8.66658159e-01 1.42823551e-02 -4.01837502e+01] [ 2.73514307e-02 -7.34897985e-04 9.99625609e-01 2.72408117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.302755096 meters 0.02285746055349198 Centerline is valid? [True, True] Translation: X:138.29, Y:-40.21, Z:2.72 [[ 8.66400512e-01 4.98745746e-01 -2.45526614e-02 1.38289368e+02] [-4.98519679e-01 8.66747981e-01 1.50355518e-02 -4.02069926e+01] [ 2.87798872e-02 -7.86824931e-04 9.99585464e-01 2.72331899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.362755096 meters 0.024097838265020616 Centerline is valid? [True, True] Translation: X:138.35, Y:-40.23, Z:2.72 [[ 8.66509289e-01 4.98494525e-01 -2.57848931e-02 1.38347534e+02] [-4.98244781e-01 8.66892437e-01 1.58000479e-02 -4.02289318e+01] [ 3.02289662e-02 -8.43699851e-04 9.99542644e-01 2.72235038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.422755096 meters 0.02702446140805262 Centerline is valid? [True, True] Translation: X:138.40, Y:-40.25, Z:2.72 [[ 8.66498668e-01 4.98490743e-01 -2.62114044e-02 1.38401048e+02] [-4.98232578e-01 8.66894595e-01 1.60642331e-02 -4.02535253e+01] [ 3.07303963e-02 -8.60260978e-04 9.99527340e-01 2.72207502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.482755096 meters 0.027273180764106692 Centerline is valid? [True, True] Translation: X:138.45, Y:-40.28, Z:2.73 [[ 8.66451571e-01 4.98615628e-01 -2.53797261e-02 1.38454398e+02] [-4.98373804e-01 8.66822806e-01 1.55491065e-02 -4.02796593e+01] [ 2.97527529e-02 -8.23957127e-04 9.99556949e-01 2.72526565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54275509599998 meters 0.02502977481629095 Centerline is valid? [True, True] Translation: X:138.51, Y:-40.30, Z:2.73 [[ 8.65134411e-01 5.00972905e-01 -2.38453116e-02 1.38509858e+02] [-5.00760409e-01 8.65462688e-01 1.46064365e-02 -4.03015859e+01] [ 2.79546564e-02 -6.95742859e-04 9.99608950e-01 2.73090303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60275509599998 meters 0.021507830716963397 Centerline is valid? [True, True] Translation: X:138.56, Y:-40.33, Z:2.74 [[ 8.63069432e-01 5.04623768e-01 -2.15872222e-02 1.38563697e+02] [-5.04450816e-01 8.63339204e-01 1.32209212e-02 -4.03258550e+01] [ 2.53086863e-02 -5.20881113e-04 9.99679548e-01 2.73825082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66275509599998 meters 0.01854441192876791 Centerline is valid? [True, True] Translation: X:138.62, Y:-40.35, Z:2.74 [[ 8.59934397e-01 5.10031260e-01 -1.95178491e-02 1.38617540e+02] [-5.09891318e-01 8.60155805e-01 1.19513955e-02 -4.03508942e+01] [ 2.28839765e-02 -3.25434288e-04 9.99738075e-01 2.74368946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.722755096 meters 0.017129585943823668 Centerline is valid? [True, True] Translation: X:138.67, Y:-40.38, Z:2.75 [[ 8.57660560e-01 5.13866950e-01 -1.89504860e-02 1.38669075e+02] [-5.13736029e-01 8.57869869e-01 1.16008801e-02 -4.03787648e+01] [ 2.22183598e-02 -2.14069953e-04 9.99753119e-01 2.74615170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.782755096 meters 0.016060378628722463 Centerline is valid? [True, True] Translation: X:138.72, Y:-40.41, Z:2.75 [[ 8.54695452e-01 5.18852654e-01 -1.69590069e-02 1.38720236e+02] [-5.18748910e-01 8.54863684e-01 1.03754298e-02 -4.04076914e+01] [ 1.98809584e-02 -7.03662477e-05 9.99802352e-01 2.75090072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.842755096 meters 0.01597233590790317 Centerline is valid? [True, True] Translation: X:138.77, Y:-40.44, Z:2.75 [[ 8.52036814e-01 5.23214111e-01 -1.67410329e-02 1.38770606e+02] [-5.23113991e-01 8.52201263e-01 1.02352311e-02 -4.04370236e+01] [ 1.96219468e-02 3.66748511e-05 9.99807470e-01 2.75337995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.902755096 meters 0.016341900279552495 Centerline is valid? [True, True] Translation: X:138.82, Y:-40.47, Z:2.75 [[ 8.50289768e-01 5.26032316e-01 -1.72427314e-02 1.38819164e+02] [-5.25926844e-01 8.50464573e-01 1.05339867e-02 -4.04694179e+01] [ 2.02055496e-02 1.11474253e-04 9.99795841e-01 2.75499377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.962755096 meters 0.016502414528172492 Centerline is valid? [True, True] Translation: X:138.87, Y:-40.50, Z:2.76 [[ 8.50170883e-01 5.26223744e-01 -1.72638737e-02 1.38866704e+02] [-5.26118102e-01 8.50346139e-01 1.05444845e-02 -4.05033631e+01] [ 2.02290265e-02 1.18222707e-04 9.99795365e-01 2.75626636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.022755096 meters 0.016429229766942312 Centerline is valid? [True, True] Translation: X:138.92, Y:-40.54, Z:2.76 [[ 8.50492789e-01 5.25697196e-01 -1.74491699e-02 1.38915115e+02] [-5.25589222e-01 8.50671762e-01 1.06547235e-02 -4.05363184e+01] [ 2.04446744e-02 1.09330160e-04 9.99790980e-01 2.75779318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.082755096 meters 0.015977852389056493 Centerline is valid? [True, True] Translation: X:138.96, Y:-40.58, Z:2.76 [[ 8.52971106e-01 5.21673756e-01 -1.72274552e-02 1.38959245e+02] [-5.21567743e-01 8.53145059e-01 1.05165539e-02 -4.05763661e+01] [ 2.01837284e-02 1.49683475e-05 9.99796288e-01 2.75948152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.142755096 meters 0.01618729796998743 Centerline is valid? [True, True] Translation: X:139.01, Y:-40.62, Z:2.76 [[ 8.55597254e-01 5.17349410e-01 -1.74047626e-02 1.39006187e+02] [-5.17240329e-01 8.55774258e-01 1.06236375e-02 -4.06201960e+01] [ 2.03906804e-02 -8.71099468e-05 9.99792085e-01 2.76096001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.202755096 meters 0.01678905978107766 Centerline is valid? [True, True] Translation: X:139.05, Y:-40.66, Z:2.76 [[ 8.57439123e-01 5.14297398e-01 -1.72144192e-02 1.39051860e+02] [-5.14189920e-01 8.57611893e-01 1.05150573e-02 -4.06634573e+01] [ 2.01711573e-02 -1.64540698e-04 9.99796528e-01 2.76276023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26275509599998 meters 0.017341515820718505 Centerline is valid? [True, True] Translation: X:139.10, Y:-40.70, Z:2.76 [[ 8.58652978e-01 5.12266699e-01 -1.72595555e-02 1.39101052e+02] [-5.12158120e-01 8.58826398e-01 1.05488561e-02 -4.07028765e+01] [ 2.02267896e-02 -2.18185173e-04 9.99795394e-01 2.76466995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32275509599998 meters 0.018306667373629522 Centerline is valid? [True, True] Translation: X:139.15, Y:-40.75, Z:2.77 [[ 8.60584184e-01 5.09059405e-01 -1.59180232e-02 1.39147151e+02] [-5.08966396e-01 8.60731344e-01 9.73456971e-03 -4.07457161e+01] [ 1.86566157e-02 -2.75677847e-04 9.99825912e-01 2.76774382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38275509599998 meters 0.020113908275015985 Centerline is valid? [True, True] Translation: X:139.19, Y:-40.79, Z:2.77 [[ 8.61904898e-01 5.06848731e-01 -1.49770035e-02 1.39192075e+02] [-5.06766009e-01 8.62034958e-01 9.16200295e-03 -4.07891565e+01] [ 1.75544502e-02 -3.06938910e-04 9.99845862e-01 2.77067134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44275509599998 meters 0.019484350929818987 Centerline is valid? [True, True] Translation: X:139.24, Y:-40.83, Z:2.77 [[ 8.61610787e-01 5.07347142e-01 -1.50242653e-02 1.39242486e+02] [-5.07263923e-01 8.61741717e-01 9.19374358e-03 -4.08267958e+01] [ 1.76114557e-02 -3.00160875e-04 9.99844861e-01 2.77189062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.502755096 meters 0.01890029422282327 Centerline is valid? [True, True] Translation: X:139.29, Y:-40.86, Z:2.77 [[ 8.60389363e-01 5.09421646e-01 -1.48233117e-02 1.39293821e+02] [-5.09340835e-01 8.60517007e-01 9.07715261e-03 -4.08614348e+01] [ 1.73798098e-02 -2.59767600e-04 9.99848926e-01 2.77312778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.562755096 meters 0.017978382472574137 Centerline is valid? [True, True] Translation: X:139.34, Y:-40.90, Z:2.78 [[ 8.58297151e-01 5.12958320e-01 -1.41337490e-02 1.39344865e+02] [-5.12885248e-01 8.58413495e-01 8.65990686e-03 -4.08962518e+01] [ 1.65747722e-02 -1.83782013e-04 9.99862612e-01 2.77530750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.622755096 meters 0.017600316863780628 Centerline is valid? [True, True] Translation: X:139.40, Y:-40.93, Z:2.78 [[ 8.57081667e-01 5.14955161e-01 -1.52380690e-02 1.39395940e+02] [-5.14870429e-01 8.57217100e-01 9.34267632e-03 -4.09311164e+01] [ 1.78733927e-02 -1.61805463e-04 9.99840245e-01 2.77502872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.682755096 meters 0.017834919088104778 Centerline is valid? [True, True] Translation: X:139.45, Y:-40.97, Z:2.77 [[ 8.57213105e-01 5.14692806e-01 -1.66435655e-02 1.39445142e+02] [-5.14591536e-01 8.57374644e-01 1.02113284e-02 -4.09687505e+01] [ 1.95254683e-02 -1.88646592e-04 9.99809342e-01 2.77437531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.742755096 meters 0.018074075088251564 Centerline is valid? [True, True] Translation: X:139.50, Y:-41.00, Z:2.78 [[ 8.57894315e-01 5.13560782e-01 -1.65126800e-02 1.39496216e+02] [-5.13460761e-01 8.58053189e-01 1.01376160e-02 -4.10047822e+01] [ 1.93750397e-02 -2.18389941e-04 9.99812262e-01 2.77628810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.802755096 meters 0.01917629269719275 Centerline is valid? [True, True] Translation: X:139.54, Y:-41.04, Z:2.78 [[ 8.59626894e-01 5.10696548e-01 -1.51867891e-02 1.39544459e+02] [-5.10611402e-01 8.59760993e-01 9.32901949e-03 -4.10422554e+01] [ 1.78213069e-02 -2.64928382e-04 9.99841153e-01 2.77893334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.862755096 meters 0.019249999798365447 Centerline is valid? [True, True] Translation: X:139.60, Y:-41.08, Z:2.78 [[ 8.59966040e-01 5.10155704e-01 -1.41268427e-02 1.39596916e+02] [-5.10081881e-01 8.60082025e-01 8.68244408e-03 -4.10754830e+01] [ 1.65796418e-02 -2.60760581e-04 9.99862514e-01 2.78188062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.922755096 meters 0.01898254329521604 Centerline is valid? [True, True] Translation: X:139.65, Y:-41.11, Z:2.78 [[ 8.59337712e-01 5.11181334e-01 -1.52427188e-02 1.39650317e+02] [-5.11095432e-01 8.59472846e-01 9.37475309e-03 -4.11082563e+01] [ 1.78929017e-02 -2.65594911e-04 9.99839874e-01 2.78196207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.982755096 meters 0.01781463211694633 Centerline is valid? [True, True] Translation: X:139.71, Y:-41.14, Z:2.78 [[ 8.56841128e-01 5.15312346e-01 -1.66273184e-02 1.39706578e+02] [-5.15210829e-01 8.57002419e-01 1.02300680e-02 -4.11364525e+01] [ 1.95213324e-02 -1.98968538e-04 9.99809421e-01 2.78092269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04275509599998 meters 0.017269944622988354 Centerline is valid? [True, True] Translation: X:139.76, Y:-41.17, Z:2.78 [[ 8.55207554e-01 5.17958062e-01 -1.84251451e-02 1.39760581e+02] [-5.17833943e-01 8.55405998e-01 1.13395637e-02 -4.11669273e+01] [ 2.16343980e-02 -1.56515015e-04 9.99765937e-01 2.78019816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10275509599998 meters 0.01711725183171685 Centerline is valid? [True, True] Translation: X:139.82, Y:-41.20, Z:2.78 [[ 8.55101109e-01 5.18114120e-01 -1.89697641e-02 1.39815185e+02] [-5.17982423e-01 8.55311482e-01 1.16823598e-02 -4.11986899e+01] [ 2.22778526e-02 -1.63594428e-04 9.99751804e-01 2.78058372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16275509599998 meters 0.01749545010124999 Centerline is valid? [True, True] Translation: X:139.87, Y:-41.23, Z:2.78 [[ 8.55411328e-01 5.17600581e-01 -1.90025936e-02 1.39868599e+02] [-5.17468112e-01 8.55622349e-01 1.17110106e-02 -4.12321404e+01] [ 2.23206696e-02 -1.84494884e-04 9.99750846e-01 2.78262707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.222755096 meters 0.017911133100523117 Centerline is valid? [True, True] Translation: X:139.92, Y:-41.27, Z:2.78 [[ 8.56302083e-01 5.16126304e-01 -1.89837230e-02 1.39921271e+02] [-5.15993555e-01 8.56512455e-01 1.17075056e-02 -4.12657019e+01] [ 2.23023468e-02 -2.29682713e-04 9.99751245e-01 2.78492668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.282755096 meters 0.018526881974793654 Centerline is valid? [True, True] Translation: X:139.97, Y:-41.30, Z:2.79 [[ 8.57305455e-01 5.14456767e-01 -1.90155601e-02 1.39973195e+02] [-5.14323001e-01 8.57516272e-01 1.17343150e-02 -4.12984312e+01] [ 2.23429499e-02 -2.79752338e-04 9.99750326e-01 2.78642252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.342755096 meters 0.019082745910667 Centerline is valid? [True, True] Translation: X:140.03, Y:-41.33, Z:2.79 [[ 8.58594123e-01 5.12273016e-01 -1.98113122e-02 1.40025291e+02] [-5.12127068e-01 8.58822583e-01 1.22326367e-02 -4.13316498e+01] [ 2.32808520e-02 -3.56960755e-04 9.99728901e-01 2.78733068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.402755096 meters 0.01959294901366279 Centerline is valid? [True, True] Translation: X:140.08, Y:-41.37, Z:2.79 [[ 8.59611706e-01 5.10563527e-01 -1.98141300e-02 1.40077151e+02] [-5.10416906e-01 8.59839937e-01 1.22419814e-02 -4.13651257e+01] [ 2.32872895e-02 -4.09883626e-04 9.99728730e-01 2.78864087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.462755096 meters 0.021106422340398123 Centerline is valid? [True, True] Translation: X:140.13, Y:-41.40, Z:2.79 [[ 8.61309719e-01 5.07673994e-01 -2.03146060e-02 1.40128405e+02] [-5.07518875e-01 8.61549104e-01 1.25591736e-02 -4.14002928e+01] [ 2.38779964e-02 -5.07292358e-04 9.99714751e-01 2.79038965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.522755096 meters 0.022127156556340885 Centerline is valid? [True, True] Translation: X:140.18, Y:-41.43, Z:2.79 [[ 8.62485540e-01 5.05674590e-01 -2.02953880e-02 1.40179973e+02] [-5.05519029e-01 8.62724108e-01 1.25548791e-02 -4.14339862e+01] [ 2.38580039e-02 -5.68696868e-04 9.99715196e-01 2.79230159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.582755096 meters 0.023433918164637774 Centerline is valid? [True, True] Translation: X:140.23, Y:-41.47, Z:2.80 [[ 8.64264672e-01 5.02649903e-01 -1.97396050e-02 1.40230757e+02] [-5.02501820e-01 8.64489830e-01 1.22169579e-02 -4.14694999e+01] [ 2.32055405e-02 -6.39497658e-04 9.99730511e-01 2.79505717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.642755096 meters 0.024219014636295715 Centerline is valid? [True, True] Translation: X:140.28, Y:-41.50, Z:2.80 [[ 8.65518279e-01 5.00494855e-01 -1.95706021e-02 1.40282283e+02] [-5.00348675e-01 8.65739233e-01 1.21154828e-02 -4.15037520e+01] [ 2.30067748e-02 -6.94046973e-04 9.99735068e-01 2.79620090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.702755096 meters 0.025565507126507972 Centerline is valid? [True, True] Translation: X:140.33, Y:-41.54, Z:2.80 [[ 8.66454519e-01 4.98854588e-01 -2.00166477e-02 1.40333894e+02] [-4.98701046e-01 8.66685365e-01 1.23994408e-02 -4.15378089e+01] [ 2.35336536e-02 -7.61228350e-04 9.99722755e-01 2.79662292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76275509599998 meters 0.025992062376017144 Centerline is valid? [True, True] Translation: X:140.39, Y:-41.57, Z:2.80 [[ 8.66315106e-01 4.99064900e-01 -2.07933612e-02 1.40387178e+02] [-4.98899064e-01 8.66564249e-01 1.28889804e-02 -4.15718753e+01] [ 2.44512211e-02 -7.92129977e-04 9.99700710e-01 2.79750782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82275509599998 meters 0.02468299801298075 Centerline is valid? [True, True] Translation: X:140.44, Y:-41.60, Z:2.80 [[ 8.65236746e-01 5.00900622e-01 -2.15392742e-02 1.40441566e+02] [-5.00723006e-01 8.65504458e-01 1.33606025e-02 -4.16026735e+01] [ 2.53346719e-02 -7.74874131e-04 9.99678725e-01 2.79763806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88275509599998 meters 0.02494647877333049 Centerline is valid? [True, True] Translation: X:140.49, Y:-41.63, Z:2.80 [[ 8.63338706e-01 5.04181220e-01 -2.11560144e-02 1.40493181e+02] [-5.04010698e-01 8.63597618e-01 1.31289842e-02 -4.16338051e+01] [ 2.48896709e-02 -6.71902662e-04 9.99689978e-01 2.79837353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94275509599998 meters 0.022769738362729927 Centerline is valid? [True, True] Translation: X:140.55, Y:-41.66, Z:2.80 [[ 8.62405195e-01 5.05784758e-01 -2.09537078e-02 1.40547577e+02] [-5.05617898e-01 8.62659488e-01 1.30057388e-02 -4.16632505e+01] [ 2.46540193e-02 -6.21647025e-04 9.99695850e-01 2.80040807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.002755096 meters 0.019934341439490348 Centerline is valid? [True, True] Translation: X:140.60, Y:-41.69, Z:2.80 [[ 8.59435297e-01 5.10835346e-01 -2.04504181e-02 1.40603123e+02] [-5.10677681e-01 8.59678445e-01 1.26995476e-02 -4.16912118e+01] [ 2.40681614e-02 -4.70867379e-04 9.99710209e-01 2.80250421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.062755096 meters 0.018777988583634855 Centerline is valid? [True, True] Translation: X:140.66, Y:-41.72, Z:2.80 [[ 8.56339960e-01 5.16043696e-01 -1.95135258e-02 1.40657123e+02] [-5.15901462e-01 8.56562203e-01 1.21191892e-02 -4.17197499e+01] [ 2.29685798e-02 -3.11089540e-04 9.99736139e-01 2.80429120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.122755096 meters 0.016873824481195714 Centerline is valid? [True, True] Translation: X:140.71, Y:-41.75, Z:2.81 [[ 8.54730955e-01 5.18761055e-01 -1.79433144e-02 1.40713314e+02] [-5.18641357e-01 8.54919247e-01 1.11455600e-02 -4.17467175e+01] [ 2.11219673e-02 -2.20310222e-04 9.99776882e-01 2.80704921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.182755096 meters 0.016952490629637787 Centerline is valid? [True, True] Translation: X:140.77, Y:-41.78, Z:2.81 [[ 8.54963588e-01 5.18411039e-01 -1.69487044e-02 1.40766752e+02] [-5.18304049e-01 8.55131537e-01 1.05340756e-02 -4.17802003e+01] [ 1.99543527e-02 -2.21668947e-04 9.99800868e-01 2.80869182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.242755096 meters 0.01846105667780977 Centerline is valid? [True, True] Translation: X:140.82, Y:-41.82, Z:2.81 [[ 8.56762423e-01 5.15429462e-01 -1.70476107e-02 1.40816002e+02] [-5.15320477e-01 8.56931958e-01 1.06031193e-02 -4.18165768e+01] [ 2.00738025e-02 -2.99371272e-04 9.99798456e-01 2.80862277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.302755096 meters 0.020089475833833418 Centerline is valid? [True, True] Translation: X:140.87, Y:-41.85, Z:2.81 [[ 8.59038327e-01 5.11609047e-01 -1.75879420e-02 1.40865977e+02] [-5.11492107e-01 8.59218259e-01 1.09456469e-02 -4.18529465e+01] [ 2.07117729e-02 -4.06636639e-04 9.99785406e-01 2.80828353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.362755096 meters 0.022030513409795154 Centerline is valid? [True, True] Translation: X:140.92, Y:-41.89, Z:2.81 [[ 8.60750528e-01 5.08741726e-01 -1.70406737e-02 1.40915651e+02] [-5.08631271e-01 8.60919067e-01 1.06108738e-02 -4.18888077e+01] [ 2.00688351e-02 -4.65895731e-04 9.99798492e-01 2.80935648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.422755096 meters 0.023243760414752217 Centerline is valid? [True, True] Translation: X:140.97, Y:-41.92, Z:2.81 [[ 8.61379053e-01 5.07683761e-01 -1.68322726e-02 1.40967199e+02] [-5.07575676e-01 8.61543359e-01 1.04868730e-02 -4.19232415e+01] [ 1.98257478e-02 -4.89520630e-04 9.99803331e-01 2.81021322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.482755096 meters 0.023204788658630585 Centerline is valid? [True, True] Translation: X:141.02, Y:-41.96, Z:2.81 [[ 8.61608250e-01 5.07285985e-01 -1.70924575e-02 1.41018987e+02] [-5.07174327e-01 8.61777620e-01 1.06553019e-02 -4.19566993e+01] [ 2.01351827e-02 -5.11840434e-04 9.99797136e-01 2.81062104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54275509599998 meters 0.02150419262670731 Centerline is valid? [True, True] Translation: X:141.07, Y:-41.99, Z:2.81 [[ 8.60823044e-01 5.08575438e-01 -1.82951064e-02 1.41072477e+02] [-5.08447647e-01 8.61017277e-01 1.14122441e-02 -4.19874525e+01] [ 2.15563898e-02 -5.21818916e-04 9.99767498e-01 2.81022795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60275509599998 meters 0.022351389810376824 Centerline is valid? [True, True] Translation: X:141.12, Y:-42.02, Z:2.81 [[ 8.59849442e-01 5.10198159e-01 -1.88884955e-02 1.41123504e+02] [-5.10062176e-01 8.60056734e-01 1.17894353e-02 -4.20214675e+01] [ 2.22601260e-02 -5.02832238e-04 9.99752086e-01 2.81026601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66275509599998 meters 0.020883846013645773 Centerline is valid? [True, True] Translation: X:141.18, Y:-42.05, Z:2.81 [[ 8.58411959e-01 5.12614486e-01 -1.88493072e-02 1.41177251e+02] [-5.12479547e-01 8.58618770e-01 1.17695419e-02 -4.20522445e+01] [ 2.22176066e-02 -4.43231087e-04 9.99753060e-01 2.81132864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.722755096 meters 0.01943959157569433 Centerline is valid? [True, True] Translation: X:141.23, Y:-42.09, Z:2.81 [[ 8.57664475e-01 5.13863130e-01 -1.88767832e-02 1.41229668e+02] [-5.13727942e-01 8.57872082e-01 1.17937155e-02 -4.20854567e+01] [ 2.22542209e-02 -4.17519828e-04 9.99752257e-01 2.81366559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.782755096 meters 0.01989161816367461 Centerline is valid? [True, True] Translation: X:141.28, Y:-42.12, Z:2.81 [[ 8.57669553e-01 5.13854031e-01 -1.88936982e-02 1.41280398e+02] [-5.13718432e-01 8.57877529e-01 1.18117721e-02 -4.21207818e+01] [ 2.22780058e-02 -4.24556239e-04 9.99751724e-01 2.81486962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.842755096 meters 0.021134296083885975 Centerline is valid? [True, True] Translation: X:141.33, Y:-42.16, Z:2.82 [[ 8.57500001e-01 5.14145006e-01 -1.86724882e-02 1.41331813e+02] [-5.14012465e-01 8.57703176e-01 1.16811243e-02 -4.21552404e+01] [ 2.20212442e-02 -4.18672433e-04 9.99757415e-01 2.81558905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.902755096 meters 0.019779620652865138 Centerline is valid? [True, True] Translation: X:141.39, Y:-42.19, Z:2.82 [[ 8.57607553e-01 5.13985197e-01 -1.81246409e-02 1.41385943e+02] [-5.13860130e-01 8.57798953e-01 1.13456499e-02 -4.21879373e+01] [ 2.13787940e-02 -4.16584729e-04 9.99771361e-01 2.81861485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.962755096 meters 0.020617929976080925 Centerline is valid? [True, True] Translation: X:141.44, Y:-42.22, Z:2.82 [[ 8.58208262e-01 5.13022938e-01 -1.69128570e-02 1.41436890e+02] [-5.12913710e-01 8.58374796e-01 1.05941167e-02 -4.22227388e+01] [ 1.99525950e-02 -4.17122282e-04 9.99800840e-01 2.82149435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.022755096 meters 0.020035102854620943 Centerline is valid? [True, True] Translation: X:141.49, Y:-42.25, Z:2.82 [[ 8.58498343e-01 5.12535142e-01 -1.69801097e-02 1.41491201e+02] [-5.12424816e-01 8.58666139e-01 1.06428015e-02 -4.22536877e+01] [ 2.00350550e-02 -4.35797911e-04 9.99799183e-01 2.82204578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.082755096 meters 0.022119971996115703 Centerline is valid? [True, True] Translation: X:141.54, Y:-42.29, Z:2.82 [[ 8.58698866e-01 5.12165149e-01 -1.79754735e-02 1.41541122e+02] [-5.12041267e-01 8.58886857e-01 1.12742034e-02 -4.22889741e+01] [ 2.12131520e-02 -4.76961465e-04 9.99774862e-01 2.82210032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.142755096 meters 0.020918603757857406 Centerline is valid? [True, True] Translation: X:141.60, Y:-42.32, Z:2.82 [[ 8.58553710e-01 5.12364404e-01 -1.91897164e-02 1.41595786e+02] [-5.12223094e-01 8.58767988e-01 1.20434624e-02 -4.23200393e+01] [ 2.26501556e-02 -5.10543412e-04 9.99743322e-01 2.82141830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.202755096 meters 0.021173195081253572 Centerline is valid? [True, True] Translation: X:141.65, Y:-42.35, Z:2.82 [[ 8.57945435e-01 5.13384643e-01 -1.91268985e-02 1.41647959e+02] [-5.13244325e-01 8.58158475e-01 1.20122667e-02 -4.23520870e+01] [ 2.25808233e-02 -4.89097260e-04 9.99744901e-01 2.82190355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26275509599998 meters 0.020883669935797353 Centerline is valid? [True, True] Translation: X:141.70, Y:-42.38, Z:2.82 [[ 8.57891335e-01 5.13485725e-01 -1.88379348e-02 1.41702357e+02] [-5.13349486e-01 8.58097999e-01 1.18376614e-02 -4.23842491e+01] [ 2.22432643e-02 -4.84983011e-04 9.99752470e-01 2.82354081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32275509599998 meters 0.021888006131183822 Centerline is valid? [True, True] Translation: X:141.75, Y:-42.42, Z:2.83 [[ 8.58777539e-01 5.12040103e-01 -1.77783938e-02 1.41753561e+02] [-5.11918304e-01 8.58961398e-01 1.11788402e-02 -4.24176063e+01] [ 2.09949685e-02 -4.99051687e-04 9.99779457e-01 2.82621579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38275509599998 meters 0.022428948025360267 Centerline is valid? [True, True] Translation: X:141.80, Y:-42.45, Z:2.83 [[ 8.60015836e-01 5.09965984e-01 -1.75344851e-02 1.41804986e+02] [-5.09846994e-01 8.60194396e-01 1.10292639e-02 -4.24513834e+01] [ 2.07076153e-02 -5.45437097e-04 9.99785426e-01 2.82825512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44275509599998 meters 0.023366479128613324 Centerline is valid? [True, True] Translation: X:141.86, Y:-42.49, Z:2.83 [[ 8.60840663e-01 5.08587580e-01 -1.70888025e-02 1.41857271e+02] [-5.08474170e-01 8.61010075e-01 1.07549509e-02 -4.24853264e+01] [ 2.01834656e-02 -5.69084417e-04 9.99796131e-01 2.82935917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.502755096 meters 0.026203469215485022 Centerline is valid? [True, True] Translation: X:141.91, Y:-42.52, Z:2.83 [[ 8.61276771e-01 5.07862321e-01 -1.66789090e-02 1.41907384e+02] [-5.07754028e-01 8.61438059e-01 1.05032219e-02 -4.25210048e+01] [ 1.97020377e-02 -5.77397803e-04 9.99805729e-01 2.83085408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.562755096 meters 0.026800136789599586 Centerline is valid? [True, True] Translation: X:141.96, Y:-42.55, Z:2.83 [[ 8.61407933e-01 5.07652980e-01 -1.62734450e-02 1.41960140e+02] [-5.07549744e-01 8.61561445e-01 1.02534648e-02 -4.25544560e+01] [ 1.92257747e-02 -5.72833103e-04 9.99815004e-01 2.83205854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.622755096 meters 0.025784738792640753 Centerline is valid? [True, True] Translation: X:142.02, Y:-42.59, Z:2.83 [[ 8.61359907e-01 5.07740256e-01 -1.60917060e-02 1.42015380e+02] [-5.07639221e-01 8.61510016e-01 1.01446021e-02 -4.25855643e+01] [ 1.90139888e-02 -5.69372451e-04 9.99819056e-01 2.83322800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.682755096 meters 0.024116883027908462 Centerline is valid? [True, True] Translation: X:142.07, Y:-42.62, Z:2.83 [[ 8.61312116e-01 5.07823179e-01 -1.60330353e-02 1.42070330e+02] [-5.07722767e-01 8.61461138e-01 1.01143046e-02 -4.26155388e+01] [ 1.89481152e-02 -5.71236009e-04 9.99820305e-01 2.83430226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.742755096 meters 0.026746844391417442 Centerline is valid? [True, True] Translation: X:142.12, Y:-42.65, Z:2.83 [[ 8.61122375e-01 5.08148336e-01 -1.59224527e-02 1.42120486e+02] [-5.08049229e-01 8.61269382e-01 1.00514978e-02 -4.26505321e+01] [ 1.88211728e-02 -5.66179796e-04 9.99822706e-01 2.83461072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.802755096 meters 0.026802659535808574 Centerline is valid? [True, True] Translation: X:142.17, Y:-42.68, Z:2.84 [[ 8.60531792e-01 5.09141687e-01 -1.61175972e-02 1.42172806e+02] [-5.09040243e-01 8.60682540e-01 1.01782062e-02 -4.26835231e+01] [ 1.90542836e-02 -5.54164374e-04 9.99818297e-01 2.83559979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.862755096 meters 0.02631390803825814 Centerline is valid? [True, True] Translation: X:142.23, Y:-42.72, Z:2.84 [[ 8.59443099e-01 5.10990011e-01 -1.57088606e-02 1.42225191e+02] [-5.10893855e-01 8.59586502e-01 9.92546391e-03 -4.27154142e+01] [ 1.85749374e-02 -5.04811143e-04 9.99827344e-01 2.83747152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.922755096 meters 0.022615089115609235 Centerline is valid? [True, True] Translation: X:142.28, Y:-42.74, Z:2.84 [[ 8.58263850e-01 5.12970161e-01 -1.56453511e-02 1.42281329e+02] [-5.12875017e-01 8.58406313e-01 9.89032198e-03 -4.27430552e+01] [ 1.85035082e-02 -4.64396106e-04 9.99828688e-01 2.83861634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.982755096 meters 0.021958239820570342 Centerline is valid? [True, True] Translation: X:142.33, Y:-42.77, Z:2.84 [[ 8.56879664e-01 5.15302258e-01 -1.48601384e-02 1.42334850e+02] [-5.15216682e-01 8.57008416e-01 9.39926089e-03 -4.27731467e+01] [ 1.75787240e-02 -3.97844336e-04 9.99845403e-01 2.83993080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04275509599998 meters 0.021327144862039245 Centerline is valid? [True, True] Translation: X:142.39, Y:-42.81, Z:2.84 [[ 8.56692624e-01 5.15628421e-01 -1.43205849e-02 1.42388734e+02] [-5.15548915e-01 8.56812223e-01 9.06256624e-03 -4.28051907e+01] [ 1.69429689e-02 -3.80871657e-04 9.99856385e-01 2.84138993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10275509599998 meters 0.023365095249802622 Centerline is valid? [True, True] Translation: X:142.44, Y:-42.84, Z:2.84 [[ 8.56489900e-01 5.15963829e-01 -1.43658708e-02 1.42439440e+02] [-5.15883759e-01 8.56610286e-01 9.09752924e-03 -4.28415216e+01] [ 1.69999487e-02 -3.80822497e-04 9.99855418e-01 2.84271848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16275509599998 meters 0.02154396153692509 Centerline is valid? [True, True] Translation: X:142.50, Y:-42.87, Z:2.84 [[ 8.56157179e-01 5.16529007e-01 -1.38805517e-02 1.42495156e+02] [-5.16454244e-01 8.56269615e-01 8.79547386e-03 -4.28706963e+01] [ 1.64286120e-02 -3.61638271e-04 9.99864976e-01 2.84391740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.222755096 meters 0.021348258261443827 Centerline is valid? [True, True] Translation: X:142.55, Y:-42.90, Z:2.84 [[ 8.55877065e-01 5.16988497e-01 -1.40478848e-02 1.42549817e+02] [-5.16911881e-01 8.55992268e-01 8.90757990e-03 -4.29013200e+01] [ 1.66299971e-02 -3.62274766e-04 9.99861646e-01 2.84492876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.282755096 meters 0.02198180989074846 Centerline is valid? [True, True] Translation: X:142.60, Y:-42.93, Z:2.85 [[ 8.56211185e-01 5.16457863e-01 -1.31788865e-02 1.42602381e+02] [-5.16390285e-01 8.56312531e-01 8.36204457e-03 -4.29334960e+01] [ 1.56038893e-02 -3.54227137e-04 9.99878189e-01 2.84683889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.342755096 meters 0.024133368054554922 Centerline is valid? [True, True] Translation: X:142.65, Y:-42.97, Z:2.85 [[ 8.57425786e-01 5.14443948e-01 -1.29786464e-02 1.42652840e+02] [-5.14378102e-01 8.57523919e-01 8.23985953e-03 -4.29671438e+01] [ 1.53684456e-02 -3.89136509e-04 9.99881823e-01 2.84807875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.402755096 meters 0.026582304298748742 Centerline is valid? [True, True] Translation: X:142.70, Y:-43.00, Z:2.85 [[ 8.59179110e-01 5.11460680e-01 -1.48064365e-02 1.42703987e+02] [-5.11374484e-01 8.59306532e-01 9.40325399e-03 -4.30015223e+01] [ 1.75326623e-02 -5.07445555e-04 9.99846162e-01 2.84695130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.462755096 meters 0.0255525725786012 Centerline is valid? [True, True] Translation: X:142.76, Y:-43.03, Z:2.85 [[ 8.60545663e-01 5.09118093e-01 -1.61223367e-02 1.42758934e+02] [-5.09015374e-01 8.60696460e-01 1.02446710e-02 -4.30303733e+01] [ 1.90921855e-02 -6.09490020e-04 9.99817542e-01 2.84665326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.522755096 meters 0.025069895405827852 Centerline is valid? [True, True] Translation: X:142.81, Y:-43.06, Z:2.85 [[ 8.61004091e-01 5.08333256e-01 -1.64090100e-02 1.42812396e+02] [-5.08226669e-01 8.61160201e-01 1.04288353e-02 -4.30617561e+01] [ 1.94321101e-02 -6.39773390e-04 9.99810974e-01 2.84798963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.582755096 meters 0.02593750305046221 Centerline is valid? [True, True] Translation: X:142.86, Y:-43.09, Z:2.85 [[ 8.61473525e-01 5.07562553e-01 -1.56083561e-02 1.42864921e+02] [-5.07465880e-01 8.61614681e-01 9.92586390e-03 -4.30940625e+01] [ 1.84863855e-02 -6.30160818e-04 9.99828914e-01 2.85092552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.642755096 meters 0.025983866977651267 Centerline is valid? [True, True] Translation: X:142.92, Y:-43.12, Z:2.85 [[ 8.60792400e-01 5.08688762e-01 -1.64980750e-02 1.42919607e+02] [-5.08580826e-01 8.60950245e-01 1.04985039e-02 -4.31239719e+01] [ 1.95444927e-02 -6.46427740e-04 9.99808779e-01 2.85132118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.702755096 meters 0.026004062720346846 Centerline is valid? [True, True] Translation: X:142.97, Y:-43.16, Z:2.85 [[ 8.59870138e-01 5.10229909e-01 -1.69937126e-02 1.42971723e+02] [-5.10115554e-01 8.60037811e-01 1.08206282e-02 -4.31553981e+01] [ 2.01362436e-02 -6.35577954e-04 9.99797043e-01 2.85261402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76275509599998 meters 0.025679223738204145 Centerline is valid? [True, True] Translation: X:143.03, Y:-43.19, Z:2.85 [[ 8.59169207e-01 5.11411427e-01 -1.69300431e-02 1.43025153e+02] [-5.11298036e-01 8.59335778e-01 1.07860716e-02 -4.31868117e+01] [ 2.00647121e-02 -6.10762798e-04 9.99798497e-01 2.85395493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82275509599998 meters 0.024375253194405193 Centerline is valid? [True, True] Translation: X:143.08, Y:-43.22, Z:2.86 [[ 8.58959597e-01 5.11766396e-01 -1.68394353e-02 1.43080073e+02] [-5.11654155e-01 8.59124432e-01 1.07347653e-02 -4.32168887e+01] [ 1.99608624e-02 -6.04762584e-04 9.99800579e-01 2.85502270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88275509599998 meters 0.025576660885109515 Centerline is valid? [True, True] Translation: X:143.13, Y:-43.25, Z:2.86 [[ 8.60440342e-01 5.09289412e-01 -1.63313467e-02 1.43131387e+02] [-5.09183261e-01 8.60595070e-01 1.04178728e-02 -4.32518696e+01] [ 1.93603888e-02 -6.48309654e-04 9.99812360e-01 2.85656565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94275509599998 meters 0.0272713376820741 Centerline is valid? [True, True] Translation: X:143.18, Y:-43.29, Z:2.86 [[ 8.62003257e-01 5.06635888e-01 -1.64457408e-02 1.43182666e+02] [-5.06527725e-01 8.62159827e-01 1.04927245e-02 -4.32874958e+01] [ 1.94948478e-02 -7.14539021e-04 9.99809702e-01 2.85770937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.002755096 meters 0.032230833335705346 Centerline is valid? [True, True] Translation: X:143.23, Y:-43.33, Z:2.86 [[ 8.62553555e-01 5.05667940e-01 -1.73579812e-02 1.43230009e+02] [-5.05547203e-01 8.62727841e-01 1.10769439e-02 -4.33268193e+01] [ 2.05764690e-02 -7.79178495e-04 9.99787978e-01 2.85741305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.062755096 meters 0.028210584193264693 Centerline is valid? [True, True] Translation: X:143.29, Y:-43.36, Z:2.86 [[ 8.61801282e-01 5.06963744e-01 -1.69207820e-02 1.43285241e+02] [-5.06849190e-01 8.61967068e-01 1.08015344e-02 -4.33552627e+01] [ 2.00611432e-02 -7.32491520e-04 9.99798487e-01 2.86002988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.122755096 meters 0.02865277678022665 Centerline is valid? [True, True] Translation: X:143.34, Y:-43.39, Z:2.86 [[ 8.60306639e-01 5.09476496e-01 -1.74982116e-02 1.43335902e+02] [-5.09354375e-01 8.60484286e-01 1.11765060e-02 -4.33878161e+01] [ 2.07511032e-02 -7.02431696e-04 9.99784426e-01 2.86099465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.182755096 meters 0.0247276959998755 Centerline is valid? [True, True] Translation: X:143.39, Y:-43.41, Z:2.86 [[ 8.57461935e-01 5.14219448e-01 -1.83681673e-02 1.43391443e+02] [-5.14085951e-01 8.57658427e-01 1.17327603e-02 -4.34149106e+01] [ 2.17868270e-02 -6.17578604e-04 9.99762448e-01 2.86138395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.242755096 meters 0.022551835392854293 Centerline is valid? [True, True] Translation: X:143.45, Y:-43.45, Z:2.86 [[ 8.54952859e-01 5.18369741e-01 -1.86660218e-02 1.43445057e+02] [-5.18232841e-01 8.55156442e-01 1.19240544e-02 -4.34451775e+01] [ 2.21434378e-02 -5.21158870e-04 9.99754668e-01 2.86282374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.302755096 meters 0.022052431307063202 Centerline is valid? [True, True] Translation: X:143.50, Y:-43.48, Z:2.86 [[ 8.53670962e-01 5.20433877e-01 -1.98612434e-02 1.43497750e+02] [-5.20279379e-01 8.53901827e-01 1.26900461e-02 -4.34784161e+01] [ 2.35638819e-02 -4.99728425e-04 9.99722208e-01 2.86227515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.362755096 meters 0.02209883468621135 Centerline is valid? [True, True] Translation: X:143.55, Y:-43.51, Z:2.86 [[ 8.53514509e-01 5.20674756e-01 -2.02677488e-02 1.43549958e+02] [-5.20513742e-01 8.53754964e-01 1.29578716e-02 -4.35131314e+01] [ 2.40505278e-02 -5.10089658e-04 9.99710614e-01 2.86351261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.422755096 meters 0.023025381515228538 Centerline is valid? [True, True] Translation: X:143.60, Y:-43.55, Z:2.87 [[ 8.54568127e-01 5.18971778e-01 -1.95348341e-02 1.43600085e+02] [-5.18821567e-01 8.54791201e-01 1.24974191e-02 -4.35496932e+01] [ 2.31840121e-02 -5.44802834e-04 9.99731066e-01 2.86596662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.482755096 meters 0.024387872649698147 Centerline is valid? [True, True] Translation: X:143.65, Y:-43.59, Z:2.87 [[ 8.56541568e-01 5.15766610e-01 -1.79261380e-02 1.43650106e+02] [-5.15639296e-01 8.56728931e-01 1.14740605e-02 -4.35872064e+01] [ 2.12757783e-02 -5.84588584e-04 9.99773474e-01 2.87012111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54275509599998 meters 0.027941778036039262 Centerline is valid? [True, True] Translation: X:143.70, Y:-43.63, Z:2.87 [[ 8.57806437e-01 5.13693526e-01 -1.69433859e-02 1.43697424e+02] [-5.13579344e-01 8.57973541e-01 1.08470958e-02 -4.36270272e+01] [ 2.01090596e-02 -6.02935553e-04 9.99797611e-01 2.87217706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60275509599998 meters 0.027607936668851304 Centerline is valid? [True, True] Translation: X:143.75, Y:-43.66, Z:2.87 [[ 8.59000455e-01 5.11700744e-01 -1.67501316e-02 1.43747543e+02] [-5.11588657e-01 8.59163506e-01 1.07292272e-02 -4.36627891e+01] [ 1.98812553e-02 -6.47233758e-04 9.99802139e-01 2.87446067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66275509599998 meters 0.02758511768191144 Centerline is valid? [True, True] Translation: X:143.80, Y:-43.70, Z:2.87 [[ 8.58033160e-01 5.13298212e-01 -1.74368172e-02 1.43797889e+02] [-5.13176943e-01 8.58210076e-01 1.11754296e-02 -4.36971349e+01] [ 2.07007803e-02 -6.40716651e-04 9.99785511e-01 2.87487253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.722755096 meters 0.027180844860282792 Centerline is valid? [True, True] Translation: X:143.85, Y:-43.73, Z:2.88 [[ 8.57147905e-01 5.14766708e-01 -1.76834952e-02 1.43850301e+02] [-5.14642164e-01 8.57330072e-01 1.13397382e-02 -4.37306255e+01] [ 2.09979119e-02 -6.19160577e-04 9.99779328e-01 2.87553546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.782755096 meters 0.023001999591785928 Centerline is valid? [True, True] Translation: X:143.90, Y:-43.76, Z:2.88 [[ 8.54269530e-01 5.19490288e-01 -1.87992269e-02 1.43904464e+02] [-5.19350528e-01 8.54476184e-01 1.20615616e-02 -4.37598339e+01] [ 2.23293557e-02 -5.40436140e-04 9.99750523e-01 2.87594271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.842755096 meters 0.02215626394207589 Centerline is valid? [True, True] Translation: X:143.96, Y:-43.79, Z:2.88 [[ 8.51942861e-01 5.23252723e-01 -1.99987520e-02 1.43955590e+02] [-5.23095527e-01 8.52177426e-01 1.28337619e-02 -4.37941221e+01] [ 2.37577859e-02 -4.72374145e-04 9.99717632e-01 2.87568176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.902755096 meters 0.022862442430538605 Centerline is valid? [True, True] Translation: X:144.01, Y:-43.83, Z:2.87 [[ 8.50680316e-01 5.25290305e-01 -2.03247557e-02 1.44007459e+02] [-5.25128330e-01 8.50922976e-01 1.30509033e-02 -4.38283624e+01] [ 2.41503146e-02 -4.29041545e-04 9.99708247e-01 2.87486331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.962755096 meters 0.02059158977906076 Centerline is valid? [True, True] Translation: X:144.06, Y:-43.86, Z:2.88 [[ 8.49423211e-01 5.27344755e-01 -1.96905541e-02 1.44058565e+02] [-5.27193111e-01 8.49651326e-01 1.26510074e-02 -4.38637090e+01] [ 2.34015478e-02 -3.65334874e-04 9.99726080e-01 2.87948911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.022755096 meters 0.02109696261735443 Centerline is valid? [True, True] Translation: X:144.11, Y:-43.90, Z:2.88 [[ 8.49569123e-01 5.27135331e-01 -1.89907288e-02 1.44107688e+02] [-5.26994059e-01 8.49781272e-01 1.22086346e-02 -4.39021548e+01] [ 2.25735683e-02 -3.64077777e-04 9.99745118e-01 2.88197905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.082755096 meters 0.0214298979105007 Centerline is valid? [True, True] Translation: X:144.16, Y:-43.94, Z:2.88 [[ 8.50126675e-01 5.26257682e-01 -1.83708334e-02 1.44157098e+02] [-5.26125121e-01 8.50325059e-01 1.18173914e-02 -4.39409292e+01] [ 2.18401730e-02 -3.80922707e-04 9.99761402e-01 2.88430775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.142755096 meters 0.021801402991706628 Centerline is valid? [True, True] Translation: X:144.21, Y:-43.98, Z:2.89 [[ 8.50578517e-01 5.25539658e-01 -1.80070775e-02 1.44206777e+02] [-5.25411990e-01 8.50769011e-01 1.15900722e-02 -4.39775557e+01] [ 2.14109061e-02 -3.97131949e-04 9.99770681e-01 2.88606402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.202755096 meters 0.02212638605915233 Centerline is valid? [True, True] Translation: X:144.26, Y:-44.01, Z:2.89 [[ 8.50657821e-01 5.25469094e-01 -1.62328013e-02 1.44258090e+02] [-5.25365235e-01 8.50812611e-01 1.04532686e-02 -4.40131976e+01] [ 1.93039416e-02 -3.64005222e-04 9.99813595e-01 2.88945807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26275509599998 meters 0.021057250099087505 Centerline is valid? [True, True] Translation: X:144.31, Y:-44.05, Z:2.89 [[ 8.50049120e-01 5.26424148e-01 -1.71496418e-02 1.44311489e+02] [-5.26308261e-01 8.50222019e-01 1.10513656e-02 -4.40452633e+01] [ 2.03987088e-02 -3.68205433e-04 9.99791857e-01 2.88966023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32275509599998 meters 0.020122826453764665 Centerline is valid? [True, True] Translation: X:144.37, Y:-44.08, Z:2.89 [[ 8.48667513e-01 5.28647548e-01 -1.71820585e-02 1.44365430e+02] [-5.28531540e-01 8.48841367e-01 1.10789998e-02 -4.40756144e+01] [ 2.04417281e-02 -3.21127328e-04 9.99790994e-01 2.89023173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38275509599998 meters 0.019546996010953173 Centerline is valid? [True, True] Translation: X:144.42, Y:-44.11, Z:2.89 [[ 8.46980979e-01 5.31312394e-01 -1.81758348e-02 1.44418416e+02] [-5.31183034e-01 8.47175934e-01 1.17269680e-02 -4.41057761e+01] [ 2.16288132e-02 -2.77823756e-04 9.99766031e-01 2.88981440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44275509599998 meters 0.019663009818119713 Centerline is valid? [True, True] Translation: X:144.47, Y:-44.14, Z:2.89 [[ 8.47185958e-01 5.30916404e-01 -2.00928724e-02 1.44470964e+02] [-5.30758070e-01 8.47424137e-01 1.29693217e-02 -4.41380960e+01] [ 2.39128107e-02 -3.22973019e-04 9.99713996e-01 2.88773767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.502755096 meters 0.02074344151865048 Centerline is valid? [True, True] Translation: X:144.52, Y:-44.17, Z:2.89 [[ 8.49581628e-01 5.27073900e-01 -2.01037411e-02 1.44521268e+02] [-5.26914138e-01 8.49819341e-01 1.29838021e-02 -4.41740909e+01] [ 2.39279712e-02 -4.37854328e-04 9.99713589e-01 2.88950239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.562755096 meters 0.021522838986504037 Centerline is valid? [True, True] Translation: X:144.57, Y:-44.21, Z:2.89 [[ 8.50946565e-01 5.24917531e-01 -1.87491319e-02 1.44572960e+02] [-5.24777894e-01 8.51152962e-01 1.21160387e-02 -4.42085115e+01] [ 2.23183003e-02 -4.70971505e-04 9.99750805e-01 2.89254446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.622755096 meters 0.022599412981173666 Centerline is valid? [True, True] Translation: X:144.62, Y:-44.24, Z:2.89 [[ 8.52114221e-01 5.23032088e-01 -1.84062433e-02 1.44624409e+02] [-5.22896913e-01 8.52312834e-01 1.19017162e-02 -4.42431065e+01] [ 2.19128568e-02 -5.17053814e-04 9.99759751e-01 2.89375288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.682755096 meters 0.02402692330533931 Centerline is valid? [True, True] Translation: X:144.67, Y:-44.28, Z:2.89 [[ 8.52770194e-01 5.21962634e-01 -1.83849107e-02 1.44672892e+02] [-5.21827366e-01 8.52968174e-01 1.18951154e-02 -4.42798745e+01] [ 2.18905495e-02 -5.50050377e-04 9.99760222e-01 2.89484404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.742755096 meters 0.023010241275899467 Centerline is valid? [True, True] Translation: X:144.73, Y:-44.31, Z:2.90 [[ 8.52731116e-01 5.22010988e-01 -1.88194809e-02 1.44726653e+02] [-5.21869098e-01 8.52938571e-01 1.21835184e-02 -4.43121450e+01] [ 2.24117916e-02 -5.67959716e-04 9.99748663e-01 2.89567057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.802755096 meters 0.023077933530768563 Centerline is valid? [True, True] Translation: X:144.78, Y:-44.35, Z:2.90 [[ 8.52437950e-01 5.22493410e-01 -1.87130372e-02 1.44779281e+02] [-5.22353049e-01 8.52643139e-01 1.21230976e-02 -4.43469787e+01] [ 2.22897815e-02 -5.59376451e-04 9.99751395e-01 2.89671677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.862755096 meters 0.022728906628439155 Centerline is valid? [True, True] Translation: X:144.83, Y:-44.38, Z:2.90 [[ 8.52124543e-01 5.23023664e-01 -1.81661964e-02 1.44830684e+02] [-5.22891350e-01 8.52317992e-01 1.17760844e-02 -4.43827693e+01] [ 2.16425468e-02 -5.35743631e-04 9.99765629e-01 2.89951444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.922755096 meters 0.02279679144323888 Centerline is valid? [True, True] Translation: X:144.88, Y:-44.42, Z:2.90 [[ 8.51759028e-01 5.23630132e-01 -1.78337694e-02 1.44881442e+02] [-5.23502685e-01 8.51945551e-01 1.15636212e-02 -4.44181335e+01] [ 2.12484609e-02 -5.13392586e-04 9.99774094e-01 2.90143256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.982755096 meters 0.02291727318643896 Centerline is valid? [True, True] Translation: X:144.93, Y:-44.45, Z:2.90 [[ 8.51765148e-01 5.23625150e-01 -1.76871272e-02 1.44932587e+02] [-5.23499641e-01 8.51948612e-01 1.14755590e-02 -4.44542536e+01] [ 2.10774147e-02 -5.15276449e-04 9.99777714e-01 2.90185812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04275509599998 meters 0.02283176602347479 Centerline is valid? [True, True] Translation: X:144.98, Y:-44.49, Z:2.90 [[ 8.51774204e-01 5.23616820e-01 -1.74966246e-02 1.44984758e+02] [-5.23493836e-01 8.51953731e-01 1.13597615e-02 -4.44899236e+01] [ 2.08544768e-02 -5.16576632e-04 9.99782388e-01 2.90344009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10275509599998 meters 0.022393075933002656 Centerline is valid? [True, True] Translation: X:145.04, Y:-44.52, Z:2.91 [[ 8.50491726e-01 5.25710211e-01 -1.71054958e-02 1.45037434e+02] [-5.25592934e-01 8.50663601e-01 1.11133350e-02 -4.45231793e+01] [ 2.03934164e-02 -4.61271760e-04 9.99791926e-01 2.90537236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16275509599998 meters 0.0213554000660722 Centerline is valid? [True, True] Translation: X:145.09, Y:-44.56, Z:2.90 [[ 8.48235531e-01 5.29266610e-01 -1.93220124e-02 1.45089922e+02] [-5.29117696e-01 8.48455461e-01 1.25615957e-02 -4.45551680e+01] [ 2.30423001e-02 -4.31573081e-04 9.99734398e-01 2.90433888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.222755096 meters 0.019670872062380353 Centerline is valid? [True, True] Translation: X:145.14, Y:-44.58, Z:2.91 [[ 8.45317342e-01 5.33907139e-01 -1.95386389e-02 1.45144208e+02] [-5.33755937e-01 8.45543061e-01 1.27095325e-02 -4.45844383e+01] [ 2.33064707e-02 -3.14723752e-04 9.99728318e-01 2.90579035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.282755096 meters 0.01885613896033255 Centerline is valid? [True, True] Translation: X:145.20, Y:-44.61, Z:2.91 [[ 8.43406173e-01 5.36945694e-01 -1.88506885e-02 1.45197450e+02] [-5.36805558e-01 8.43616779e-01 1.22688174e-02 -4.46140332e+01] [ 2.24904458e-02 -2.28441998e-04 9.99747032e-01 2.90737895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.342755096 meters 0.018995577245569824 Centerline is valid? [True, True] Translation: X:145.25, Y:-44.65, Z:2.91 [[ 8.43348940e-01 5.37040390e-01 -1.87132319e-02 1.45249691e+02] [-5.36902170e-01 8.43556499e-01 1.21857970e-02 -4.46475435e+01] [ 2.23299336e-02 -2.29704136e-04 9.99750630e-01 2.90854273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.402755096 meters 0.020061514576857082 Centerline is valid? [True, True] Translation: X:145.30, Y:-44.68, Z:2.91 [[ 8.45345808e-01 5.33899043e-01 -1.85007167e-02 1.45299979e+02] [-5.33763043e-01 8.45548173e-01 1.20540964e-02 -4.46846372e+01] [ 2.20789177e-02 -3.14881044e-04 9.99756181e-01 2.91146175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.462755096 meters 0.0223894388283402 Centerline is valid? [True, True] Translation: X:145.35, Y:-44.72, Z:2.91 [[ 8.47682455e-01 5.30200829e-01 -1.79314303e-02 1.45348321e+02] [-5.30072111e-01 8.47871994e-01 1.16892618e-02 -4.47230808e+01] [ 2.14012139e-02 -4.03831010e-04 9.99770886e-01 2.91336931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.522755096 meters 0.021534899941227613 Centerline is valid? [True, True] Translation: X:145.40, Y:-44.76, Z:2.92 [[ 8.49171897e-01 5.27841212e-01 -1.70512303e-02 1.45401897e+02] [-5.27724279e-01 8.49342957e-01 1.11187967e-02 -4.47551050e+01] [ 2.03513015e-02 -4.43421439e-04 9.99792792e-01 2.91524729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.582755096 meters 0.02469339731215466 Centerline is valid? [True, True] Translation: X:145.45, Y:-44.79, Z:2.92 [[ 8.52575796e-01 5.22349338e-01 -1.62997149e-02 1.45449442e+02] [-5.22241361e-01 8.52731412e-01 1.06348186e-02 -4.47926962e+01] [ 1.94543694e-02 -5.54603605e-04 9.99810592e-01 2.91595700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.642755096 meters 0.024690490194513477 Centerline is valid? [True, True] Translation: X:145.50, Y:-44.83, Z:2.92 [[ 8.53099465e-01 5.21486711e-01 -1.65201031e-02 1.45501474e+02] [-5.21375603e-01 8.53259204e-01 1.07801168e-02 -4.48264768e+01] [ 1.97176177e-02 -5.83333185e-04 9.99805419e-01 2.91677700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.702755096 meters 0.027211902069752745 Centerline is valid? [True, True] Translation: X:145.55, Y:-44.86, Z:2.92 [[ 8.54686503e-01 5.18860680e-01 -1.71632512e-02 1.45550594e+02] [-5.18740087e-01 8.54858550e-01 1.12063381e-02 -4.48623972e+01] [ 2.04866802e-02 -6.74639469e-04 9.99789898e-01 2.91682584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76275509599998 meters 0.028193378255360595 Centerline is valid? [True, True] Translation: X:145.60, Y:-44.90, Z:2.92 [[ 8.54872501e-01 5.18544869e-01 -1.74420442e-02 1.45601940e+02] [-5.18420229e-01 8.55050137e-01 1.13899170e-02 -4.48968620e+01] [ 2.08200053e-02 -6.94618292e-04 9.99782999e-01 2.91752388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82275509599998 meters 0.028088145729793606 Centerline is valid? [True, True] Translation: X:145.65, Y:-44.93, Z:2.92 [[ 8.54505572e-01 5.19152819e-01 -1.73371578e-02 1.45653672e+02] [-5.19029664e-01 8.54681161e-01 1.13279170e-02 -4.49305701e+01] [ 2.06986622e-02 -6.81269024e-04 9.99785528e-01 2.91867211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88275509599998 meters 0.02601104187153717 Centerline is valid? [True, True] Translation: X:145.71, Y:-44.96, Z:2.92 [[ 8.53409803e-01 5.20943262e-01 -1.76018744e-02 1.45708240e+02] [-5.20816555e-01 8.53591056e-01 1.15076151e-02 -4.49604763e+01] [ 2.10196172e-02 -6.53363977e-04 9.99778850e-01 2.91938807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94275509599998 meters 0.024577998912657405 Centerline is valid? [True, True] Translation: X:145.76, Y:-44.99, Z:2.92 [[ 8.51398101e-01 5.24198753e-01 -1.83559416e-02 1.45760976e+02] [-5.24061567e-01 8.51595739e-01 1.20071245e-02 -4.49916540e+01] [ 2.19259613e-02 -6.03199503e-04 9.99759415e-01 2.91985572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.002755096 meters 0.0236485142547175 Centerline is valid? [True, True] Translation: X:145.81, Y:-45.02, Z:2.92 [[ 8.49607553e-01 5.27053273e-01 -1.95410838e-02 1.45814122e+02] [-5.26898494e-01 8.49832058e-01 1.27847682e-02 -4.50241358e+01] [ 2.33448934e-02 -5.65868060e-04 9.99727311e-01 2.91990559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.062755096 meters 0.02242019206762554 Centerline is valid? [True, True] Translation: X:145.87, Y:-45.06, Z:2.92 [[ 8.48751748e-01 5.28399603e-01 -2.03550914e-02 1.45867116e+02] [-5.28231846e-01 8.48995612e-01 1.33254764e-02 -4.50560403e+01] [ 2.43225597e-02 -5.57813909e-04 9.99704007e-01 2.92020662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.122755096 meters 0.02234608935526846 Centerline is valid? [True, True] Translation: X:145.92, Y:-45.09, Z:2.92 [[ 8.47977323e-01 5.29635896e-01 -2.05006593e-02 1.45919113e+02] [-5.29465921e-01 8.48224932e-01 1.34277289e-02 -4.50909485e+01] [ 2.45009775e-02 -5.32009139e-04 9.99699664e-01 2.92157764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.182755096 meters 0.023384389319863724 Centerline is valid? [True, True] Translation: X:145.97, Y:-45.13, Z:2.92 [[ 8.48865754e-01 5.28214198e-01 -2.04130604e-02 1.45969472e+02] [-5.28045164e-01 8.49110965e-01 1.33743636e-02 -4.51268992e+01] [ 2.43974822e-02 -5.74021417e-04 9.99702172e-01 2.92328245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.242755096 meters 0.024569311794029464 Centerline is valid? [True, True] Translation: X:146.02, Y:-45.16, Z:2.92 [[ 8.49701228e-01 5.26881609e-01 -2.00896135e-02 1.46019240e+02] [-5.26717336e-01 8.49938468e-01 1.31699695e-02 -4.51630544e+01] [ 2.40139501e-02 -6.08991531e-04 9.99711438e-01 2.92427604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.302755096 meters 0.02614190335710709 Centerline is valid? [True, True] Translation: X:146.07, Y:-45.20, Z:2.93 [[ 8.50846367e-01 5.25055937e-01 -1.94093535e-02 1.46068441e+02] [-5.24901971e-01 8.51067476e-01 1.27307608e-02 -4.52014782e+01] [ 2.32030310e-02 -6.43913677e-04 9.99730566e-01 2.92665046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.362755096 meters 0.026049547988638996 Centerline is valid? [True, True] Translation: X:146.12, Y:-45.24, Z:2.93 [[ 8.51496416e-01 5.23946325e-01 -2.08351390e-02 1.46119621e+02] [-5.23768365e-01 8.51750970e-01 1.36742353e-02 -4.52363419e+01] [ 2.49109152e-02 -7.30775621e-04 9.99689408e-01 2.92692425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.422755096 meters 0.026494343089522348 Centerline is valid? [True, True] Translation: X:146.17, Y:-45.27, Z:2.93 [[ 8.51766874e-01 5.23485543e-01 -2.13560197e-02 1.46170914e+02] [-5.23298213e-01 8.52034209e-01 1.40244905e-02 -4.52709611e+01] [ 2.55376773e-02 -7.70029471e-04 9.99673564e-01 2.92715465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.482755096 meters 0.026870792265179706 Centerline is valid? [True, True] Translation: X:146.22, Y:-45.31, Z:2.93 [[ 8.50859492e-01 5.24897379e-01 -2.28225044e-02 1.46221021e+02] [-5.24683695e-01 8.51165157e-01 1.49965030e-02 -4.53052655e+01] [ 2.72973457e-02 -7.85320959e-04 9.99627050e-01 2.92686514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54275509599998 meters 0.024432515746916936 Centerline is valid? [True, True] Translation: X:146.27, Y:-45.34, Z:2.93 [[ 8.49494061e-01 5.27105508e-01 -2.27952606e-02 1.46274869e+02] [-5.26892900e-01 8.49799544e-01 1.49869213e-02 -4.53364351e+01] [ 2.72710908e-02 -7.20639635e-04 9.99627815e-01 2.92968067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60275509599998 meters 0.023898374084962697 Centerline is valid? [True, True] Translation: X:146.33, Y:-45.37, Z:2.93 [[ 8.48304910e-01 5.29039626e-01 -2.22677645e-02 1.46326827e+02] [-5.28837182e-01 8.48596872e-01 1.46487113e-02 -4.53704168e+01] [ 2.66461040e-02 -6.50551861e-04 9.99644718e-01 2.93179796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66275509599998 meters 0.022368174977972152 Centerline is valid? [True, True] Translation: X:146.38, Y:-45.40, Z:2.94 [[ 8.46313281e-01 5.32273659e-01 -2.09423440e-02 1.46380645e+02] [-5.32095393e-01 8.46572194e-01 1.37845413e-02 -4.54018694e+01] [ 2.50663543e-02 -5.22715604e-04 9.99685653e-01 2.93506904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.722755096 meters 0.020704465556131337 Centerline is valid? [True, True] Translation: X:146.43, Y:-45.43, Z:2.94 [[ 8.44951488e-01 5.34454782e-01 -2.03732574e-02 1.46433208e+02] [-5.34286518e-01 8.45196949e-01 1.34177117e-02 -4.54342882e+01] [ 2.43905752e-02 -4.52158717e-04 9.99702403e-01 2.93786950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.782755096 meters 0.0209039044276616 Centerline is valid? [True, True] Translation: X:146.48, Y:-45.47, Z:2.94 [[ 8.44574717e-01 5.35051797e-01 -2.03254054e-02 1.46484614e+02] [-5.34884296e-01 8.44819140e-01 1.33943936e-02 -4.54692171e+01] [ 2.43379859e-02 -4.40826058e-04 9.99703690e-01 2.93858848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.842755096 meters 0.02151126372807825 Centerline is valid? [True, True] Translation: X:146.54, Y:-45.51, Z:2.94 [[ 8.44681608e-01 5.34887560e-01 -2.02059144e-02 1.46535691e+02] [-5.34721773e-01 8.44923130e-01 1.33240573e-02 -4.55050118e+01] [ 2.41993170e-02 -4.50043778e-04 9.99707052e-01 2.93988719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.902755096 meters 0.020974532953297608 Centerline is valid? [True, True] Translation: X:146.59, Y:-45.54, Z:2.94 [[ 8.45433698e-01 5.33685781e-01 -2.05267830e-02 1.46587684e+02] [-5.33514124e-01 8.45682705e-01 1.35440652e-02 -4.55383423e+01] [ 2.45874204e-02 -4.99280517e-04 9.99697559e-01 2.94125375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.962755096 meters 0.02183803878041733 Centerline is valid? [True, True] Translation: X:146.64, Y:-45.57, Z:2.94 [[ 8.46960601e-01 5.31299483e-01 -1.94576369e-02 1.46637608e+02] [-5.31144441e-01 8.47183901e-01 1.28460123e-02 -4.55746997e+01] [ 2.33092764e-02 -5.45250567e-04 9.99728153e-01 2.94354051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.022755096 meters 0.022758359129856152 Centerline is valid? [True, True] Translation: X:146.69, Y:-45.61, Z:2.94 [[ 8.47473728e-01 5.30491180e-01 -1.91673921e-02 1.46688128e+02] [-5.30340366e-01 8.47690267e-01 1.26612684e-02 -4.56099687e+01] [ 2.29647029e-02 -5.64850636e-04 9.99736117e-01 2.94423257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.082755096 meters 0.02343196655570342 Centerline is valid? [True, True] Translation: X:146.74, Y:-45.65, Z:2.94 [[ 8.47775255e-01 5.29991111e-01 -1.96605936e-02 1.46738344e+02] [-5.29832186e-01 8.48002987e-01 1.29919160e-02 -4.56457782e+01] [ 2.35578421e-02 -5.97409583e-04 9.99722297e-01 2.94484833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.142755096 meters 0.021865698448451903 Centerline is valid? [True, True] Translation: X:146.79, Y:-45.68, Z:2.95 [[ 8.46960195e-01 5.31306531e-01 -1.92820756e-02 1.46791908e+02] [-5.31153848e-01 8.47179474e-01 1.27487072e-02 -4.56767586e+01] [ 2.31088501e-02 -5.55898925e-04 9.99732800e-01 2.94648594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.202755096 meters 0.020564708229582642 Centerline is valid? [True, True] Translation: X:146.85, Y:-45.71, Z:2.95 [[ 8.44991838e-01 5.34406210e-01 -1.99699073e-02 1.46845693e+02] [-5.34243123e-01 8.45227637e-01 1.32108893e-02 -4.57090057e+01] [ 2.39390989e-02 -4.94308018e-04 9.99713297e-01 2.94660311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26275509599998 meters 0.02010001661460204 Centerline is valid? [True, True] Translation: X:146.90, Y:-45.74, Z:2.95 [[ 8.43524472e-01 5.36702361e-01 -2.04215830e-02 1.46897157e+02] [-5.36532355e-01 8.43771521e-01 1.35149209e-02 -4.57418897e+01] [ 2.44846401e-02 -4.43326489e-04 9.99700108e-01 2.94764968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32275509599998 meters 0.018632108005376322 Centerline is valid? [True, True] Translation: X:146.95, Y:-45.77, Z:2.95 [[ 8.40946627e-01 5.40743525e-01 -2.01298280e-02 1.46951015e+02] [-5.40579322e-01 8.41187454e-01 1.33290597e-02 -4.57708811e+01] [ 2.41405615e-02 -3.27259016e-04 9.99708521e-01 2.94860358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38275509599998 meters 0.01776073975215586 Centerline is valid? [True, True] Translation: X:147.01, Y:-45.80, Z:2.95 [[ 8.39353698e-01 5.43245515e-01 -1.92270825e-02 1.47005089e+02] [-5.43096233e-01 8.39573849e-01 1.27370955e-02 -4.58025695e+01] [ 2.30619256e-02 -2.48772120e-04 9.99734007e-01 2.95186213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44275509599998 meters 0.01768324757622771 Centerline is valid? [True, True] Translation: X:147.06, Y:-45.84, Z:2.95 [[ 8.38861348e-01 5.44016358e-01 -1.89167137e-02 1.47056294e+02] [-5.43871989e-01 8.39074580e-01 1.25342754e-02 -4.58366236e+01] [ 2.26913844e-02 -2.26248404e-04 9.99742492e-01 2.95357930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.502755096 meters 0.01746678356873722 Centerline is valid? [True, True] Translation: X:147.11, Y:-45.87, Z:2.96 [[ 8.39258558e-01 5.43408284e-01 -1.87752174e-02 1.47110323e+02] [-5.43265809e-01 8.39468508e-01 1.24452496e-02 -4.58696447e+01] [ 2.25240555e-02 -2.44848620e-04 9.99746271e-01 2.95575900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.562755096 meters 0.01786278715060367 Centerline is valid? [True, True] Translation: X:147.16, Y:-45.90, Z:2.96 [[ 8.39504216e-01 5.43037555e-01 -1.85171721e-02 1.47161860e+02] [-5.42898694e-01 8.39708370e-01 1.22825515e-02 -4.59047888e+01] [ 2.22189112e-02 -2.58305257e-04 9.99753096e-01 2.95691347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.622755096 meters 0.018405964293965252 Centerline is valid? [True, True] Translation: X:147.21, Y:-45.94, Z:2.96 [[ 8.41112743e-01 5.40555845e-01 -1.81309851e-02 1.47212971e+02] [-5.40421976e-01 8.41308073e-01 1.20338530e-02 -4.59390964e+01] [ 2.17587137e-02 -3.23444290e-04 9.99763199e-01 2.95866908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.682755096 meters 0.019621984636236458 Centerline is valid? [True, True] Translation: X:147.26, Y:-45.98, Z:2.96 [[ 8.43504393e-01 5.36800217e-01 -1.85974855e-02 1.47263594e+02] [-5.36658292e-01 8.43709272e-01 1.23507721e-02 -4.59753649e+01] [ 2.23207681e-02 -4.37435720e-04 9.99750765e-01 2.95941129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.742755096 meters 0.020859455960247922 Centerline is valid? [True, True] Translation: X:147.31, Y:-46.01, Z:2.96 [[ 8.45291331e-01 5.33965430e-01 -1.90653138e-02 1.47314795e+02] [-5.33815368e-01 8.45506142e-01 1.26694817e-02 -4.60105164e+01] [ 2.28849052e-02 -5.32045570e-04 9.99737965e-01 2.96019242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.802755096 meters 0.02377959925898246 Centerline is valid? [True, True] Translation: X:147.36, Y:-46.05, Z:2.96 [[ 8.48197480e-01 5.29291401e-01 -2.02890883e-02 1.47363263e+02] [-5.29119943e-01 8.48439811e-01 1.34897404e-02 -4.60467639e+01] [ 2.43540739e-02 -7.06602542e-04 9.99703146e-01 2.95899685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.862755096 meters 0.026654467388895053 Centerline is valid? [True, True] Translation: X:147.41, Y:-46.08, Z:2.96 [[ 8.51079674e-01 5.24606548e-01 -2.12451783e-02 1.47411683e+02] [-5.24417062e-01 8.51344344e-01 1.41262966e-02 -4.60834980e+01] [ 2.54977101e-02 -8.81269946e-04 9.99674492e-01 2.95928216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.922755096 meters 0.029177993051765667 Centerline is valid? [True, True] Translation: X:147.46, Y:-46.12, Z:2.96 [[ 8.52966052e-01 5.21541098e-01 -2.10664687e-02 1.47461413e+02] [-5.21353816e-01 8.53225615e-01 1.40088728e-02 -4.61198054e+01] [ 2.52806536e-02 -9.66009040e-04 9.99679926e-01 2.96007065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.982755096 meters 0.030153717107726005 Centerline is valid? [True, True] Translation: X:147.51, Y:-46.16, Z:2.96 [[ 8.54531072e-01 5.18982772e-01 -2.08213611e-02 1.47511764e+02] [-5.18799019e-01 8.54784077e-01 1.38477071e-02 -4.61556592e+01] [ 2.49844893e-02 -1.03119426e-03 9.99687307e-01 2.96223514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04275509599998 meters 0.029487169962879613 Centerline is valid? [True, True] Translation: X:147.56, Y:-46.19, Z:2.96 [[ 8.54616696e-01 5.18858113e-01 -2.04098293e-02 1.47564068e+02] [-5.18681400e-01 8.54859767e-01 1.35788039e-02 -4.61883182e+01] [ 2.44930145e-02 -1.01847364e-03 9.99699482e-01 2.96395428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10275509599998 meters 0.028077294059940697 Centerline is valid? [True, True] Translation: X:147.62, Y:-46.22, Z:2.97 [[ 8.53049123e-01 5.21465784e-01 -1.95097313e-02 1.47616766e+02] [-5.21304846e-01 8.53271711e-01 1.29863635e-02 -4.62203367e+01] [ 2.34190460e-02 -9.07488507e-04 9.99725325e-01 2.96586185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16275509599998 meters 0.025339640058092333 Centerline is valid? [True, True] Translation: X:147.67, Y:-46.25, Z:2.97 [[ 8.50226299e-01 5.26099653e-01 -1.82864918e-02 1.47670444e+02] [-5.25959303e-01 8.50422612e-01 1.21734829e-02 -4.62494426e+01] [ 2.19557113e-02 -7.32264775e-04 9.99758676e-01 2.96801248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.222755096 meters 0.024247852689617284 Centerline is valid? [True, True] Translation: X:147.72, Y:-46.28, Z:2.97 [[ 8.47392949e-01 5.30677085e-01 -1.75220106e-02 1.47722481e+02] [-5.30549188e-01 8.47573882e-01 1.16651030e-02 -4.62811014e+01] [ 2.10416014e-02 -5.88637533e-04 9.99778428e-01 2.96974207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.282755096 meters 0.02149107494063967 Centerline is valid? [True, True] Translation: X:147.78, Y:-46.31, Z:2.97 [[ 8.45222912e-01 5.34135693e-01 -1.72421347e-02 1.47776820e+02] [-5.34012545e-01 8.45398614e-01 1.14798008e-02 -4.63108374e+01] [ 2.07082482e-02 -4.95474411e-04 9.99785438e-01 2.97233358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.342755096 meters 0.022547027482661734 Centerline is valid? [True, True] Translation: X:147.83, Y:-46.35, Z:2.97 [[ 8.44323141e-01 5.35562713e-01 -1.70591535e-02 1.47826898e+02] [-5.35442417e-01 8.44495336e-01 1.13598547e-02 -4.63455918e+01] [ 2.04902901e-02 -4.57193828e-04 9.99789947e-01 2.97315927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.402755096 meters 0.023065830073892915 Centerline is valid? [True, True] Translation: X:147.88, Y:-46.38, Z:2.97 [[ 8.44330329e-01 5.35543979e-01 -1.72899510e-02 1.47877951e+02] [-5.35420269e-01 8.44507209e-01 1.15199824e-02 -4.63795224e+01] [ 2.07709455e-02 -4.69280285e-04 9.99784151e-01 2.97275178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.462755096 meters 0.022692098623938367 Centerline is valid? [True, True] Translation: X:147.93, Y:-46.41, Z:2.97 [[ 8.45667351e-01 5.33402462e-01 -1.81258351e-02 1.47929882e+02] [-5.33265863e-01 8.45861400e-01 1.20835224e-02 -4.64138142e+01] [ 2.17773249e-02 -5.52751343e-04 9.99762693e-01 2.97310161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.522755096 meters 0.023841326175965252 Centerline is valid? [True, True] Translation: X:147.98, Y:-46.45, Z:2.97 [[ 8.47000724e-01 5.31283316e-01 -1.81055680e-02 1.47979983e+02] [-5.31146384e-01 8.47193993e-01 1.20771111e-02 -4.64498042e+01] [ 2.17552960e-02 -6.12614847e-04 9.99763138e-01 2.97383061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.582755096 meters 0.0245742425735755 Centerline is valid? [True, True] Translation: X:148.03, Y:-46.49, Z:2.97 [[ 8.49252722e-01 5.27647525e-01 -1.89183313e-02 1.48029475e+02] [-5.27496976e-01 8.49463088e-01 1.26254578e-02 -4.64861311e+01] [ 2.27322157e-02 -7.42841805e-04 9.99741314e-01 2.97474635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.642755096 meters 0.02642144196073583 Centerline is valid? [True, True] Translation: X:148.08, Y:-46.52, Z:2.98 [[ 8.50650677e-01 5.25362012e-01 -1.97023470e-02 1.48079455e+02] [-5.25198078e-01 8.50878401e-01 1.31501193e-02 -4.65238210e+01] [ 2.36728746e-02 -8.38523149e-04 9.99719407e-01 2.97541612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.702755096 meters 0.029706801772561384 Centerline is valid? [True, True] Translation: X:148.13, Y:-46.56, Z:2.98 [[ 8.51916493e-01 5.23301147e-01 -1.98544134e-02 1.48127204e+02] [-5.23134032e-01 8.52147340e-01 1.32550193e-02 -4.65623336e+01] [ 2.38552524e-02 -9.05650166e-04 9.99715013e-01 2.97568224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76275509599998 meters 0.02915556529829348 Centerline is valid? [True, True] Translation: X:148.18, Y:-46.60, Z:2.98 [[ 8.52068154e-01 5.23060416e-01 -1.96891200e-02 1.48179092e+02] [-5.22895834e-01 8.52295120e-01 1.31520036e-02 -4.65970118e+01] [ 2.36602334e-02 -9.11044639e-04 9.99719642e-01 2.97772704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82275509599998 meters 0.02892202162098171 Centerline is valid? [True, True] Translation: X:148.23, Y:-46.63, Z:2.98 [[ 8.51157100e-01 5.24554992e-01 -1.93300762e-02 1.48230583e+02] [-5.24396569e-01 8.51376134e-01 1.29196368e-02 -4.66311312e+01] [ 2.32342255e-02 -8.60014913e-04 9.99729679e-01 2.97986160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88275509599998 meters 0.02790693017738633 Centerline is valid? [True, True] Translation: X:148.28, Y:-46.66, Z:2.98 [[ 8.49561530e-01 5.27160499e-01 -1.86283421e-02 1.48282920e+02] [-5.27013859e-01 8.49765393e-01 1.24567080e-02 -4.66642735e+01] [ 2.23964048e-02 -7.65345396e-04 9.99748876e-01 2.98242370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94275509599998 meters 0.025924461073445235 Centerline is valid? [True, True] Translation: X:148.34, Y:-46.70, Z:2.99 [[ 8.46818765e-01 5.31570873e-01 -1.81765189e-02 1.48335477e+02] [-5.31432242e-01 8.47013580e-01 1.21559730e-02 -4.66952550e+01] [ 2.18575195e-02 -6.34317897e-04 9.99760895e-01 2.98538737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.002755096 meters 0.023057902088215888 Centerline is valid? [True, True] Translation: X:148.39, Y:-46.73, Z:2.99 [[ 8.44817614e-01 5.34730154e-01 -1.86241982e-02 1.48390302e+02] [-5.34585328e-01 8.45022686e-01 1.24574349e-02 -4.67254086e+01] [ 2.23992361e-02 -5.68037326e-04 9.99748944e-01 2.98660530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.062755096 meters 0.022941452168922523 Centerline is valid? [True, True] Translation: X:148.44, Y:-46.76, Z:2.99 [[ 8.44077174e-01 5.35872119e-01 -1.93596752e-02 1.48442108e+02] [-5.35715743e-01 8.44298971e-01 1.29572739e-02 -4.67592630e+01] [ 2.32887956e-02 -5.65656340e-04 9.99728619e-01 2.98655832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.122755096 meters 0.02393660639730441 Centerline is valid? [True, True] Translation: X:148.49, Y:-46.80, Z:2.99 [[ 8.44403665e-01 5.35346494e-01 -1.96616907e-02 1.48491046e+02] [-5.35184876e-01 8.44632332e-01 1.31670681e-02 -4.67952995e+01] [ 2.36558434e-02 -5.95681043e-04 9.99719984e-01 2.98798221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.182755096 meters 0.02580158499957177 Centerline is valid? [True, True] Translation: X:148.54, Y:-46.83, Z:2.99 [[ 8.45497943e-01 5.33581052e-01 -2.06031397e-02 1.48539503e+02] [-5.33402872e-01 8.45748659e-01 1.38051373e-02 -4.68329732e+01] [ 2.47912375e-02 -6.82441279e-04 9.99692417e-01 2.98817834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.242755096 meters 0.026934406653216 Centerline is valid? [True, True] Translation: X:148.59, Y:-46.87, Z:2.99 [[ 8.46023433e-01 5.32741218e-01 -2.07640253e-02 1.48589511e+02] [-5.32559806e-01 8.46277896e-01 1.39203225e-02 -4.68693671e+01] [ 2.49880652e-02 -7.18833726e-04 9.99687491e-01 2.98887968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.302755096 meters 0.028030700523426124 Centerline is valid? [True, True] Translation: X:148.64, Y:-46.91, Z:2.99 [[ 8.46554889e-01 5.31878126e-01 -2.12244856e-02 1.48639868e+02] [-5.31688103e-01 8.46820565e-01 1.42369481e-02 -4.69060491e+01] [ 2.55456521e-02 -7.67551500e-04 9.99673362e-01 2.98928904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.362755096 meters 0.026764852532750058 Centerline is valid? [True, True] Translation: X:148.69, Y:-46.94, Z:2.99 [[ 8.47499972e-01 5.30337795e-01 -2.20368023e-02 1.48691478e+02] [-5.30132202e-01 8.47785997e-01 1.47902532e-02 -4.69410594e+01] [ 2.65263226e-02 -8.52320616e-04 9.99647752e-01 2.99049119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.422755096 meters 0.027392241466386382 Centerline is valid? [True, True] Translation: X:148.74, Y:-46.98, Z:2.99 [[ 8.47734980e-01 5.29955452e-01 -2.21950914e-02 1.48741769e+02] [-5.29746531e-01 8.48025028e-01 1.49051919e-02 -4.69770404e+01] [ 2.67210807e-02 -8.77879915e-04 9.99642543e-01 2.99169549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.482755096 meters 0.028941544985236944 Centerline is valid? [True, True] Translation: X:148.79, Y:-47.01, Z:2.99 [[ 8.48684630e-01 5.28424252e-01 -2.24099937e-02 1.48791704e+02] [-5.28210495e-01 8.48979930e-01 1.50582606e-02 -4.70146754e+01] [ 2.69827850e-02 -9.42520479e-04 9.99635454e-01 2.99311932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54275509599998 meters 0.029796031027929413 Centerline is valid? [True, True] Translation: X:148.84, Y:-47.05, Z:3.00 [[ 8.48272976e-01 5.29110869e-01 -2.17863816e-02 1.48841621e+02] [-5.28908861e-01 8.48552223e-01 1.46472424e-02 -4.70500319e+01] [ 2.62368977e-02 -9.01849601e-04 9.99655347e-01 2.99545884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60275509599998 meters 0.029515027828937255 Centerline is valid? [True, True] Translation: X:148.89, Y:-47.08, Z:3.00 [[ 8.47332303e-01 5.30632798e-01 -2.13729324e-02 1.48893240e+02] [-5.30438675e-01 8.47601392e-01 1.43767908e-02 -4.70848455e+01] [ 2.57445240e-02 -8.44889367e-04 9.99668198e-01 2.99730939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66275509599998 meters 0.02816025220784471 Centerline is valid? [True, True] Translation: X:148.94, Y:-47.12, Z:3.00 [[ 8.45443084e-01 5.33630603e-01 -2.15492768e-02 1.48944259e+02] [-5.33434079e-01 8.45717325e-01 1.45013616e-02 -4.71172651e+01] [ 2.59629671e-02 -7.64957246e-04 9.99662613e-01 2.99875588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.722755096 meters 0.024549168669556334 Centerline is valid? [True, True] Translation: X:149.00, Y:-47.15, Z:3.00 [[ 8.43815606e-01 5.36209530e-01 -2.13204769e-02 1.48999329e+02] [-5.36017910e-01 8.44084638e-01 1.43500349e-02 -4.71465604e+01] [ 2.56909125e-02 -6.80625951e-04 9.99669702e-01 3.00048233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.782755096 meters 0.02316944776502095 Centerline is valid? [True, True] Translation: X:149.05, Y:-47.18, Z:3.00 [[ 8.41412658e-01 5.39968545e-01 -2.14175065e-02 1.49049955e+02] [-5.39776208e-01 8.41685001e-01 1.44223692e-02 -4.71793180e+01] [ 2.58144197e-02 -5.74503558e-04 9.99666587e-01 3.00197580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.842755096 meters 0.021868996073366693 Centerline is valid? [True, True] Translation: X:149.10, Y:-47.21, Z:3.00 [[ 8.39469343e-01 5.43023668e-01 -2.04087582e-02 1.49101877e+02] [-5.42849821e-01 8.39717263e-01 1.37473256e-02 -4.72132455e+01] [ 2.46027098e-02 -4.61567676e-04 9.99697201e-01 3.00496407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.902755096 meters 0.020668241071721417 Centerline is valid? [True, True] Translation: X:149.15, Y:-47.25, Z:3.01 [[ 8.38924784e-01 5.43895502e-01 -1.95675691e-02 1.49154890e+02] [-5.43735784e-01 8.39152849e-01 1.31868592e-02 -4.72466498e+01] [ 2.35924548e-02 -4.23195458e-04 9.99721570e-01 3.00751695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.962755096 meters 0.02075247605316959 Centerline is valid? [True, True] Translation: X:149.21, Y:-47.28, Z:3.01 [[ 8.38763124e-01 5.44143391e-01 -1.96058929e-02 1.49206474e+02] [-5.43983019e-01 8.38992129e-01 1.32167218e-02 -4.72835774e+01] [ 2.36409817e-02 -4.20426069e-04 9.99720425e-01 3.00872381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.022755096 meters 0.0215018469677315 Centerline is valid? [True, True] Translation: X:149.26, Y:-47.32, Z:3.01 [[ 8.39338650e-01 5.43227562e-01 -2.03579704e-02 1.49255552e+02] [-5.43054175e-01 8.39585371e-01 1.37320004e-02 -4.73209362e+01] [ 2.45518552e-02 -4.70317822e-04 9.99698447e-01 3.00864656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.082755096 meters 0.02166901669168475 Centerline is valid? [True, True] Translation: X:149.31, Y:-47.36, Z:3.01 [[ 8.39833856e-01 5.42445280e-01 -2.07897277e-02 1.49306331e+02] [-5.42264084e-01 8.40090983e-01 1.40286383e-02 -4.73572111e+01] [ 2.50750314e-02 -5.08202793e-04 9.99685443e-01 3.00920807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.142755096 meters 0.022284420363580738 Centerline is valid? [True, True] Translation: X:149.36, Y:-47.39, Z:3.01 [[ 8.40174877e-01 5.41912462e-01 -2.09059986e-02 1.49356071e+02] [-5.41728865e-01 8.40434768e-01 1.41151557e-02 -4.73936475e+01] [ 2.52193069e-02 -5.33816334e-04 9.99681800e-01 3.01073956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.202755096 meters 0.022056567770721885 Centerline is valid? [True, True] Translation: X:149.41, Y:-47.43, Z:3.01 [[ 8.40442014e-01 5.41490403e-01 -2.11036674e-02 1.49406842e+02] [-5.41302985e-01 8.40706745e-01 1.42564686e-02 -4.74290974e+01] [ 2.54617365e-02 -5.58256987e-04 9.99675642e-01 3.01238030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26275509599998 meters 0.021995525984984058 Centerline is valid? [True, True] Translation: X:149.46, Y:-47.47, Z:3.01 [[ 8.40305556e-01 5.41672723e-01 -2.18456852e-02 1.49458024e+02] [-5.41471707e-01 8.40589273e-01 1.47670274e-02 -4.74661078e+01] [ 2.63621446e-02 -5.79994723e-04 9.99652290e-01 3.01381650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32275509599998 meters 0.021581290485060627 Centerline is valid? [True, True] Translation: X:149.51, Y:-47.50, Z:3.02 [[ 8.39021193e-01 5.43678728e-01 -2.13746860e-02 1.49508962e+02] [-5.43486703e-01 8.39293260e-01 1.44577567e-02 -4.74999773e+01] [ 2.58000047e-02 -5.13506639e-04 9.99666993e-01 3.01525956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38275509599998 meters 0.020609235042063776 Centerline is valid? [True, True] Translation: X:149.56, Y:-47.53, Z:3.02 [[ 8.37838895e-01 5.45531495e-01 -2.05273985e-02 1.49561502e+02] [-5.45354796e-01 8.38090205e-01 1.38908209e-02 -4.75341286e+01] [ 2.47816919e-02 -4.43554812e-04 9.99692788e-01 3.01762352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44275509599998 meters 0.01902239052509182 Centerline is valid? [True, True] Translation: X:149.62, Y:-47.57, Z:3.02 [[ 8.35055821e-01 5.49773139e-01 -2.07670456e-02 1.49615168e+02] [-5.49593522e-01 8.35313947e-01 1.40559689e-02 -4.75666630e+01] [ 2.50745970e-02 -3.24084955e-04 9.99685530e-01 3.01957507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.502755096 meters 0.018201346797497908 Centerline is valid? [True, True] Translation: X:149.67, Y:-47.60, Z:3.02 [[ 8.32833230e-01 5.53120784e-01 -2.11236424e-02 1.49668501e+02] [-5.52935941e-01 8.33101041e-01 1.43003695e-02 -4.75995938e+01] [ 2.55079601e-02 -2.29801892e-04 9.99674593e-01 3.02038492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.562755096 meters 0.01732096600600459 Centerline is valid? [True, True] Translation: X:149.72, Y:-47.63, Z:3.02 [[ 8.29236001e-01 5.58511230e-01 -2.08052980e-02 1.49722413e+02] [-5.58333504e-01 8.29496957e-01 1.40888950e-02 -4.76292075e+01] [ 2.51267375e-02 -6.67240493e-05 9.99684271e-01 3.02160341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.622755096 meters 0.017194123582539602 Centerline is valid? [True, True] Translation: X:149.77, Y:-47.66, Z:3.02 [[ 8.26732501e-01 5.62211897e-01 -2.07642681e-02 1.49773550e+02] [-5.62035909e-01 8.26993217e-01 1.40661011e-02 -4.76590469e+01] [ 2.50800383e-02 4.13613861e-05 9.99685446e-01 3.02289184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.682755096 meters 0.017361769005757838 Centerline is valid? [True, True] Translation: X:149.82, Y:-47.69, Z:3.03 [[ 8.25491324e-01 5.64057853e-01 -2.00702073e-02 1.49822346e+02] [-5.63894034e-01 8.25735266e-01 1.35936985e-02 -4.76905648e+01] [ 2.42403104e-02 9.59899781e-05 9.99706156e-01 3.02520605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.742755096 meters 0.017167728609069156 Centerline is valid? [True, True] Translation: X:149.87, Y:-47.73, Z:3.03 [[ 8.25182385e-01 5.64498171e-01 -2.03922830e-02 1.49873870e+02] [-5.64329182e-01 8.25434311e-01 1.38120349e-02 -4.77262524e+01] [ 2.46293585e-02 1.10512444e-04 9.99696645e-01 3.02671642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.802755096 meters 0.017037649753514458 Centerline is valid? [True, True] Translation: X:149.92, Y:-47.76, Z:3.03 [[ 8.26484259e-01 5.62573501e-01 -2.08524624e-02 1.49922790e+02] [-5.62395936e-01 8.26747274e-01 1.41335378e-02 -4.77637553e+01] [ 2.51908703e-02 4.61935235e-05 9.99682659e-01 3.02688896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.862755096 meters 0.017001192585596733 Centerline is valid? [True, True] Translation: X:149.97, Y:-47.80, Z:3.03 [[ 8.28778578e-01 5.59160908e-01 -2.15672749e-02 1.49971787e+02] [-5.58969545e-01 8.29059150e-01 1.46278290e-02 -4.78042689e+01] [ 2.60598567e-02 -6.77815173e-05 9.99660382e-01 3.02875454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.922755096 meters 0.017319661573104862 Centerline is valid? [True, True] Translation: X:150.02, Y:-47.84, Z:3.03 [[ 8.30204900e-01 5.56996930e-01 -2.26769403e-02 1.50020839e+02] [-5.56784269e-01 8.30514537e-01 1.53909397e-02 -4.78427252e+01] [ 2.74062347e-02 -1.51469918e-04 9.99624367e-01 3.02876511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.982755096 meters 0.01829882210725822 Centerline is valid? [True, True] Translation: X:150.07, Y:-47.88, Z:3.03 [[ 8.32587266e-01 5.53379272e-01 -2.38710087e-02 1.50069914e+02] [-5.53141845e-01 8.32929346e-01 1.62112225e-02 -4.78804143e+01] [ 2.88538182e-02 -2.93203583e-04 9.99583599e-01 3.02800630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04275509599998 meters 0.018403813409649455 Centerline is valid? [True, True] Translation: X:150.12, Y:-47.91, Z:3.03 [[ 8.32421044e-01 5.53651768e-01 -2.33436247e-02 1.50122506e+02] [-5.53424564e-01 8.32748244e-01 1.58623265e-02 -4.79129354e+01] [ 2.82215676e-02 -2.85199055e-04 9.99601652e-01 3.03002617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10275509599998 meters 0.019245357102493556 Centerline is valid? [True, True] Translation: X:150.17, Y:-47.95, Z:3.03 [[ 8.33570905e-01 5.51897496e-01 -2.38474283e-02 1.50171519e+02] [-5.51659376e-01 8.33911880e-01 1.62144654e-02 -4.79506507e+01] [ 2.88353766e-02 -3.60249234e-04 9.99584109e-01 3.03073720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16275509599998 meters 0.020793646074152305 Centerline is valid? [True, True] Translation: X:150.22, Y:-47.99, Z:3.03 [[ 8.35506114e-01 5.48978297e-01 -2.35024158e-02 1.50219781e+02] [-5.48745683e-01 8.35836478e-01 1.59861606e-02 -4.79875066e+01] [ 2.84202317e-02 -4.59685750e-04 9.99595958e-01 3.03189210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.222755096 meters 0.0209838683279107 Centerline is valid? [True, True] Translation: X:150.27, Y:-48.02, Z:3.04 [[ 8.36148660e-01 5.48077389e-01 -2.16007905e-02 1.50272926e+02] [-5.47880512e-01 8.36427504e-01 1.46960860e-02 -4.80211215e+01] [ 2.61220877e-02 -4.53460449e-04 9.99658657e-01 3.03619099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.282755096 meters 0.02038454567694546 Centerline is valid? [True, True] Translation: X:150.33, Y:-48.05, Z:3.04 [[ 8.35281084e-01 5.49447592e-01 -2.03188286e-02 1.50325667e+02] [-5.49273600e-01 8.35528090e-01 1.38319820e-02 -4.80543657e+01] [ 2.45769012e-02 -3.92996829e-04 9.99697865e-01 3.04005797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.342755096 meters 0.02008150948024456 Centerline is valid? [True, True] Translation: X:150.38, Y:-48.09, Z:3.04 [[ 8.34676528e-01 5.50381940e-01 -1.98699138e-02 1.50376937e+02] [-5.50215641e-01 8.34912923e-01 1.35336671e-02 -4.80887191e+01] [ 2.40383337e-02 -3.63496971e-04 9.99710971e-01 3.04187777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.402755096 meters 0.01840579680534117 Centerline is valid? [True, True] Translation: X:150.43, Y:-48.12, Z:3.04 [[ 8.32804509e-01 5.53231921e-01 -1.92637209e-02 1.50431719e+02] [-5.53076212e-01 8.33027229e-01 1.31278359e-02 -4.81178064e+01] [ 2.33099419e-02 -2.78615153e-04 9.99728248e-01 3.04413868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.462755096 meters 0.017813692347942837 Centerline is valid? [True, True] Translation: X:150.49, Y:-48.15, Z:3.04 [[ 8.31367106e-01 5.55372120e-01 -1.97621807e-02 1.50485097e+02] [-5.55208663e-01 8.31601921e-01 1.34753680e-02 -4.81490020e+01] [ 2.39181111e-02 -2.30843825e-04 9.99713894e-01 3.04462057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.522755096 meters 0.017616541314459177 Centerline is valid? [True, True] Translation: X:150.54, Y:-48.18, Z:3.05 [[ 8.31134963e-01 5.55724710e-01 -1.96142592e-02 1.50536279e+02] [-5.55563643e-01 8.31366343e-01 1.33806714e-02 -4.81825927e+01] [ 2.37426046e-02 -2.24174547e-04 9.99718079e-01 3.04536705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.582755096 meters 0.01856264166239322 Centerline is valid? [True, True] Translation: X:150.58, Y:-48.22, Z:3.05 [[ 8.32900298e-01 5.53103057e-01 -1.88175713e-02 1.50584376e+02] [-5.52954120e-01 8.33112793e-01 1.28380781e-02 -4.82189462e+01] [ 2.27779396e-02 -2.87585553e-04 9.99740508e-01 3.04840096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.642755096 meters 0.018890947208787163 Centerline is valid? [True, True] Translation: X:150.64, Y:-48.25, Z:3.05 [[ 8.34893151e-01 5.50098875e-01 -1.85648574e-02 1.50635115e+02] [-5.49953129e-01 8.35099452e-01 1.26673319e-02 -4.82542584e+01] [ 2.24717872e-02 -3.66067195e-04 9.99747410e-01 3.04997385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.702755096 meters 0.01956948729898529 Centerline is valid? [True, True] Translation: X:150.69, Y:-48.29, Z:3.05 [[ 8.36067873e-01 5.48307967e-01 -1.86784766e-02 1.50685728e+02] [-5.48159811e-01 8.36276386e-01 1.27525290e-02 -4.82906324e+01] [ 2.26126822e-02 -4.23189636e-04 9.99744211e-01 3.05068936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76275509599998 meters 0.02141828523073561 Centerline is valid? [True, True] Translation: X:150.73, Y:-48.33, Z:3.05 [[ 8.38178200e-01 5.45069810e-01 -1.88734392e-02 1.50733379e+02] [-5.44917572e-01 8.38390500e-01 1.28922413e-02 -4.83283054e+01] [ 2.28504837e-02 -5.21526910e-04 9.99738758e-01 3.05205627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82275509599998 meters 0.022313203853732606 Centerline is valid? [True, True] Translation: X:150.78, Y:-48.36, Z:3.05 [[ 8.39213274e-01 5.43472857e-01 -1.89297346e-02 1.50784551e+02] [-5.43319250e-01 8.39426548e-01 1.29329795e-02 -4.83636389e+01] [ 2.29188451e-02 -5.68638863e-04 9.99737167e-01 3.05350378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88275509599998 meters 0.02367021012320609 Centerline is valid? [True, True] Translation: X:150.83, Y:-48.40, Z:3.06 [[ 8.39907423e-01 5.42407392e-01 -1.87013870e-02 1.50834077e+02] [-5.42257039e-01 8.40115388e-01 1.27843033e-02 -4.83991200e+01] [ 2.26456236e-02 -5.96672558e-04 9.99743377e-01 3.05540030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94275509599998 meters 0.02272330998458995 Centerline is valid? [True, True] Translation: X:150.89, Y:-48.43, Z:3.06 [[ 8.40480206e-01 5.41520802e-01 -1.86613242e-02 1.50887334e+02] [-5.41370716e-01 8.40687118e-01 1.27639120e-02 -4.84313513e+01] [ 2.26002587e-02 -6.25121001e-04 9.99744386e-01 3.05689969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.002755096 meters 0.022709607322365318 Centerline is valid? [True, True] Translation: X:150.94, Y:-48.47, Z:3.06 [[ 8.40442362e-01 5.41595415e-01 -1.81945572e-02 1.50939500e+02] [-5.41452596e-01 8.40639060e-01 1.24521602e-02 -4.84656289e+01] [ 2.20390883e-02 -6.13832698e-04 9.99756921e-01 3.05875651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.062755096 meters 0.023499763060784728 Centerline is valid? [True, True] Translation: X:150.99, Y:-48.50, Z:3.06 [[ 8.40226183e-01 5.41942051e-01 -1.78542942e-02 1.50990435e+02] [-5.41804444e-01 8.40415644e-01 1.22266240e-02 -4.84999300e+01] [ 2.16311498e-02 -5.99593714e-04 9.99765840e-01 3.05990100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.122755096 meters 0.023697734929012972 Centerline is valid? [True, True] Translation: X:151.04, Y:-48.54, Z:3.06 [[ 8.39773472e-01 5.42664333e-01 -1.72028284e-02 1.51041588e+02] [-5.42536652e-01 8.39949465e-01 1.17846256e-02 -4.85351954e+01] [ 2.08446025e-02 -5.63251073e-04 9.99782569e-01 3.06220186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.182755096 meters 0.022277174367498147 Centerline is valid? [True, True] Translation: X:151.10, Y:-48.57, Z:3.06 [[ 8.38217593e-01 5.45075964e-01 -1.68362580e-02 1.51095494e+02] [-5.44954018e-01 8.38386513e-01 1.15400772e-02 -4.85670054e+01] [ 2.04055104e-02 -4.98109267e-04 9.99791662e-01 3.06346914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.242755096 meters 0.02091462591856589 Centerline is valid? [True, True] Translation: X:151.15, Y:-48.60, Z:3.06 [[ 8.36617505e-01 5.47542949e-01 -1.63667390e-02 1.51149704e+02] [-5.47428058e-01 8.36777469e-01 1.12244342e-02 -4.85988171e+01] [ 1.98411782e-02 -4.30945923e-04 9.99803052e-01 3.06465390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.302755096 meters 0.020467568738927137 Centerline is valid? [True, True] Translation: X:151.20, Y:-48.63, Z:3.06 [[ 8.35637330e-01 5.49028769e-01 -1.66632197e-02 1.51201603e+02] [-5.48909916e-01 8.35803354e-01 1.14305448e-02 -4.86328907e+01] [ 2.02028729e-02 -4.05183395e-04 9.99795819e-01 3.06468367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.362755096 meters 0.020368786735834372 Centerline is valid? [True, True] Translation: X:151.25, Y:-48.67, Z:3.06 [[ 8.35500645e-01 5.49211677e-01 -1.74701663e-02 1.51253283e+02] [-5.49080914e-01 8.35683165e-01 1.19915658e-02 -4.86681584e+01] [ 2.11854319e-02 -4.26426073e-04 9.99775473e-01 3.06460681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.422755096 meters 0.02153443582912116 Centerline is valid? [True, True] Translation: X:151.30, Y:-48.71, Z:3.07 [[ 8.36080693e-01 5.48328184e-01 -1.74721689e-02 1.51302177e+02] [-5.48197030e-01 8.36263113e-01 1.20008819e-02 -4.87050227e+01] [ 2.11917522e-02 -4.55514567e-04 9.99775326e-01 3.06520613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.482755096 meters 0.02369791508437531 Centerline is valid? [True, True] Translation: X:151.35, Y:-48.74, Z:3.07 [[ 8.37825849e-01 5.45645270e-01 -1.78629713e-02 1.51350582e+02] [-5.45507426e-01 8.38016078e-01 1.22760321e-02 -4.87427548e+01] [ 2.16678160e-02 -5.40793509e-04 9.99765079e-01 3.06631700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54275509599998 meters 0.024974668003587774 Centerline is valid? [True, True] Translation: X:151.40, Y:-48.78, Z:3.07 [[ 8.40133521e-01 5.42082166e-01 -1.79608765e-02 1.51400448e+02] [-5.41941864e-01 8.40325243e-01 1.23491589e-02 -4.87804138e+01] [ 2.17872367e-02 -6.41191474e-04 9.99762424e-01 3.06752390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60275509599998 meters 0.02569949347451769 Centerline is valid? [True, True] Translation: X:151.45, Y:-48.82, Z:3.07 [[ 8.41592417e-01 5.39783364e-01 -1.88712572e-02 1.51450349e+02] [-5.39627847e-01 8.41803644e-01 1.29773119e-02 -4.88174646e+01] [ 2.28908301e-02 -7.38151361e-04 9.99737698e-01 3.06857557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66275509599998 meters 0.02720281270581682 Centerline is valid? [True, True] Translation: X:151.50, Y:-48.85, Z:3.07 [[ 8.43837646e-01 5.36266147e-01 -1.88850922e-02 1.51499625e+02] [-5.36109478e-01 8.44048530e-01 1.29886960e-02 -4.88535539e+01] [ 2.29053322e-02 -8.35873708e-04 9.99737289e-01 3.06928617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.722755096 meters 0.029510685480428366 Centerline is valid? [True, True] Translation: X:151.55, Y:-48.89, Z:3.07 [[ 8.44794489e-01 5.34740408e-01 -1.93640770e-02 1.51546963e+02] [-5.34575273e-01 8.45015909e-01 1.33188121e-02 -4.88915863e+01] [ 2.34850601e-02 -9.00102284e-04 9.99723783e-01 3.07098018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.782755096 meters 0.027447605681512888 Centerline is valid? [True, True] Translation: X:151.60, Y:-48.92, Z:3.07 [[ 8.44222915e-01 5.35650302e-01 -1.91421869e-02 1.51599849e+02] [-5.35489109e-01 8.44439461e-01 1.31685713e-02 -4.89248102e+01] [ 2.32181671e-02 -8.66777034e-04 9.99730046e-01 3.07314245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.842755096 meters 0.027159012042421632 Centerline is valid? [True, True] Translation: X:151.65, Y:-48.96, Z:3.07 [[ 8.42220610e-01 5.38818698e-01 -1.84079781e-02 1.51650866e+02] [-5.38670250e-01 8.42421415e-01 1.26697015e-02 -4.89581928e+01] [ 2.23339470e-02 -7.54853536e-04 9.99750281e-01 3.07451541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.902755096 meters 0.023102881217155206 Centerline is valid? [True, True] Translation: X:151.71, Y:-48.99, Z:3.08 [[ 8.40691013e-01 5.41217867e-01 -1.79399298e-02 1.51705207e+02] [-5.41077376e-01 8.40882134e-01 1.23494811e-02 -4.89884276e+01] [ 2.17691263e-02 -6.75207627e-04 9.99762796e-01 3.07692780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.962755096 meters 0.02190644109926207 Centerline is valid? [True, True] Translation: X:151.76, Y:-49.02, Z:3.08 [[ 8.38546829e-01 5.44561265e-01 -1.70951449e-02 1.51755495e+02] [-5.44434256e-01 8.38720876e-01 1.17742326e-02 -4.90217425e+01] [ 2.07498459e-02 -5.66062889e-04 9.99784539e-01 3.07877189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.022755096 meters 0.020998990415766142 Centerline is valid? [True, True] Translation: X:151.81, Y:-49.06, Z:3.08 [[ 8.36561119e-01 5.47642739e-01 -1.59036016e-02 1.51806736e+02] [-5.47533363e-01 8.36712151e-01 1.09541654e-02 -4.90552583e+01] [ 1.93057058e-02 -4.56076455e-04 9.99813523e-01 3.08114545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.082755096 meters 0.020585578339918153 Centerline is valid? [True, True] Translation: X:151.86, Y:-49.09, Z:3.08 [[ 8.35492078e-01 5.49278742e-01 -1.56796499e-02 1.51857122e+02] [-5.49172602e-01 8.35639091e-01 1.08057086e-02 -4.90901282e+01] [ 1.90378744e-02 -4.17249770e-04 9.99818676e-01 3.08247667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.142755096 meters 0.019496307099021865 Centerline is valid? [True, True] Translation: X:151.91, Y:-49.12, Z:3.08 [[ 8.34197510e-01 5.51232734e-01 -1.60308601e-02 1.51908995e+02] [-5.51122071e-01 8.34351440e-01 1.10515875e-02 -4.91249239e+01] [ 1.94673680e-02 -3.84245968e-04 9.99810419e-01 3.08292269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.202755096 meters 0.0200458601977053 Centerline is valid? [True, True] Translation: X:151.96, Y:-49.16, Z:3.08 [[ 8.34031618e-01 5.51495027e-01 -1.56363406e-02 1.51959423e+02] [-5.51389673e-01 8.34178096e-01 1.07857429e-02 -4.91615766e+01] [ 1.89917764e-02 -3.73933888e-04 9.99819570e-01 3.08351191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26275509599998 meters 0.0203571160893656 Centerline is valid? [True, True] Translation: X:152.01, Y:-49.20, Z:3.08 [[ 8.34110553e-01 5.51356322e-01 -1.63031150e-02 1.52010127e+02] [-5.51241622e-01 8.34269768e-01 1.12528807e-02 -4.91992139e+01] [ 1.98055429e-02 -3.99191000e-04 9.99803771e-01 3.08378432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32275509599998 meters 0.020442487074141504 Centerline is valid? [True, True] Translation: X:152.06, Y:-49.24, Z:3.08 [[ 8.35251232e-01 5.49606769e-01 -1.69640286e-02 1.52058922e+02] [-5.49482065e-01 8.35423356e-01 1.17165320e-02 -4.92370578e+01] [ 2.06116310e-02 -4.64818259e-04 9.99787450e-01 3.08389299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38275509599998 meters 0.020870364565102884 Centerline is valid? [True, True] Translation: X:152.11, Y:-49.27, Z:3.09 [[ 8.36185281e-01 5.48189131e-01 -1.68182192e-02 1.52108356e+02] [-5.48066195e-01 8.36354248e-01 1.16196942e-02 -4.92742059e+01] [ 2.04357791e-02 -4.98719798e-04 9.99791043e-01 3.08529671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44275509599998 meters 0.02559652353991931 Centerline is valid? [True, True] Translation: X:152.15, Y:-49.32, Z:3.09 [[ 8.37870748e-01 5.45616006e-01 -1.66067083e-02 1.52153201e+02] [-5.45495510e-01 8.38035119e-01 1.14799240e-02 -4.93160838e+01] [ 2.01806350e-02 -5.59807717e-04 9.99796194e-01 3.08606056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.502755096 meters 0.024141093082398226 Centerline is valid? [True, True] Translation: X:152.20, Y:-49.35, Z:3.09 [[ 8.39073240e-01 5.43776978e-01 -1.62079032e-02 1.52203869e+02] [-5.43661833e-01 8.39229557e-01 1.12054320e-02 -4.93523260e+01] [ 1.96954074e-02 -5.90559725e-04 9.99805852e-01 3.08773953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.562755096 meters 0.02369202655021021 Centerline is valid? [True, True] Translation: X:152.25, Y:-49.39, Z:3.09 [[ 8.39487183e-01 5.43153969e-01 -1.56536088e-02 1.52254157e+02] [-5.43046342e-01 8.39632907e-01 1.08283277e-02 -4.93883516e+01] [ 1.90247342e-02 -5.89607304e-04 9.99818840e-01 3.08854997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.622755096 meters 0.023876973141827258 Centerline is valid? [True, True] Translation: X:152.30, Y:-49.42, Z:3.09 [[ 8.38911891e-01 5.44047427e-01 -1.54672753e-02 1.52304705e+02] [-5.43942379e-01 8.39054274e-01 1.07057983e-02 -4.94249392e+01] [ 1.88023454e-02 -5.67914983e-04 9.99823059e-01 3.09048837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.682755096 meters 0.024148510368230035 Centerline is valid? [True, True] Translation: X:152.35, Y:-49.46, Z:3.09 [[ 8.37062716e-01 5.46891047e-01 -1.53685366e-02 1.52353716e+02] [-5.46787697e-01 8.37203635e-01 1.06436928e-02 -4.94609624e+01] [ 1.86875350e-02 -5.06111731e-04 9.99825245e-01 3.09172293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.742755096 meters 0.02060902672696416 Centerline is valid? [True, True] Translation: X:152.41, Y:-49.49, Z:3.09 [[ 8.34430280e-01 5.50895792e-01 -1.54897903e-02 1.52406604e+02] [-5.50791382e-01 8.34573931e-01 1.07334655e-02 -4.94920903e+01] [ 1.88403961e-02 -4.24685599e-04 9.99822414e-01 3.09200879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.802755096 meters 0.020192345769691495 Centerline is valid? [True, True] Translation: X:152.46, Y:-49.53, Z:3.09 [[ 8.32615899e-01 5.53632031e-01 -1.55672321e-02 1.52456657e+02] [-5.53527033e-01 8.32761335e-01 1.07880866e-02 -4.95266664e+01] [ 1.89364192e-02 -3.65448616e-04 9.99820623e-01 3.09267201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.862755096 meters 0.018242820589123247 Centerline is valid? [True, True] Translation: X:152.51, Y:-49.56, Z:3.09 [[ 8.31417941e-01 5.55437680e-01 -1.52705906e-02 1.52508033e+02] [-5.55336847e-01 8.31558103e-01 1.05880471e-02 -4.95610317e+01] [ 1.85793837e-02 -3.22770685e-04 9.99827336e-01 3.09367310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.922755096 meters 0.018487973174177306 Centerline is valid? [True, True] Translation: X:152.56, Y:-49.60, Z:3.09 [[ 8.31520219e-01 5.55268333e-01 -1.58493740e-02 1.52556684e+02] [-5.55159547e-01 8.31671184e-01 1.09963069e-02 -4.96006303e+01] [ 1.92873687e-02 -3.44720236e-04 9.99813922e-01 3.09405946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.982755096 meters 0.019134083796095838 Centerline is valid? [True, True] Translation: X:152.61, Y:-49.64, Z:3.10 [[ 8.32412915e-01 5.53940136e-01 -1.54617298e-02 1.52605513e+02] [-5.53836240e-01 8.32556417e-01 1.07346239e-02 -4.96390588e+01] [ 1.88191014e-02 -3.72373287e-04 9.99822836e-01 3.09522055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04275509599998 meters 0.021016576851320218 Centerline is valid? [True, True] Translation: X:152.65, Y:-49.68, Z:3.10 [[ 8.34476437e-01 5.50851526e-01 -1.45489392e-02 1.52650726e+02] [-5.50758959e-01 8.34603150e-01 1.01069388e-02 -4.96804122e+01] [ 1.77100131e-02 -4.21043692e-04 9.99843077e-01 3.09671773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10275509599998 meters 0.021556041458082705 Centerline is valid? [True, True] Translation: X:152.70, Y:-49.72, Z:3.10 [[ 8.35563257e-01 5.49189382e-01 -1.50022491e-02 1.52699308e+02] [-5.49090674e-01 8.35697793e-01 1.04226223e-02 -4.97194344e+01] [ 1.82613400e-02 -4.71165156e-04 9.99833137e-01 3.09719502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16275509599998 meters 0.021499677550663936 Centerline is valid? [True, True] Translation: X:152.75, Y:-49.75, Z:3.10 [[ 8.33996846e-01 5.51568085e-01 -1.48965960e-02 1.52749642e+02] [-5.51471029e-01 8.34129768e-01 1.03553981e-02 -4.97541350e+01] [ 1.81374012e-02 -4.21328235e-04 9.99835415e-01 3.09782943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.222755096 meters 0.020578927351788512 Centerline is valid? [True, True] Translation: X:152.80, Y:-49.79, Z:3.10 [[ 8.33393419e-01 5.52445514e-01 -1.61047858e-02 1.52800156e+02] [-5.52332108e-01 8.33548895e-01 1.12018868e-02 -4.97897088e+01] [ 1.96125585e-02 -4.40388459e-04 9.99807558e-01 3.09835668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.282755096 meters 0.02107078002323725 Centerline is valid? [True, True] Translation: X:152.85, Y:-49.83, Z:3.10 [[ 8.33270009e-01 5.52620570e-01 -1.64802319e-02 1.52849620e+02] [-5.52501709e-01 8.33432842e-01 1.14699450e-02 -4.98263167e+01] [ 2.00736941e-02 -4.52204895e-04 9.99798401e-01 3.09906817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.342755096 meters 0.020919835707706443 Centerline is valid? [True, True] Translation: X:152.90, Y:-49.86, Z:3.10 [[ 8.33021648e-01 5.52996261e-01 -1.64338102e-02 1.52902353e+02] [-5.52878000e-01 8.33183614e-01 1.14447377e-02 -4.98601825e+01] [ 2.00212786e-02 -4.47822135e-04 9.99799454e-01 3.09977587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.402755096 meters 0.020712873300010367 Centerline is valid? [True, True] Translation: X:152.95, Y:-49.90, Z:3.10 [[ 8.32604242e-01 5.53632799e-01 -1.61523686e-02 1.52953387e+02] [-5.53518531e-01 8.32760793e-01 1.12560214e-02 -4.98955123e+01] [ 1.96827619e-02 -4.31175799e-04 9.99806183e-01 3.10201602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.462755096 meters 0.01948260955965847 Centerline is valid? [True, True] Translation: X:153.01, Y:-49.93, Z:3.10 [[ 8.31773200e-01 5.54887590e-01 -1.59093212e-02 1.53005885e+02] [-5.54776841e-01 8.31925238e-01 1.10930050e-02 -4.99281994e+01] [ 1.93907367e-02 -4.00741276e-04 9.99811902e-01 3.10407039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.522755096 meters 0.01910939400087339 Centerline is valid? [True, True] Translation: X:153.06, Y:-49.96, Z:3.10 [[ 8.30867988e-01 5.56242794e-01 -1.58852476e-02 1.53058160e+02] [-5.56132498e-01 8.31019743e-01 1.10829132e-02 -4.99623557e+01] [ 1.93657450e-02 -3.74135330e-04 9.99812396e-01 3.10482909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.582755096 meters 0.01934523309480941 Centerline is valid? [True, True] Translation: X:153.11, Y:-50.00, Z:3.11 [[ 8.30657329e-01 5.56578163e-01 -1.51377393e-02 1.53110141e+02] [-5.56477947e-01 8.30795175e-01 1.05674322e-02 -4.99975844e+01] [ 1.84579628e-02 -3.54096898e-04 9.99829575e-01 3.10635854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.642755096 meters 0.020132684154137367 Centerline is valid? [True, True] Translation: X:153.16, Y:-50.03, Z:3.11 [[ 8.31894555e-01 5.54740304e-01 -1.46507470e-02 1.53160672e+02] [-5.54646027e-01 8.32023464e-01 1.02342208e-02 -5.00340193e+01] [ 1.78671001e-02 -3.87813904e-04 9.99840295e-01 3.10826215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.702755096 meters 0.02096695238728865 Centerline is valid? [True, True] Translation: X:153.21, Y:-50.07, Z:3.11 [[ 8.32899772e-01 5.53237613e-01 -1.43566488e-02 1.53210564e+02] [-5.53146757e-01 8.33023391e-01 1.00346731e-02 -5.00703019e+01] [ 1.75109829e-02 -4.16543183e-04 9.99846584e-01 3.10952347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76275509599998 meters 0.022575354028903444 Centerline is valid? [True, True] Translation: X:153.26, Y:-50.11, Z:3.11 [[ 8.34832631e-01 5.50323005e-01 -1.41091773e-02 1.53259978e+02] [-5.50234732e-01 8.34951714e-01 9.86784894e-03 -5.01085924e+01] [ 1.72109860e-02 -4.74642917e-04 9.99851767e-01 3.11060462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82275509599998 meters 0.023296120207494355 Centerline is valid? [True, True] Translation: X:153.31, Y:-50.15, Z:3.11 [[ 8.35474729e-01 5.49332950e-01 -1.46726833e-02 1.53309920e+02] [-5.49237303e-01 8.35603401e-01 1.02635736e-02 -5.01451616e+01] [ 1.78986633e-02 -5.16171362e-04 9.99839673e-01 3.11127615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88275509599998 meters 0.024171783679876938 Centerline is valid? [True, True] Translation: X:153.36, Y:-50.18, Z:3.11 [[ 8.36142748e-01 5.48314479e-01 -1.47152340e-02 1.53360339e+02] [-5.48218009e-01 8.36272047e-01 1.02994596e-02 -5.01804863e+01] [ 1.79532816e-02 -5.44662194e-04 9.99838678e-01 3.11126327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94275509599998 meters 0.02590659714236842 Centerline is valid? [True, True] Translation: X:153.41, Y:-50.22, Z:3.11 [[ 8.36799618e-01 5.47291394e-01 -1.54444128e-02 1.53409106e+02] [-5.47184835e-01 8.36941916e-01 1.08160101e-02 -5.02167459e+01] [ 1.88455857e-02 -5.99884677e-04 9.99822226e-01 3.11142577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.002755096 meters 0.024042084549525 Centerline is valid? [True, True] Translation: X:153.46, Y:-50.25, Z:3.11 [[ 8.36766409e-01 5.47318506e-01 -1.62612952e-02 1.53461405e+02] [-5.47200251e-01 8.36924159e-01 1.13945807e-02 -5.02509961e+01] [ 1.98459357e-02 -6.36417552e-04 9.99802847e-01 3.11269128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.062755096 meters 0.024331754093548607 Centerline is valid? [True, True] Translation: X:153.51, Y:-50.29, Z:3.11 [[ 8.36082030e-01 5.48358539e-01 -1.64241126e-02 1.53511551e+02] [-5.48237946e-01 8.36243101e-01 1.15165850e-02 -5.02852815e+01] [ 2.00497686e-02 -6.24488045e-04 9.99798788e-01 3.11423625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.122755096 meters 0.023863144684382737 Centerline is valid? [True, True] Translation: X:153.56, Y:-50.32, Z:3.12 [[ 8.34645888e-01 5.50547323e-01 -1.62445959e-02 1.53563501e+02] [-5.50429643e-01 8.34803761e-01 1.13969250e-02 -5.03188739e+01] [ 1.98355964e-02 -5.70889468e-04 9.99803092e-01 3.11550997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.182755096 meters 0.02347955400827533 Centerline is valid? [True, True] Translation: X:153.61, Y:-50.35, Z:3.12 [[ 8.34009700e-01 5.51514606e-01 -1.61077307e-02 1.53614721e+02] [-5.51398952e-01 8.34165055e-01 1.13074040e-02 -5.03545210e+01] [ 1.96727045e-02 -5.48698771e-04 9.99806323e-01 3.11687428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.242755096 meters 0.02203550811314016 Centerline is valid? [True, True] Translation: X:153.67, Y:-50.39, Z:3.12 [[ 8.32270928e-01 5.54132996e-01 -1.61779275e-02 1.53666961e+02] [-5.54016699e-01 8.32428002e-01 1.13630797e-02 -5.03888992e+01] [ 1.97636173e-02 -4.94318954e-04 9.99804558e-01 3.11897991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.302755096 meters 0.02143981980327924 Centerline is valid? [True, True] Translation: X:153.72, Y:-50.42, Z:3.12 [[ 8.30933880e-01 5.56146504e-01 -1.58099044e-02 1.53719282e+02] [-5.56035757e-01 8.31084156e-01 1.11068834e-02 -5.04233766e+01] [ 1.93164155e-02 -4.38213539e-04 9.99813325e-01 3.12024815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.362755096 meters 0.019829028367931024 Centerline is valid? [True, True] Translation: X:153.77, Y:-50.46, Z:3.12 [[ 8.28915060e-01 5.59138045e-01 -1.62625086e-02 1.53772044e+02] [-5.59021364e-01 8.29074484e-01 1.14286800e-02 -5.04566514e+01] [ 1.98730407e-02 -3.82315188e-04 9.99802439e-01 3.12221524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.422755096 meters 0.019687724851596387 Centerline is valid? [True, True] Translation: X:153.82, Y:-50.49, Z:3.12 [[ 8.27832970e-01 5.60716210e-01 -1.70266258e-02 1.53821466e+02] [-5.60588487e-01 8.28007970e-01 1.19728992e-02 -5.04929689e+01] [ 2.08115806e-02 -3.66630282e-04 9.99783348e-01 3.12330659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.482755096 meters 0.019667863244284944 Centerline is valid? [True, True] Translation: X:153.87, Y:-50.53, Z:3.12 [[ 8.27399060e-01 5.61322093e-01 -1.81191357e-02 1.53873066e+02] [-5.61177433e-01 8.27597344e-01 1.27485242e-02 -5.05296671e+01] [ 2.21513768e-02 -3.80066870e-04 9.99754556e-01 3.12349373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54275509599998 meters 0.019563182390175227 Centerline is valid? [True, True] Translation: X:153.92, Y:-50.57, Z:3.12 [[ 8.27330478e-01 5.61400088e-01 -1.88207949e-02 1.53924909e+02] [-5.61243821e-01 8.27544429e-01 1.32510907e-02 -5.05656314e+01] [ 2.30142074e-02 -3.99976335e-04 9.99735058e-01 3.12327805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60275509599998 meters 0.020312370650311693 Centerline is valid? [True, True] Translation: X:153.97, Y:-50.60, Z:3.13 [[ 8.28361201e-01 5.59889089e-01 -1.84913255e-02 1.53973701e+02] [-5.59737683e-01 8.28567446e-01 1.30274099e-02 -5.06045164e+01] [ 2.26152150e-02 -4.41109175e-04 9.99744146e-01 3.12542202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66275509599998 meters 0.020804406373150456 Centerline is valid? [True, True] Translation: X:154.02, Y:-50.64, Z:3.13 [[ 8.30000290e-01 5.57448328e-01 -1.87317916e-02 1.54022945e+02] [-5.57292156e-01 8.30211474e-01 1.32046009e-02 -5.06421727e+01] [ 2.29122310e-02 -5.20742093e-04 9.99737345e-01 3.12731220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.722755096 meters 0.02375855685800254 Centerline is valid? [True, True] Translation: X:154.07, Y:-50.68, Z:3.13 [[ 8.31137255e-01 5.55734989e-01 -1.92219921e-02 1.54069727e+02] [-5.55569884e-01 8.31359293e-01 1.35583677e-02 -5.06822209e+01] [ 2.35152411e-02 -5.89704655e-04 9.99723305e-01 3.12755569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.782755096 meters 0.02308397021048427 Centerline is valid? [True, True] Translation: X:154.12, Y:-50.72, Z:3.13 [[ 8.32064554e-01 5.54318955e-01 -1.99768364e-02 1.54121082e+02] [-5.54140020e-01 8.32304067e-01 1.40989186e-02 -5.07174099e+01] [ 2.44420999e-02 -6.61245894e-04 9.99701029e-01 3.12793857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.842755096 meters 0.025239611187338366 Centerline is valid? [True, True] Translation: X:154.17, Y:-50.76, Z:3.13 [[ 8.31753691e-01 5.54750649e-01 -2.09168636e-02 1.54169857e+02] [-5.54554378e-01 8.32016373e-01 1.47714780e-02 -5.07564870e+01] [ 2.55976600e-02 -6.86693014e-04 9.99672090e-01 3.12807047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.902755096 meters 0.022689614481751014 Centerline is valid? [True, True] Translation: X:154.22, Y:-50.79, Z:3.13 [[ 8.31320592e-01 5.55402364e-01 -2.08395621e-02 1.54223656e+02] [-5.55207515e-01 8.31581483e-01 1.47258876e-02 -5.07883017e+01] [ 2.55085867e-02 -6.71652097e-04 9.99674377e-01 3.13060258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.962755096 meters 0.022187644785167705 Centerline is valid? [True, True] Translation: X:154.27, Y:-50.82, Z:3.13 [[ 8.30175861e-01 5.57092796e-01 -2.13461244e-02 1.54274875e+02] [-5.56888679e-01 8.30450001e-01 1.50928806e-02 -5.08231807e+01] [ 2.61350241e-02 -6.42330129e-04 9.99658216e-01 3.13140820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.022755096 meters 0.02158726281398843 Centerline is valid? [True, True] Translation: X:154.33, Y:-50.86, Z:3.13 [[ 8.29162928e-01 5.58608577e-01 -2.11020477e-02 1.54326367e+02] [-5.58409396e-01 8.29431194e-01 1.49278575e-02 -5.08588382e+01] [ 2.58415259e-02 -5.94044261e-04 9.99665876e-01 3.13334614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.082755096 meters 0.021042436122868595 Centerline is valid? [True, True] Translation: X:154.38, Y:-50.89, Z:3.14 [[ 8.28452133e-01 5.59688367e-01 -2.03959679e-02 1.54379765e+02] [-5.59502520e-01 8.28702984e-01 1.44324269e-02 -5.08918454e+01] [ 2.49798609e-02 -5.44979398e-04 9.99687806e-01 3.13503296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.142755096 meters 0.02084242959696496 Centerline is valid? [True, True] Translation: X:154.43, Y:-50.93, Z:3.14 [[ 8.28304424e-01 5.59946922e-01 -1.92672139e-02 1.54431388e+02] [-5.59781054e-01 8.28528324e-01 1.36377326e-02 -5.09269398e+01] [ 2.35998389e-02 -5.10772956e-04 9.99721355e-01 3.13721616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.202755096 meters 0.020856948405054285 Centerline is valid? [True, True] Translation: X:154.48, Y:-50.96, Z:3.14 [[ 8.29009122e-01 5.58929382e-01 -1.84884229e-02 1.54481818e+02] [-5.58776212e-01 8.29215093e-01 1.30948597e-02 -5.09630949e+01] [ 2.26499812e-02 -5.24867221e-04 9.99743318e-01 3.13962914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26275509599998 meters 0.021687545922979667 Centerline is valid? [True, True] Translation: X:154.53, Y:-51.00, Z:3.14 [[ 8.29830131e-01 5.57708449e-01 -1.85267427e-02 1.54531483e+02] [-5.57554159e-01 8.30036726e-01 1.31299119e-02 -5.09998786e+01] [ 2.27005396e-02 -5.65934071e-04 9.99742149e-01 3.14029312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32275509599998 meters 0.02225439877723927 Centerline is valid? [True, True] Translation: X:154.58, Y:-51.04, Z:3.14 [[ 8.30858837e-01 5.56189516e-01 -1.80780442e-02 1.54581924e+02] [-5.56042083e-01 8.31055271e-01 1.28194411e-02 -5.10359570e+01] [ 2.21538927e-02 -5.98992570e-04 9.99754393e-01 3.14121137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38275509599998 meters 0.024160676410029287 Centerline is valid? [True, True] Translation: X:154.63, Y:-51.07, Z:3.14 [[ 8.32967016e-01 5.53056167e-01 -1.71704949e-02 1.54629866e+02] [-5.52922354e-01 8.33143714e-01 1.21828469e-02 -5.10747242e+01] [ 2.10432885e-02 -6.53959166e-04 9.99778352e-01 3.14267775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44275509599998 meters 0.02673326272620107 Centerline is valid? [True, True] Translation: X:154.68, Y:-51.11, Z:3.14 [[ 8.35392137e-01 5.49353581e-01 -1.81829864e-02 1.54676707e+02] [-5.49202496e-01 8.35589617e-01 1.29077671e-02 -5.11145873e+01] [ 2.22844427e-02 -7.96905592e-04 9.99751353e-01 3.14279152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.502755096 meters 0.02843463151866735 Centerline is valid? [True, True] Translation: X:154.73, Y:-51.15, Z:3.14 [[ 8.36592693e-01 5.47493608e-01 -1.90634479e-02 1.54725680e+02] [-5.47327020e-01 8.36809393e-01 1.35341840e-02 -5.11525777e+01] [ 2.33623515e-02 -8.88659286e-04 9.99726668e-01 3.14340912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.562755096 meters 0.028649479901513713 Centerline is valid? [True, True] Translation: X:154.78, Y:-51.19, Z:3.14 [[ 8.36396717e-01 5.47788499e-01 -1.91909345e-02 1.54776804e+02] [-5.47619667e-01 8.36616381e-01 1.36283156e-02 -5.11890798e+01] [ 2.35208847e-02 -8.89345291e-04 9.99722950e-01 3.14422451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.622755096 meters 0.028327938081942845 Centerline is valid? [True, True] Translation: X:154.83, Y:-51.22, Z:3.15 [[ 8.35652641e-01 5.48949416e-01 -1.84174351e-02 1.54828163e+02] [-5.48794019e-01 8.35855162e-01 1.30871300e-02 -5.12242400e+01] [ 2.25784806e-02 -8.28916488e-04 9.99744730e-01 3.14670801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.682755096 meters 0.027669600231196363 Centerline is valid? [True, True] Translation: X:154.88, Y:-51.26, Z:3.15 [[ 8.34095479e-01 5.51322451e-01 -1.81186818e-02 1.54877581e+02] [-5.51172468e-01 8.34291903e-01 1.28814062e-02 -5.12581657e+01] [ 2.22180780e-02 -7.57804065e-04 9.99752861e-01 3.14800092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.742755096 meters 0.02479200366079778 Centerline is valid? [True, True] Translation: X:154.93, Y:-51.29, Z:3.15 [[ 8.32604890e-01 5.53596696e-01 -1.73145896e-02 1.54931595e+02] [-5.53460159e-01 8.32784637e-01 1.23126572e-02 -5.12903661e+01] [ 2.12355705e-02 -6.68643119e-04 9.99774276e-01 3.15037787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.802755096 meters 0.024582571727549726 Centerline is valid? [True, True] Translation: X:154.98, Y:-51.32, Z:3.15 [[ 8.29458270e-01 5.58310890e-01 -1.69684487e-02 1.54982070e+02] [-5.58180662e-01 8.29631640e-01 1.20701929e-02 -5.13233494e+01] [ 2.08164821e-02 -5.40261345e-04 9.99783168e-01 3.15094858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.862755096 meters 0.019833218246483493 Centerline is valid? [True, True] Translation: X:155.04, Y:-51.35, Z:3.15 [[ 8.26983910e-01 5.62009669e-01 -1.55802749e-02 1.55037018e+02] [-5.61900486e-01 8.27130559e-01 1.10852116e-02 -5.13517439e+01] [ 1.91169176e-02 -4.12727640e-04 9.99817170e-01 3.15337303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.922755096 meters 0.019338754775684808 Centerline is valid? [True, True] Translation: X:155.09, Y:-51.39, Z:3.15 [[ 8.25936196e-01 5.63555093e-01 -1.53315751e-02 1.55088400e+02] [-5.63449617e-01 8.26078397e-01 1.09091970e-02 -5.13868025e+01] [ 1.88130165e-02 -3.71730559e-04 9.99822950e-01 3.15450280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.982755096 meters 0.01960940421931623 Centerline is valid? [True, True] Translation: X:155.14, Y:-51.42, Z:3.16 [[ 8.25628439e-01 5.64033670e-01 -1.42723887e-02 1.55139473e+02] [-5.63942239e-01 8.25751720e-01 1.01610553e-02 -5.14226610e+01] [ 1.75166268e-02 -3.40453417e-04 9.99846514e-01 3.15597006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04275509599998 meters 0.020255659461034095 Centerline is valid? [True, True] Translation: X:155.19, Y:-51.46, Z:3.16 [[ 8.26216917e-01 5.63172184e-01 -1.42372034e-02 1.55189417e+02] [-5.63080966e-01 8.26339494e-01 1.01423304e-02 -5.14596974e+01] [ 1.74766419e-02 -3.63066740e-04 9.99847206e-01 3.15735607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10275509599998 meters 0.021561936296742634 Centerline is valid? [True, True] Translation: X:155.24, Y:-51.50, Z:3.16 [[ 8.27347682e-01 5.61519455e-01 -1.38461081e-02 1.55238164e+02] [-5.61432855e-01 8.27463442e-01 9.86920064e-03 -5.14975958e+01] [ 1.69988964e-02 -3.91600304e-04 9.99855432e-01 3.15875443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16275509599998 meters 0.02193258711329714 Centerline is valid? [True, True] Translation: X:155.29, Y:-51.53, Z:3.16 [[ 8.29364560e-01 5.58518710e-01 -1.45353593e-02 1.55288520e+02] [-5.58422698e-01 8.29491784e-01 1.03668208e-02 -5.15337353e+01] [ 1.78470245e-02 -4.80999215e-04 9.99840613e-01 3.15858625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.222755096 meters 0.02449767452993856 Centerline is valid? [True, True] Translation: X:155.34, Y:-51.57, Z:3.16 [[ 8.31502176e-01 5.55304126e-01 -1.55389865e-02 1.55336222e+02] [-5.55193794e-01 8.31647149e-01 1.10846968e-02 -5.15720034e+01] [ 1.90783316e-02 -5.89800634e-04 9.99817818e-01 3.15795229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.282755096 meters 0.026884426193280943 Centerline is valid? [True, True] Translation: X:155.38, Y:-51.61, Z:3.16 [[ 8.33188455e-01 5.52737158e-01 -1.66923070e-02 1.55384642e+02] [-5.52609189e-01 8.33355351e-01 1.19139935e-02 -5.16095041e+01] [ 2.04959302e-02 -7.02279618e-04 9.99789690e-01 3.15800379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.342755096 meters 0.02623266144549879 Centerline is valid? [True, True] Translation: X:155.44, Y:-51.64, Z:3.16 [[ 8.33716070e-01 5.51943722e-01 -1.66024619e-02 1.55436647e+02] [-5.51816898e-01 8.33881052e-01 1.18533795e-02 -5.16437346e+01] [ 2.03868768e-02 -7.20833911e-04 9.99791906e-01 3.15924173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.402755096 meters 0.026527456065341293 Centerline is valid? [True, True] Translation: X:155.49, Y:-51.68, Z:3.16 [[ 8.33835238e-01 5.51734453e-01 -1.75467703e-02 1.55489257e+02] [-5.51592578e-01 8.34019481e-01 1.25352667e-02 -5.16775829e+01] [ 2.15504868e-02 -7.73678826e-04 9.99767462e-01 3.16016910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.462755096 meters 0.02593190017091857 Centerline is valid? [True, True] Translation: X:155.54, Y:-51.71, Z:3.16 [[ 8.33085269e-01 5.52856601e-01 -1.78469064e-02 1.55542045e+02] [-5.52709922e-01 8.33276062e-01 1.27572552e-02 -5.17108536e+01] [ 2.19243326e-02 -7.63719128e-04 9.99759341e-01 3.16176315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.522755096 meters 0.02621485258500886 Centerline is valid? [True, True] Translation: X:155.59, Y:-51.75, Z:3.16 [[ 8.32099065e-01 5.54318950e-01 -1.84837231e-02 1.55593235e+02] [-5.54161793e-01 8.32303988e-01 1.32203998e-02 -5.17452143e+01] [ 2.27123945e-02 -7.57709150e-04 9.99741753e-01 3.16314089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.582755096 meters 0.02507045431723362 Centerline is valid? [True, True] Translation: X:155.65, Y:-51.78, Z:3.17 [[ 8.30433740e-01 5.56833841e-01 -1.77729443e-02 1.55646981e+02] [-5.56688960e-01 8.30623637e-01 1.27190616e-02 -5.17764064e+01] [ 2.18450316e-02 -6.68336008e-04 9.99761145e-01 3.16578520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.642755096 meters 0.023976147448974344 Centerline is valid? [True, True] Translation: X:155.70, Y:-51.81, Z:3.17 [[ 8.28428677e-01 5.59835330e-01 -1.70390803e-02 1.55698975e+02] [-5.59702676e-01 8.28603692e-01 1.21998456e-02 -5.18070917e+01] [ 2.09485494e-02 -5.69883067e-04 9.99780393e-01 3.16820159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.702755096 meters 0.024115833107225152 Centerline is valid? [True, True] Translation: X:155.75, Y:-51.84, Z:3.17 [[ 8.27491909e-01 5.61212775e-01 -1.72441795e-02 1.55748790e+02] [-5.61077198e-01 8.27671389e-01 1.23470390e-02 -5.18388138e+01] [ 2.12018300e-02 -5.41758997e-04 9.99775069e-01 3.16934941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76275509599998 meters 0.02341556831577767 Centerline is valid? [True, True] Translation: X:155.80, Y:-51.87, Z:3.17 [[ 8.27050378e-01 5.61862464e-01 -1.72697557e-02 1.55798403e+02] [-5.61726647e-01 8.27230498e-01 1.23644071e-02 -5.18699753e+01] [ 2.12331649e-02 -5.25105606e-04 9.99774413e-01 3.16980968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82275509599998 meters 0.021118471152526158 Centerline is valid? [True, True] Translation: X:155.85, Y:-51.90, Z:3.17 [[ 8.27132829e-01 5.61745802e-01 -1.71154060e-02 1.55853570e+02] [-5.61612393e-01 8.27309725e-01 1.22531349e-02 -5.19012458e+01] [ 2.10428889e-02 -5.22746021e-04 9.99778437e-01 3.17121057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88275509599998 meters 0.02202296346605877 Centerline is valid? [True, True] Translation: X:155.90, Y:-51.94, Z:3.17 [[ 8.27779112e-01 5.60787657e-01 -1.72900522e-02 1.55903546e+02] [-5.60651127e-01 8.27959474e-01 1.23864087e-02 -5.19384967e+01] [ 2.12616076e-02 -5.59523092e-04 9.99773790e-01 3.17151639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94275509599998 meters 0.02315939657235316 Centerline is valid? [True, True] Translation: X:155.95, Y:-51.97, Z:3.17 [[ 8.29103598e-01 5.58815626e-01 -1.76725608e-02 1.55954603e+02] [-5.58672377e-01 8.29291685e-01 1.26678989e-02 -5.19737156e+01] [ 2.17347276e-02 -6.29828988e-04 9.99763575e-01 3.17164543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.002755096 meters 0.026075977181267168 Centerline is valid? [True, True] Translation: X:156.00, Y:-52.01, Z:3.17 [[ 8.30890228e-01 5.56139162e-01 -1.81840940e-02 1.56002610e+02] [-5.55986687e-01 8.31088867e-01 1.30422493e-02 -5.20111876e+01] [ 2.23659037e-02 -7.26563357e-04 9.99749588e-01 3.17162832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.062755096 meters 0.029957570411093846 Centerline is valid? [True, True] Translation: X:156.05, Y:-52.05, Z:3.17 [[ 8.32464401e-01 5.53779296e-01 -1.82075020e-02 1.56049522e+02] [-5.53625732e-01 8.32663112e-01 1.30648812e-02 -5.20497584e+01] [ 2.23957760e-02 -7.95906839e-04 9.99748866e-01 3.17214150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.122755096 meters 0.030632459284049326 Centerline is valid? [True, True] Translation: X:156.10, Y:-52.08, Z:3.17 [[ 8.33891095e-01 5.51646477e-01 -1.76580438e-02 1.56099170e+02] [-5.51501564e-01 8.34077622e-01 1.26706147e-02 -5.20838890e+01] [ 2.17178791e-02 -8.27474028e-04 9.99763797e-01 3.17413673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.182755096 meters 0.02702947350669282 Centerline is valid? [True, True] Translation: X:156.15, Y:-52.11, Z:3.18 [[ 8.34115740e-01 5.51318707e-01 -1.72805183e-02 1.56150541e+02] [-5.51179861e-01 8.34294321e-01 1.23994506e-02 -5.21124613e+01] [ 2.12530874e-02 -8.17903202e-04 9.99773793e-01 3.17629694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.242755096 meters 0.0308159030484433 Centerline is valid? [True, True] Translation: X:156.20, Y:-52.15, Z:3.18 [[ 8.33697576e-01 5.51951023e-01 -1.72748207e-02 1.56198061e+02] [-5.51812448e-01 8.33876147e-01 1.23932916e-02 -5.21483506e+01] [ 2.12455510e-02 -7.99796084e-04 9.99773968e-01 3.17731729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.302755096 meters 0.030520842595171363 Centerline is valid? [True, True] Translation: X:156.25, Y:-52.18, Z:3.18 [[ 8.32767702e-01 5.53362468e-01 -1.69686163e-02 1.56247154e+02] [-5.53229070e-01 8.32940224e-01 1.21728606e-02 -5.21790728e+01] [ 2.08698472e-02 -7.49633362e-04 9.99781920e-01 3.17880131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.362755096 meters 0.0312149364722239 Centerline is valid? [True, True] Translation: X:156.30, Y:-52.21, Z:3.18 [[ 8.31997910e-01 5.54503263e-01 -1.74816720e-02 1.56296570e+02] [-5.54361987e-01 8.32181220e-01 1.25381244e-02 -5.22105256e+01] [ 2.15003501e-02 -7.40518888e-04 9.99768567e-01 3.17739784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.422755096 meters 0.029991960876133195 Centerline is valid? [True, True] Translation: X:156.34, Y:-52.24, Z:3.18 [[ 8.31364362e-01 5.55471908e-01 -1.68598858e-02 1.56344767e+02] [-5.55340747e-01 8.31535017e-01 1.20900720e-02 -5.22426109e+01] [ 2.07352808e-02 -6.88273491e-04 9.99784764e-01 3.18058462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.482755096 meters 0.030829778326794354 Centerline is valid? [True, True] Translation: X:156.39, Y:-52.28, Z:3.18 [[ 8.31490463e-01 5.55296247e-01 -1.64221936e-02 1.56391544e+02] [-5.55171824e-01 8.31652347e-01 1.17736768e-02 -5.22755992e+01] [ 2.01954344e-02 -6.72560783e-04 9.99795825e-01 3.18257900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54275509599998 meters 0.03188691511594732 Centerline is valid? [True, True] Translation: X:156.44, Y:-52.31, Z:3.18 [[ 8.32142991e-01 5.54321942e-01 -1.62858162e-02 1.56439247e+02] [-5.54199464e-01 8.32302056e-01 1.16722747e-02 -5.23108657e+01] [ 2.00249163e-02 -6.87410936e-04 9.99799245e-01 3.18360413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60275509599998 meters 0.02839441952338964 Centerline is valid? [True, True] Translation: X:156.49, Y:-52.34, Z:3.18 [[ 8.32822567e-01 5.53298019e-01 -1.63668628e-02 1.56490249e+02] [-5.53174253e-01 8.32983072e-01 1.17238221e-02 -5.23404729e+01] [ 2.01200872e-02 -7.10136474e-04 9.99797318e-01 3.18477474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66275509599998 meters 0.029462907840118978 Centerline is valid? [True, True] Translation: X:156.54, Y:-52.38, Z:3.19 [[ 8.33456769e-01 5.52330910e-01 -1.67445570e-02 1.56537328e+02] [-5.52201217e-01 8.33624619e-01 1.19921038e-02 -5.23753817e+01] [ 2.05822845e-02 -7.48535321e-04 9.99787882e-01 3.18513706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.722755096 meters 0.038097245499867226 Centerline is valid? [True, True] Translation: X:156.58, Y:-52.42, Z:3.18 [[ 8.34108116e-01 5.51316353e-01 -1.77180955e-02 1.56577774e+02] [-5.51170966e-01 8.34295879e-01 1.26867364e-02 -5.24174324e+01] [ 2.17765393e-02 -8.16410007e-04 9.99762530e-01 3.18413721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.782755096 meters 0.030138062461691973 Centerline is valid? [True, True] Translation: X:156.63, Y:-52.44, Z:3.19 [[ 8.34600831e-01 5.50548186e-01 -1.83887762e-02 1.56631446e+02] [-5.50391476e-01 8.34802938e-01 1.31634791e-02 -5.24427869e+01] [ 2.25981339e-02 -8.65224933e-04 9.99744255e-01 3.18541383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.842755096 meters 0.03170136839915526 Centerline is valid? [True, True] Translation: X:156.68, Y:-52.48, Z:3.19 [[ 8.35338844e-01 5.49424669e-01 -1.84810316e-02 1.56678025e+02] [-5.49266167e-01 8.35542774e-01 1.32269324e-02 -5.24779887e+01] [ 2.27088953e-02 -8.97965031e-04 9.99741717e-01 3.18635231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.902755096 meters 0.028709887057964945 Centerline is valid? [True, True] Translation: X:156.73, Y:-52.51, Z:3.19 [[ 8.35174952e-01 5.49666587e-01 -1.86933811e-02 1.56727043e+02] [-5.49504552e-01 8.35383645e-01 1.33758178e-02 -5.25085145e+01] [ 2.29683850e-02 -8.99049962e-04 9.99735788e-01 3.18774693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.962755096 meters 0.032790626212779166 Centerline is valid? [True, True] Translation: X:156.77, Y:-52.55, Z:3.19 [[ 8.35137385e-01 5.49734700e-01 -1.83659500e-02 1.56771704e+02] [-5.49578371e-01 8.35338845e-01 1.31388154e-02 -5.25469902e+01] [ 2.25646543e-02 -8.79187058e-04 9.99744999e-01 3.18833137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.022755096 meters 0.03125179642750423 Centerline is valid? [True, True] Translation: X:156.82, Y:-52.58, Z:3.19 [[ 8.34162076e-01 5.51212001e-01 -1.84108808e-02 1.56821503e+02] [-5.51055305e-01 8.34364803e-01 1.31691236e-02 -5.25790419e+01] [ 2.26203699e-02 -8.39769996e-04 9.99743774e-01 3.19003684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.082755096 meters 0.03148979738459805 Centerline is valid? [True, True] Translation: X:156.87, Y:-52.61, Z:3.19 [[ 8.33143973e-01 5.52763381e-01 -1.79934839e-02 1.56868691e+02] [-5.52614123e-01 8.33337891e-01 1.28682323e-02 -5.26124298e+01] [ 2.21077395e-02 -7.77636878e-04 9.99755292e-01 3.19067532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.142755096 meters 0.028944934423995868 Centerline is valid? [True, True] Translation: X:156.92, Y:-52.64, Z:3.19 [[ 8.31152683e-01 5.55770803e-01 -1.74365386e-02 1.56918809e+02] [-5.55631369e-01 8.31335288e-01 1.24667524e-02 -5.26444378e+01] [ 2.14242668e-02 -6.73486894e-04 9.99770247e-01 3.19241147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.202755096 meters 0.024151232104801766 Centerline is valid? [True, True] Translation: X:156.97, Y:-52.67, Z:3.19 [[ 8.28644641e-01 5.59493081e-01 -1.77637391e-02 1.56970743e+02] [-5.59349360e-01 8.28834816e-01 1.26941350e-02 -5.26710443e+01] [ 2.18254861e-02 -5.82790898e-04 9.99761626e-01 3.19309706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26275509599998 meters 0.020063468326632427 Centerline is valid? [True, True] Translation: X:157.03, Y:-52.70, Z:3.19 [[ 8.27257287e-01 5.61520313e-01 -1.84477382e-02 1.57025454e+02] [-5.61365854e-01 8.27462771e-01 1.31810622e-02 -5.27021399e+01] [ 2.26662508e-02 -5.48199411e-04 9.99742937e-01 3.19399645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32275509599998 meters 0.02101335224853848 Centerline is valid? [True, True] Translation: X:157.07, Y:-52.74, Z:3.20 [[ 8.26432116e-01 5.62752978e-01 -1.78617857e-02 1.57071615e+02] [-5.62608421e-01 8.26624967e-01 1.27643413e-02 -5.27390962e+01] [ 2.19481691e-02 -4.99670544e-04 9.99758985e-01 3.19537715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38275509599998 meters 0.021661709884717967 Centerline is valid? [True, True] Translation: X:157.12, Y:-52.78, Z:3.20 [[ 8.27205201e-01 5.61655202e-01 -1.65827996e-02 1.57117834e+02] [-5.61530429e-01 8.27371256e-01 1.18483260e-02 -5.27754322e+01] [ 2.03748057e-02 -4.89250293e-04 9.99792292e-01 3.19734846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44275509599998 meters 0.023956812568102132 Centerline is valid? [True, True] Translation: X:157.16, Y:-52.81, Z:3.20 [[ 8.29046260e-01 5.58930469e-01 -1.67041683e-02 1.57162187e+02] [-5.58803354e-01 8.29214338e-01 1.19328158e-02 -5.28146191e+01] [ 2.05209502e-02 -5.58511048e-04 9.99789267e-01 3.19853413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.502755096 meters 0.02576303668831403 Centerline is valid? [True, True] Translation: X:157.21, Y:-52.85, Z:3.20 [[ 8.30509810e-01 5.56765249e-01 -1.63068380e-02 1.57206906e+02] [-5.56643734e-01 8.30669671e-01 1.16469053e-02 -5.28527258e+01] [ 2.00301879e-02 -5.95769925e-04 9.99799198e-01 3.19968347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.562755096 meters 0.028098912827488987 Centerline is valid? [True, True] Translation: X:157.25, Y:-52.89, Z:3.20 [[ 8.32528767e-01 5.53739341e-01 -1.63888491e-02 1.57252884e+02] [-5.53616056e-01 8.32689794e-01 1.17034206e-02 -5.28915813e+01] [ 2.01274718e-02 -6.70304375e-04 9.99797197e-01 3.19942964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.622755096 meters 0.028718697387322502 Centerline is valid? [True, True] Translation: X:157.30, Y:-52.93, Z:3.20 [[ 8.33563996e-01 5.52140678e-01 -1.76560516e-02 1.57298689e+02] [-5.51997259e-01 8.33750617e-01 1.26069624e-02 -5.29283737e+01] [ 2.16815607e-02 -7.62617868e-04 9.99764636e-01 3.19877385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.682755096 meters 0.029142260298460156 Centerline is valid? [True, True] Translation: X:157.35, Y:-52.96, Z:3.20 [[ 8.33835276e-01 5.51700594e-01 -1.85792068e-02 1.57345315e+02] [-5.51541733e-01 8.34041842e-01 1.32635790e-02 -5.29644825e+01] [ 2.28133603e-02 -8.12432186e-04 9.99739411e-01 3.19844114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.742755096 meters 0.028888312726040515 Centerline is valid? [True, True] Translation: X:157.39, Y:-53.00, Z:3.20 [[ 8.33809456e-01 5.51743461e-01 -1.84646598e-02 1.57392236e+02] [-5.51586618e-01 8.34013493e-01 1.31793983e-02 -5.29996436e+01] [ 2.26714223e-02 -8.04247682e-04 9.99742647e-01 3.19936204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.802755096 meters 0.027331623057431965 Centerline is valid? [True, True] Translation: X:157.44, Y:-53.03, Z:3.20 [[ 8.32947826e-01 5.53048525e-01 -1.83097967e-02 1.57441644e+02] [-5.52894665e-01 8.33148697e-01 1.30666769e-02 -5.30335598e+01] [ 2.24812896e-02 -7.60471191e-04 9.99746975e-01 3.20061321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.862755096 meters 0.02345565272572977 Centerline is valid? [True, True] Translation: X:157.49, Y:-53.06, Z:3.20 [[ 8.32055293e-01 5.54410378e-01 -1.76952809e-02 1.57491751e+02] [-5.54267010e-01 8.32243141e-01 1.26268239e-02 -5.30649049e+01] [ 2.17272184e-02 -6.98305217e-04 9.99763692e-01 3.20338569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.922755096 meters 0.024173295736151002 Centerline is valid? [True, True] Translation: X:157.54, Y:-53.10, Z:3.20 [[ 8.29164001e-01 5.58725638e-01 -1.76838943e-02 1.57538322e+02] [-5.58583478e-01 8.29352350e-01 1.26165166e-02 -5.31005080e+01] [ 2.17153506e-02 -5.83230150e-04 9.99764024e-01 3.20392970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.982755096 meters 0.019147489001425048 Centerline is valid? [True, True] Translation: X:157.59, Y:-53.13, Z:3.21 [[ 8.25440565e-01 5.64222003e-01 -1.73610221e-02 1.57591299e+02] [-5.64086220e-01 8.25623005e-01 1.23850775e-02 -5.31292101e+01] [ 2.13215925e-02 -4.30031995e-04 9.99772577e-01 3.20517787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04275509599998 meters 0.017563484423477133 Centerline is valid? [True, True] Translation: X:157.64, Y:-53.16, Z:3.21 [[ 8.22845199e-01 5.67993990e-01 -1.75671847e-02 1.57640813e+02] [-5.67855843e-01 8.23032633e-01 1.25310313e-02 -5.31622327e+01] [ 2.15759168e-02 -3.35470452e-04 9.99767157e-01 3.20554396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10275509599998 meters 0.015806558378430542 Centerline is valid? [True, True] Translation: X:157.69, Y:-53.19, Z:3.21 [[ 8.20112382e-01 5.71957310e-01 -1.67486400e-02 1.57690105e+02] [-5.71832583e-01 8.20283358e-01 1.19461259e-02 -5.31948580e+01] [ 2.05713047e-02 -2.19747647e-04 9.99788364e-01 3.20752371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16275509599998 meters 0.015893868827463152 Centerline is valid? [True, True] Translation: X:157.74, Y:-53.23, Z:3.21 [[ 8.19872396e-01 5.72315966e-01 -1.62385073e-02 1.57735648e+02] [-5.72198829e-01 8.20033167e-01 1.15804013e-02 -5.32306132e+01] [ 1.99437631e-02 -2.02796475e-04 9.99801083e-01 3.20743931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.222755096 meters 0.016366342684545867 Centerline is valid? [True, True] Translation: X:157.78, Y:-53.27, Z:3.21 [[ 8.20754681e-01 5.71051816e-01 -1.61733593e-02 1.57780995e+02] [-5.70935417e-01 8.20913985e-01 1.15316635e-02 -5.32681821e+01] [ 1.98621142e-02 -2.30723140e-04 9.99802702e-01 3.20845507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.282755096 meters 0.01816130434303517 Centerline is valid? [True, True] Translation: X:157.83, Y:-53.31, Z:3.21 [[ 8.23038793e-01 5.67757415e-01 -1.60830000e-02 1.57825259e+02] [-5.67641718e-01 8.23195860e-01 1.14654391e-02 -5.33076483e+01] [ 1.97490471e-02 -3.07119423e-04 9.99804921e-01 3.20852725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.342755096 meters 0.020863024428465646 Centerline is valid? [True, True] Translation: X:157.87, Y:-53.35, Z:3.21 [[ 8.25601662e-01 5.64002636e-01 -1.68203002e-02 1.57869663e+02] [-5.63875344e-01 8.25772884e-01 1.19891949e-02 -5.33483575e+01] [ 2.06516853e-02 -4.13746654e-04 9.99786646e-01 3.20822273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.402755096 meters 0.02366368239048121 Centerline is valid? [True, True] Translation: X:157.91, Y:-53.39, Z:3.21 [[ 8.27821233e-01 5.60746938e-01 -1.65794375e-02 1.57913178e+02] [-5.60622632e-01 8.27987098e-01 1.18165552e-02 -5.33876237e+01] [ 2.03536575e-02 -4.87187382e-04 9.99792724e-01 3.20923834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.462755096 meters 0.021112058552702637 Centerline is valid? [True, True] Translation: X:157.97, Y:-53.42, Z:3.21 [[ 8.28683754e-01 5.59467445e-01 -1.67156881e-02 1.57965159e+02] [-5.59340847e-01 8.28852162e-01 1.19126277e-02 -5.34211909e+01] [ 2.05195616e-02 -5.22033833e-04 9.99789315e-01 3.21060240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.522755096 meters 0.025972231278890468 Centerline is valid? [True, True] Translation: X:158.01, Y:-53.46, Z:3.21 [[ 8.28792714e-01 5.59288817e-01 -1.72816471e-02 1.58010026e+02] [-5.59153311e-01 8.28972687e-01 1.23231166e-02 -5.34642093e+01] [ 2.12181947e-02 -5.50219069e-04 9.99774717e-01 3.21105591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.582755096 meters 0.021531387081826007 Centerline is valid? [True, True] Translation: X:158.06, Y:-53.50, Z:3.21 [[ 8.27486644e-01 5.61235898e-01 -1.67368300e-02 1.58063977e+02] [-5.61109116e-01 8.27655743e-01 1.19386270e-02 -5.34951466e+01] [ 2.05527195e-02 -4.87866458e-04 9.99788652e-01 3.21359647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.642755096 meters 0.019977452770764882 Centerline is valid? [True, True] Translation: X:158.11, Y:-53.53, Z:3.22 [[ 8.25343683e-01 5.64417201e-01 -1.55251140e-02 1.58114697e+02] [-5.64308563e-01 8.25489598e-01 1.10801477e-02 -5.35304126e+01] [ 1.90696460e-02 -3.83975147e-04 9.99818084e-01 3.21621903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.702755096 meters 0.01896629569341568 Centerline is valid? [True, True] Translation: X:158.17, Y:-53.57, Z:3.22 [[ 8.23582688e-01 5.66991981e-01 -1.52200154e-02 1.58165608e+02] [-5.66887898e-01 8.23723248e-01 1.08684034e-02 -5.35655549e+01] [ 1.86993780e-02 -3.22986371e-04 9.99825099e-01 3.21793330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76275509599998 meters 0.017303959908212322 Centerline is valid? [True, True] Translation: X:158.21, Y:-53.60, Z:3.22 [[ 8.21132817e-01 5.70540816e-01 -1.49691425e-02 1.58214602e+02] [-5.70440613e-01 8.21269212e-01 1.06952433e-02 -5.35973200e+01] [ 1.83957687e-02 -2.43208383e-04 9.99830754e-01 3.21985722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82275509599998 meters 0.015847367740535138 Centerline is valid? [True, True] Translation: X:158.27, Y:-53.63, Z:3.22 [[ 8.18979082e-01 5.73638636e-01 -1.45594786e-02 1.58267178e+02] [-5.73544359e-01 8.19108471e-01 1.04010159e-02 -5.36308478e+01] [ 1.78922168e-02 -1.67707637e-04 9.99839907e-01 3.22112940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88275509599998 meters 0.01565604991330186 Centerline is valid? [True, True] Translation: X:158.32, Y:-53.67, Z:3.22 [[ 8.18369371e-01 5.74507655e-01 -1.45782986e-02 1.58317767e+02] [-5.74413166e-01 8.18499194e-01 1.04203622e-02 -5.36676591e+01] [ 1.79189035e-02 -1.53738630e-04 9.99839432e-01 3.22229376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94275509599998 meters 0.015666198480640058 Centerline is valid? [True, True] Translation: X:158.37, Y:-53.70, Z:3.22 [[ 8.18181899e-01 5.74766911e-01 -1.48787766e-02 1.58365141e+02] [-5.74668398e-01 8.18317159e-01 1.06423679e-02 -5.37041061e+01] [ 1.82924391e-02 -1.57030061e-04 9.99832667e-01 3.22328252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.002755096 meters 0.015979468157722936 Centerline is valid? [True, True] Translation: X:158.41, Y:-53.74, Z:3.22 [[ 8.18821944e-01 5.73851151e-01 -1.50160027e-02 1.58412047e+02] [-5.73750648e-01 8.18959598e-01 1.07410400e-02 -5.37407430e+01] [ 1.84612577e-02 -1.79557999e-04 9.99829560e-01 3.22435101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.062755096 meters 0.016582635199959977 Centerline is valid? [True, True] Translation: X:158.46, Y:-53.78, Z:3.23 [[ 8.20285986e-01 5.71747640e-01 -1.53472488e-02 1.58459885e+02] [-5.71642300e-01 8.20429511e-01 1.09771435e-02 -5.37808810e+01] [ 1.88674917e-02 -2.31260337e-04 9.99821966e-01 3.22547892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.122755096 meters 0.019544499736573576 Centerline is valid? [True, True] Translation: X:158.50, Y:-53.82, Z:3.23 [[ 8.22863421e-01 5.68025051e-01 -1.55990931e-02 1.58503744e+02] [-5.67915432e-01 8.23011199e-01 1.11636718e-02 -5.38239780e+01] [ 1.91794736e-02 -3.27211417e-04 9.99816003e-01 3.22677151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.182755096 meters 0.01941734031006795 Centerline is valid? [True, True] Translation: X:158.55, Y:-53.86, Z:3.23 [[ 8.24754857e-01 5.65274288e-01 -1.56334577e-02 1.58553264e+02] [-5.65163628e-01 8.24902918e-01 1.11914943e-02 -5.38616427e+01] [ 1.92223488e-02 -3.94777643e-04 9.99815156e-01 3.22778597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.242755096 meters 0.02047101539683755 Centerline is valid? [True, True] Translation: X:158.60, Y:-53.90, Z:3.23 [[ 8.27076798e-01 5.61861142e-01 -1.60008458e-02 1.58600949e+02] [-5.61744451e-01 8.27231416e-01 1.14610461e-02 -5.39018484e+01] [ 1.96759188e-02 -4.90778931e-04 9.99806290e-01 3.22941097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.302755096 meters 0.022478187639138197 Centerline is valid? [True, True] Translation: X:158.65, Y:-53.94, Z:3.23 [[ 8.29021507e-01 5.58962891e-01 -1.68472005e-02 1.58648207e+02] [-5.58832875e-01 8.29192461e-01 1.20698625e-02 -5.39418465e+01] [ 2.07161769e-02 -5.91406159e-04 9.99785222e-01 3.22950762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.362755096 meters 0.02248173732390914 Centerline is valid? [True, True] Translation: X:158.70, Y:-53.98, Z:3.23 [[ 8.29564653e-01 5.58147663e-01 -1.71368930e-02 1.58697640e+02] [-5.58012817e-01 8.29741401e-01 1.22842863e-02 -5.39792369e+01] [ 2.10756353e-02 -6.28003776e-04 9.99777687e-01 3.23101402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.422755096 meters 0.024349822843734416 Centerline is valid? [True, True] Translation: X:158.75, Y:-54.02, Z:3.23 [[ 8.29578675e-01 5.58140425e-01 -1.66879769e-02 1.58745400e+02] [-5.58012411e-01 8.29746278e-01 1.19692775e-02 -5.40183683e+01] [ 2.05273243e-02 -6.17359151e-04 9.99789102e-01 3.23304098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.482755096 meters 0.02234726735011982 Centerline is valid? [True, True] Translation: X:158.80, Y:-54.05, Z:3.24 [[ 8.28580181e-01 5.59614292e-01 -1.69330684e-02 1.58797298e+02] [-5.59482685e-01 8.28752974e-01 1.21504445e-02 -5.40520811e+01] [ 2.08328931e-02 -5.93858900e-04 9.99782795e-01 3.23501368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54275509599998 meters 0.021724637257642013 Centerline is valid? [True, True] Translation: X:158.85, Y:-54.09, Z:3.24 [[ 8.26483190e-01 5.62719733e-01 -1.64936300e-02 1.58846820e+02] [-5.62595348e-01 8.26647594e-01 1.18418723e-02 -5.40874354e+01] [ 2.02980747e-02 -5.07868861e-04 9.99793844e-01 3.23726868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60275509599998 meters 0.02021863282656237 Centerline is valid? [True, True] Translation: X:158.90, Y:-54.12, Z:3.24 [[ 8.24614614e-01 5.65468088e-01 -1.60181214e-02 1.58897923e+02] [-5.65351171e-01 8.24770061e-01 1.15064822e-02 -5.41223881e+01] [ 1.97178155e-02 -4.32549615e-04 9.99805491e-01 3.23948081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66275509599998 meters 0.017796122899426375 Centerline is valid? [True, True] Translation: X:158.95, Y:-54.15, Z:3.24 [[ 8.21724698e-01 5.69667502e-01 -1.57307718e-02 1.58950719e+02] [-5.69555390e-01 8.21875190e-01 1.13062004e-02 -5.41544815e+01] [ 1.93695060e-02 -3.31038247e-04 9.99812339e-01 3.24139999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.722755096 meters 0.016090136895502965 Centerline is valid? [True, True] Translation: X:159.00, Y:-54.19, Z:3.24 [[ 8.19186984e-01 5.73294885e-01 -1.62990744e-02 1.59003760e+02] [-5.73175213e-01 8.19349077e-01 1.17160565e-02 -5.41874008e+01] [ 2.00713868e-02 -2.55415581e-04 9.99798517e-01 3.24163576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.782755096 meters 0.015846593008122464 Centerline is valid? [True, True] Translation: X:159.05, Y:-54.22, Z:3.24 [[ 8.18393130e-01 5.74413143e-01 -1.67995840e-02 1.59053808e+02] [-5.74286089e-01 8.18565503e-01 1.20832318e-02 -5.42237294e+01] [ 2.06923271e-02 -2.41066454e-04 9.99785862e-01 3.24224732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.842755096 meters 0.01635185763178028 Centerline is valid? [True, True] Translation: X:159.10, Y:-54.26, Z:3.24 [[ 8.19624473e-01 5.72659192e-01 -1.66484974e-02 1.59102479e+02] [-5.72533908e-01 8.19793490e-01 1.19815696e-02 -5.42618980e+01] [ 2.05096858e-02 -2.88558389e-04 9.99789613e-01 3.24300549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.902755096 meters 0.017610394644184797 Centerline is valid? [True, True] Translation: X:159.15, Y:-54.30, Z:3.24 [[ 8.21555870e-01 5.69875728e-01 -1.69589474e-02 1.59150292e+02] [-5.69744979e-01 8.21730805e-01 1.22123915e-02 -5.43009496e+01] [ 2.08952350e-02 -3.70886744e-04 9.99781602e-01 3.24353047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.962755096 meters 0.02074280904308195 Centerline is valid? [True, True] Translation: X:159.20, Y:-54.34, Z:3.24 [[ 8.24306167e-01 5.65871665e-01 -1.75670749e-02 1.59195948e+02] [-5.65730302e-01 8.24493186e-01 1.26575207e-02 -5.43426713e+01] [ 2.16464659e-02 -4.95445764e-04 9.99765565e-01 3.24409611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.022755096 meters 0.021616765579373823 Centerline is valid? [True, True] Translation: X:159.24, Y:-54.38, Z:3.24 [[ 8.25807999e-01 5.63648362e-01 -1.84844022e-02 1.59244343e+02] [-5.63491118e-01 8.26014635e-01 1.33260194e-02 -5.43808001e+01] [ 2.27795758e-02 -5.88936901e-04 9.99740338e-01 3.24453329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.082755096 meters 0.024499125851555816 Centerline is valid? [True, True] Translation: X:159.29, Y:-54.42, Z:3.24 [[ 8.27557872e-01 5.61039245e-01 -1.95687106e-02 1.59290652e+02] [-5.60862106e-01 8.27788903e-01 1.41148581e-02 -5.44200619e+01] [ 2.41177508e-02 -7.05513670e-04 9.99708876e-01 3.24387950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.142755096 meters 0.02533680897246902 Centerline is valid? [True, True] Translation: X:159.34, Y:-54.46, Z:3.25 [[ 8.29175383e-01 5.58639365e-01 -1.97545953e-02 1.59339951e+02] [-5.58458074e-01 8.29410298e-01 1.42526174e-02 -5.44583057e+01] [ 2.43467379e-02 -7.85806231e-04 9.99703265e-01 3.24508940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.202755096 meters 0.02454664443154307 Centerline is valid? [True, True] Translation: X:159.39, Y:-54.49, Z:3.25 [[ 8.29147818e-01 5.58688718e-01 -1.95144054e-02 1.59391177e+02] [-5.58511731e-01 8.29377062e-01 1.40831616e-02 -5.44941793e+01] [ 2.40529037e-02 -7.77998417e-04 9.99710384e-01 3.24717134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26275509599998 meters 0.022878747969198178 Centerline is valid? [True, True] Translation: X:159.44, Y:-54.53, Z:3.25 [[ 8.28084069e-01 5.60263275e-01 -1.95406697e-02 1.59443611e+02] [-5.60086026e-01 8.28314260e-01 1.41113146e-02 -5.45273276e+01] [ 2.40918667e-02 -7.40898771e-04 9.99709474e-01 3.24867324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32275509599998 meters 0.021726876742024386 Centerline is valid? [True, True] Translation: X:159.49, Y:-54.56, Z:3.25 [[ 8.25816352e-01 5.63613822e-01 -1.91523434e-02 1.59494858e+02] [-5.63444289e-01 8.26038168e-01 1.38375692e-02 -5.45608501e+01] [ 2.36196119e-02 -6.36012411e-04 9.99720816e-01 3.24994222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38275509599998 meters 0.019858788406247958 Centerline is valid? [True, True] Translation: X:159.55, Y:-54.59, Z:3.25 [[ 8.23434591e-01 5.67099943e-01 -1.87917277e-02 1.59547633e+02] [-5.66937582e-01 8.23648818e-01 1.35794784e-02 -5.45942825e+01] [ 2.31787058e-02 -5.28075553e-04 9.99731198e-01 3.25181709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44275509599998 meters 0.018618492311953446 Centerline is valid? [True, True] Translation: X:159.60, Y:-54.63, Z:3.25 [[ 8.21208055e-01 5.70337306e-01 -1.82397408e-02 1.59600316e+02] [-5.70184968e-01 8.21410477e-01 1.31882265e-02 -5.46275591e+01] [ 2.25040518e-02 -4.30251823e-04 9.99746659e-01 3.25355961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.502755096 meters 0.01791837846212449 Centerline is valid? [True, True] Translation: X:159.65, Y:-54.66, Z:3.26 [[ 8.19845620e-01 5.72296726e-01 -1.81553707e-02 1.59651831e+02] [-5.72146101e-01 8.20046531e-01 1.31349477e-02 -5.46627413e+01] [ 2.24053363e-02 -3.81104785e-04 9.99748896e-01 3.25530917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.562755096 meters 0.017546790849593038 Centerline is valid? [True, True] Translation: X:159.70, Y:-54.70, Z:3.26 [[ 8.18514811e-01 5.74201061e-01 -1.80733212e-02 1.59701442e+02] [-5.74052089e-01 8.18714254e-01 1.30831411e-02 -5.46979458e+01] [ 2.23092392e-02 -3.33716963e-04 9.99751062e-01 3.25726613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.622755096 meters 0.017261402863616 Centerline is valid? [True, True] Translation: X:159.75, Y:-54.73, Z:3.26 [[ 8.17613618e-01 5.75479971e-01 -1.81872462e-02 1.59752468e+02] [-5.75329269e-01 8.17815816e-01 1.31727927e-02 -5.47328153e+01] [ 2.24544959e-02 -3.06599616e-04 9.99747819e-01 3.25782168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.682755096 meters 0.017315152944136717 Centerline is valid? [True, True] Translation: X:159.80, Y:-54.77, Z:3.26 [[ 8.16901310e-01 5.76468992e-01 -1.88613655e-02 1.59803467e+02] [-5.76306984e-01 8.17118972e-01 1.36691879e-02 -5.47678816e+01] [ 2.32918425e-02 -2.96440796e-04 9.99728664e-01 3.25752231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.742755096 meters 0.017566207967164776 Centerline is valid? [True, True] Translation: X:159.85, Y:-54.81, Z:3.26 [[ 8.17247905e-01 5.75965294e-01 -1.92312806e-02 1.59853420e+02] [-5.75796529e-01 8.17474082e-01 1.39456931e-02 -5.48052654e+01] [ 2.37533087e-02 -3.23783838e-04 9.99717798e-01 3.25828616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.802755096 meters 0.01763840215145117 Centerline is valid? [True, True] Translation: X:159.90, Y:-54.84, Z:3.26 [[ 8.17627314e-01 5.75428082e-01 -1.91858535e-02 1.59903900e+02] [-5.75259774e-01 8.17852311e-01 1.39208062e-02 -5.48424921e+01] [ 2.37016175e-02 -3.45181644e-04 9.99719018e-01 3.25954000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.862755096 meters 0.018855224600776186 Centerline is valid? [True, True] Translation: X:159.95, Y:-54.88, Z:3.26 [[ 8.19434257e-01 5.72856154e-01 -1.90610804e-02 1.59952883e+02] [-5.72689124e-01 8.19655810e-01 1.38390803e-02 -5.48810770e+01] [ 2.35513277e-02 -4.24143047e-04 9.99722539e-01 3.26024902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.922755096 meters 0.020030864405019944 Centerline is valid? [True, True] Translation: X:160.00, Y:-54.92, Z:3.26 [[ 8.21648661e-01 5.69678299e-01 -1.89766629e-02 1.60001827e+02] [-5.69511709e-01 8.21867609e-01 1.37857602e-02 -5.49188625e+01] [ 2.34497530e-02 -5.19619734e-04 9.99724882e-01 3.26092023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98275509599998 meters 0.021347621556973888 Centerline is valid? [True, True] Translation: X:160.05, Y:-54.96, Z:3.26 [[ 8.23282525e-01 5.67335964e-01 -1.83245358e-02 1.60049436e+02] [-5.67179873e-01 8.23486233e-01 1.33197081e-02 -5.49583498e+01] [ 2.26467525e-02 -5.72575022e-04 9.99743365e-01 3.26313722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04275509599998 meters 0.023397459317951463 Centerline is valid? [True, True] Translation: X:160.10, Y:-55.00, Z:3.26 [[ 8.25010109e-01 5.64836417e-01 -1.78365439e-02 1.60097246e+02] [-5.64687793e-01 8.25202657e-01 1.29719147e-02 -5.49966803e+01] [ 2.20457732e-02 -6.29882156e-04 9.99756764e-01 3.26389482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10275509599998 meters 0.023121647064246197 Centerline is valid? [True, True] Translation: X:160.15, Y:-55.03, Z:3.27 [[ 8.24682942e-01 5.65313419e-01 -1.78545268e-02 1.60149843e+02] [-5.65164507e-01 8.24875962e-01 1.29895484e-02 -5.50320507e+01] [ 2.20709360e-02 -6.21514203e-04 9.99756214e-01 3.26513964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16275509599998 meters 0.023311052395858272 Centerline is valid? [True, True] Translation: X:160.20, Y:-55.07, Z:3.27 [[ 8.23306894e-01 5.67327127e-01 -1.74839676e-02 1.60199948e+02] [-5.67184610e-01 8.23492328e-01 1.27280543e-02 -5.50675287e+01] [ 2.16188837e-02 -5.62457545e-04 9.99766126e-01 3.26626279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.222755096 meters 0.02220228900045474 Centerline is valid? [True, True] Translation: X:160.25, Y:-55.10, Z:3.27 [[ 8.21333994e-01 5.70200083e-01 -1.68028349e-02 1.60251432e+02] [-5.70068930e-01 8.21505716e-01 1.22382105e-02 -5.51010761e+01] [ 2.07818536e-02 -4.72884249e-04 9.99783922e-01 3.26776271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.282755096 meters 0.020813499620115087 Centerline is valid? [True, True] Translation: X:160.30, Y:-55.13, Z:3.27 [[ 8.19684681e-01 5.72606220e-01 -1.54641719e-02 1.60304663e+02] [-5.72495497e-01 8.19830453e-01 1.12665342e-02 -5.51338586e+01] [ 1.91292866e-02 -3.81836725e-04 9.99816946e-01 3.27022231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.342755096 meters 0.02074453327432545 Centerline is valid? [True, True] Translation: X:160.36, Y:-55.17, Z:3.27 [[ 8.18463395e-01 5.74355495e-01 -1.52786357e-02 1.60358732e+02] [-5.74247603e-01 8.18605917e-01 1.11374442e-02 -5.51658888e+01] [ 1.89040339e-02 -3.41870522e-04 9.99821244e-01 3.26915425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.402755096 meters 0.02040402146363981 Centerline is valid? [True, True] Translation: X:160.41, Y:-55.20, Z:3.27 [[ 8.18068635e-01 5.74947383e-01 -1.41143909e-02 1.60407833e+02] [-5.74855298e-01 8.18190328e-01 1.02943893e-02 -5.52041243e+01] [ 1.74669903e-02 -3.07784613e-04 9.99847393e-01 3.27264615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.462755096 meters 0.019562398000887268 Centerline is valid? [True, True] Translation: X:160.46, Y:-55.24, Z:3.27 [[ 8.18552728e-01 5.74263892e-01 -1.38713278e-02 1.60459972e+02] [-5.74174744e-01 8.18670189e-01 1.01234566e-02 -5.52372465e+01] [ 1.71695781e-02 -3.22016922e-04 9.99852540e-01 3.27281611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.522755096 meters 0.022041034475127237 Centerline is valid? [True, True] Translation: X:160.51, Y:-55.28, Z:3.27 [[ 8.19736195e-01 5.72552945e-01 -1.46865999e-02 1.60507487e+02] [-5.72452621e-01 8.19867659e-01 1.07246443e-02 -5.52750328e+01] [ 1.81814950e-02 -3.83996533e-04 9.99834629e-01 3.27260677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.582755096 meters 0.022307696593534536 Centerline is valid? [True, True] Translation: X:160.56, Y:-55.31, Z:3.27 [[ 8.21292726e-01 5.70294592e-01 -1.55671457e-02 1.60557807e+02] [-5.70181365e-01 8.21440115e-01 1.13731176e-02 -5.53106272e+01] [ 1.92735054e-02 -4.64562316e-04 9.99814141e-01 3.27225589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.642755096 meters 0.024005064309113207 Centerline is valid? [True, True] Translation: X:160.61, Y:-55.35, Z:3.27 [[ 8.22450176e-01 5.68598005e-01 -1.64929383e-02 1.60606122e+02] [-5.68470431e-01 8.22615352e-01 1.20561998e-02 -5.53485421e+01] [ 2.04224754e-02 -5.39875955e-04 9.99791294e-01 3.27199237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.702755096 meters 0.02671437278642117 Centerline is valid? [True, True] Translation: X:160.65, Y:-55.39, Z:3.27 [[ 8.24938942e-01 5.64989457e-01 -1.62066503e-02 1.60653549e+02] [-5.64865461e-01 8.25097889e-01 1.18526371e-02 -5.53880622e+01] [ 2.00686880e-02 -6.23124936e-04 9.99798409e-01 3.27345126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76275509599998 meters 0.029645063751221282 Centerline is valid? [True, True] Translation: X:160.70, Y:-55.43, Z:3.28 [[ 8.26868553e-01 5.62183509e-01 -1.54304329e-02 1.60700892e+02] [-5.62070601e-01 8.27012254e-01 1.12858864e-02 -5.54271424e+01] [ 1.91058963e-02 -6.58951911e-04 9.99817249e-01 3.27590487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82275509599998 meters 0.031776846064988304 Centerline is valid? [True, True] Translation: X:160.75, Y:-55.47, Z:3.28 [[ 8.28341848e-01 5.60014398e-01 -1.52858696e-02 1.60749270e+02] [-5.59903123e-01 8.28482573e-01 1.11856534e-02 -5.54662245e+01] [ 1.89282035e-02 -7.06938695e-04 9.99820596e-01 3.27755026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88275509599998 meters 0.028067386512221165 Centerline is valid? [True, True] Translation: X:160.80, Y:-55.50, Z:3.28 [[ 8.28406040e-01 5.59910469e-01 -1.56108891e-02 1.60802946e+02] [-5.59794355e-01 8.28552799e-01 1.14254055e-02 -5.54979065e+01] [ 1.93316500e-02 -7.25987370e-04 9.99812863e-01 3.27881258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94275509599998 meters 0.026915593153621447 Centerline is valid? [True, True] Translation: X:160.86, Y:-55.53, Z:3.28 [[ 8.27039974e-01 5.61901892e-01 -1.64664646e-02 1.60856183e+02] [-5.61772944e-01 8.27203567e-01 1.20589237e-02 -5.55308250e+01] [ 2.03970503e-02 -7.22797640e-04 9.99791697e-01 3.27867640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.002755096 meters 0.02550930564102394 Centerline is valid? [True, True] Translation: X:160.91, Y:-55.56, Z:3.28 [[ 8.25212834e-01 5.64603235e-01 -1.57151347e-02 1.60907308e+02] [-5.64486152e-01 8.25362217e-01 1.15150132e-02 -5.55641124e+01] [ 1.94720921e-02 -6.31360822e-04 9.99810201e-01 3.28131364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.062755096 meters 0.023456605088757475 Centerline is valid? [True, True] Translation: X:160.96, Y:-55.60, Z:3.28 [[ 8.24066741e-01 5.66285937e-01 -1.53050604e-02 1.60959946e+02] [-5.66175156e-01 8.24208654e-01 1.12155203e-02 -5.55968402e+01] [ 1.89657546e-02 -5.76992270e-04 9.99819967e-01 3.28280192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.122755096 meters 0.023976801727218697 Centerline is valid? [True, True] Translation: X:161.01, Y:-55.63, Z:3.28 [[ 8.22978992e-01 5.67870883e-01 -1.51075615e-02 1.61010246e+02] [-5.67763086e-01 8.23117470e-01 1.10773968e-02 -5.56323579e+01] [ 1.87258289e-02 -5.38949101e-04 9.99824511e-01 3.28365189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.182755096 meters 0.02356420264554072 Centerline is valid? [True, True] Translation: X:161.06, Y:-55.67, Z:3.29 [[ 8.22605250e-01 5.68421596e-01 -1.47476213e-02 1.61061487e+02] [-5.68318849e-01 8.22737273e-01 1.08196880e-02 -5.56686648e+01] [ 1.82835620e-02 -5.18980965e-04 9.99832707e-01 3.28554434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.242755096 meters 0.023723198045915054 Centerline is valid? [True, True] Translation: X:161.11, Y:-55.71, Z:3.29 [[ 8.22160927e-01 5.69069034e-01 -1.45549156e-02 1.61111849e+02] [-5.68968927e-01 8.22289597e-01 1.06854338e-02 -5.57056391e+01] [ 1.80491052e-02 -5.03851478e-04 9.99836975e-01 3.28689312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.302755096 meters 0.02336721129047721 Centerline is valid? [True, True] Translation: X:161.16, Y:-55.74, Z:3.29 [[ 8.21435648e-01 5.70123565e-01 -1.42336440e-02 1.61163036e+02] [-5.70027883e-01 8.21558820e-01 1.04555009e-02 -5.57415354e+01] [ 1.76547032e-02 -4.74947245e-04 9.99844031e-01 3.28831662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.362755096 meters 0.0248811025072102 Centerline is valid? [True, True] Translation: X:161.21, Y:-55.78, Z:3.29 [[ 8.20731366e-01 5.71116781e-01 -1.50215468e-02 1.61211474e+02] [-5.71010253e-01 8.20868679e-01 1.10409928e-02 -5.57797005e+01] [ 1.86364136e-02 -4.84231835e-04 9.99826210e-01 3.28844446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.422755096 meters 0.024013499962459668 Centerline is valid? [True, True] Translation: X:161.26, Y:-55.82, Z:3.29 [[ 8.20378846e-01 5.71614871e-01 -1.53293348e-02 1.61262862e+02] [-5.71503895e-01 8.20521908e-01 1.12737406e-02 -5.58152930e+01] [ 1.90222928e-02 -4.87963759e-04 9.99818941e-01 3.28877901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48275509599998 meters 0.023028278226540234 Centerline is valid? [True, True] Translation: X:161.32, Y:-55.85, Z:3.29 [[ 8.20057947e-01 5.72074379e-01 -1.53579959e-02 1.61315206e+02] [-5.71962948e-01 8.20201604e-01 1.13011032e-02 -5.58507761e+01] [ 1.90617245e-02 -4.83354845e-04 9.99818192e-01 3.29000576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54275509599998 meters 0.023161903237501415 Centerline is valid? [True, True] Translation: X:161.36, Y:-55.89, Z:3.29 [[ 8.19481930e-01 5.72908902e-01 -1.49918930e-02 1.61364723e+02] [-5.72802728e-01 8.19618924e-01 1.10387601e-02 -5.58864694e+01] [ 1.86118431e-02 -4.58667222e-04 9.99826679e-01 3.29139158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60275509599998 meters 0.023686949462387325 Centerline is valid? [True, True] Translation: X:161.41, Y:-55.92, Z:3.29 [[ 8.19819986e-01 5.72432949e-01 -1.46870734e-02 1.61412866e+02] [-5.72330870e-01 8.19951403e-01 1.08199891e-02 -5.59223846e+01] [ 1.82364047e-02 -4.64577841e-04 9.99833595e-01 3.29222733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66275509599998 meters 0.02389100106457655 Centerline is valid? [True, True] Translation: X:161.46, Y:-55.96, Z:3.29 [[ 8.19988336e-01 5.72194227e-01 -1.45909463e-02 1.61461517e+02] [-5.72093442e-01 8.20118009e-01 1.07491722e-02 -5.59584977e+01] [ 1.81169121e-02 -4.66811087e-04 9.99835766e-01 3.29335615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.722755096 meters 0.02399629297117791 Centerline is valid? [True, True] Translation: X:161.51, Y:-55.99, Z:3.29 [[ 8.20984558e-01 5.70774404e-01 -1.41751477e-02 1.61512055e+02] [-5.70679077e-01 8.21106781e-01 1.04424671e-02 -5.59940887e+01] [ 1.75996028e-02 -4.83644019e-04 9.99844998e-01 3.29469494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.782755096 meters 0.02711696780116341 Centerline is valid? [True, True] Translation: X:161.56, Y:-56.03, Z:3.30 [[ 8.21777471e-01 5.69637800e-01 -1.39486445e-02 1.61558354e+02] [-5.69545229e-01 8.21895688e-01 1.02815521e-02 -5.60348911e+01] [ 1.73210915e-02 -5.04763944e-04 9.99849851e-01 3.29614634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.842755096 meters 0.027688972880196942 Centerline is valid? [True, True] Translation: X:161.61, Y:-56.07, Z:3.30 [[ 8.21970666e-01 5.69358469e-01 -1.39698785e-02 1.61605541e+02] [-5.69265516e-01 8.22089210e-01 1.03006547e-02 -5.60701649e+01] [ 1.73492514e-02 -5.14265970e-04 9.99849358e-01 3.29711101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.902755096 meters 0.0276836756132183 Centerline is valid? [True, True] Translation: X:161.65, Y:-56.10, Z:3.30 [[ 8.21573171e-01 5.69921820e-01 -1.43751066e-02 1.61653173e+02] [-5.69823510e-01 8.21698761e-01 1.05978230e-02 -5.61041151e+01] [ 1.78519378e-02 -5.15613348e-04 9.99840509e-01 3.29769990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.962755096 meters 0.02263470385215393 Centerline is valid? [True, True] Translation: X:161.71, Y:-56.13, Z:3.30 [[ 8.20668519e-01 5.71224983e-01 -1.43248544e-02 1.61708727e+02] [-5.71127588e-01 8.20793387e-01 1.05590311e-02 -5.61343953e+01] [ 1.77893281e-02 -4.84144877e-04 9.99841640e-01 3.29892651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.022755096 meters 0.02787904748884795 Centerline is valid? [True, True] Translation: X:161.75, Y:-56.18, Z:3.30 [[ 8.19393886e-01 5.73034185e-01 -1.50160620e-02 1.61753803e+02] [-5.72927421e-01 8.19531331e-01 1.10709798e-02 -5.61768545e+01] [ 1.86501832e-02 -4.68379496e-04 9.99825960e-01 3.29849394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.082755096 meters 0.02625677542040506 Centerline is valid? [True, True] Translation: X:161.80, Y:-56.21, Z:3.30 [[ 8.18656536e-01 5.74092581e-01 -1.48048679e-02 1.61801912e+02] [-5.73988861e-01 8.18790273e-01 1.09213303e-02 -5.62106779e+01] [ 1.83919365e-02 -4.42989109e-04 9.99830756e-01 3.30107985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.142755096 meters 0.02273408243916656 Centerline is valid? [True, True] Translation: X:161.86, Y:-56.24, Z:3.30 [[ 8.18026217e-01 5.75009955e-01 -1.40235899e-02 1.61855571e+02] [-5.74917126e-01 8.18146317e-01 1.03393775e-02 -5.62419901e+01] [ 1.74185934e-02 -3.95479853e-04 9.99848207e-01 3.30184998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.202755096 meters 0.02262347052339889 Centerline is valid? [True, True] Translation: X:161.91, Y:-56.28, Z:3.30 [[ 8.18091255e-01 5.74922526e-01 -1.38125706e-02 1.61905124e+02] [-5.74832360e-01 8.18207756e-01 1.01895090e-02 -5.62808359e+01] [ 1.71597306e-02 -3.96035661e-04 9.99852683e-01 3.30426213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26275509599998 meters 0.022758324965854382 Centerline is valid? [True, True] Translation: X:161.95, Y:-56.32, Z:3.30 [[ 8.18408119e-01 5.74456714e-01 -1.44095659e-02 1.61954842e+02] [-5.74358382e-01 8.18534850e-01 1.06371660e-02 -5.63188146e+01] [ 1.79053233e-02 -4.29288084e-04 9.99839595e-01 3.30462769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32275509599998 meters 0.02460253139969701 Centerline is valid? [True, True] Translation: X:162.00, Y:-56.36, Z:3.30 [[ 8.19430807e-01 5.72973792e-01 -1.53031652e-02 1.62000848e+02] [-5.72862496e-01 8.19573540e-01 1.13036753e-02 -5.63590196e+01] [ 1.90187790e-02 -4.95970344e-04 9.99819004e-01 3.30462248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38275509599998 meters 0.025754074982859063 Centerline is valid? [True, True] Translation: X:162.05, Y:-56.40, Z:3.30 [[ 8.20618030e-01 5.71244043e-01 -1.63184751e-02 1.62049215e+02] [-5.71117010e-01 8.20780062e-01 1.20603058e-02 -5.63986045e+01] [ 2.02832568e-02 -5.77145678e-04 9.99794107e-01 3.30405607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44275509599998 meters 0.027291564236244972 Centerline is valid? [True, True] Translation: X:162.09, Y:-56.44, Z:3.30 [[ 8.21421363e-01 5.70075850e-01 -1.67472112e-02 1.62094743e+02] [-5.69941682e-01 8.21591828e-01 1.23833401e-02 -5.64362911e+01] [ 2.08188150e-02 -6.27006400e-04 9.99783068e-01 3.30465559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.502755096 meters 0.028343470483342563 Centerline is valid? [True, True] Translation: X:162.14, Y:-56.48, Z:3.31 [[ 8.22555171e-01 5.68440075e-01 -1.66994626e-02 1.62140486e+02] [-5.68306352e-01 8.22724400e-01 1.23471779e-02 -5.64764072e+01] [ 2.07576860e-02 -6.65824352e-04 9.99784314e-01 3.30564140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.562755096 meters 0.03125539991062755 Centerline is valid? [True, True] Translation: X:162.18, Y:-56.52, Z:3.31 [[ 8.23723605e-01 5.66756448e-01 -1.63264135e-02 1.62184700e+02] [-5.66628303e-01 8.23885095e-01 1.20713545e-02 -5.65174201e+01] [ 2.02926067e-02 -6.92451621e-04 9.99793844e-01 3.30719118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.622755096 meters 0.027640571546440278 Centerline is valid? [True, True] Translation: X:162.24, Y:-56.55, Z:3.31 [[ 8.23685023e-01 5.66829732e-01 -1.57174263e-02 1.62237362e+02] [-5.66710977e-01 8.23834700e-01 1.16213869e-02 -5.65515751e+01] [ 1.95359088e-02 -6.65124351e-04 9.99808935e-01 3.30881335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.682755096 meters 0.0254023073993108 Centerline is valid? [True, True] Translation: X:162.29, Y:-56.59, Z:3.31 [[ 8.22736273e-01 5.68207373e-01 -1.56654573e-02 1.62288441e+02] [-5.68089506e-01 8.22885154e-01 1.15903647e-02 -5.65867667e+01] [ 1.94766030e-02 -6.36431541e-04 9.99810110e-01 3.31012390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.742755096 meters 0.02397058277867757 Centerline is valid? [True, True] Translation: X:162.34, Y:-56.62, Z:3.31 [[ 8.20623301e-01 5.71276463e-01 -1.48526037e-02 1.62338857e+02] [-5.71170898e-01 8.20757523e-01 1.09951595e-02 -5.66225462e+01] [ 1.84716620e-02 -5.39509137e-04 9.99829239e-01 3.31128314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.802755096 meters 0.022999670710636064 Centerline is valid? [True, True] Translation: X:162.39, Y:-56.66, Z:3.31 [[ 8.18122457e-01 5.74846649e-01 -1.50657212e-02 1.62388167e+02] [-5.74738609e-01 8.18261029e-01 1.11543607e-02 -5.66577115e+01] [ 1.87397394e-02 -4.66781382e-04 9.99824287e-01 3.31247411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.862755096 meters 0.021128663856105834 Centerline is valid? [True, True] Translation: X:162.44, Y:-56.69, Z:3.31 [[ 8.15828388e-01 5.78081208e-01 -1.56894578e-02 1.62438922e+02] [-5.77964616e-01 8.15979135e-01 1.16169205e-02 -5.66929887e+01] [ 1.95177936e-02 -4.09462105e-04 9.99809426e-01 3.31377811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.922755096 meters 0.020801587049982573 Centerline is valid? [True, True] Translation: X:162.49, Y:-56.73, Z:3.31 [[ 8.14809246e-01 5.79507317e-01 -1.60362603e-02 1.62488510e+02] [-5.79385647e-01 8.14966943e-01 1.18808631e-02 -5.67303920e+01] [ 1.99540692e-02 -3.89458022e-04 9.99800822e-01 3.31485380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98275509599998 meters 0.02177268219387074 Centerline is valid? [True, True] Translation: X:162.54, Y:-56.77, Z:3.32 [[ 8.14638880e-01 5.79738523e-01 -1.63321617e-02 1.62535111e+02] [-5.79612223e-01 8.14802484e-01 1.21071545e-02 -5.67709886e+01] [ 2.03264698e-02 -3.96638182e-04 9.99793317e-01 3.31564246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04275509599998 meters 0.021197400417409307 Centerline is valid? [True, True] Translation: X:162.58, Y:-56.81, Z:3.32 [[ 8.15419473e-01 5.78629241e-01 -1.67117922e-02 1.62584013e+02] [-5.78496654e-01 8.15590589e-01 1.23940250e-02 -5.68086487e+01] [ 2.08015257e-02 -4.38613433e-04 9.99783529e-01 3.31713571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10275509599998 meters 0.022447330491468194 Centerline is valid? [True, True] Translation: X:162.63, Y:-56.85, Z:3.32 [[ 8.16624325e-01 5.76908596e-01 -1.73546507e-02 1.62629466e+02] [-5.76765055e-01 8.16808554e-01 1.28785496e-02 -5.68503785e+01] [ 2.16051731e-02 -5.07380851e-04 9.99766452e-01 3.31881895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16275509599998 meters 0.02412530368135858 Centerline is valid? [True, True] Translation: X:162.67, Y:-56.89, Z:3.32 [[ 8.18367583e-01 5.74425611e-01 -1.75987455e-02 1.62674775e+02] [-5.74277283e-01 8.18556579e-01 1.30663238e-02 -5.68920223e+01] [ 2.19112000e-02 -5.86496036e-04 9.99759749e-01 3.32084185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.222755096 meters 0.02495506668290187 Centerline is valid? [True, True] Translation: X:162.72, Y:-56.93, Z:3.32 [[ 8.19142561e-01 5.73306127e-01 -1.80429946e-02 1.62722854e+02] [-5.73149842e-01 8.19341004e-01 1.34007024e-02 -5.69321143e+01] [ 2.24660701e-02 -6.35746145e-04 9.99747404e-01 3.32252110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.282755096 meters 0.024395887716915324 Centerline is valid? [True, True] Translation: X:162.77, Y:-56.97, Z:3.32 [[ 8.19060353e-01 5.73406148e-01 -1.85883672e-02 1.62773080e+02] [-5.73240106e-01 8.19270990e-01 1.38139505e-02 -5.69693683e+01] [ 2.31499142e-02 -6.58861624e-04 9.99731788e-01 3.32341235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.342755096 meters 0.024013104176280258 Centerline is valid? [True, True] Translation: X:162.82, Y:-57.01, Z:3.32 [[ 8.18173638e-01 5.74635439e-01 -1.96471544e-02 1.62822232e+02] [-5.74450057e-01 8.18409229e-01 1.46104795e-02 -5.70075233e+01] [ 2.44751118e-02 -6.67600203e-04 9.99700217e-01 3.32477628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.402755096 meters 0.022192339123371242 Centerline is valid? [True, True] Translation: X:162.87, Y:-57.04, Z:3.33 [[ 8.16998937e-01 5.76325157e-01 -1.90276205e-02 1.62873751e+02] [-5.76151552e-01 8.17220257e-01 1.41576663e-02 -5.70425884e+01] [ 2.37091761e-02 -6.04005207e-04 9.99718716e-01 3.32750524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.462755096 meters 0.022143649845554003 Centerline is valid? [True, True] Translation: X:162.92, Y:-57.08, Z:3.33 [[ 8.15895706e-01 5.77947729e-01 -1.70475311e-02 1.62922896e+02] [-5.77808591e-01 8.16073629e-01 1.26911012e-02 -5.70783347e+01] [ 2.12468337e-02 -5.04405096e-04 9.99774133e-01 3.33013446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.522755096 meters 0.021373572089630637 Centerline is valid? [True, True] Translation: X:162.97, Y:-57.11, Z:3.33 [[ 8.15161070e-01 5.79024382e-01 -1.55947447e-02 1.62973483e+02] [-5.78908035e-01 8.15310108e-01 1.16153399e-02 -5.71138908e+01] [ 1.94401180e-02 -4.40449918e-04 9.99810926e-01 3.33281602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.582755096 meters 0.021321650116958808 Centerline is valid? [True, True] Translation: X:163.02, Y:-57.15, Z:3.33 [[ 8.14695157e-01 5.79697193e-01 -1.49320396e-02 1.63023609e+02] [-5.79590522e-01 8.14831881e-01 1.11280139e-02 -5.71510838e+01] [ 1.86179804e-02 -4.11470402e-04 9.99826586e-01 3.33420856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.642755096 meters 0.021220176559130968 Centerline is valid? [True, True] Translation: X:163.07, Y:-57.19, Z:3.34 [[ 8.13503476e-01 5.81400861e-01 -1.36063875e-02 1.63073434e+02] [-5.81312432e-01 8.13617183e-01 1.01456954e-02 -5.71860749e+01] [ 1.69691067e-02 -3.43996297e-04 9.99855955e-01 3.33524487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.702755096 meters 0.020681065703741293 Centerline is valid? [True, True] Translation: X:163.13, Y:-57.22, Z:3.34 [[ 8.11967202e-01 5.83554609e-01 -1.31636208e-02 1.63125130e+02] [-5.83472079e-01 8.12073847e-01 9.81833408e-03 -5.72207808e+01] [ 1.64193663e-02 -2.91560070e-04 9.99865151e-01 3.33586229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76275509599998 meters 0.02001813027290138 Centerline is valid? [True, True] Translation: X:163.18, Y:-57.26, Z:3.34 [[ 8.11248415e-01 5.84565649e-01 -1.26099515e-02 1.63176144e+02] [-5.84489960e-01 8.11346370e-01 9.41036591e-03 -5.72568002e+01] [ 1.57320150e-02 -2.63754377e-04 9.99876209e-01 3.33649801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82275509599998 meters 0.020638959368130125 Centerline is valid? [True, True] Translation: X:163.22, Y:-57.30, Z:3.34 [[ 8.11289694e-01 5.84518039e-01 -1.21529252e-02 1.63224488e+02] [-5.84447656e-01 8.11380672e-01 9.07431143e-03 -5.72951829e+01] [ 1.51647473e-02 -2.59146700e-04 9.99884975e-01 3.33798401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88275509599998 meters 0.021480795203898697 Centerline is valid? [True, True] Translation: X:163.27, Y:-57.33, Z:3.34 [[ 8.12747534e-01 5.82492810e-01 -1.19821677e-02 1.63273294e+02] [-5.82424087e-01 8.12835800e-01 8.95235156e-03 -5.73342377e+01] [ 1.49542153e-02 -2.97298552e-04 9.99888135e-01 3.33799089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94275509599998 meters 0.0225516701855731 Centerline is valid? [True, True] Translation: X:163.32, Y:-57.37, Z:3.34 [[ 8.15036586e-01 5.79294575e-01 -1.15394688e-02 1.63321048e+02] [-5.79230437e-01 8.15118197e-01 8.62700907e-03 -5.73731823e+01] [ 1.44036106e-02 -3.47316444e-04 9.99896202e-01 3.33855451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.002755096 meters 0.023914698496551208 Centerline is valid? [True, True] Translation: X:163.37, Y:-57.41, Z:3.34 [[ 8.16403060e-01 5.77352911e-01 -1.22335359e-02 1.63368960e+02] [-5.77280575e-01 8.16494612e-01 9.14806853e-03 -5.74134094e+01] [ 1.52702802e-02 -4.06328493e-04 9.99883320e-01 3.33921766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.062755096 meters 0.02442523527926362 Centerline is valid? [True, True] Translation: X:163.42, Y:-57.45, Z:3.34 [[ 8.16783467e-01 5.76796867e-01 -1.30438801e-02 1.63417648e+02] [-5.76714454e-01 8.16887491e-01 9.76041584e-03 -5.74512895e+01] [ 1.62851597e-02 -4.49552118e-04 9.99867287e-01 3.33880175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.122755096 meters 0.024751704690477404 Centerline is valid? [True, True] Translation: X:163.47, Y:-57.49, Z:3.34 [[ 8.16318273e-01 5.77444342e-01 -1.35095803e-02 1.63465968e+02] [-5.77355976e-01 8.16429927e-01 1.01119545e-02 -5.74886599e+01] [ 1.68687166e-02 -4.54736351e-04 9.99857610e-01 3.33980643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.182755096 meters 0.02453207114528504 Centerline is valid? [True, True] Translation: X:163.52, Y:-57.53, Z:3.34 [[ 8.15515116e-01 5.78574532e-01 -1.36603952e-02 1.63516007e+02] [-5.78484249e-01 8.15629399e-01 1.02301978e-02 -5.75258372e+01] [ 1.70607519e-02 -4.40557440e-04 9.99854358e-01 3.34099073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.242755096 meters 0.022340299167981987 Centerline is valid? [True, True] Translation: X:163.57, Y:-57.56, Z:3.34 [[ 8.14132377e-01 5.80517038e-01 -1.37273761e-02 1.63567890e+02] [-5.80426046e-01 8.14247998e-01 1.02860451e-02 -5.75598021e+01] [ 1.71487129e-02 -4.06475764e-04 9.99852867e-01 3.34253571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.302755096 meters 0.022255000159619526 Centerline is valid? [True, True] Translation: X:163.62, Y:-57.60, Z:3.34 [[ 8.12859834e-01 5.82305960e-01 -1.33663487e-02 1.63616614e+02] [-5.82219837e-01 8.12969641e-01 1.00212518e-02 -5.75973639e+01] [ 1.67018703e-02 -3.63719740e-04 9.99860448e-01 3.34445096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.362755096 meters 0.021911107229207288 Centerline is valid? [True, True] Translation: X:163.67, Y:-57.64, Z:3.35 [[ 8.12057134e-01 5.83442187e-01 -1.25867484e-02 1.63665746e+02] [-5.83365873e-01 8.12154609e-01 9.44184600e-03 -5.76355298e+01] [ 1.57311570e-02 -3.24638925e-04 9.99876205e-01 3.34671022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.422755096 meters 0.022212984669549855 Centerline is valid? [True, True] Translation: X:163.72, Y:-57.67, Z:3.35 [[ 8.12039940e-01 5.83473302e-01 -1.22491543e-02 1.63715783e+02] [-5.83400956e-01 8.12132258e-01 9.19351697e-03 -5.76742505e+01] [ 1.53121050e-02 -3.19334645e-04 9.99882712e-01 3.34726472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48275509599998 meters 0.021746573232413267 Centerline is valid? [True, True] Translation: X:163.77, Y:-57.71, Z:3.35 [[ 8.11855929e-01 5.83721817e-01 -1.26012295e-02 1.63766150e+02] [-5.83645183e-01 8.11953651e-01 9.46406455e-03 -5.77124976e+01] [ 1.57559953e-02 -3.28810001e-04 9.99875813e-01 3.34783615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54275509599998 meters 0.022393071680540555 Centerline is valid? [True, True] Translation: X:163.81, Y:-57.75, Z:3.35 [[ 8.12373699e-01 5.82979140e-01 -1.35755539e-02 1.63814446e+02] [-5.82889965e-01 8.12487035e-01 1.02033161e-02 -5.77523915e+01] [ 1.69782820e-02 -3.75851474e-04 9.99855788e-01 3.34737937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60275509599998 meters 0.023471758051043432 Centerline is valid? [True, True] Translation: X:163.86, Y:-57.79, Z:3.35 [[ 8.13243940e-01 5.81750801e-01 -1.41527487e-02 1.63860802e+02] [-5.81653581e-01 8.13366969e-01 1.06436088e-02 -5.77915500e+01] [ 1.77033062e-02 -4.23853388e-04 9.99843194e-01 3.34761715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66275509599998 meters 0.02332423176705965 Centerline is valid? [True, True] Translation: X:163.91, Y:-57.83, Z:3.35 [[ 8.13882714e-01 5.80856657e-01 -1.41588418e-02 1.63910826e+02] [-5.80759134e-01 8.14005740e-01 1.06528632e-02 -5.78290457e+01] [ 1.77131649e-02 -4.47304514e-04 9.99843010e-01 3.34876405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.722755096 meters 0.02455095898676611 Centerline is valid? [True, True] Translation: X:163.96, Y:-57.87, Z:3.35 [[ 8.14547941e-01 5.79923060e-01 -1.41737971e-02 1.63958176e+02] [-5.79825077e-01 8.14671112e-01 1.06704689e-02 -5.78677273e+01] [ 1.77350340e-02 -4.73285428e-04 9.99842610e-01 3.34991786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.782755096 meters 0.024727850852583732 Centerline is valid? [True, True] Translation: X:164.01, Y:-57.90, Z:3.35 [[ 8.14730408e-01 5.79663203e-01 -1.43154535e-02 1.64007743e+02] [-5.79563155e-01 8.14856020e-01 1.07803406e-02 -5.79046517e+01] [ 1.79140002e-02 -4.86361920e-04 9.99839413e-01 3.35023416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.842755096 meters 0.02583014845331695 Centerline is valid? [True, True] Translation: X:164.06, Y:-57.94, Z:3.35 [[ 8.14334646e-01 5.80203920e-01 -1.49162767e-02 1.64056250e+02] [-5.80095263e-01 8.14471093e-01 1.12394095e-02 -5.79411115e+01] [ 1.86700256e-02 -4.99779079e-04 9.99825575e-01 3.35040583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.902755096 meters 0.02392877912331183 Centerline is valid? [True, True] Translation: X:164.11, Y:-57.97, Z:3.35 [[ 8.13511711e-01 5.81370106e-01 -1.44046995e-02 1.64108339e+02] [-5.81268861e-01 8.13639101e-01 1.08593089e-02 -5.79747233e+01] [ 1.80335044e-02 -4.61171684e-04 9.99837277e-01 3.35154356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.962755096 meters 0.023597804050035434 Centerline is valid? [True, True] Translation: X:164.16, Y:-58.01, Z:3.35 [[ 8.11366907e-01 5.84362052e-01 -1.43085365e-02 1.64158993e+02] [-5.84262509e-01 8.11492966e-01 1.07928650e-02 -5.80098165e+01] [ 1.79182175e-02 -3.97032080e-04 9.99839377e-01 3.35332880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.022755096 meters 0.020311050119653368 Centerline is valid? [True, True] Translation: X:164.21, Y:-58.04, Z:3.36 [[ 8.08863835e-01 5.87852641e-01 -1.29834127e-02 1.64213549e+02] [-5.87771053e-01 8.08967976e-01 9.79814390e-03 -5.80399262e+01] [ 1.62630299e-02 -2.94090085e-04 9.99867705e-01 3.35605259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.082755096 meters 0.01978567927440031 Centerline is valid? [True, True] Translation: X:164.26, Y:-58.08, Z:3.36 [[ 8.07697673e-01 5.89473806e-01 -1.20457641e-02 1.64264701e+02] [-5.89403685e-01 8.07787454e-01 9.09536771e-03 -5.80758664e+01] [ 1.50918981e-02 -2.46489603e-04 9.99886080e-01 3.35779320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.142755096 meters 0.019700604190320724 Centerline is valid? [True, True] Translation: X:164.31, Y:-58.11, Z:3.36 [[ 8.06428910e-01 5.91206159e-01 -1.21528344e-02 1.64313729e+02] [-5.91134898e-01 8.06520446e-01 9.18166641e-03 -5.81119119e+01] [ 1.52297671e-02 -2.20396713e-04 9.99883996e-01 3.35883201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.202755096 meters 0.018630700304839123 Centerline is valid? [True, True] Translation: X:164.37, Y:-58.15, Z:3.36 [[ 8.06053473e-01 5.91717746e-01 -1.21617126e-02 1.64366262e+02] [-5.91646359e-01 8.06145187e-01 9.19364548e-03 -5.81462991e+01] [ 1.52441493e-02 -2.15136889e-04 9.99883778e-01 3.35886974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26275509599998 meters 0.018895725033791454 Centerline is valid? [True, True] Translation: X:164.42, Y:-58.18, Z:3.36 [[ 8.06143445e-01 5.91576420e-01 -1.30416367e-02 1.64415261e+02] [-5.91494262e-01 8.06248897e-01 9.86180762e-03 -5.81835400e+01] [ 1.63488181e-02 -2.35978279e-04 9.99866321e-01 3.35942229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32275509599998 meters 0.019119324666332572 Centerline is valid? [True, True] Translation: X:164.46, Y:-58.22, Z:3.36 [[ 8.06657116e-01 5.90855239e-01 -1.39421454e-02 1.64463951e+02] [-5.90761111e-01 8.06777548e-01 1.05497622e-02 -5.82215150e+01] [ 1.74815921e-02 -2.73563505e-04 9.99847148e-01 3.35930967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38275509599998 meters 0.019677263971560412 Centerline is valid? [True, True] Translation: X:164.51, Y:-58.26, Z:3.36 [[ 8.07792067e-01 5.89284418e-01 -1.46919071e-02 1.64513512e+02] [-5.89179510e-01 8.07925595e-01 1.11237907e-02 -5.82595935e+01] [ 1.84250443e-02 -3.29539229e-04 9.99830190e-01 3.35962659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44275509599998 meters 0.02098076203487558 Centerline is valid? [True, True] Translation: X:164.56, Y:-58.30, Z:3.36 [[ 8.09821154e-01 5.86491687e-01 -1.47376904e-02 1.64561448e+02] [-5.86385541e-01 8.09955148e-01 1.11649586e-02 -5.82991365e+01] [ 1.84850236e-02 -3.99651122e-04 9.99829057e-01 3.36023967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.502755096 meters 0.021793075341517754 Centerline is valid? [True, True] Translation: X:164.61, Y:-58.34, Z:3.36 [[ 8.10506241e-01 5.85539584e-01 -1.49341412e-02 1.64609438e+02] [-5.85430303e-01 8.10643700e-01 1.13204269e-02 -5.83379329e+01] [ 1.87348255e-02 -4.32377849e-04 9.99824394e-01 3.36149648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.562755096 meters 0.0233687997746045 Centerline is valid? [True, True] Translation: X:164.66, Y:-58.38, Z:3.36 [[ 8.12679256e-01 5.82517437e-01 -1.50287158e-02 1.64656439e+02] [-5.82406126e-01 8.12818045e-01 1.13986509e-02 -5.83777883e+01] [ 1.88555243e-02 -5.10630992e-04 9.99822088e-01 3.36291256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.622755096 meters 0.02550723218435302 Centerline is valid? [True, True] Translation: X:164.70, Y:-58.42, Z:3.36 [[ 8.14445393e-01 5.80030146e-01 -1.56118820e-02 1.64703121e+02] [-5.79909444e-01 8.14594792e-01 1.18474486e-02 -5.84176755e+01] [ 1.95892352e-02 -5.95622136e-04 9.99807935e-01 3.36374455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.682755096 meters 0.02694969904796989 Centerline is valid? [True, True] Translation: X:164.75, Y:-58.46, Z:3.36 [[ 8.15073031e-01 5.79130363e-01 -1.62473780e-02 1.64750679e+02] [-5.78999319e-01 8.15234692e-01 1.23363425e-02 -5.84563089e+01] [ 2.03897767e-02 -6.47799283e-04 9.99791897e-01 3.36436790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.742755096 meters 0.029896275933144752 Centerline is valid? [True, True] Translation: X:164.80, Y:-58.50, Z:3.36 [[ 8.15260596e-01 5.78854941e-01 -1.66468762e-02 1.64797571e+02] [-5.78717178e-01 8.15430255e-01 1.26462288e-02 -5.84950206e+01] [ 2.08946986e-02 -6.76138788e-04 9.99781453e-01 3.36355006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.802755096 meters 0.024622312228623208 Centerline is valid? [True, True] Translation: X:164.85, Y:-58.53, Z:3.37 [[ 8.13053546e-01 5.81951002e-01 -1.66421877e-02 1.64850208e+02] [-5.81813843e-01 8.13223628e-01 1.26484302e-02 -5.85266682e+01] [ 2.08945869e-02 -6.01195909e-04 9.99781504e-01 3.36586620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.862755096 meters 0.022676032102190023 Centerline is valid? [True, True] Translation: X:164.90, Y:-58.56, Z:3.37 [[ 8.11121741e-01 5.84644827e-01 -1.64908349e-02 1.64900528e+02] [-5.84510673e-01 8.11289188e-01 1.25350108e-02 -5.85625231e+01] [ 2.07073653e-02 -5.28350799e-04 9.99785440e-01 3.36790664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.922755096 meters 0.021989935304949366 Centerline is valid? [True, True] Translation: X:164.95, Y:-58.60, Z:3.37 [[ 8.09053418e-01 5.87513568e-01 -1.61361130e-02 1.64949735e+02] [-5.87385554e-01 8.09214189e-01 1.22722142e-02 -5.85991193e+01] [ 2.02676639e-02 -4.50757185e-04 9.99794488e-01 3.37023215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98275509599998 meters 0.025230882084276412 Centerline is valid? [True, True] Translation: X:165.00, Y:-58.64, Z:3.37 [[ 8.08404552e-01 5.88400928e-01 -1.63226102e-02 1.64996418e+02] [-5.88269983e-01 8.08569203e-01 1.24205880e-02 -5.86391296e+01] [ 2.05062454e-02 -4.38758234e-04 9.99789629e-01 3.36987519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04275509599998 meters 0.01994445432182607 Centerline is valid? [True, True] Translation: X:165.05, Y:-58.67, Z:3.37 [[ 8.07253527e-01 5.89978957e-01 -1.63271056e-02 1.65049113e+02] [-5.89848140e-01 8.07418521e-01 1.24299744e-02 -5.86732135e+01] [ 2.05162308e-02 -4.03627827e-04 9.99789439e-01 3.37276634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10275509599998 meters 0.021723067080948216 Centerline is valid? [True, True] Translation: X:165.10, Y:-58.71, Z:3.37 [[ 8.07480595e-01 5.89657248e-01 -1.67157882e-02 1.65097896e+02] [-5.89519992e-01 8.07653484e-01 1.27290753e-02 -5.87114287e+01] [ 2.10063561e-02 -4.24190013e-04 9.99779252e-01 3.37142458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16275509599998 meters 0.02016883763732648 Centerline is valid? [True, True] Translation: X:165.15, Y:-58.75, Z:3.37 [[ 8.07284625e-01 5.89920443e-01 -1.68939200e-02 1.65145513e+02] [-5.89780141e-01 8.07461261e-01 1.28723595e-02 -5.87507264e+01] [ 2.12348539e-02 -4.27959424e-04 9.99774423e-01 3.37289828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.222755096 meters 0.022046804158090363 Centerline is valid? [True, True] Translation: X:165.19, Y:-58.79, Z:3.37 [[ 8.08284843e-01 5.88533433e-01 -1.74359227e-02 1.65191604e+02] [-5.88383489e-01 8.08472735e-01 1.32931485e-02 -5.87906336e+01] [ 2.19199304e-02 -4.85641396e-04 9.99759612e-01 3.37218107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.282755096 meters 0.02324156086719299 Centerline is valid? [True, True] Translation: X:165.24, Y:-58.83, Z:3.37 [[ 8.08707134e-01 5.87948019e-01 -1.76039236e-02 1.65239967e+02] [-5.87794930e-01 8.08898551e-01 1.34258608e-02 -5.88297417e+01] [ 2.21334966e-02 -5.10092338e-04 9.99754894e-01 3.37214911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.342755096 meters 0.021430183180575192 Centerline is valid? [True, True] Translation: X:165.29, Y:-58.87, Z:3.38 [[ 8.07967307e-01 5.88974508e-01 -1.72586197e-02 1.65287695e+02] [-5.88827444e-01 8.08151471e-01 1.31697104e-02 -5.88678699e+01] [ 2.17042026e-02 -4.78346535e-04 9.99764322e-01 3.37529437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.402755096 meters 0.021244652715425912 Centerline is valid? [True, True] Translation: X:165.34, Y:-58.91, Z:3.38 [[ 8.07204173e-01 5.90030619e-01 -1.68905679e-02 1.65335060e+02] [-5.89889861e-01 8.07380746e-01 1.28950518e-02 -5.89065139e+01] [ 2.12455947e-02 -4.45364869e-04 9.99774188e-01 3.37681162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.462755096 meters 0.019859817154352026 Centerline is valid? [True, True] Translation: X:165.39, Y:-58.94, Z:3.38 [[ 8.06470277e-01 5.91040021e-01 -1.66548735e-02 1.65385659e+02] [-5.90903290e-01 8.06642126e-01 1.27193528e-02 -5.89426640e+01] [ 2.09521692e-02 -4.16360460e-04 9.99780393e-01 3.37790707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.522755096 meters 0.019660557301752556 Centerline is valid? [True, True] Translation: X:165.43, Y:-58.98, Z:3.38 [[ 8.05605045e-01 5.92243211e-01 -1.57635690e-02 1.65433178e+02] [-5.92120827e-01 8.05759171e-01 1.20451063e-02 -5.89809994e+01] [ 1.98352727e-02 -3.69660870e-04 9.99803193e-01 3.38019526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.582755096 meters 0.01941241645508222 Centerline is valid? [True, True] Translation: X:165.48, Y:-59.02, Z:3.38 [[ 8.05069599e-01 5.92994659e-01 -1.48416794e-02 1.65482046e+02] [-5.92886196e-01 8.05206323e-01 1.13461974e-02 -5.90197520e+01] [ 1.86788485e-02 -3.35051712e-04 9.99825479e-01 3.38264821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.642755096 meters 0.019740997369103962 Centerline is valid? [True, True] Translation: X:165.53, Y:-59.06, Z:3.38 [[ 8.04866702e-01 5.93291381e-01 -1.39616962e-02 1.65530382e+02] [-5.93195346e-01 8.04987726e-01 1.06790716e-02 -5.90577521e+01] [ 1.75747952e-02 -3.13215953e-04 9.99845502e-01 3.38386333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.702755096 meters 0.02090467266861242 Centerline is valid? [True, True] Translation: X:165.58, Y:-59.10, Z:3.39 [[ 8.05790810e-01 5.92058606e-01 -1.29528916e-02 1.65576567e+02] [-5.91975722e-01 8.05894848e-01 9.91154109e-03 -5.90959121e+01] [ 1.63068818e-02 -3.18831392e-04 9.99866983e-01 3.38558277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76275509599998 meters 0.02220419655867085 Centerline is valid? [True, True] Translation: X:165.62, Y:-59.13, Z:3.39 [[ 8.07059069e-01 5.90331039e-01 -1.28422722e-02 1.65622546e+02] [-5.90249346e-01 8.07161162e-01 9.82689521e-03 -5.91348337e+01] [ 1.61669046e-02 -3.50742156e-04 9.99869246e-01 3.38642150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82275509599998 meters 0.021465179364701683 Centerline is valid? [True, True] Translation: X:165.67, Y:-59.17, Z:3.39 [[ 8.08884189e-01 5.87826737e-01 -1.28878387e-02 1.65672083e+02] [-5.87744160e-01 8.08986753e-01 9.86088492e-03 -5.91722047e+01] [ 1.62225826e-02 -4.01561954e-04 9.99868325e-01 3.38623071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88275509599998 meters 0.022612070745236804 Centerline is valid? [True, True] Translation: X:165.72, Y:-59.21, Z:3.39 [[ 8.09642342e-01 5.86770514e-01 -1.34030592e-02 1.65720105e+02] [-5.86680954e-01 8.09753151e-01 1.02612318e-02 -5.92116456e+01] [ 1.68741577e-02 -4.44608180e-04 9.99857522e-01 3.38632218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94275509599998 meters 0.022710332208819208 Centerline is valid? [True, True] Translation: X:165.77, Y:-59.25, Z:3.39 [[ 8.09270178e-01 5.87271123e-01 -1.39429918e-02 1.65769642e+02] [-5.87174165e-01 8.09390153e-01 1.06808600e-02 -5.92488477e+01] [ 1.75578809e-02 -4.56736860e-04 9.99845744e-01 3.38640774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.002755096 meters 0.022715037011823598 Centerline is valid? [True, True] Translation: X:165.82, Y:-59.29, Z:3.39 [[ 8.08628129e-01 5.88134514e-01 -1.47764092e-02 1.65819049e+02] [-5.88025637e-01 8.08762989e-01 1.13259577e-02 -5.92861993e+01] [ 1.86117995e-02 -4.69580594e-04 9.99826675e-01 3.38604093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.062755096 meters 0.02192420886957725 Centerline is valid? [True, True] Translation: X:165.87, Y:-59.32, Z:3.39 [[ 8.07438676e-01 5.89739374e-01 -1.58194416e-02 1.65869163e+02] [-5.89614748e-01 8.07593494e-01 1.21325036e-02 -5.93222634e+01] [ 1.99306932e-02 -4.68876605e-04 9.99801254e-01 3.38587097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.122755096 meters 0.01973517206675047 Centerline is valid? [True, True] Translation: X:165.92, Y:-59.36, Z:3.39 [[ 8.05765194e-01 5.92022782e-01 -1.58580633e-02 1.65922350e+02] [-5.91897860e-01 8.05921119e-01 1.21685076e-02 -5.93558541e+01] [ 1.99843818e-02 -4.18606220e-04 9.99800205e-01 3.38619987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.182755096 meters 0.019389794189417733 Centerline is valid? [True, True] Translation: X:165.97, Y:-59.39, Z:3.39 [[ 8.04729544e-01 5.93423760e-01 -1.60810928e-02 1.65972845e+02] [-5.93295520e-01 8.04890109e-01 1.23425298e-02 -5.93918791e+01] [ 2.02678630e-02 -3.91558025e-04 9.99794509e-01 3.38719928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.242755096 meters 0.01851221470133703 Centerline is valid? [True, True] Translation: X:166.02, Y:-59.43, Z:3.39 [[ 8.04302826e-01 5.94034033e-01 -1.48503230e-02 1.66024647e+02] [-5.93924666e-01 8.04439832e-01 1.14038367e-02 -5.94280386e+01] [ 1.87204584e-02 -3.52164935e-04 9.99824695e-01 3.38936587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.302755096 meters 0.019581427266953423 Centerline is valid? [True, True] Translation: X:166.07, Y:-59.47, Z:3.39 [[ 8.04709797e-01 5.93495584e-01 -1.43225005e-02 1.66072585e+02] [-5.93393637e-01 8.04837166e-01 1.10057792e-02 -5.94667032e+01] [ 1.80591621e-02 -3.57577698e-04 9.99836856e-01 3.39089790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.362755096 meters 0.019547196165000096 Centerline is valid? [True, True] Translation: X:166.12, Y:-59.50, Z:3.39 [[ 8.05681614e-01 5.92195686e-01 -1.34686897e-02 1.66122953e+02] [-5.92105304e-01 8.05794102e-01 1.03524670e-02 -5.95028500e+01] [ 1.69836770e-02 -3.65909718e-04 9.99855700e-01 3.39225502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.422755096 meters 0.019933460157625794 Centerline is valid? [True, True] Translation: X:166.17, Y:-59.54, Z:3.39 [[ 8.06164858e-01 5.91543908e-01 -1.31918880e-02 1.66172581e+02] [-5.91457020e-01 8.06272698e-01 1.01454877e-02 -5.95403811e+01] [ 1.66377606e-02 -3.76500904e-04 9.99861512e-01 3.39327076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48275509599998 meters 0.020291020739448076 Centerline is valid? [True, True] Translation: X:166.22, Y:-59.58, Z:3.39 [[ 8.06779320e-01 5.90690814e-01 -1.38380481e-02 1.66221727e+02] [-5.90594961e-01 8.06897879e-01 1.06491991e-02 -5.95776214e+01] [ 1.74562758e-02 -4.18872144e-04 9.99847540e-01 3.39360647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54275509599998 meters 0.02093920179746098 Centerline is valid? [True, True] Translation: X:166.27, Y:-59.62, Z:3.39 [[ 8.06649537e-01 5.90855379e-01 -1.43681900e-02 1.66271159e+02] [-5.90752002e-01 8.06777375e-01 1.10607511e-02 -5.96156919e+01] [ 1.81272349e-02 -4.34112780e-04 9.99835594e-01 3.39395637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60275509599998 meters 0.021432099347086404 Centerline is valid? [True, True] Translation: X:166.32, Y:-59.65, Z:3.39 [[ 8.06286358e-01 5.91333066e-01 -1.50835748e-02 1.66320869e+02] [-5.91219077e-01 8.06427308e-01 1.16189893e-02 -5.96523522e+01] [ 1.90344991e-02 -4.50535398e-04 9.99818726e-01 3.39385318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66275509599998 meters 0.01979026806532463 Centerline is valid? [True, True] Translation: X:166.37, Y:-59.69, Z:3.39 [[ 8.05423096e-01 5.92495188e-01 -1.55913192e-02 1.66372169e+02] [-5.92373466e-01 8.05573867e-01 1.20175563e-02 -5.96874699e+01] [ 1.96803036e-02 -4.43333581e-04 9.99806226e-01 3.39464717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.722755096 meters 0.019268366305324816 Centerline is valid? [True, True] Translation: X:166.42, Y:-59.72, Z:3.40 [[ 8.03908089e-01 5.94555219e-01 -1.53582174e-02 1.66421774e+02] [-5.94437352e-01 8.04054685e-01 1.18447112e-02 -5.97245154e+01] [ 1.93911815e-02 -3.92561003e-04 9.99811896e-01 3.39698530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.782755096 meters 0.018302813270446923 Centerline is valid? [True, True] Translation: X:166.47, Y:-59.76, Z:3.40 [[ 8.02501114e-01 5.96468670e-01 -1.47339100e-02 1.66472505e+02] [-5.96360396e-01 8.02636289e-01 1.13695063e-02 -5.97607379e+01] [ 1.86075251e-02 -3.37321067e-04 9.99826808e-01 3.39888821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.842755096 meters 0.01810602648489594 Centerline is valid? [True, True] Translation: X:166.52, Y:-59.80, Z:3.40 [[ 8.01155664e-01 5.98267261e-01 -1.50295165e-02 1.66521272e+02] [-5.98154784e-01 8.01296568e-01 1.16044956e-02 -5.97978782e+01] [ 1.89856897e-02 -3.07030173e-04 9.99819708e-01 3.39999313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.902755096 meters 0.01791397680309473 Centerline is valid? [True, True] Translation: X:166.57, Y:-59.84, Z:3.40 [[ 8.01187263e-01 5.98226013e-01 -1.49868799e-02 1.66570674e+02] [-5.98114050e-01 8.01327361e-01 1.15777215e-02 -5.98363484e+01] [ 1.89354911e-02 -3.12059550e-04 9.99820659e-01 3.40184861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.962755096 meters 0.018069372157291354 Centerline is valid? [True, True] Translation: X:166.62, Y:-59.88, Z:3.40 [[ 8.01933863e-01 5.97230481e-01 -1.47591169e-02 1.66618988e+02] [-5.97121590e-01 8.02069597e-01 1.14090977e-02 -5.98756826e+01] [ 1.86516998e-02 -3.36354418e-04 9.99825985e-01 3.40390553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.022755096 meters 0.0201843028509746 Centerline is valid? [True, True] Translation: X:166.66, Y:-59.92, Z:3.41 [[ 8.03873880e-01 5.94637704e-01 -1.38847334e-02 1.66662880e+02] [-5.94540843e-01 8.03993693e-01 1.07390853e-02 -5.99181849e+01] [ 1.75491031e-02 -3.77829072e-04 9.99845931e-01 3.40666265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.082755096 meters 0.021634624148361772 Centerline is valid? [True, True] Translation: X:166.71, Y:-59.96, Z:3.41 [[ 8.06098486e-01 5.91653331e-01 -1.23112985e-02 1.66708840e+02] [-5.91576755e-01 8.06192396e-01 9.52699607e-03 -5.99592450e+01] [ 1.55619542e-02 -3.96619090e-04 9.99878827e-01 3.40903979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.142755096 meters 0.02274068630957607 Centerline is valid? [True, True] Translation: X:166.76, Y:-60.00, Z:3.41 [[ 8.07110464e-01 5.90272214e-01 -1.23049581e-02 1.66755902e+02] [-5.90195525e-01 8.07204146e-01 9.52414142e-03 -5.99993617e+01] [ 1.55544492e-02 -4.24702992e-04 9.99878932e-01 3.40982872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.202755096 meters 0.023683195130768962 Centerline is valid? [True, True] Translation: X:166.80, Y:-60.04, Z:3.41 [[ 8.08100419e-01 5.88929665e-01 -1.16430872e-02 1.66803447e+02] [-5.88860795e-01 8.08184177e-01 9.01664552e-03 -6.00385466e+01] [ 1.47199289e-02 -4.30197437e-04 9.99891563e-01 3.41067975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26275509599998 meters 0.022399061649174 Centerline is valid? [True, True] Translation: X:166.85, Y:-60.07, Z:3.41 [[ 8.07546790e-01 5.89675985e-01 -1.22643745e-02 1.66853653e+02] [-5.89599574e-01 8.07639794e-01 9.50292871e-03 -6.00749498e+01] [ 1.55088457e-02 -4.42989611e-04 9.99879632e-01 3.41020717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32275509599998 meters 0.022466087874119932 Centerline is valid? [True, True] Translation: X:166.90, Y:-60.11, Z:3.41 [[ 8.06324766e-01 5.91333871e-01 -1.28306363e-02 1.66901680e+02] [-5.91250350e-01 8.06426726e-01 9.94785320e-03 -6.01121710e+01] [ 1.62294706e-02 -4.35082196e-04 9.99868199e-01 3.41053546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38275509599998 meters 0.020950014145567467 Centerline is valid? [True, True] Translation: X:166.95, Y:-60.15, Z:3.41 [[ 8.03550486e-01 5.95083111e-01 -1.35169158e-02 1.66951346e+02] [-5.94990835e-01 8.03664074e-01 1.04863129e-02 -6.01467918e+01] [ 1.71032874e-02 -3.83840779e-04 9.99853654e-01 3.41116106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44275509599998 meters 0.01920349004620067 Centerline is valid? [True, True] Translation: X:167.00, Y:-60.18, Z:3.41 [[ 8.00721061e-01 5.98879882e-01 -1.37357326e-02 1.67001222e+02] [-5.98785141e-01 8.00838805e-01 1.06565699e-02 -6.01800241e+01] [ 1.73821130e-02 -3.08187392e-04 9.99848872e-01 3.41204019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.502755096 meters 0.018530974532043075 Centerline is valid? [True, True] Translation: X:167.05, Y:-60.21, Z:3.41 [[ 7.99327668e-01 6.00735329e-01 -1.38688262e-02 1.67047533e+02] [-6.00639027e-01 7.99447929e-01 1.07595188e-02 -6.02145632e+01] [ 1.75510274e-02 -2.70222831e-04 9.99845932e-01 3.41386690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.562755096 meters 0.017350732321560775 Centerline is valid? [True, True] Translation: X:167.10, Y:-60.25, Z:3.42 [[ 7.98548066e-01 6.01777823e-01 -1.35807740e-02 1.67097770e+02] [-6.01685677e-01 7.98663505e-01 1.05333615e-02 -6.02510855e+01] [ 1.71852119e-02 -2.40038239e-04 9.99852295e-01 3.41598516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.622755096 meters 0.017737887043087396 Centerline is valid? [True, True] Translation: X:167.15, Y:-60.29, Z:3.42 [[ 7.97520987e-01 6.03154911e-01 -1.28229369e-02 1.67145520e+02] [-6.03072854e-01 7.97624042e-01 9.95094208e-03 -6.02890798e+01] [ 1.62298423e-02 -2.02920036e-04 9.99868267e-01 3.41837489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.682755096 meters 0.016588279963709207 Centerline is valid? [True, True] Translation: X:167.20, Y:-60.33, Z:3.42 [[ 7.96882824e-01 6.04006508e-01 -1.24057933e-02 1.67197418e+02] [-6.03929735e-01 7.96979363e-01 9.63176751e-03 -6.03250625e+01] [ 1.57048115e-02 -1.83162640e-04 9.99876655e-01 3.41991535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.742755096 meters 0.016844458953784253 Centerline is valid? [True, True] Translation: X:167.25, Y:-60.36, Z:3.42 [[ 7.97111377e-01 6.03698638e-01 -1.27045901e-02 1.67246369e+02] [-6.03617974e-01 7.97212590e-01 9.87048825e-03 -6.03640523e+01] [ 1.60870595e-02 -1.99159554e-04 9.99870575e-01 3.42042839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.802755096 meters 0.017137060800079394 Centerline is valid? [True, True] Translation: X:167.30, Y:-60.40, Z:3.42 [[ 7.97593889e-01 6.03048506e-01 -1.32848857e-02 1.67296112e+02] [-6.02960094e-01 7.97704486e-01 1.03284764e-02 -6.04023303e+01] [ 1.68259852e-02 -2.27673739e-04 9.99858407e-01 3.42024815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.862755096 meters 0.017689789027509468 Centerline is valid? [True, True] Translation: X:167.35, Y:-60.44, Z:3.42 [[ 7.98076275e-01 6.02387030e-01 -1.42872561e-02 1.67345453e+02] [-6.02284523e-01 7.98204106e-01 1.11156918e-02 -6.04393836e+01] [ 1.81000950e-02 -2.66176678e-04 9.99836144e-01 3.41942918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.922755096 meters 0.01767201858670056 Centerline is valid? [True, True] Translation: X:167.40, Y:-60.47, Z:3.42 [[ 7.97911662e-01 6.02614357e-01 -1.38894284e-02 1.67397920e+02] [-6.02517402e-01 7.98032499e-01 1.08125075e-02 -6.04746023e+01] [ 1.75999876e-02 -2.58803541e-04 9.99845075e-01 3.42030189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98275509599998 meters 0.018220292667037064 Centerline is valid? [True, True] Translation: X:167.45, Y:-60.51, Z:3.42 [[ 7.98442999e-01 6.01860541e-01 -1.58955122e-02 1.67447035e+02] [-6.01733223e-01 7.98601143e-01 1.23831675e-02 -6.05121068e+01] [ 2.01471141e-02 -3.22395638e-04 9.99796974e-01 3.41858042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04275509599998 meters 0.018391396315614077 Centerline is valid? [True, True] Translation: X:167.50, Y:-60.55, Z:3.42 [[ 7.99025420e-01 6.01052906e-01 -1.71400791e-02 1.67495274e+02] [-6.00904509e-01 7.99209149e-01 1.33606952e-02 -6.05506716e+01] [ 2.17289927e-02 -3.75984349e-04 9.99763827e-01 3.41853275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10275509599998 meters 0.020672339820786628 Centerline is valid? [True, True] Translation: X:167.54, Y:-60.59, Z:3.42 [[ 7.99842578e-01 5.99945238e-01 -1.78202720e-02 1.67542565e+02] [-5.99784370e-01 8.00040954e-01 1.38989642e-02 -6.05897377e+01] [ 2.25955648e-02 -4.28662730e-04 9.99744596e-01 3.41822547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16275509599998 meters 0.02133930657412963 Centerline is valid? [True, True] Translation: X:167.59, Y:-60.63, Z:3.42 [[ 8.00565367e-01 5.98983289e-01 -1.77232231e-02 1.67589260e+02] [-5.98823807e-01 8.00761394e-01 1.38288929e-02 -6.06250666e+01] [ 2.24753486e-02 -4.57844803e-04 9.99747293e-01 3.41937324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.222755096 meters 0.02081629329222402 Centerline is valid? [True, True] Translation: X:167.64, Y:-60.66, Z:3.42 [[ 8.01905696e-01 5.97217702e-01 -1.66814708e-02 1.67638358e+02] [-5.97076054e-01 8.02079042e-01 1.30152590e-02 -6.06635134e+01] [ 2.11528012e-02 -4.76903556e-04 9.99776141e-01 3.42315369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.282755096 meters 0.020981655300074762 Centerline is valid? [True, True] Translation: X:167.69, Y:-60.70, Z:3.43 [[ 8.02159560e-01 5.96885905e-01 -1.63479540e-02 1.67686475e+02] [-5.96749652e-01 8.02325984e-01 1.27620168e-02 -6.07019727e+01] [ 2.07338563e-02 -4.81537944e-04 9.99784915e-01 3.42533392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.342755096 meters 0.020539166620290823 Centerline is valid? [True, True] Translation: X:167.74, Y:-60.74, Z:3.43 [[ 8.02072657e-01 5.97043629e-01 -1.47769170e-02 1.67737498e+02] [-5.96932232e-01 8.02208648e-01 1.15410441e-02 -6.07394292e+01] [ 1.87446774e-02 -4.35937858e-04 9.99824208e-01 3.42854302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.402755096 meters 0.02053846406287163 Centerline is valid? [True, True] Translation: X:167.79, Y:-60.77, Z:3.43 [[ 8.01165047e-01 5.98288141e-01 -1.36333725e-02 1.67787117e+02] [-5.98193382e-01 8.01280947e-01 1.06546597e-02 -6.07745965e+01] [ 1.72987182e-02 -3.80747715e-04 9.99850293e-01 3.43063866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.462755096 meters 0.020636280721380715 Centerline is valid? [True, True] Translation: X:167.84, Y:-60.81, Z:3.43 [[ 8.00704994e-01 5.98922286e-01 -1.27909664e-02 1.67835914e+02] [-5.98838902e-01 8.00807077e-01 9.99970886e-03 -6.08121191e+01] [ 1.62321449e-02 -3.47088530e-04 9.99868190e-01 3.43201275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.522755096 meters 0.020889052212569318 Centerline is valid? [True, True] Translation: X:167.88, Y:-60.85, Z:3.43 [[ 8.00390649e-01 5.99333306e-01 -1.32059405e-02 1.67881721e+02] [-5.99244462e-01 8.00499510e-01 1.03251731e-02 -6.08483694e+01] [ 1.67595690e-02 -3.50585288e-04 9.99859487e-01 3.43311080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.582755096 meters 0.02135556734333188 Centerline is valid? [True, True] Translation: X:167.93, Y:-60.88, Z:3.43 [[ 8.00532268e-01 5.99134964e-01 -1.36155212e-02 1.67927719e+02] [-5.99040509e-01 8.00647963e-01 1.06446167e-02 -6.08834773e+01] [ 1.72788014e-02 -3.65110376e-04 9.99850644e-01 3.43323674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.642755096 meters 0.02162817837687546 Centerline is valid? [True, True] Translation: X:167.97, Y:-60.92, Z:3.43 [[ 8.00501948e-01 5.99175191e-01 -1.36279991e-02 1.67973266e+02] [-5.99080603e-01 8.00617861e-01 1.06523565e-02 -6.09188169e+01] [ 1.72934472e-02 -3.62962244e-04 9.99850391e-01 3.43389773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.702755096 meters 0.02116378911794754 Centerline is valid? [True, True] Translation: X:168.02, Y:-60.95, Z:3.43 [[ 8.00589491e-01 5.99033430e-01 -1.46770815e-02 1.68019954e+02] [-5.98923746e-01 8.00723920e-01 1.14695586e-02 -6.09538784e+01] [ 1.86229392e-02 -3.91955444e-04 9.99826501e-01 3.43353815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76275509599998 meters 0.021634115509763123 Centerline is valid? [True, True] Translation: X:168.07, Y:-60.99, Z:3.43 [[ 8.00518692e-01 5.99108846e-01 -1.54406846e-02 1.68065469e+02] [-5.98987504e-01 8.00667486e-01 1.20642818e-02 -6.09900103e+01] [ 1.95906720e-02 -4.08905987e-04 9.99808001e-01 3.43327543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82275509599998 meters 0.020605332234989792 Centerline is valid? [True, True] Translation: X:168.12, Y:-61.03, Z:3.43 [[ 8.00278906e-01 5.99429579e-01 -1.54224874e-02 1.68116147e+02] [-5.99308620e-01 8.00427399e-01 1.20481291e-02 -6.10267408e+01] [ 1.95665865e-02 -3.99033965e-04 9.99808476e-01 3.43391032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88275509599998 meters 0.020138804863326955 Centerline is valid? [True, True] Translation: X:168.17, Y:-61.07, Z:3.44 [[ 8.00049917e-01 5.99748320e-01 -1.49024608e-02 1.68165322e+02] [-5.99635316e-01 8.00188607e-01 1.16482526e-02 -6.10657219e+01] [ 1.89107992e-02 -3.83141757e-04 9.99821101e-01 3.43610653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94275509599998 meters 0.020101933110663835 Centerline is valid? [True, True] Translation: X:168.21, Y:-61.10, Z:3.44 [[ 7.99585849e-01 6.00388965e-01 -1.39842959e-02 1.68214251e+02] [-6.00289429e-01 7.99708052e-01 1.09377105e-02 -6.11047793e+01] [ 1.77502347e-02 -3.51013518e-04 9.99842391e-01 3.43857709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.002755096 meters 0.019996348541117592 Centerline is valid? [True, True] Translation: X:168.26, Y:-61.14, Z:3.44 [[ 7.98739872e-01 6.01530935e-01 -1.32344791e-02 1.68261780e+02] [-6.01441917e-01 7.98849447e-01 1.03528705e-02 -6.11426718e+01] [ 1.67999282e-02 -3.09479993e-04 9.99858823e-01 3.44067635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.062755096 meters 0.019651523686628116 Centerline is valid? [True, True] Translation: X:168.31, Y:-61.18, Z:3.44 [[ 7.98145949e-01 6.02322357e-01 -1.30699185e-02 1.68310229e+02] [-6.02235558e-01 7.98252900e-01 1.02293838e-02 -6.11809396e+01] [ 1.65944869e-02 -2.93371604e-04 9.99862259e-01 3.44162877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.122755096 meters 0.01977886915090399 Centerline is valid? [True, True] Translation: X:168.36, Y:-61.22, Z:3.44 [[ 7.97597753e-01 6.03042538e-01 -1.33237593e-02 1.68356235e+02] [-6.02952321e-01 7.97708978e-01 1.04347883e-02 -6.12189722e+01] [ 1.69211036e-02 -2.89172083e-04 9.99856786e-01 3.44236377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.182755096 meters 0.018977924731707237 Centerline is valid? [True, True] Translation: X:168.41, Y:-61.26, Z:3.44 [[ 7.97426538e-01 6.03279289e-01 -1.28458810e-02 1.68406676e+02] [-6.03195482e-01 7.97529953e-01 1.00590772e-02 -6.12567730e+01] [ 1.63134078e-02 -2.72797771e-04 9.99866890e-01 3.44273935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.242755096 meters 0.01951844611745343 Centerline is valid? [True, True] Translation: X:168.45, Y:-61.30, Z:3.44 [[ 7.98214886e-01 6.02230191e-01 -1.31070132e-02 1.68452963e+02] [-6.02142681e-01 7.98322431e-01 1.02707047e-02 -6.12981253e+01] [ 1.66489511e-02 -3.05937295e-04 9.99861350e-01 3.44337191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.302755096 meters 0.020198939303288282 Centerline is valid? [True, True] Translation: X:168.50, Y:-61.34, Z:3.44 [[ 7.99219185e-01 6.00881174e-01 -1.38025181e-02 1.68499654e+02] [-6.00783812e-01 7.99338281e-01 1.08223720e-02 -6.13392060e+01] [ 1.75358407e-02 -3.57117840e-04 9.99846172e-01 3.44376255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.362755096 meters 0.02145218771682768 Centerline is valid? [True, True] Translation: X:168.55, Y:-61.38, Z:3.44 [[ 8.00664272e-01 5.98955413e-01 -1.37527315e-02 1.68545463e+02] [-5.98858358e-01 8.00782274e-01 1.07896144e-02 -6.13809492e+01] [ 1.74754416e-02 -4.02920517e-04 9.99847212e-01 3.44406365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.422755096 meters 0.022250653189499422 Centerline is valid? [True, True] Translation: X:168.59, Y:-61.42, Z:3.45 [[ 8.01417750e-01 5.97947003e-01 -1.37467203e-02 1.68592748e+02] [-5.97849777e-01 8.01535525e-01 1.07910898e-02 -6.14213104e+01] [ 1.74709845e-02 -4.29697231e-04 9.99847278e-01 3.44536958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48275509599998 meters 0.021958144892627214 Centerline is valid? [True, True] Translation: X:168.64, Y:-61.46, Z:3.45 [[ 8.00042538e-01 5.99789836e-01 -1.35679905e-02 1.68641968e+02] [-5.99695282e-01 8.00157485e-01 1.06567895e-02 -6.14578805e+01] [ 1.72483632e-02 -3.89225025e-04 9.99851160e-01 3.44667346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54275509599998 meters 0.021310808346148888 Centerline is valid? [True, True] Translation: X:168.69, Y:-61.49, Z:3.45 [[ 7.98815022e-01 6.01395341e-01 -1.47717327e-02 1.68690494e+02] [-6.01283416e-01 7.98951494e-01 1.16087797e-02 -6.14949729e+01] [ 1.87833639e-02 -3.91269715e-04 9.99823500e-01 3.44652440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60275509599998 meters 0.019974230236424147 Centerline is valid? [True, True] Translation: X:168.74, Y:-61.53, Z:3.45 [[ 7.96441016e-01 6.04505848e-01 -1.59495356e-02 1.68737954e+02] [-6.04375965e-01 7.96600629e-01 1.25351873e-02 -6.15282864e+01] [ 2.02830041e-02 -3.44021338e-04 9.99794220e-01 3.44609594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66275509599998 meters 0.0199330933201607 Centerline is valid? [True, True] Translation: X:168.78, Y:-61.57, Z:3.45 [[ 7.96127486e-01 6.04926335e-01 -1.56574412e-02 1.68784283e+02] [-6.04801294e-01 7.96281372e-01 1.23033212e-02 -6.15651504e+01] [ 1.99103318e-02 -3.25371447e-04 9.99801717e-01 3.44736076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.722755096 meters 0.019534314696787042 Centerline is valid? [True, True] Translation: X:168.83, Y:-61.60, Z:3.45 [[ 7.96710533e-01 6.04196007e-01 -1.41248791e-02 1.68834907e+02] [-6.04094167e-01 7.96835673e-01 1.10972011e-02 -6.16015667e+01] [ 1.79600922e-02 -3.08499945e-04 9.99838657e-01 3.44950414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.782755096 meters 0.020053328765784695 Centerline is valid? [True, True] Translation: X:168.88, Y:-61.64, Z:3.45 [[ 7.98233579e-01 6.02219574e-01 -1.24393934e-02 1.68883199e+02] [-6.02140275e-01 7.98330437e-01 9.77772443e-03 -6.16406089e+01] [ 1.58190834e-02 -3.14648231e-04 9.99874821e-01 3.45302389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.842755096 meters 0.021030579279097808 Centerline is valid? [True, True] Translation: X:168.93, Y:-61.68, Z:3.45 [[ 7.99571236e-01 6.00445897e-01 -1.22704032e-02 1.68931272e+02] [-6.00368442e-01 7.99665307e-01 9.65043711e-03 -6.16804050e+01] [ 1.56067811e-02 -3.49449067e-04 9.99878146e-01 3.45453283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.902755096 meters 0.02202864968059704 Centerline is valid? [True, True] Translation: X:168.98, Y:-61.72, Z:3.45 [[ 8.00300358e-01 5.99464501e-01 -1.27141353e-02 1.68978851e+02] [-5.99381120e-01 8.00401251e-01 1.00055349e-02 -6.17188284e+01] [ 1.61743728e-02 -3.86820505e-04 9.99869111e-01 3.45488603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.962755096 meters 0.023979624876015588 Centerline is valid? [True, True] Translation: X:169.03, Y:-61.76, Z:3.45 [[ 8.01604615e-01 5.97698721e-01 -1.36484329e-02 1.69025589e+02] [-5.97602272e-01 8.01720668e-01 1.07469127e-02 -6.17578801e+01] [ 1.73656467e-02 -4.58440334e-04 9.99849101e-01 3.45439182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.022755096 meters 0.024748480820975444 Centerline is valid? [True, True] Translation: X:169.07, Y:-61.79, Z:3.46 [[ 8.02254987e-01 5.96817013e-01 -1.40139085e-02 1.69073167e+02] [-5.96715084e-01 8.02377223e-01 1.10408330e-02 -6.17949404e+01] [ 1.78337980e-02 -4.95252727e-04 9.99840843e-01 3.45537576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.082755096 meters 0.02368611255319352 Centerline is valid? [True, True] Translation: X:169.12, Y:-61.83, Z:3.46 [[ 8.01797239e-01 5.97426727e-01 -1.42300109e-02 1.69124005e+02] [-5.97321731e-01 8.01923354e-01 1.12108685e-02 -6.18313733e+01] [ 1.81090505e-02 -4.88948713e-04 9.99835898e-01 3.45645001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.142755096 meters 0.023428122613286338 Centerline is valid? [True, True] Translation: X:169.17, Y:-61.87, Z:3.46 [[ 8.01088477e-01 5.98375779e-01 -1.42715809e-02 1.69173138e+02] [-5.98270201e-01 8.01215453e-01 1.12500750e-02 -6.18679389e+01] [ 1.81663836e-02 -4.74043910e-04 9.99834865e-01 3.45729033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.202755096 meters 0.02203737852220379 Centerline is valid? [True, True] Translation: X:169.22, Y:-61.90, Z:3.46 [[ 8.00012184e-01 5.99826646e-01 -1.37295268e-02 1.69223494e+02] [-5.99729142e-01 8.00129873e-01 1.08232152e-02 -6.19040317e+01] [ 1.74774574e-02 -4.24706687e-04 9.99847167e-01 3.45934890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26275509599998 meters 0.02286194058170913 Centerline is valid? [True, True] Translation: X:169.27, Y:-61.94, Z:3.46 [[ 7.99631484e-01 6.00338099e-01 -1.35520089e-02 1.69270918e+02] [-6.00243070e-01 7.99746207e-01 1.06892886e-02 -6.19431982e+01] [ 1.72553550e-02 -4.12992244e-04 9.99851030e-01 3.46086032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32275509599998 meters 0.021742605931559626 Centerline is valid? [True, True] Translation: X:169.32, Y:-61.98, Z:3.46 [[ 7.98916284e-01 6.01294941e-01 -1.33103349e-02 1.69320319e+02] [-6.01203305e-01 7.99027060e-01 1.05044786e-02 -6.19791801e+01] [ 1.69516076e-02 -3.89981711e-04 9.99856235e-01 3.46243380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38275509599998 meters 0.021507098904276902 Centerline is valid? [True, True] Translation: X:169.37, Y:-62.01, Z:3.46 [[ 7.98139849e-01 6.02315960e-01 -1.37210137e-02 1.69366702e+02] [-6.02218713e-01 7.98257690e-01 1.08296916e-02 -6.20143932e+01] [ 1.74758009e-02 -3.80557214e-04 9.99847214e-01 3.46322637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44275509599998 meters 0.021949709888469855 Centerline is valid? [True, True] Translation: X:169.41, Y:-62.05, Z:3.46 [[ 7.98395080e-01 6.01971155e-01 -1.40008926e-02 1.69412285e+02] [-6.01869887e-01 7.98517735e-01 1.10483643e-02 -6.20516676e+01] [ 1.78307576e-02 -3.94244078e-04 9.99840942e-01 3.46415080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.502755096 meters 0.023683293658797976 Centerline is valid? [True, True] Translation: X:169.46, Y:-62.09, Z:3.46 [[ 8.00085022e-01 5.99725956e-01 -1.38829169e-02 1.69455658e+02] [-5.99626078e-01 8.00205339e-01 1.09536227e-02 -6.20898948e+01] [ 1.76783561e-02 -4.39270440e-04 9.99843629e-01 3.46491086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.562755096 meters 0.022072605971946616 Centerline is valid? [True, True] Translation: X:169.51, Y:-62.13, Z:3.47 [[ 8.01168114e-01 5.98281751e-01 -1.37331580e-02 1.69506351e+02] [-5.98183850e-01 8.01285674e-01 1.08328357e-02 -6.21260755e+01] [ 1.74852706e-02 -4.63969209e-04 9.99847013e-01 3.46597296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.622755096 meters 0.02277093030857376 Centerline is valid? [True, True] Translation: X:169.55, Y:-62.17, Z:3.47 [[ 8.02147288e-01 5.96956565e-01 -1.42333256e-02 1.69553363e+02] [-5.96851071e-01 8.02273390e-01 1.12341640e-02 -6.21663059e+01] [ 1.81253263e-02 -5.16278510e-04 9.99835589e-01 3.46668975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.682755096 meters 0.023759231727138425 Centerline is valid? [True, True] Translation: X:169.60, Y:-62.21, Z:3.47 [[ 8.01741700e-01 5.97478781e-01 -1.51443874e-02 1.69599797e+02] [-5.97359298e-01 8.01884538e-01 1.19606693e-02 -6.22059603e+01] [ 1.92902962e-02 -5.42726669e-04 9.99813778e-01 3.46716393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.742755096 meters 0.022727272794743576 Centerline is valid? [True, True] Translation: X:169.65, Y:-62.24, Z:3.47 [[ 8.00250617e-01 5.99451515e-01 -1.60259818e-02 1.69649509e+02] [-5.99317963e-01 8.00410895e-01 1.26640810e-02 -6.22435903e+01] [ 2.04188730e-02 -5.29779851e-04 9.99791373e-01 3.46744919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.802755096 meters 0.021464124503479988 Centerline is valid? [True, True] Translation: X:169.70, Y:-62.28, Z:3.47 [[ 7.99174666e-01 6.00878059e-01 -1.62914591e-02 1.69699961e+02] [-6.00740197e-01 7.99340541e-01 1.28807983e-02 -6.22808300e+01] [ 2.07622128e-02 -5.07073267e-04 9.99784313e-01 3.46867607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.862755096 meters 0.021427833786500622 Centerline is valid? [True, True] Translation: X:169.75, Y:-62.32, Z:3.47 [[ 7.97529459e-01 6.03036052e-01 -1.71546678e-02 1.69746901e+02] [-6.02883611e-01 7.97713791e-01 1.35668526e-02 -6.23196793e+01] [ 2.18658163e-02 -4.77696489e-04 9.99760800e-01 3.46926683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.922755096 meters 0.020398797668353046 Centerline is valid? [True, True] Translation: X:169.80, Y:-62.36, Z:3.47 [[ 7.96723774e-01 6.04090539e-01 -1.74885168e-02 1.69795646e+02] [-6.03932192e-01 7.96915558e-01 1.38383998e-02 -6.23575778e+01] [ 2.22965175e-02 -4.63503846e-04 9.99751294e-01 3.47089118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98275509599998 meters 0.02108227374309307 Centerline is valid? [True, True] Translation: X:169.84, Y:-62.40, Z:3.47 [[ 7.97050275e-01 6.03667555e-01 -1.72145867e-02 1.69841659e+02] [-6.03513866e-01 7.97236011e-01 1.36292156e-02 -6.23976804e+01] [ 2.19516037e-02 -4.73928209e-04 9.99758922e-01 3.47251019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04275509599998 meters 0.02087386456019227 Centerline is valid? [True, True] Translation: X:169.89, Y:-62.44, Z:3.47 [[ 7.97840837e-01 6.02621311e-01 -1.72497994e-02 1.69889982e+02] [-6.02466588e-01 7.98027128e-01 1.36643423e-02 -6.24369210e+01] [ 2.20002318e-02 -5.09542510e-04 9.99757836e-01 3.47448573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10275509599998 meters 0.022445047214008217 Centerline is valid? [True, True] Translation: X:169.93, Y:-62.48, Z:3.48 [[ 7.99369915e-01 6.00590116e-01 -1.72988870e-02 1.69934807e+02] [-6.00433861e-01 7.99556867e-01 1.37111015e-02 -6.24786061e+01] [ 2.20661960e-02 -5.73404530e-04 9.99756347e-01 3.47567636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16275509599998 meters 0.023513620880091197 Centerline is valid? [True, True] Translation: X:169.98, Y:-62.52, Z:3.48 [[ 8.00561924e-01 5.98971342e-01 -1.82739439e-02 1.69981200e+02] [-5.98796363e-01 8.00770189e-01 1.44920547e-02 -6.25195795e+01] [ 2.33135550e-02 -6.59416038e-04 9.99727985e-01 3.47588376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.222755096 meters 0.02427206687380328 Centerline is valid? [True, True] Translation: X:170.03, Y:-62.56, Z:3.48 [[ 8.01303344e-01 5.97964698e-01 -1.87395565e-02 1.70028307e+02] [-5.97780206e-01 8.01522122e-01 1.48698807e-02 -6.25598924e+01] [ 2.39118328e-02 -7.13149153e-04 9.99713817e-01 3.47632858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.282755096 meters 0.02422752573353568 Centerline is valid? [True, True] Translation: X:170.08, Y:-62.60, Z:3.48 [[ 8.01848411e-01 5.97246751e-01 -1.83151067e-02 1.70076240e+02] [-5.97070150e-01 8.02057226e-01 1.45410496e-02 -6.25985526e+01] [ 2.33743583e-02 -7.24314022e-04 9.99726520e-01 3.47802077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.342755096 meters 0.02541572482387386 Centerline is valid? [True, True] Translation: X:170.12, Y:-62.64, Z:3.48 [[ 8.02111779e-01 5.96888644e-01 -1.84564518e-02 1.70122584e+02] [-5.96709027e-01 8.02323743e-01 1.46610973e-02 -6.26386612e+01] [ 2.35590920e-02 -7.46707422e-04 9.99722167e-01 3.47932409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.402755096 meters 0.02451896065424237 Centerline is valid? [True, True] Translation: X:170.17, Y:-62.68, Z:3.48 [[ 8.01328078e-01 5.97918418e-01 -1.91540050e-02 1.70172053e+02] [-5.97725055e-01 8.01556612e-01 1.52235436e-02 -6.26758030e+01] [ 2.44554565e-02 -7.50224251e-04 9.99700639e-01 3.47981617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.462755096 meters 0.02217566154459251 Centerline is valid? [True, True] Translation: X:170.22, Y:-62.71, Z:3.48 [[ 7.99468875e-01 6.00390875e-01 -1.95016639e-02 1.70224036e+02] [-6.00190973e-01 7.99706394e-01 1.55074034e-02 -6.27111528e+01] [ 2.49061088e-02 -6.92963755e-04 9.99689555e-01 3.48077022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.522755096 meters 0.022156010680054013 Centerline is valid? [True, True] Translation: X:170.27, Y:-62.75, Z:3.48 [[ 7.97717729e-01 6.02710260e-01 -1.96664203e-02 1.70272253e+02] [-6.02507548e-01 7.97959865e-01 1.56431743e-02 -6.27494028e+01] [ 2.51213158e-02 -6.29670854e-04 9.99684212e-01 3.48189422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.582755096 meters 0.020529250802956214 Centerline is valid? [True, True] Translation: X:170.32, Y:-62.79, Z:3.48 [[ 7.96130182e-01 6.04831797e-01 -1.88475746e-02 1.70322940e+02] [-6.04646037e-01 7.96353063e-01 1.49989761e-02 -6.27861345e+01] [ 2.40811814e-02 -5.45026268e-04 9.99709858e-01 3.48436143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.642755096 meters 0.018977831104099625 Centerline is valid? [True, True] Translation: X:170.37, Y:-62.82, Z:3.49 [[ 7.94076649e-01 6.07566908e-01 -1.74564367e-02 1.70373646e+02] [-6.07408141e-01 7.94268385e-01 1.38954264e-02 -6.28222106e+01] [ 2.23074970e-02 -4.30851860e-04 9.99751064e-01 3.48709193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.702755096 meters 0.018080233719783637 Centerline is valid? [True, True] Translation: X:170.42, Y:-62.86, Z:3.49 [[ 7.92127207e-01 6.10116742e-01 -1.70894154e-02 1.70423244e+02] [-6.09965004e-01 7.92311449e-01 1.36110577e-02 -6.28593265e+01] [ 2.18444737e-02 -3.57743810e-04 9.99761317e-01 3.48835904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76275509599998 meters 0.018214154099430033 Centerline is valid? [True, True] Translation: X:170.47, Y:-62.90, Z:3.49 [[ 7.91297356e-01 6.11213119e-01 -1.63406712e-02 1.70471336e+02] [-6.11074471e-01 7.91465996e-01 1.30218552e-02 -6.28970630e+01] [ 2.08922143e-02 -3.18792533e-04 9.99781683e-01 3.48970340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82275509599998 meters 0.018459501631870052 Centerline is valid? [True, True] Translation: X:170.52, Y:-62.93, Z:3.49 [[ 7.91773231e-01 6.10620063e-01 -1.54366265e-02 1.70516789e+02] [-6.10496108e-01 7.91923630e-01 1.23071386e-02 -6.29341387e+01] [ 1.97396150e-02 -3.20462501e-04 9.99805103e-01 3.49106883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88275509599998 meters 0.01843306549307393 Centerline is valid? [True, True] Translation: X:170.57, Y:-62.97, Z:3.49 [[ 7.92585891e-01 6.09586437e-01 -1.45595901e-02 1.70565162e+02] [-6.09476027e-01 7.92719541e-01 1.16061319e-02 -6.29733152e+01] [ 1.86166122e-02 -3.25135228e-04 9.99826643e-01 3.49275738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94275509599998 meters 0.01906431599728602 Centerline is valid? [True, True] Translation: X:170.61, Y:-63.01, Z:3.49 [[ 7.93702825e-01 6.08134972e-01 -1.44111680e-02 1.70612145e+02] [-6.08026443e-01 7.93833563e-01 1.14943189e-02 -6.30132328e+01] [ 1.84301661e-02 -3.60702159e-04 9.99830085e-01 3.49321650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.002755096 meters 0.020429293859040368 Centerline is valid? [True, True] Translation: X:170.66, Y:-63.05, Z:3.49 [[ 7.94865513e-01 6.06631737e-01 -1.36656779e-02 1.70658917e+02] [-6.06533826e-01 7.94982887e-01 1.09053845e-02 -6.30528443e+01] [ 1.74795324e-02 -3.79618202e-04 9.99847149e-01 3.49417608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.062755096 meters 0.020278641697493188 Centerline is valid? [True, True] Translation: X:170.71, Y:-63.09, Z:3.49 [[ 7.95170718e-01 6.06242097e-01 -1.31927992e-02 1.70707685e+02] [-6.06150744e-01 7.95280063e-01 1.05307718e-02 -6.30914974e+01] [ 1.68761674e-02 -3.76936299e-04 9.99857516e-01 3.49477218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.122755096 meters 0.020331326772056145 Centerline is valid? [True, True] Translation: X:170.76, Y:-63.13, Z:3.50 [[ 7.95252061e-01 6.06134171e-01 -1.32486312e-02 1.70756560e+02] [-6.06041927e-01 7.95362319e-01 1.05813141e-02 -6.31313955e+01] [ 1.69511581e-02 -3.85585868e-04 9.99856244e-01 3.49563137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.182755096 meters 0.019929461750213866 Centerline is valid? [True, True] Translation: X:170.81, Y:-63.17, Z:3.50 [[ 7.94851302e-01 6.06655748e-01 -1.34242425e-02 1.70806495e+02] [-6.06560994e-01 7.94964562e-01 1.07287203e-02 -6.31704657e+01] [ 1.71804369e-02 -3.85115451e-04 9.99852331e-01 3.49620889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.242755096 meters 0.019459629479830168 Centerline is valid? [True, True] Translation: X:170.85, Y:-63.21, Z:3.50 [[ 7.93408717e-01 6.08531892e-01 -1.38399265e-02 1.70854702e+02] [-6.08431327e-01 7.93529335e-01 1.10686396e-02 -6.32078128e+01] [ 1.77180079e-02 -3.61310292e-04 9.99842958e-01 3.49664823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.302755096 meters 0.018276845502471377 Centerline is valid? [True, True] Translation: X:170.90, Y:-63.24, Z:3.50 [[ 7.91293847e-01 6.11282459e-01 -1.37041226e-02 1.70904249e+02] [-6.11184168e-01 7.91412449e-01 1.09657571e-02 -6.32448938e+01] [ 1.75487881e-02 -3.01393347e-04 9.99845963e-01 3.49786170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.362755096 meters 0.017690189706668368 Centerline is valid? [True, True] Translation: X:170.95, Y:-63.28, Z:3.50 [[ 7.89807196e-01 6.13206379e-01 -1.35103905e-02 1.70953465e+02] [-6.13111024e-01 7.89922698e-01 1.08167977e-02 -6.32832283e+01] [ 1.73050935e-02 -2.59815273e-04 9.99850222e-01 3.49878921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.422755096 meters 0.017674538959464622 Centerline is valid? [True, True] Translation: X:171.00, Y:-63.32, Z:3.50 [[ 7.89278362e-01 6.13903547e-01 -1.27319430e-02 1.70998627e+02] [-6.13818850e-01 7.89381011e-01 1.01999858e-02 -6.33201236e+01] [ 1.63121615e-02 -2.35521430e-04 9.99866920e-01 3.50101803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48275509599998 meters 0.01733047149287907 Centerline is valid? [True, True] Translation: X:171.05, Y:-63.36, Z:3.50 [[ 7.89077636e-01 6.14176350e-01 -1.19956370e-02 1.71047225e+02] [-6.14101240e-01 7.89168781e-01 9.60739646e-03 -6.33594988e+01] [ 1.53672179e-02 -2.14446129e-04 9.99881894e-01 3.50270212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54275509599998 meters 0.01811572661910505 Centerline is valid? [True, True] Translation: X:171.09, Y:-63.40, Z:3.50 [[ 7.89971561e-01 6.13021659e-01 -1.22220365e-02 1.71093544e+02] [-6.12943442e-01 7.90066063e-01 9.79557042e-03 -6.33996761e+01] [ 1.56611131e-02 -2.46804954e-04 9.99877327e-01 3.50360057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60275509599998 meters 0.018849591112181766 Centerline is valid? [True, True] Translation: X:171.14, Y:-63.44, Z:3.50 [[ 7.90790818e-01 6.11964799e-01 -1.22051939e-02 1.71140380e+02] [-6.11886592e-01 7.90884954e-01 9.78713285e-03 -6.34407112e+01] [ 1.56422850e-02 -2.71380300e-04 9.99877615e-01 3.50443423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66275509599998 meters 0.020170423185112744 Centerline is valid? [True, True] Translation: X:171.19, Y:-63.48, Z:3.51 [[ 7.92565268e-01 6.09659753e-01 -1.24612095e-02 1.71185595e+02] [-6.09577853e-01 7.92663155e-01 9.99817341e-03 -6.34828616e+01] [ 1.59730255e-02 -3.28127681e-04 9.99872369e-01 3.50540055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.722755096 meters 0.020566977372460365 Centerline is valid? [True, True] Translation: X:171.23, Y:-63.52, Z:3.51 [[ 7.93725628e-01 6.08136647e-01 -1.30171366e-02 1.71232840e+02] [-6.08046978e-01 7.93832271e-01 1.04497731e-02 -6.35236082e+01] [ 1.66883131e-02 -3.79222107e-04 9.99860668e-01 3.50620866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.782755096 meters 0.02201863585117109 Centerline is valid? [True, True] Translation: X:171.28, Y:-63.56, Z:3.51 [[ 7.94194833e-01 6.07493682e-01 -1.43524850e-02 1.71277850e+02] [-6.07384433e-01 7.94324389e-01 1.15289545e-02 -6.35646409e+01] [ 1.84042959e-02 -4.38760124e-04 9.99830530e-01 3.50597570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.842755096 meters 0.020374214181925844 Centerline is valid? [True, True] Translation: X:171.33, Y:-63.60, Z:3.51 [[ 7.93480454e-01 6.08415392e-01 -1.48148443e-02 1.71327281e+02] [-6.08299030e-01 7.93618624e-01 1.19066927e-02 -6.36018630e+01] [ 1.90015515e-02 -4.35872532e-04 9.99819359e-01 3.50599349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.902755096 meters 0.021961387139463082 Centerline is valid? [True, True] Translation: X:171.37, Y:-63.64, Z:3.51 [[ 7.92206984e-01 6.10041122e-01 -1.60600207e-02 1.71373092e+02] [-6.09904546e-01 7.92369635e-01 1.29153312e-02 -6.36424655e+01] [ 2.06043559e-02 -4.36535945e-04 9.99787612e-01 3.50501796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.962755096 meters 0.019516318700218124 Centerline is valid? [True, True] Translation: X:171.42, Y:-63.68, Z:3.51 [[ 7.90911723e-01 6.11695824e-01 -1.69370892e-02 1.71423412e+02] [-6.11544137e-01 7.91092941e-01 1.36281649e-02 -6.36794345e+01] [ 2.17351033e-02 -4.20897796e-04 9.99763676e-01 3.50635762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.022755096 meters 0.018157078819638125 Centerline is valid? [True, True] Translation: X:171.47, Y:-63.72, Z:3.51 [[ 7.88731053e-01 6.14525779e-01 -1.61676361e-02 1.71474156e+02] [-6.14388012e-01 7.88896670e-01 1.30159730e-02 -6.37154280e+01] [ 2.07532452e-02 -3.32900341e-04 9.99784573e-01 3.50890748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.082755096 meters 0.01768516228185041 Centerline is valid? [True, True] Translation: X:171.52, Y:-63.75, Z:3.51 [[ 7.87971651e-01 6.15494237e-01 -1.63561019e-02 1.71522456e+02] [-6.15353289e-01 7.88141322e-01 1.31751672e-02 -6.37541926e+01] [ 2.10001593e-02 -3.16877099e-04 9.99779422e-01 3.51047119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.142755096 meters 0.017723995339657104 Centerline is valid? [True, True] Translation: X:171.57, Y:-63.79, Z:3.51 [[ 7.87635981e-01 6.15931826e-01 -1.60482848e-02 1.71570087e+02] [-6.15796089e-01 7.87799399e-01 1.29337879e-02 -6.37919482e+01] [ 2.06091607e-02 -3.04645756e-04 9.99787562e-01 3.51186428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.202755096 meters 0.019116169752080202 Centerline is valid? [True, True] Translation: X:171.62, Y:-63.83, Z:3.51 [[ 7.89149569e-01 6.13992213e-01 -1.60162577e-02 1.71615364e+02] [-6.13856611e-01 7.89312002e-01 1.29083098e-02 -6.38297369e+01] [ 2.05674262e-02 -3.54901441e-04 9.99788405e-01 3.51265957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26275509599998 meters 0.020875946696051553 Centerline is valid? [True, True] Translation: X:171.66, Y:-63.87, Z:3.52 [[ 7.92145017e-01 6.10133153e-01 -1.56143563e-02 1.71661084e+02] [-6.10003538e-01 7.92298769e-01 1.25834777e-02 -6.38709625e+01] [ 2.00488322e-02 -4.43126592e-04 9.99798904e-01 3.51515962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32275509599998 meters 0.022518686704544783 Centerline is valid? [True, True] Translation: X:171.71, Y:-63.91, Z:3.52 [[ 7.93820698e-01 6.07967280e-01 -1.49828933e-02 1.71707346e+02] [-6.07847436e-01 7.93961935e-01 1.20805622e-02 -6.39120431e+01] [ 1.92404335e-02 -4.82486981e-04 9.99814769e-01 3.51718259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38275509599998 meters 0.024742782315732435 Centerline is valid? [True, True] Translation: X:171.75, Y:-63.95, Z:3.52 [[ 7.95394605e-01 6.05893347e-01 -1.55136620e-02 1.71752906e+02] [-6.05764334e-01 7.95545688e-01 1.25151711e-02 -6.39508866e+01] [ 1.99246858e-02 -5.56876443e-04 9.99801329e-01 3.51713336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44275509599998 meters 0.02322678899703837 Centerline is valid? [True, True] Translation: X:171.80, Y:-63.99, Z:3.52 [[ 7.94678863e-01 6.06780654e-01 -1.73995088e-02 1.71804603e+02] [-6.06618549e-01 7.94869094e-01 1.40377700e-02 -6.39861364e+01] [ 2.23481791e-02 -6.00654284e-04 9.99750068e-01 3.51591850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.502755096 meters 0.024125991068971245 Centerline is valid? [True, True] Translation: X:171.85, Y:-64.02, Z:3.52 [[ 7.93489520e-01 6.08313079e-01 -1.81543356e-02 1.71849808e+02] [-6.08136851e-01 7.93696953e-01 1.46532144e-02 -6.40229236e+01] [ 2.33227828e-02 -5.86851579e-04 9.99727815e-01 3.51531478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.562755096 meters 0.021012359634857786 Centerline is valid? [True, True] Translation: X:171.90, Y:-64.06, Z:3.52 [[ 7.91134294e-01 6.11312672e-01 -2.00834692e-02 1.71899909e+02] [-6.11098005e-01 7.91388978e-01 1.62084417e-02 -6.40553618e+01] [ 2.58022619e-02 -5.50086137e-04 9.99666915e-01 3.51542824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.622755096 meters 0.021732480042556224 Centerline is valid? [True, True] Translation: X:171.94, Y:-64.09, Z:3.52 [[ 7.89630769e-01 6.13271897e-01 -1.95148280e-02 1.71944194e+02] [-6.13069855e-01 7.89871735e-01 1.57478515e-02 -6.40923371e+01] [ 2.50719259e-02 -4.71035320e-04 9.99685539e-01 3.51665943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.682755096 meters 0.02152735662277126 Centerline is valid? [True, True] Translation: X:171.99, Y:-64.13, Z:3.52 [[ 7.89106914e-01 6.13954918e-01 -1.92259481e-02 1.71988927e+02] [-6.13759088e-01 7.89340969e-01 1.55118352e-02 -6.41283958e+01] [ 2.46993961e-02 -4.40396033e-04 9.99694826e-01 3.51930081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.742755096 meters 0.022709788731917396 Centerline is valid? [True, True] Translation: X:172.03, Y:-64.17, Z:3.52 [[ 7.89879211e-01 6.12970806e-01 -1.89109099e-02 1.72032417e+02] [-6.12781124e-01 7.90105422e-01 1.52550180e-02 -6.41660269e+01] [ 2.42924931e-02 -4.61373007e-04 9.99704787e-01 3.52080943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.802755096 meters 0.02377767093602156 Centerline is valid? [True, True] Translation: X:172.08, Y:-64.21, Z:3.52 [[ 7.90921828e-01 6.11640552e-01 -1.83982810e-02 1.72076403e+02] [-6.11460738e-01 7.91135639e-01 1.48380472e-02 -6.42056607e+01] [ 2.36310872e-02 -4.85908904e-04 9.99720629e-01 3.52265626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.862755096 meters 0.02179015251544113 Centerline is valid? [True, True] Translation: X:172.12, Y:-64.24, Z:3.53 [[ 7.91929065e-01 6.10344602e-01 -1.81058940e-02 1.72122999e+02] [-6.10170258e-01 7.92135850e-01 1.45962752e-02 -6.42410164e+01] [ 2.32510855e-02 -5.11536520e-04 9.99729526e-01 3.52631222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.922755096 meters 0.022377230001853134 Centerline is valid? [True, True] Translation: X:172.17, Y:-64.28, Z:3.53 [[ 7.92192331e-01 6.10003628e-01 -1.80799282e-02 1.72168061e+02] [-6.09829747e-01 7.92398450e-01 1.45731113e-02 -6.42787031e+01] [ 2.32161579e-02 -5.19029007e-04 9.99730334e-01 3.52740695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98275509599998 meters 0.020373489868803347 Centerline is valid? [True, True] Translation: X:172.22, Y:-64.32, Z:3.53 [[ 7.91975042e-01 6.10258369e-01 -1.89804239e-02 1.72219195e+02] [-6.10066794e-01 7.92202269e-01 1.52994364e-02 -6.43161335e+01] [ 2.43729440e-02 -5.37445436e-04 9.99702791e-01 3.52877486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04275509599998 meters 0.020788416249637995 Centerline is valid? [True, True] Translation: X:172.27, Y:-64.36, Z:3.53 [[ 7.91779267e-01 6.10504452e-01 -1.92329431e-02 1.72266840e+02] [-6.10307560e-01 7.92012636e-01 1.55134248e-02 -6.43573078e+01] [ 2.47037489e-02 -5.45197566e-04 9.99694667e-01 3.52951555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10275509599998 meters 0.020626568848567263 Centerline is valid? [True, True] Translation: X:172.32, Y:-64.40, Z:3.53 [[ 7.90781720e-01 6.11793109e-01 -1.93252126e-02 1.72315245e+02] [-6.11594459e-01 7.91017652e-01 1.55977988e-02 -6.43958499e+01] [ 2.48292101e-02 -5.15261163e-04 9.99691575e-01 3.53065580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16275509599998 meters 0.020601837619416273 Centerline is valid? [True, True] Translation: X:172.36, Y:-64.43, Z:3.53 [[ 7.90004929e-01 6.12773352e-01 -2.00257369e-02 1.72363635e+02] [-6.12560111e-01 7.90258539e-01 1.61725510e-02 -6.44343484e+01] [ 2.57356179e-02 -5.09427426e-04 9.99668654e-01 3.53111488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.222755096 meters 0.021716990600510213 Centerline is valid? [True, True] Translation: X:172.41, Y:-64.47, Z:3.53 [[ 7.89975114e-01 6.12806595e-01 -2.01840556e-02 1.72408021e+02] [-6.12589821e-01 7.90232757e-01 1.63064981e-02 -6.44721292e+01] [ 2.59428315e-02 -5.17180725e-04 9.99663294e-01 3.53158951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.282755096 meters 0.021746206529917933 Centerline is valid? [True, True] Translation: X:172.45, Y:-64.51, Z:3.53 [[ 7.90470429e-01 6.12167838e-01 -2.01752172e-02 1.72453383e+02] [-6.11951099e-01 7.90727671e-01 1.62972877e-02 -6.45089318e+01] [ 2.59297779e-02 -5.36277676e-04 9.99663623e-01 3.53320241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.342755096 meters 0.022397000534360185 Centerline is valid? [True, True] Translation: X:172.50, Y:-64.55, Z:3.53 [[ 7.91500787e-01 6.10852341e-01 -1.96448730e-02 1.72499045e+02] [-6.10646504e-01 7.91744341e-01 1.58665157e-02 -6.45453552e+01] [ 2.52458153e-02 -5.62286630e-04 9.99681115e-01 3.53436349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.402755096 meters 0.021123898712661994 Centerline is valid? [True, True] Translation: X:172.55, Y:-64.58, Z:3.54 [[ 7.91796288e-01 6.10482403e-01 -1.92321103e-02 1.72550045e+02] [-6.10285000e-01 7.92029620e-01 1.55338401e-02 -6.45822324e+01] [ 2.47155370e-02 -5.62568516e-04 9.99694366e-01 3.53697182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.462755096 meters 0.022828484029417867 Centerline is valid? [True, True] Translation: X:172.60, Y:-64.62, Z:3.54 [[ 7.92385052e-01 6.09753151e-01 -1.80838027e-02 1.72596433e+02] [-6.09578227e-01 7.92591184e-01 1.46150820e-02 -6.46222286e+01] [ 2.32446549e-02 -5.57280148e-04 9.99729651e-01 3.53860418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.522755096 meters 0.02269977749084916 Centerline is valid? [True, True] Translation: X:172.64, Y:-64.66, Z:3.54 [[ 7.92599185e-01 6.09517135e-01 -1.65950027e-02 1.72643274e+02] [-6.09369661e-01 7.92772723e-01 1.34173782e-02 -6.46587235e+01] [ 2.13341874e-02 -5.22111822e-04 9.99772264e-01 3.54139271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.582755096 meters 0.021673447630707048 Centerline is valid? [True, True] Translation: X:172.70, Y:-64.69, Z:3.54 [[ 7.92773223e-01 6.09320621e-01 -1.54595593e-02 1.72695214e+02] [-6.09192610e-01 7.92923792e-01 1.24989593e-02 -6.46937819e+01] [ 1.98741260e-02 -4.90990943e-04 9.99802369e-01 3.54295508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.642755096 meters 0.022312854150780582 Centerline is valid? [True, True] Translation: X:172.74, Y:-64.73, Z:3.54 [[ 7.92553102e-01 6.09606623e-01 -1.54708227e-02 1.72743415e+02] [-6.09478319e-01 7.92703933e-01 1.25161494e-02 -6.47323385e+01] [ 1.98937096e-02 -4.90581998e-04 9.99801980e-01 3.54364753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.702755096 meters 0.02225097677086275 Centerline is valid? [True, True] Translation: X:172.79, Y:-64.77, Z:3.54 [[ 7.92127600e-01 6.10167311e-01 -1.51564381e-02 1.72792368e+02] [-6.10044175e-01 7.92272447e-01 1.22667597e-02 -6.47711108e+01] [ 1.94928041e-02 -4.70742102e-04 9.99809886e-01 3.54463396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76275509599998 meters 0.022185605932362143 Centerline is valid? [True, True] Translation: X:172.84, Y:-64.81, Z:3.55 [[ 7.91208992e-01 6.11358572e-01 -1.51336783e-02 1.72838648e+02] [-6.11235895e-01 7.91353586e-01 1.22548830e-02 -6.48066859e+01] [ 1.94682184e-02 -4.45926242e-04 9.99810377e-01 3.54501627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82275509599998 meters 0.020855850785188985 Centerline is valid? [True, True] Translation: X:172.89, Y:-64.84, Z:3.55 [[ 7.90207485e-01 6.12642061e-01 -1.55510776e-02 1.72889402e+02] [-6.12512791e-01 7.90360376e-01 1.25919075e-02 -6.48429628e+01] [ 2.00052877e-02 -4.24985583e-04 9.99799784e-01 3.54545807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88275509599998 meters 0.020285800526484498 Centerline is valid? [True, True] Translation: X:172.94, Y:-64.88, Z:3.54 [[ 7.89007775e-01 6.14161105e-01 -1.65187267e-02 1.72939327e+02] [-6.14015406e-01 7.89180564e-01 1.33835308e-02 -6.48797029e+01] [ 2.12559021e-02 -4.16957136e-04 9.99773981e-01 3.54497152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94275509599998 meters 0.019899586976051528 Centerline is valid? [True, True] Translation: X:172.99, Y:-64.92, Z:3.55 [[ 7.87932751e-01 6.15536070e-01 -1.66531266e-02 1.72988197e+02] [-6.15388128e-01 7.88108619e-01 1.35002580e-02 -6.49179700e+01] [ 2.14343684e-02 -3.89158985e-04 9.99770182e-01 3.54613649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.002755096 meters 0.01984859958783875 Centerline is valid? [True, True] Translation: X:173.04, Y:-64.96, Z:3.55 [[ 7.87483587e-01 6.16144370e-01 -1.53530481e-02 1.73036503e+02] [-6.16018611e-01 7.87633159e-01 1.24529895e-02 -6.49568268e+01] [ 1.97654092e-02 -3.48761507e-04 9.99804584e-01 3.54830999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.062755096 meters 0.02040532151010653 Centerline is valid? [True, True] Translation: X:173.08, Y:-65.00, Z:3.55 [[ 7.87623643e-01 6.15987520e-01 -1.44350586e-02 1.73082314e+02] [-6.15876206e-01 7.87755839e-01 1.17148215e-02 -6.49953973e+01] [ 1.85874855e-02 -3.36661292e-04 9.99827181e-01 3.54978734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.122755096 meters 0.020333178513849314 Centerline is valid? [True, True] Translation: X:173.13, Y:-65.03, Z:3.55 [[ 7.87183479e-01 6.16562412e-01 -1.38911131e-02 1.73129120e+02] [-6.16459411e-01 7.87305973e-01 1.12738418e-02 -6.50329530e+01] [ 1.78875834e-02 -3.11274652e-04 9.99839956e-01 3.55145850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.182755096 meters 0.019968077429176327 Centerline is valid? [True, True] Translation: X:173.18, Y:-65.07, Z:3.55 [[ 7.86665693e-01 6.17214360e-01 -1.42660486e-02 1.73178098e+02] [-6.17105832e-01 7.86794980e-01 1.15780848e-02 -6.50720028e+01] [ 1.83706156e-02 -3.04420337e-04 9.99831200e-01 3.55124672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.242755096 meters 0.019950327045502727 Centerline is valid? [True, True] Translation: X:173.23, Y:-65.11, Z:3.55 [[ 7.86248558e-01 6.17738426e-01 -1.45754004e-02 1.73226551e+02] [-6.17625182e-01 7.86383587e-01 1.18316516e-02 -6.51124235e+01] [ 1.87707215e-02 -3.00484733e-04 9.99823769e-01 3.55131981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.302755096 meters 0.01992778521355053 Centerline is valid? [True, True] Translation: X:173.27, Y:-65.15, Z:3.55 [[ 7.85685581e-01 6.18448917e-01 -1.48021984e-02 1.73271792e+02] [-6.18332096e-01 7.85824949e-01 1.20236316e-02 -6.51499996e+01] [ 1.90679387e-02 -2.94119651e-04 9.99818147e-01 3.55232020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.362755096 meters 0.020360186791321407 Centerline is valid? [True, True] Translation: X:173.32, Y:-65.19, Z:3.55 [[ 7.85078733e-01 6.19236756e-01 -1.40436323e-02 1.73315760e+02] [-6.19131744e-01 7.85204287e-01 1.14066100e-02 -6.51876256e+01] [ 1.80905125e-02 -2.60228371e-04 9.99836319e-01 3.55443191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.422755096 meters 0.019304210092756086 Centerline is valid? [True, True] Translation: X:173.36, Y:-65.22, Z:3.56 [[ 7.84041051e-01 6.20548426e-01 -1.41167055e-02 1.73363238e+02] [-6.20442573e-01 7.84168093e-01 1.14636763e-02 -6.52225539e+01] [ 1.81836363e-02 -2.29387675e-04 9.99834638e-01 3.55527045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48275509599998 meters 0.019247999558675864 Centerline is valid? [True, True] Translation: X:173.41, Y:-65.26, Z:3.55 [[ 7.83311524e-01 6.21453908e-01 -1.47680909e-02 1.73408439e+02] [-6.21338259e-01 7.83450696e-01 1.19906290e-02 -6.52587683e+01] [ 1.90216944e-02 -2.16417959e-04 9.99819048e-01 3.55459791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54275509599998 meters 0.018894243907725136 Centerline is valid? [True, True] Translation: X:173.46, Y:-65.30, Z:3.56 [[ 7.83185160e-01 6.21606456e-01 -1.50472508e-02 1.73455799e+02] [-6.21486466e-01 7.83329667e-01 1.22149499e-02 -6.52970597e+01] [ 1.93798496e-02 -2.14904776e-04 9.99812170e-01 3.55516162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60275509599998 meters 0.019197224792628302 Centerline is valid? [True, True] Translation: X:173.50, Y:-65.34, Z:3.56 [[ 7.83961562e-01 6.20615096e-01 -1.55296826e-02 1.73499890e+02] [-6.20487075e-01 7.84115324e-01 1.26074818e-02 -6.53359134e+01] [ 2.00014556e-02 -2.47813841e-04 9.99799920e-01 3.55563257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66275509599998 meters 0.019779265004507225 Centerline is valid? [True, True] Translation: X:173.54, Y:-65.37, Z:3.56 [[ 7.84495244e-01 6.19941838e-01 -1.54702662e-02 1.73543771e+02] [-6.19814696e-01 7.84647722e-01 1.25576531e-02 -6.53743788e+01] [ 1.99237237e-02 -2.62720817e-04 9.99801468e-01 3.55686350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.722755096 meters 0.019960856570421293 Centerline is valid? [True, True] Translation: X:173.59, Y:-65.41, Z:3.56 [[ 7.85289352e-01 6.18941635e-01 -1.52277913e-02 1.73589281e+02] [-6.18818313e-01 7.85436931e-01 1.23580951e-02 -6.54117132e+01] [ 1.96094093e-02 -2.81444337e-04 9.99807677e-01 3.55830339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.782755096 meters 0.02088061386113768 Centerline is valid? [True, True] Translation: X:173.63, Y:-65.45, Z:3.56 [[ 7.85489460e-01 6.18684566e-01 -1.53530709e-02 1.73633572e+02] [-6.18559196e-01 7.85639437e-01 1.24577851e-02 -6.54491572e+01] [ 1.97694174e-02 -2.88675712e-04 9.99804524e-01 3.55928289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.842755096 meters 0.019915385281261837 Centerline is valid? [True, True] Translation: X:173.68, Y:-65.48, Z:3.56 [[ 7.84771748e-01 6.19596205e-01 -1.52920424e-02 1.73680962e+02] [-6.19472049e-01 7.84920680e-01 1.24059244e-02 -6.54844490e+01] [ 1.96897040e-02 -2.62826160e-04 9.99806104e-01 3.56081510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.902755096 meters 0.01982330041831902 Centerline is valid? [True, True] Translation: X:173.73, Y:-65.52, Z:3.56 [[ 7.84587790e-01 6.19821178e-01 -1.56111399e-02 1.73727255e+02] [-6.19691869e-01 7.84743040e-01 1.26628644e-02 -6.55205382e+01] [ 2.00994449e-02 -2.61032353e-04 9.99797952e-01 3.56163000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.962755096 meters 0.018657934186902796 Centerline is valid? [True, True] Translation: X:173.78, Y:-65.55, Z:3.56 [[ 7.83068530e-01 6.21726962e-01 -1.61016093e-02 1.73776613e+02] [-6.21589842e-01 7.83234025e-01 1.30587476e-02 -6.55539102e+01] [ 2.07303037e-02 -2.17297576e-04 9.99785081e-01 3.56272203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.022755096 meters 0.01830640824709958 Centerline is valid? [True, True] Translation: X:173.82, Y:-65.59, Z:3.56 [[ 7.82217394e-01 6.22775598e-01 -1.69263895e-02 1.73824831e+02] [-6.22624353e-01 7.82400483e-01 1.37258912e-02 -6.55881418e+01] [ 2.17913654e-02 -1.97848514e-04 9.99762520e-01 3.56350824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.082755096 meters 0.018199223096578128 Centerline is valid? [True, True] Translation: X:173.87, Y:-65.62, Z:3.56 [[ 7.81916517e-01 6.23149620e-01 -1.70620107e-02 1.73870900e+02] [-6.22996090e-01 7.82102625e-01 1.38331473e-02 -6.56219507e+01] [ 2.19643639e-02 -1.86800415e-04 9.99758737e-01 3.56392771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.142755096 meters 0.018070294497115075 Centerline is valid? [True, True] Translation: X:173.92, Y:-65.66, Z:3.56 [[ 7.81749131e-01 6.23346240e-01 -1.75431314e-02 1.73917787e+02] [-6.23184103e-01 7.81945927e-01 1.42176299e-02 -6.56558549e+01] [ 2.25802863e-02 -1.82019251e-04 9.99745016e-01 3.56460185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.202755096 meters 0.018468947783775752 Centerline is valid? [True, True] Translation: X:173.96, Y:-65.69, Z:3.56 [[ 7.82538610e-01 6.22331016e-01 -1.83692907e-02 1.73963680e+02] [-6.22153047e-01 7.82754150e-01 1.48837915e-02 -6.56924524e+01] [ 2.36412836e-02 -2.18631291e-04 9.99720482e-01 3.56469554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26275509599998 meters 0.018937362440845398 Centerline is valid? [True, True] Translation: X:174.01, Y:-65.73, Z:3.57 [[ 7.84062178e-01 6.20414982e-01 -1.82140462e-02 1.74009245e+02] [-6.20239544e-01 7.84273662e-01 1.47557335e-02 -6.57302495e+01] [ 2.34394748e-02 -2.72340895e-04 9.99725221e-01 3.56626616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32275509599998 meters 0.02000172245530003 Centerline is valid? [True, True] Translation: X:174.06, Y:-65.77, Z:3.57 [[ 7.87534528e-01 6.16038530e-01 -1.69085023e-02 1.74055028e+02] [-6.15886373e-01 7.87715933e-01 1.36961434e-02 -6.57677311e+01] [ 2.17564487e-02 -3.72469655e-04 9.99763231e-01 3.56930197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38275509599998 meters 0.022496284926405475 Centerline is valid? [True, True] Translation: X:174.10, Y:-65.81, Z:3.57 [[ 7.91365441e-01 6.11133744e-01 -1.60089126e-02 1.74097750e+02] [-6.10996372e-01 7.91527206e-01 1.29659561e-02 -6.58073528e+01] [ 2.05954232e-02 -4.79422062e-04 9.99787777e-01 3.57216494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44275509599998 meters 0.023181717960498747 Centerline is valid? [True, True] Translation: X:174.15, Y:-65.85, Z:3.57 [[ 7.93583699e-01 6.08247025e-01 -1.61390333e-02 1.74145346e+02] [-6.08106848e-01 7.93747596e-01 1.30696401e-02 -6.58470706e+01] [ 2.07598886e-02 -5.57596665e-04 9.99784335e-01 3.57413885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.502755096 meters 0.02534983834650533 Centerline is valid? [True, True] Translation: X:174.19, Y:-65.89, Z:3.58 [[ 7.94961484e-01 6.06452252e-01 -1.58715264e-02 1.74190645e+02] [-6.06316288e-01 7.95119684e-01 1.28548837e-02 -6.58851202e+01] [ 2.04156361e-02 -5.95972446e-04 9.99791402e-01 3.57581403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.562755096 meters 0.02496237783077192 Centerline is valid? [True, True] Translation: X:174.24, Y:-65.92, Z:3.58 [[ 7.93853615e-01 6.07894270e-01 -1.61553282e-02 1.74238721e+02] [-6.07753715e-01 7.94017779e-01 1.30839179e-02 -6.59177687e+01] [ 2.07812565e-02 -5.68254801e-04 9.99783885e-01 3.57743981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.622755096 meters 0.02274138128395054 Centerline is valid? [True, True] Translation: X:174.29, Y:-65.95, Z:3.58 [[ 7.92598205e-01 6.09519416e-01 -1.65579714e-02 1.74288383e+02] [-6.09372194e-01 7.92770959e-01 1.34065448e-02 -6.59499089e+01] [ 2.12982282e-02 -5.36035948e-04 9.99773023e-01 3.57894247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.682755096 meters 0.022443942785686916 Centerline is valid? [True, True] Translation: X:174.33, Y:-65.98, Z:3.58 [[ 7.91551584e-01 6.10863675e-01 -1.70780700e-02 1.74334895e+02] [-6.10707421e-01 7.91735630e-01 1.38252816e-02 -6.59838178e+01] [ 2.19666788e-02 -5.13719464e-04 9.99758571e-01 3.57999485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.742755096 meters 0.021863175289404166 Centerline is valid? [True, True] Translation: X:174.38, Y:-66.02, Z:3.58 [[ 7.91494957e-01 6.10936087e-01 -1.71122672e-02 1.74382849e+02] [-6.10779284e-01 7.91679756e-01 1.38502810e-02 -6.60184986e+01] [ 2.20090720e-02 -5.10609260e-04 9.99757641e-01 3.58194031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.802755096 meters 0.02276371040164544 Centerline is valid? [True, True] Translation: X:174.43, Y:-66.05, Z:3.58 [[ 7.91777381e-01 6.10578061e-01 -1.68228996e-02 1.74427996e+02] [-6.10426484e-01 7.91955915e-01 1.36138268e-02 -6.60539367e+01] [ 2.16352988e-02 -5.09976685e-04 9.99765799e-01 3.58421336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.862755096 meters 0.02223376374735761 Centerline is valid? [True, True] Translation: X:174.48, Y:-66.09, Z:3.59 [[ 7.91422693e-01 6.11051102e-01 -1.63300751e-02 1.74476002e+02] [-6.10908429e-01 7.91591006e-01 1.32125583e-02 -6.60888552e+01] [ 2.10002888e-02 -4.80537993e-04 9.99779354e-01 3.58694890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.922755096 meters 0.02228778111476783 Centerline is valid? [True, True] Translation: X:174.52, Y:-66.12, Z:3.59 [[ 7.91361602e-01 6.11143648e-01 -1.58195182e-02 1.74522583e+02] [-6.11009807e-01 7.91519569e-01 1.27979497e-02 -6.61245894e+01] [ 2.03428439e-02 -4.61925231e-04 9.99792956e-01 3.58972652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98275509599998 meters 0.022891630551324916 Centerline is valid? [True, True] Translation: X:174.57, Y:-66.16, Z:3.59 [[ 7.91294251e-01 6.11246794e-01 -1.51909372e-02 1.74569508e+02] [-6.11123435e-01 7.91439930e-01 1.22875521e-02 -6.61591301e+01] [ 1.95334411e-02 -4.39531648e-04 9.99809108e-01 3.59190421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04275509599998 meters 0.023704767644299976 Centerline is valid? [True, True] Translation: X:174.62, Y:-66.19, Z:3.59 [[ 7.91823329e-01 6.10570420e-01 -1.48181466e-02 1.74615780e+02] [-6.10452966e-01 7.91961846e-01 1.19837506e-02 -6.61943768e+01] [ 1.90523303e-02 -4.43231747e-04 9.99818390e-01 3.59342074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10275509599998 meters 0.02285947098148235 Centerline is valid? [True, True] Translation: X:174.66, Y:-66.23, Z:3.59 [[ 7.92062426e-01 6.10261769e-01 -1.47542011e-02 1.74663270e+02] [-6.10145315e-01 7.92199706e-01 1.19298166e-02 -6.62295688e+01] [ 1.89685847e-02 -4.46952811e-04 9.99819980e-01 3.59488967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16275509599998 meters 0.021642397460430098 Centerline is valid? [True, True] Translation: X:174.71, Y:-66.26, Z:3.60 [[ 7.91656109e-01 6.10787751e-01 -1.47962665e-02 1.74712147e+02] [-6.10670759e-01 7.91794251e-01 1.19619637e-02 -6.62628718e+01] [ 1.90218197e-02 -4.34114328e-04 9.99818975e-01 3.59652093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.222755096 meters 0.020950105808799704 Centerline is valid? [True, True] Translation: X:174.76, Y:-66.30, Z:3.60 [[ 7.90644543e-01 6.12077181e-01 -1.55798309e-02 1.74759605e+02] [-6.11947762e-01 7.90797917e-01 1.25932856e-02 -6.62971504e+01] [ 2.00285605e-02 -4.22769888e-04 9.99799319e-01 3.59652122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.282755096 meters 0.020349075932989808 Centerline is valid? [True, True] Translation: X:174.81, Y:-66.33, Z:3.60 [[ 7.89013585e-01 6.14158761e-01 -1.63272661e-02 1.74806635e+02] [-6.14017118e-01 7.89182404e-01 1.31951256e-02 -6.63312155e+01] [ 2.09890931e-02 -3.85912485e-04 9.99779630e-01 3.59645861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.342755096 meters 0.01955338208125273 Centerline is valid? [True, True] Translation: X:174.85, Y:-66.37, Z:3.60 [[ 7.87769477e-01 6.15754329e-01 -1.63051158e-02 1.74854708e+02] [-6.15613476e-01 7.87938126e-01 1.31741134e-02 -6.63661945e+01] [ 2.09594398e-02 -3.40515365e-04 9.99780269e-01 3.59740673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.402755096 meters 0.01852683751956564 Centerline is valid? [True, True] Translation: X:174.90, Y:-66.40, Z:3.60 [[ 7.86446598e-01 6.17450225e-01 -1.60302133e-02 1.74903051e+02] [-6.17314561e-01 7.86609902e-01 1.29458595e-02 -6.63996233e+01] [ 2.06029484e-02 -2.85543125e-04 9.99787696e-01 3.59896842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.462755096 meters 0.018603921207616756 Centerline is valid? [True, True] Translation: X:174.95, Y:-66.44, Z:3.60 [[ 7.86643844e-01 6.17207709e-01 -1.56877711e-02 1.74947621e+02] [-6.17077780e-01 7.86800206e-01 1.26668547e-02 -6.64363236e+01] [ 2.01612219e-02 -2.83728278e-04 9.99796702e-01 3.60100573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.522755096 meters 0.01906086247876259 Centerline is valid? [True, True] Translation: X:174.99, Y:-66.47, Z:3.60 [[ 7.87887649e-01 6.15635389e-01 -1.50373187e-02 1.74992209e+02] [-6.15515869e-01 7.88031075e-01 1.21342240e-02 -6.64740984e+01] [ 1.93201321e-02 -3.04696923e-04 9.99813302e-01 3.60251279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.582755096 meters 0.020112750428398985 Centerline is valid? [True, True] Translation: X:175.04, Y:-66.51, Z:3.60 [[ 7.89279013e-01 6.13867027e-01 -1.43496534e-02 1.75035130e+02] [-6.13758013e-01 7.89409378e-01 1.15730738e-02 -6.65127810e+01] [ 1.84320793e-02 -3.27169490e-04 9.99830061e-01 3.60399107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.642755096 meters 0.02081802411155553 Centerline is valid? [True, True] Translation: X:175.08, Y:-66.55, Z:3.60 [[ 7.91393781e-01 6.11141339e-01 -1.42178333e-02 1.75079363e+02] [-6.11033918e-01 7.91521393e-01 1.14645332e-02 -6.65509691e+01] [ 1.82601694e-02 -3.85381893e-04 9.99833195e-01 3.60492900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.702755096 meters 0.02268070334415208 Centerline is valid? [True, True] Translation: X:175.12, Y:-66.59, Z:3.60 [[ 7.93063262e-01 6.08961044e-01 -1.47346135e-02 1.75122081e+02] [-6.08845343e-01 7.93200003e-01 1.18787224e-02 -6.65914193e+01] [ 1.89211746e-02 -4.49477533e-04 9.99820878e-01 3.60462771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76275509599998 meters 0.021813129897967246 Centerline is valid? [True, True] Translation: X:175.17, Y:-66.63, Z:3.61 [[ 7.93887908e-01 6.07882374e-01 -1.48663562e-02 1.75169170e+02] [-6.07764547e-01 7.94026949e-01 1.19775172e-02 -6.66272782e+01] [ 1.90852090e-02 -4.73561859e-04 9.99817749e-01 3.60516535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82275509599998 meters 0.022004291990055772 Centerline is valid? [True, True] Translation: X:175.21, Y:-66.66, Z:3.61 [[ 7.93898029e-01 6.07865804e-01 -1.50028258e-02 1.75214165e+02] [-6.07745943e-01 7.94039635e-01 1.20800464e-02 -6.66642798e+01] [ 1.92558855e-02 -4.72418538e-04 9.99814477e-01 3.60607038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88275509599998 meters 0.02161879939117099 Centerline is valid? [True, True] Translation: X:175.26, Y:-66.70, Z:3.61 [[ 7.93198409e-01 6.08764003e-01 -1.55779486e-02 1.75260692e+02] [-6.08635010e-01 7.93351228e-01 1.25400496e-02 -6.67008809e+01] [ 1.99927154e-02 -4.65462500e-04 9.99800017e-01 3.60614653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94275509599998 meters 0.022963008767512783 Centerline is valid? [True, True] Translation: X:175.30, Y:-66.74, Z:3.61 [[ 7.92398750e-01 6.09797798e-01 -1.58387830e-02 1.75304291e+02] [-6.09664706e-01 7.92556905e-01 1.27475055e-02 -6.67394096e+01] [ 2.03265376e-02 -4.44760439e-04 9.99793296e-01 3.60636699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.002755096 meters 0.020854216179196937 Centerline is valid? [True, True] Translation: X:175.35, Y:-66.77, Z:3.61 [[ 7.90542502e-01 6.12181933e-01 -1.66082321e-02 1.75352227e+02] [-6.12036294e-01 7.90716842e-01 1.33585390e-02 -6.67739101e+01] [ 2.13102651e-02 -3.95652024e-04 9.99772832e-01 3.60705687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.062755096 meters 0.01913624565839704 Centerline is valid? [True, True] Translation: X:175.40, Y:-66.81, Z:3.61 [[ 7.88464138e-01 6.14869324e-01 -1.61250654e-02 1.75398631e+02] [-6.14732749e-01 7.88628949e-01 1.29625751e-02 -6.68083865e+01] [ 2.06869832e-02 -3.07919851e-04 9.99785954e-01 3.60969564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.122755096 meters 0.01766992953060723 Centerline is valid? [True, True] Translation: X:175.45, Y:-66.84, Z:3.61 [[ 7.86585645e-01 6.17305508e-01 -1.47286349e-02 1.75445665e+02] [-6.17192055e-01 7.86723498e-01 1.18365973e-02 -6.68433108e+01] [ 1.88941599e-02 -2.20101065e-04 9.99821465e-01 3.61246180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.182755096 meters 0.016978144611081398 Centerline is valid? [True, True] Translation: X:175.49, Y:-66.88, Z:3.61 [[ 7.85699789e-01 6.18437701e-01 -1.45138211e-02 1.75492388e+02] [-6.18327845e-01 7.85833809e-01 1.16576293e-02 -6.68789599e+01] [ 1.86149688e-02 -1.85097153e-04 9.99826709e-01 3.61409359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.242755096 meters 0.017179130783437177 Centerline is valid? [True, True] Translation: X:175.54, Y:-66.92, Z:3.62 [[ 7.85010564e-01 6.19331667e-01 -1.36638561e-02 1.75536414e+02] [-6.19234467e-01 7.85129456e-01 1.09732649e-02 -6.69159191e+01] [ 1.75239863e-02 -1.52998246e-04 9.99846431e-01 3.61598734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.302755096 meters 0.0171239009613207 Centerline is valid? [True, True] Translation: X:175.58, Y:-66.95, Z:3.62 [[ 7.85827712e-01 6.18309868e-01 -1.29504722e-02 1.75581443e+02] [-6.18222448e-01 7.85934399e-01 1.03983280e-02 -6.69539996e+01] [ 1.66076104e-02 -1.65021642e-04 9.99862071e-01 3.61703318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.362755096 meters 0.01832227575421755 Centerline is valid? [True, True] Translation: X:175.62, Y:-67.00, Z:3.62 [[ 7.88114194e-01 6.15408287e-01 -1.21925028e-02 1.75622622e+02] [-6.15330475e-01 7.88208472e-01 9.78833098e-03 -6.69951870e+01] [ 1.56340540e-02 -2.11904060e-04 9.99877758e-01 3.61824038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.422755096 meters 0.01922687681332803 Centerline is valid? [True, True] Translation: X:175.67, Y:-67.04, Z:3.62 [[ 7.89602799e-01 6.13496670e-01 -1.22170232e-02 1.75666137e+02] [-6.13418347e-01 7.89697268e-01 9.80598937e-03 -6.70351611e+01] [ 1.56636916e-02 -2.48690513e-04 9.99877286e-01 3.61900906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48275509599998 meters 0.021061103240847447 Centerline is valid? [True, True] Translation: X:175.71, Y:-67.08, Z:3.62 [[ 7.91874905e-01 6.10559128e-01 -1.23161101e-02 1.75707023e+02] [-6.10479197e-01 7.91970616e-01 9.88401940e-03 -6.70768626e+01] [ 1.57887756e-02 -3.08177910e-04 9.99875302e-01 3.61883587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54275509599998 meters 0.022624064258610466 Centerline is valid? [True, True] Translation: X:175.75, Y:-67.12, Z:3.62 [[ 7.93440076e-01 6.08505110e-01 -1.32051869e-02 1.75747872e+02] [-6.08412973e-01 7.93549868e-01 1.05953557e-02 -6.71177007e+01] [ 1.69263024e-02 -3.72572795e-04 9.99856670e-01 3.61789071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60275509599998 meters 0.02095615015203142 Centerline is valid? [True, True] Translation: X:175.80, Y:-67.16, Z:3.62 [[ 7.94008492e-01 6.07733030e-01 -1.45285378e-02 1.75795706e+02] [-6.07621425e-01 7.94141287e-01 1.16542290e-02 -6.71568460e+01] [ 1.86203717e-02 -4.25705970e-04 9.99826535e-01 3.61716153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66275509599998 meters 0.021043458875881473 Centerline is valid? [True, True] Translation: X:175.84, Y:-67.20, Z:3.62 [[ 7.93692829e-01 6.08139773e-01 -1.47549935e-02 1.75841143e+02] [-6.08024713e-01 7.93829854e-01 1.18368721e-02 -6.71962736e+01] [ 1.89114271e-02 -4.23439760e-04 9.99821073e-01 3.61789509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.722755096 meters 0.020818459785058335 Centerline is valid? [True, True] Translation: X:175.89, Y:-67.24, Z:3.62 [[ 7.92983361e-01 6.09069788e-01 -1.45390050e-02 1.75886183e+02] [-6.08958245e-01 7.93116535e-01 1.16626537e-02 -6.72360302e+01] [ 1.86344953e-02 -3.94643383e-04 9.99826285e-01 3.61923172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.782755096 meters 0.0208873103776969 Centerline is valid? [True, True] Translation: X:175.93, Y:-67.28, Z:3.62 [[ 7.92466454e-01 6.09739779e-01 -1.46397098e-02 1.75929942e+02] [-6.09626818e-01 7.92601575e-01 1.17424688e-02 -6.72763198e+01] [ 1.87633074e-02 -3.80752956e-04 9.99823881e-01 3.62028245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.842755096 meters 0.02102253908765202 Centerline is valid? [True, True] Translation: X:175.97, Y:-67.32, Z:3.62 [[ 7.91795942e-01 6.10623409e-01 -1.40797382e-02 1.75971874e+02] [-6.10519116e-01 7.91921040e-01 1.12904783e-02 -6.73165195e+01] [ 1.80442713e-02 -3.43805635e-04 9.99837130e-01 3.62226549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.902755096 meters 0.0203439606044054 Centerline is valid? [True, True] Translation: X:176.02, Y:-67.36, Z:3.62 [[ 7.90801056e-01 6.11918781e-01 -1.37511923e-02 1.76015655e+02] [-6.11819532e-01 7.90920548e-01 1.10248651e-02 -6.73565880e+01] [ 1.76224225e-02 -3.05226934e-04 9.99844666e-01 3.62435931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.962755096 meters 0.019801767808042332 Centerline is valid? [True, True] Translation: X:176.06, Y:-67.40, Z:3.63 [[ 7.90080062e-01 6.12852900e-01 -1.35947696e-02 1.76058828e+02] [-6.12756064e-01 7.90196966e-01 1.08977889e-02 -6.73966893e+01] [ 1.74212872e-02 -2.79848217e-04 9.99848199e-01 3.62607674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.022755096 meters 0.019814369776759596 Centerline is valid? [True, True] Translation: X:176.10, Y:-67.44, Z:3.63 [[ 7.89943150e-01 6.13033412e-01 -1.34110114e-02 1.76102544e+02] [-6.12939230e-01 7.90056936e-01 1.07488283e-02 -6.74364716e+01] [ 1.71848535e-02 -2.70828296e-04 9.99852293e-01 3.62813317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.082755096 meters 0.01988848821567148 Centerline is valid? [True, True] Translation: X:176.14, Y:-67.48, Z:3.63 [[ 7.89554919e-01 6.13539944e-01 -1.31059964e-02 1.76144648e+02] [-6.13450094e-01 7.89663646e-01 1.05028099e-02 -6.74756577e+01] [ 1.67932223e-02 -2.52670474e-04 9.99858952e-01 3.62982664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.142755096 meters 0.018098758930824937 Centerline is valid? [True, True] Translation: X:176.20, Y:-67.51, Z:3.63 [[ 7.86041897e-01 6.18047000e-01 -1.24916936e-02 1.76196502e+02] [-6.17965977e-01 7.86141135e-01 1.00083140e-02 -6.75083640e+01] [ 1.60058426e-02 -1.47512536e-04 9.99871887e-01 3.63138706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.202755096 meters 0.017515645231606362 Centerline is valid? [True, True] Translation: X:176.24, Y:-67.54, Z:3.63 [[ 7.83765411e-01 6.20904012e-01 -1.37835900e-02 1.76243998e+02] [-6.20805793e-01 7.83886597e-01 1.10440107e-02 -6.75429301e+01] [ 1.76620420e-02 -9.89810608e-05 9.99844009e-01 3.63071950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26275509599998 meters 0.017336348339580657 Centerline is valid? [True, True] Translation: X:176.29, Y:-67.58, Z:3.63 [[ 7.82286736e-01 6.22723392e-01 -1.55897597e-02 1.76290119e+02] [-6.22598147e-01 7.82442057e-01 1.24889503e-02 -6.75788421e+01] [ 1.99752452e-02 -6.37846431e-05 9.99800473e-01 3.63020973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32275509599998 meters 0.017251810568033595 Centerline is valid? [True, True] Translation: X:176.34, Y:-67.61, Z:3.63 [[ 7.82559881e-01 6.22352554e-01 -1.66532966e-02 1.76337219e+02] [-6.22209600e-01 7.82737052e-01 1.33386664e-02 -6.76144914e+01] [ 2.13365054e-02 -7.64641615e-05 9.99772348e-01 3.63034381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38275509599998 meters 0.017568124265042527 Centerline is valid? [True, True] Translation: X:176.38, Y:-67.65, Z:3.63 [[ 7.84370110e-01 6.20063443e-01 -1.68777378e-02 1.76381788e+02] [-6.19916129e-01 7.84551660e-01 1.35161213e-02 -6.76509361e+01] [ 2.16223100e-02 -1.38859689e-04 9.99766201e-01 3.63102959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44275509599998 meters 0.018080913201079202 Centerline is valid? [True, True] Translation: X:176.43, Y:-67.69, Z:3.63 [[ 7.86346940e-01 6.17555482e-01 -1.68438673e-02 1.76426242e+02] [-6.17408244e-01 7.86527294e-01 1.34861456e-02 -6.76893994e+01] [ 2.15766045e-02 -2.05246783e-04 9.99767177e-01 3.63314971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.502755096 meters 0.01934208737269604 Centerline is valid? [True, True] Translation: X:176.47, Y:-67.73, Z:3.64 [[ 7.88771700e-01 6.14463444e-01 -1.65493486e-02 1.76468615e+02] [-6.14320673e-01 7.88945243e-01 1.32482087e-02 -6.77287842e+01] [ 2.11970698e-02 -2.83205132e-04 9.99775277e-01 3.63550668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.562755096 meters 0.020495542507534728 Centerline is valid? [True, True] Translation: X:176.51, Y:-67.77, Z:3.64 [[ 7.90768550e-01 6.11895946e-01 -1.63845015e-02 1.76513033e+02] [-6.11755506e-01 7.90938197e-01 1.31137141e-02 -6.77667634e+01] [ 2.09833566e-02 -3.46603640e-04 9.99779765e-01 3.63708849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.622755096 meters 0.02061753248664149 Centerline is valid? [True, True] Translation: X:176.56, Y:-67.80, Z:3.64 [[ 7.91802872e-01 6.10549995e-01 -1.66407714e-02 1.76560249e+02] [-6.10404878e-01 7.91977622e-01 1.33165445e-02 -6.78048228e+01] [ 2.13095347e-02 -3.86470181e-04 9.99772851e-01 3.63831877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.682755096 meters 0.022415952830128236 Centerline is valid? [True, True] Translation: X:176.60, Y:-67.84, Z:3.64 [[ 7.93037523e-01 6.08940694e-01 -1.68141994e-02 1.76603342e+02] [-6.08792181e-01 7.93215634e-01 1.34550567e-02 -6.78441766e+01] [ 2.15306174e-02 -4.34011744e-04 9.99768095e-01 3.63945426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.742755096 meters 0.022318732953651284 Centerline is valid? [True, True] Translation: X:176.65, Y:-67.88, Z:3.64 [[ 7.93711800e-01 6.08072541e-01 -1.64122898e-02 1.76648947e+02] [-6.07930901e-01 7.93881343e-01 1.31313603e-02 -6.78805180e+01] [ 2.10142303e-02 -4.44977499e-04 9.99779078e-01 3.64128411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.802755096 meters 0.024468754834053613 Centerline is valid? [True, True] Translation: X:176.69, Y:-67.92, Z:3.64 [[ 7.94560768e-01 6.06951423e-01 -1.68272471e-02 1.76692063e+02] [-6.06802339e-01 7.94738785e-01 1.34605317e-02 -6.79191501e+01] [ 2.15431548e-02 -4.84397517e-04 9.99767802e-01 3.64147077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.862755096 meters 0.025444436481530136 Centerline is valid? [True, True] Translation: X:176.74, Y:-67.96, Z:3.64 [[ 7.95888505e-01 6.05206190e-01 -1.69397632e-02 1.76740956e+02] [-6.05054735e-01 7.96068579e-01 1.35493503e-02 -6.79569394e+01] [ 2.16853638e-02 -5.34288200e-04 9.99764702e-01 3.64134659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.922755096 meters 0.023873573583350877 Centerline is valid? [True, True] Translation: X:176.79, Y:-68.00, Z:3.65 [[ 7.97202733e-01 6.03485586e-01 -1.65212271e-02 1.76789102e+02] [-6.03341001e-01 7.97373702e-01 1.32217989e-02 -6.79959760e+01] [ 2.11527571e-02 -5.72520491e-04 9.99776091e-01 3.64583518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98275509599998 meters 0.025152410657408763 Centerline is valid? [True, True] Translation: X:176.84, Y:-68.04, Z:3.65 [[ 7.98087636e-01 6.02310159e-01 -1.66912447e-02 1.76837191e+02] [-6.02162166e-01 7.98261920e-01 1.33653620e-02 -6.80359165e+01] [ 2.13740783e-02 -6.15894137e-04 9.99771359e-01 3.64696339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04275509599998 meters 0.02539469362150685 Centerline is valid? [True, True] Translation: X:176.88, Y:-68.07, Z:3.65 [[ 7.98004071e-01 6.02424003e-01 -1.65777961e-02 1.76884245e+02] [-6.02277904e-01 7.98176011e-01 1.32808995e-02 -6.80734822e+01] [ 2.12327318e-02 -6.13771565e-04 9.99774372e-01 3.64793008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10275509599998 meters 0.022752819135701652 Centerline is valid? [True, True] Translation: X:176.94, Y:-68.11, Z:3.65 [[ 7.96148965e-01 6.04870076e-01 -1.67037980e-02 1.76936766e+02] [-6.04722264e-01 7.96323982e-01 1.33827881e-02 -6.81073326e+01] [ 2.13964830e-02 -5.53534354e-04 9.99770916e-01 3.64967132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16275509599998 meters 0.02302366251692123 Centerline is valid? [True, True] Translation: X:176.98, Y:-68.14, Z:3.65 [[ 7.93493306e-01 6.08345370e-01 -1.68607080e-02 1.76984446e+02] [-6.08195401e-01 7.93672281e-01 1.35153299e-02 -6.81441166e+01] [ 2.16038650e-02 -4.69718775e-04 9.99766499e-01 3.65012917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.222755096 meters 0.020986151526887122 Centerline is valid? [True, True] Translation: X:177.03, Y:-68.18, Z:3.65 [[ 7.92379530e-01 6.09792840e-01 -1.69520647e-02 1.77033404e+02] [-6.09641568e-01 7.92560726e-01 1.35887379e-02 -6.81775652e+01] [ 2.17218558e-02 -4.32754484e-04 9.99763959e-01 3.65160241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.282755096 meters 0.020666362447269274 Centerline is valid? [True, True] Translation: X:177.08, Y:-68.21, Z:3.65 [[ 7.91253402e-01 6.11233999e-01 -1.76366709e-02 1.77078933e+02] [-6.11070672e-01 7.91449830e-01 1.41351150e-02 -6.82132314e+01] [ 2.25984031e-02 -4.07205507e-04 9.99744541e-01 3.65256246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.342755096 meters 0.02002014066814083 Centerline is valid? [True, True] Translation: X:177.13, Y:-68.25, Z:3.65 [[ 7.91061980e-01 6.11494998e-01 -1.71700559e-02 1.77128194e+02] [-6.11340285e-01 7.91248201e-01 1.37600769e-02 -6.82508511e+01] [ 2.19999940e-02 -3.88326777e-04 9.99757895e-01 3.65463078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.402755096 meters 0.020450017801411653 Centerline is valid? [True, True] Translation: X:177.17, Y:-68.29, Z:3.66 [[ 7.91391105e-01 6.11082627e-01 -1.66776112e-02 1.77174160e+02] [-6.10936434e-01 7.91566718e-01 1.33718046e-02 -6.82888717e+01] [ 2.13727194e-02 -3.93366891e-04 9.99771500e-01 3.65617084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.462755096 meters 0.02051416313398442 Centerline is valid? [True, True] Translation: X:177.22, Y:-68.33, Z:3.66 [[ 7.91625404e-01 6.10783270e-01 -1.65232406e-02 1.77222186e+02] [-6.10639707e-01 7.91797726e-01 1.32479619e-02 -6.83281789e+01] [ 2.11746979e-02 -3.97676366e-04 9.99775712e-01 3.65701469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.522755096 meters 0.020784388547162056 Centerline is valid? [True, True] Translation: X:177.27, Y:-68.37, Z:3.66 [[ 7.91602364e-01 6.10794676e-01 -1.71918832e-02 1.77270702e+02] [-6.10639078e-01 7.91788916e-01 1.37923394e-02 -6.83683656e+01] [ 2.20366301e-02 -4.20012793e-04 9.99757076e-01 3.65784817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.582755096 meters 0.022224396218066635 Centerline is valid? [True, True] Translation: X:177.32, Y:-68.41, Z:3.66 [[ 7.92042507e-01 6.10220294e-01 -1.73164658e-02 1.77315281e+02] [-6.10062123e-01 7.92231654e-01 1.39000768e-02 -6.84085694e+01] [ 2.22007613e-02 -4.45331805e-04 9.99753434e-01 3.65872010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.642755096 meters 0.022404845045447083 Centerline is valid? [True, True] Translation: X:177.36, Y:-68.45, Z:3.66 [[ 7.92212370e-01 6.09995677e-01 -1.74595405e-02 1.77361990e+02] [-6.09834823e-01 7.92404611e-01 1.40150403e-02 -6.84450100e+01] [ 2.23841344e-02 -4.55452533e-04 9.99749340e-01 3.65864722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.702755096 meters 0.022255657163800843 Centerline is valid? [True, True] Translation: X:177.41, Y:-68.48, Z:3.66 [[ 7.92637673e-01 6.09447884e-01 -1.72857006e-02 1.77407335e+02] [-6.09290136e-01 7.92825996e-01 1.38733467e-02 -6.84830706e+01] [ 2.21596346e-02 -4.64530438e-04 9.99754337e-01 3.66052708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76275509599998 meters 0.021747784834559185 Centerline is valid? [True, True] Translation: X:177.45, Y:-68.52, Z:3.66 [[ 7.92443584e-01 6.09712286e-01 -1.68551408e-02 1.77452714e+02] [-6.09562403e-01 7.92622692e-01 1.35257305e-02 -6.85205462e+01] [ 2.16065711e-02 -4.44118269e-04 9.99766452e-01 3.66196070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82275509599998 meters 0.021923708145425307 Centerline is valid? [True, True] Translation: X:177.50, Y:-68.56, Z:3.66 [[ 7.91500658e-01 6.10908926e-01 -1.78042676e-02 1.77496763e+02] [-6.10742044e-01 7.91700762e-01 1.42849400e-02 -6.85583059e+01] [ 2.28224495e-02 -4.32724606e-04 9.99739440e-01 3.66117424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88275509599998 meters 0.023715246151073247 Centerline is valid? [True, True] Translation: X:177.54, Y:-68.60, Z:3.66 [[ 7.91008619e-01 6.11514118e-01 -1.88639517e-02 1.77542379e+02] [-6.11327018e-01 7.91233399e-01 1.51322595e-02 -6.85961409e+01] [ 2.41793789e-02 -4.37704348e-04 9.99707540e-01 3.65892331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94275509599998 meters 0.020197566357250597 Centerline is valid? [True, True] Translation: X:177.59, Y:-68.63, Z:3.66 [[ 7.88666685e-01 6.14569453e-01 -1.75854390e-02 1.77591425e+02] [-6.14407660e-01 7.88862653e-01 1.41046855e-02 -6.86286559e+01] [ 2.25408049e-02 -3.19267179e-04 9.99745873e-01 3.66297523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.002755096 meters 0.01854844379441829 Centerline is valid? [True, True] Translation: X:177.64, Y:-68.66, Z:3.66 [[ 7.85727030e-01 6.18315516e-01 -1.78593506e-02 1.77639835e+02] [-6.18149657e-01 7.85929944e-01 1.43221818e-02 -6.86613828e+01] [ 2.28918257e-02 -2.13573970e-04 9.99737925e-01 3.66438999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.062755096 meters 0.020564022856078473 Centerline is valid? [True, True] Translation: X:177.69, Y:-68.70, Z:3.66 [[ 7.83876661e-01 6.20630024e-01 -1.88614244e-02 1.77688190e+02] [-6.20445753e-01 7.84103533e-01 1.51234033e-02 -6.86955043e+01] [ 2.41753476e-02 -1.52392170e-04 9.99707722e-01 3.66253107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.122755096 meters 0.01792319142217974 Centerline is valid? [True, True] Translation: X:177.73, Y:-68.73, Z:3.67 [[ 7.83858744e-01 6.20671548e-01 -1.82290655e-02 1.77733224e+02] [-6.20499508e-01 7.84070666e-01 1.46133744e-02 -6.87299309e+01] [ 2.33629813e-02 -1.43695125e-04 9.99727038e-01 3.66594524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.182755096 meters 0.02110309465747602 Centerline is valid? [True, True] Translation: X:177.78, Y:-68.77, Z:3.66 [[ 7.86367681e-01 6.17460757e-01 -1.91855069e-02 1.77778109e+02] [-6.17269372e-01 7.86601648e-01 1.53743413e-02 -6.87677183e+01] [ 2.45844037e-02 -2.47259290e-04 9.99697727e-01 3.66438201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.242755096 meters 0.020115782922245022 Centerline is valid? [True, True] Translation: X:177.82, Y:-68.81, Z:3.67 [[ 7.90172913e-01 6.12612788e-01 -1.82301748e-02 1.77821520e+02] [-6.12438745e-01 7.90383090e-01 1.46066492e-02 -6.88081241e+01] [ 2.33570420e-02 -3.76913208e-04 9.99727116e-01 3.66937851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.302755096 meters 0.022467033461638728 Centerline is valid? [True, True] Translation: X:177.86, Y:-68.85, Z:3.67 [[ 7.94284969e-01 6.07280986e-01 -1.79218156e-02 1.77864457e+02] [-6.07111462e-01 7.94486960e-01 1.43576661e-02 -6.88505303e+01] [ 2.29577864e-02 -5.23538661e-04 9.99736298e-01 3.67081247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.362755096 meters 0.022880412058538614 Centerline is valid? [True, True] Translation: X:177.91, Y:-68.89, Z:3.67 [[ 7.96596176e-01 6.04253751e-01 -1.76617387e-02 1.77911704e+02] [-6.04088368e-01 7.96791718e-01 1.41492577e-02 -6.88913235e+01] [ 2.26224692e-02 -6.01993678e-04 9.99743898e-01 3.67281451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.422755096 meters 0.026659313491030193 Centerline is valid? [True, True] Translation: X:177.95, Y:-68.94, Z:3.68 [[ 7.99009401e-01 6.01081116e-01 -1.68958548e-02 1.77954191e+02] [-6.00929005e-01 7.99187745e-01 1.35380718e-02 -6.89355285e+01] [ 2.16404394e-02 -6.63837413e-04 9.99765598e-01 3.67501065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48275509599998 meters 0.02489271524799853 Centerline is valid? [True, True] Translation: X:178.00, Y:-68.97, Z:3.68 [[ 7.98764774e-01 6.01380660e-01 -1.77802384e-02 1.78004006e+02] [-6.01212163e-01 7.98962339e-01 1.42518665e-02 -6.89736644e+01] [ 2.27765377e-02 -6.94193333e-04 9.99740340e-01 3.67652437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54275509599998 meters 0.023746467905800976 Centerline is valid? [True, True] Translation: X:178.05, Y:-69.01, Z:3.68 [[ 7.97432284e-01 6.03118318e-01 -1.87095259e-02 1.78053362e+02] [-6.02931983e-01 7.97651442e-01 1.50066850e-02 -6.90117722e+01] [ 2.39744869e-02 -6.86243599e-04 9.99712335e-01 3.67763122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60275509599998 meters 0.021729264667398204 Centerline is valid? [True, True] Translation: X:178.10, Y:-69.05, Z:3.68 [[ 7.94307391e-01 6.07211230e-01 -1.92429429e-02 1.78103806e+02] [-6.07015129e-01 7.94540232e-01 1.54419455e-02 -6.90475663e+01] [ 2.46658150e-02 -5.84894023e-04 9.99695581e-01 3.67899355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66275509599998 meters 0.02304162292026275 Centerline is valid? [True, True] Translation: X:178.15, Y:-69.09, Z:3.68 [[ 7.93018836e-01 6.08888019e-01 -1.94037691e-02 1.78149871e+02] [-6.08689058e-01 7.93256005e-01 1.55737259e-02 -6.90875033e+01] [ 2.48748115e-02 -5.39396009e-04 9.99690428e-01 3.67928410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.722755096 meters 0.01903653599453254 Centerline is valid? [True, True] Translation: X:178.20, Y:-69.12, Z:3.68 [[ 7.89697180e-01 6.13211922e-01 -1.86949869e-02 1.78202818e+02] [-6.13028341e-01 7.89918341e-01 1.50089425e-02 -6.91199670e+01] [ 2.39711755e-02 -3.91962777e-04 9.99712573e-01 3.68313474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.782755096 meters 0.018029920160491993 Centerline is valid? [True, True] Translation: X:178.25, Y:-69.16, Z:3.69 [[ 7.87744471e-01 6.15743355e-01 -1.78541099e-02 1.78252236e+02] [-6.15576500e-01 7.87946717e-01 1.43367587e-02 -6.91570843e+01] [ 2.28958512e-02 -3.03131947e-04 9.99737810e-01 3.68514512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.842755096 meters 0.0182608550546421 Centerline is valid? [True, True] Translation: X:178.30, Y:-69.20, Z:3.69 [[ 7.87757177e-01 6.15729714e-01 -1.77636824e-02 1.78299993e+02] [-6.15564353e-01 7.87957374e-01 1.42724873e-02 -6.91970104e+01] [ 2.27850191e-02 -3.08564682e-04 9.99740340e-01 3.68594535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.902755096 meters 0.019076708467714476 Centerline is valid? [True, True] Translation: X:178.35, Y:-69.24, Z:3.69 [[ 7.89332174e-01 6.13721693e-01 -1.73321283e-02 1.78345503e+02] [-6.13563628e-01 7.89522357e-01 1.39327843e-02 -6.92370006e+01] [ 2.22349547e-02 -3.63231397e-04 9.99752707e-01 3.68740821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.962755096 meters 0.020460686758175244 Centerline is valid? [True, True] Translation: X:178.39, Y:-69.28, Z:3.69 [[ 7.91435796e-01 6.11036131e-01 -1.62550998e-02 1.78392542e+02] [-6.10896519e-01 7.91602601e-01 1.30677286e-02 -6.92781901e+01] [ 2.08524336e-02 -4.12084259e-04 9.99782479e-01 3.68950124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.022755096 meters 0.02061675359612041 Centerline is valid? [True, True] Translation: X:178.44, Y:-69.32, Z:3.69 [[ 7.92550712e-01 6.09608323e-01 -1.55261409e-02 1.78440495e+02] [-6.09480546e-01 7.92702658e-01 1.24884039e-02 -6.93183377e+01] [ 1.99206481e-02 -4.34812574e-04 9.99801470e-01 3.69063830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.082755096 meters 0.021661838888953667 Centerline is valid? [True, True] Translation: X:178.49, Y:-69.36, Z:3.69 [[ 7.92291362e-01 6.09929695e-01 -1.61296398e-02 1.78487227e+02] [-6.09791695e-01 7.92455402e-01 1.29816716e-02 -6.93597824e+01] [ 2.06999272e-02 -4.49545868e-04 9.99785632e-01 3.68939498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.142755096 meters 0.021391642014973993 Centerline is valid? [True, True] Translation: X:178.53, Y:-69.40, Z:3.69 [[ 7.91350345e-01 6.11128844e-01 -1.69164892e-02 1.78533547e+02] [-6.10977165e-01 7.91531010e-01 1.36222218e-02 -6.93959087e+01] [ 2.17148584e-02 -4.44361286e-04 9.99764106e-01 3.68843350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.202755096 meters 0.019896987178320582 Centerline is valid? [True, True] Translation: X:178.58, Y:-69.43, Z:3.69 [[ 7.88927211e-01 6.14231228e-01 -1.77159298e-02 1.78584282e+02] [-6.14065663e-01 7.89126008e-01 1.42654779e-02 -6.94321249e+01] [ 2.27424030e-02 -3.75679450e-04 9.99741288e-01 3.68761101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26275509599998 meters 0.01907214025729987 Centerline is valid? [True, True] Translation: X:178.63, Y:-69.47, Z:3.69 [[ 7.86911044e-01 6.16801422e-01 -1.80835494e-02 1.78630658e+02] [-6.16629443e-01 7.87118739e-01 1.45678058e-02 -6.94674864e+01] [ 2.32193439e-02 -3.12718279e-04 9.99730346e-01 3.68816283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32275509599998 meters 0.018256367289722828 Centerline is valid? [True, True] Translation: X:178.68, Y:-69.51, Z:3.69 [[ 7.85732689e-01 6.18289543e-01 -1.84981646e-02 1.78679300e+02] [-6.18110001e-01 7.85950358e-01 1.49017305e-02 -6.95055522e+01] [ 2.37522233e-02 -2.74876243e-04 9.99717838e-01 3.68955359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38275509599998 meters 0.01886565807509785 Centerline is valid? [True, True] Translation: X:178.73, Y:-69.55, Z:3.69 [[ 7.85241017e-01 6.18906808e-01 -1.87325260e-02 1.78725811e+02] [-6.18722647e-01 7.85464380e-01 1.50994721e-02 -6.95463411e+01] [ 2.40588980e-02 -2.66486761e-04 9.99710507e-01 3.68975298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44275509599998 meters 0.01875448972468377 Centerline is valid? [True, True] Translation: X:178.77, Y:-69.58, Z:3.69 [[ 7.86141376e-01 6.17769166e-01 -1.85201213e-02 1.78774169e+02] [-6.17588667e-01 7.86359438e-01 1.49356344e-02 -6.95845489e+01] [ 2.37902466e-02 -3.03703187e-04 9.99716926e-01 3.69212521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.502755096 meters 0.018942447937174457 Centerline is valid? [True, True] Translation: X:178.82, Y:-69.62, Z:3.69 [[ 7.87038030e-01 6.16641183e-01 -1.80219381e-02 1.78822281e+02] [-6.16469912e-01 7.87244271e-01 1.45363790e-02 -6.96244433e+01] [ 2.31513975e-02 -3.30700501e-04 9.99731916e-01 3.69397697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.562755096 meters 0.020129621523140847 Centerline is valid? [True, True] Translation: X:178.87, Y:-69.67, Z:3.70 [[ 7.89575783e-01 6.13366101e-01 -1.87645810e-02 1.78867391e+02] [-6.13179300e-01 7.89798597e-01 1.51434120e-02 -6.96666061e+01] [ 2.41086953e-02 -4.50818743e-04 9.99709242e-01 3.69516056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.622755096 meters 0.022436500466845574 Centerline is valid? [True, True] Translation: X:178.91, Y:-69.71, Z:3.70 [[ 7.92078251e-01 6.10128561e-01 -1.88463072e-02 1.78912073e+02] [-6.09939083e-01 7.92302234e-01 1.52146447e-02 -6.97086866e+01] [ 2.42148605e-02 -5.56089829e-04 9.99706623e-01 3.69545178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.682755096 meters 0.023243750094067792 Centerline is valid? [True, True] Translation: X:178.96, Y:-69.75, Z:3.70 [[ 7.94283498e-01 6.07265668e-01 -1.84968283e-02 1.78960566e+02] [-6.07082219e-01 7.94498586e-01 1.49390803e-02 -6.97478824e+01] [ 2.37676944e-02 -6.36769383e-04 9.99717306e-01 3.69710181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.742755096 meters 0.023585794687852855 Centerline is valid? [True, True] Translation: X:179.01, Y:-69.79, Z:3.70 [[ 7.95265820e-01 6.05965574e-01 -1.89208535e-02 1.79009720e+02] [-6.05773152e-01 7.95490567e-01 1.52854981e-02 -6.97858408e+01] [ 2.43138461e-02 -6.94289127e-04 9.99704134e-01 3.69819911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.802755096 meters 0.02476902332109792 Centerline is valid? [True, True] Translation: X:179.06, Y:-69.82, Z:3.70 [[ 7.96054606e-01 6.04920929e-01 -1.91764066e-02 1.79057654e+02] [-6.04722755e-01 7.96285199e-01 1.55007305e-02 -6.98245963e+01] [ 2.46466051e-02 -7.43018457e-04 9.99695950e-01 3.69891530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.862755096 meters 0.02381224336845563 Centerline is valid? [True, True] Translation: X:179.11, Y:-69.86, Z:3.70 [[ 7.95811813e-01 6.05233427e-01 -1.93922132e-02 1.79108673e+02] [-6.05030639e-01 7.96047699e-01 1.56839955e-02 -6.98612552e+01] [ 2.49296050e-02 -7.48625759e-04 9.99688929e-01 3.69960522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.922755096 meters 0.023470401240780744 Centerline is valid? [True, True] Translation: X:179.16, Y:-69.90, Z:3.70 [[ 7.95282097e-01 6.05936430e-01 -1.91684536e-02 1.79158932e+02] [-6.05738278e-01 7.95512738e-01 1.55119744e-02 -6.98986362e+01] [ 2.46480194e-02 -7.25329413e-04 9.99695928e-01 3.70038327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98275509599998 meters 0.023431810373015824 Centerline is valid? [True, True] Translation: X:179.21, Y:-69.94, Z:3.70 [[ 7.94517113e-01 6.06979008e-01 -1.78617303e-02 1.79208667e+02] [-6.06807104e-01 7.94717599e-01 1.44595168e-02 -6.99358968e+01] [ 2.29716546e-02 -6.49708712e-04 9.99735906e-01 3.70201955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04275509599998 meters 0.022621947894225742 Centerline is valid? [True, True] Translation: X:179.26, Y:-69.97, Z:3.70 [[ 7.93253709e-01 6.08664533e-01 -1.66144505e-02 1.79258796e+02] [-6.08516016e-01 7.93427481e-01 1.34570088e-02 -6.99720562e+01] [ 2.13731656e-02 -5.64662935e-04 9.99771408e-01 3.70413306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10275509599998 meters 0.02510722420950086 Centerline is valid? [True, True] Translation: X:179.31, Y:-70.01, Z:3.70 [[ 7.92712059e-01 6.09395313e-01 -1.56506886e-02 1.79306127e+02] [-6.09263542e-01 7.92866372e-01 1.26827811e-02 -7.00092943e+01] [ 2.01377321e-02 -5.18399580e-04 9.99797081e-01 3.70382037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16275509599998 meters 0.02291375182184398 Centerline is valid? [True, True] Translation: X:179.35, Y:-70.04, Z:3.71 [[ 7.92708835e-01 6.09421573e-01 -1.47664768e-02 1.79354170e+02] [-6.09304268e-01 7.92846207e-01 1.19666799e-02 -7.00442833e+01] [ 1.90002980e-02 -4.88815531e-04 9.99819359e-01 3.70629857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.222755096 meters 0.023437239764023638 Centerline is valid? [True, True] Translation: X:179.40, Y:-70.08, Z:3.71 [[ 7.94428151e-01 6.07221768e-01 -1.28700367e-02 1.79402156e+02] [-6.07132398e-01 7.94532254e-01 1.04282658e-02 -7.00830493e+01] [ 1.65579293e-02 -4.70691621e-04 9.99862797e-01 3.70847572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.282755096 meters 0.025926789619195905 Centerline is valid? [True, True] Translation: X:179.45, Y:-70.12, Z:3.71 [[ 7.97327513e-01 6.03435184e-01 -1.16110514e-02 1.79446928e+02] [-6.03361959e-01 7.97411894e-01 9.41370843e-03 -7.01242111e+01] [ 1.49393534e-02 -5.00141986e-04 9.99888277e-01 3.71002026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.342755096 meters 0.02870784908122239 Centerline is valid? [True, True] Translation: X:179.49, Y:-70.17, Z:3.71 [[ 7.99776511e-01 6.00193135e-01 -1.12131127e-02 1.79490683e+02] [-6.00124517e-01 7.99854929e-01 9.09153915e-03 -7.01651149e+01] [ 1.44255428e-02 -5.41935612e-04 9.99895800e-01 3.71094089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.402755096 meters 0.028809551935013698 Centerline is valid? [True, True] Translation: X:179.54, Y:-70.20, Z:3.71 [[ 8.00270535e-01 5.99532784e-01 -1.12921033e-02 1.79538556e+02] [-5.99463153e-01 8.00350005e-01 9.15410203e-03 -7.02043600e+01] [ 1.45258192e-02 -5.56558305e-04 9.99894340e-01 3.71120738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.462755096 meters 0.02883002295147166 Centerline is valid? [True, True] Translation: X:179.59, Y:-70.24, Z:3.71 [[ 7.99388269e-01 6.00704270e-01 -1.15227982e-02 1.79586881e+02] [-6.00631806e-01 7.99471123e-01 9.34648894e-03 -7.02439401e+01] [ 1.48266202e-02 -5.50514543e-04 9.99889928e-01 3.71109683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.522755096 meters 0.026329232400127283 Centerline is valid? [True, True] Translation: X:179.64, Y:-70.28, Z:3.71 [[ 7.97823701e-01 6.02761319e-01 -1.24953381e-02 1.79636678e+02] [-6.02676259e-01 7.97921348e-01 1.01414310e-02 -7.02807860e+01] [ 1.60831593e-02 -5.60430436e-04 9.99870501e-01 3.71124525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.582755096 meters 0.027794647703133692 Centerline is valid? [True, True] Translation: X:179.68, Y:-70.32, Z:3.71 [[ 7.96070154e-01 6.05062213e-01 -1.31159569e-02 1.79682465e+02] [-6.04968691e-01 7.96178009e-01 1.06518207e-02 -7.03214734e+01] [ 1.68876507e-02 -5.44853323e-04 9.99857245e-01 3.71111938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.642755096 meters 0.025818646093418628 Centerline is valid? [True, True] Translation: X:179.73, Y:-70.36, Z:3.71 [[ 7.93842911e-01 6.07974294e-01 -1.34421184e-02 1.79729192e+02] [-6.07876409e-01 7.93956554e-01 1.09207142e-02 -7.03567912e+01] [ 1.73119715e-02 -4.98184943e-04 9.99850012e-01 3.71212812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.702755096 meters 0.022736709841154952 Centerline is valid? [True, True] Translation: X:179.78, Y:-70.39, Z:3.71 [[ 7.92428847e-01 6.09837173e-01 -1.24556983e-02 1.79779819e+02] [-6.09753399e-01 7.92526621e-01 1.01167209e-02 -7.03934276e+01] [ 1.60410250e-02 -4.21877074e-04 9.99871245e-01 3.71463043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76275509599998 meters 0.023208771683650143 Centerline is valid? [True, True] Translation: X:179.82, Y:-70.43, Z:3.72 [[ 7.92411321e-01 6.09867822e-01 -1.20638702e-02 1.79824450e+02] [-6.09789142e-01 7.92503040e-01 9.80480721e-03 -7.04325484e+01] [ 1.55402903e-02 -4.13023161e-04 9.99879157e-01 3.71706827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82275509599998 meters 0.022635711721250985 Centerline is valid? [True, True] Translation: X:179.87, Y:-70.47, Z:3.72 [[ 7.92676446e-01 6.09530699e-01 -1.16781214e-02 1.79871331e+02] [-6.09456945e-01 7.92762362e-01 9.49047460e-03 -7.04730223e+01] [ 1.50427107e-02 -4.05563498e-04 9.99886770e-01 3.71890139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88275509599998 meters 0.02389657401588442 Centerline is valid? [True, True] Translation: X:179.92, Y:-70.52, Z:3.72 [[ 7.93026861e-01 6.09070934e-01 -1.18740991e-02 1.79915248e+02] [-6.08994546e-01 7.93115638e-01 9.65542185e-03 -7.05153204e+01] [ 1.52983705e-02 -4.25747312e-04 9.99882882e-01 3.71960186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94275509599998 meters 0.023255721397819937 Centerline is valid? [True, True] Translation: X:179.96, Y:-70.56, Z:3.72 [[ 7.92923326e-01 6.09200282e-01 -1.21497674e-02 1.79963728e+02] [-6.09120242e-01 7.93016284e-01 9.88457242e-03 -7.05558563e+01] [ 1.56566477e-02 -4.37038758e-04 9.99877332e-01 3.72078746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.002755096 meters 0.022356259462863844 Centerline is valid? [True, True] Translation: X:180.01, Y:-70.60, Z:3.72 [[ 7.91671218e-01 6.10827434e-01 -1.21048967e-02 1.80010765e+02] [-6.10748074e-01 7.91763651e-01 9.85451548e-03 -7.05958686e+01] [ 1.56036256e-02 -4.08493909e-04 9.99878173e-01 3.72203676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.062755096 meters 0.021833785582442436 Centerline is valid? [True, True] Translation: X:180.06, Y:-70.64, Z:3.72 [[ 7.89721919e-01 6.13330757e-01 -1.28325069e-02 1.80057851e+02] [-6.13241794e-01 7.89826078e-01 1.04531319e-02 -7.06356326e+01] [ 1.65466759e-02 -3.85637813e-04 9.99863020e-01 3.72175426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.122755096 meters 0.02039001680257483 Centerline is valid? [True, True] Translation: X:180.10, Y:-70.67, Z:3.72 [[ 7.88226743e-01 6.15249541e-01 -1.29074919e-02 1.80104992e+02] [-6.15159682e-01 7.88332340e-01 1.05208265e-02 -7.06730872e+01] [ 1.66483270e-02 -3.52628250e-04 9.99861345e-01 3.72248360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.182755096 meters 0.018525177878371917 Centerline is valid? [True, True] Translation: X:180.15, Y:-70.71, Z:3.72 [[ 7.85339061e-01 6.18935694e-01 -1.26951396e-02 1.80152974e+02] [-6.18849252e-01 7.85441617e-01 1.03474596e-02 -7.07080789e+01] [ 1.63757030e-02 -2.69886558e-04 9.99865873e-01 3.72415359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.242755096 meters 0.017590164654041646 Centerline is valid? [True, True] Translation: X:180.20, Y:-70.74, Z:3.72 [[ 7.83713154e-01 6.20972706e-01 -1.36598367e-02 1.80199245e+02] [-6.20872958e-01 7.83832150e-01 1.11323999e-02 -7.07437560e+01] [ 1.76199357e-02 -2.43585022e-04 9.99844727e-01 3.72386807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.302755096 meters 0.01675542331864265 Centerline is valid? [True, True] Translation: X:180.25, Y:-70.78, Z:3.72 [[ 7.83335821e-01 6.21444534e-01 -1.38449285e-02 1.80246952e+02] [-6.21342170e-01 7.83458126e-01 1.12814764e-02 -7.07800182e+01] [ 1.78577336e-02 -2.34746616e-04 9.99840510e-01 3.72437498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.362755096 meters 0.01714743052667398 Centerline is valid? [True, True] Translation: X:180.29, Y:-70.82, Z:3.72 [[ 7.83622649e-01 6.21066254e-01 -1.45688733e-02 1.80291152e+02] [-6.20952857e-01 7.83758026e-01 1.18703861e-02 -7.08168353e+01] [ 1.87907676e-02 -2.55319905e-04 9.99823405e-01 3.72466602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.422755096 meters 0.018225086810222457 Centerline is valid? [True, True] Translation: X:180.33, Y:-70.85, Z:3.73 [[ 7.84395188e-01 6.20086982e-01 -1.47079321e-02 1.80334911e+02] [-6.19971283e-01 7.84533018e-01 1.19813323e-02 -7.08547238e+01] [ 1.89683265e-02 -2.79603935e-04 9.99820046e-01 3.72545257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48275509599998 meters 0.017910569919949756 Centerline is valid? [True, True] Translation: X:180.38, Y:-70.89, Z:3.73 [[ 7.86186194e-01 6.17811115e-01 -1.48558079e-02 1.80384493e+02] [-6.17692710e-01 7.86326468e-01 1.20996785e-02 -7.08923374e+01] [ 1.91568308e-02 -3.36275969e-04 9.99816435e-01 3.72625057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54275509599998 meters 0.019461523193891342 Centerline is valid? [True, True] Translation: X:180.43, Y:-70.93, Z:3.73 [[ 7.88408974e-01 6.14976374e-01 -1.46747799e-02 1.80430892e+02] [-6.14860219e-01 7.88545430e-01 1.19589207e-02 -7.09335060e+01] [ 1.89261843e-02 -4.05582034e-04 9.99820801e-01 3.72780427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60275509599998 meters 0.021082401671074835 Centerline is valid? [True, True] Translation: X:180.48, Y:-70.97, Z:3.73 [[ 7.90820378e-01 6.11875143e-01 -1.45581715e-02 1.80477880e+02] [-6.11760175e-01 7.90954220e-01 1.18705432e-02 -7.09747510e+01] [ 1.87781375e-02 -4.81357842e-04 9.99823559e-01 3.73017829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66275509599998 meters 0.02185039055181696 Centerline is valid? [True, True] Translation: X:180.53, Y:-71.01, Z:3.73 [[ 7.91926930e-01 6.10436371e-01 -1.48045728e-02 1.80526161e+02] [-6.10317187e-01 7.92065124e-01 1.20735420e-02 -7.10134621e+01] [ 1.90963150e-02 -5.25877830e-04 9.99817510e-01 3.73057018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.722755096 meters 0.022386963831319658 Centerline is valid? [True, True] Translation: X:180.57, Y:-71.05, Z:3.73 [[ 7.92617049e-01 6.09516363e-01 -1.57485490e-02 1.80574768e+02] [-6.09381155e-01 7.92773269e-01 1.28511058e-02 -7.10513966e+01] [ 2.03179880e-02 -5.89136613e-04 9.99793395e-01 3.73086492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.782755096 meters 0.023201823385561746 Centerline is valid? [True, True] Translation: X:180.62, Y:-71.09, Z:3.73 [[ 7.92370083e-01 6.09819237e-01 -1.64362479e-02 1.80622256e+02] [-6.09671868e-01 7.92540297e-01 1.34198000e-02 -7.10904863e+01] [ 2.12100409e-02 -6.12730099e-04 9.99774854e-01 3.73154709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.842755096 meters 0.024002237363232506 Centerline is valid? [True, True] Translation: X:180.67, Y:-71.13, Z:3.73 [[ 7.91177225e-01 6.11362409e-01 -1.65711603e-02 1.80668316e+02] [-6.11212797e-01 7.91350534e-01 1.35369653e-02 -7.11269329e+01] [ 2.13895883e-02 -5.81633403e-04 9.99771047e-01 3.73114726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.902755096 meters 0.02172938325832141 Centerline is valid? [True, True] Translation: X:180.72, Y:-71.16, Z:3.73 [[ 7.88975320e-01 6.14177215e-01 -1.74440052e-02 1.80718114e+02] [-6.14012152e-01 7.89167958e-01 1.42481656e-02 -7.11591625e+01] [ 2.25171487e-02 -5.30619849e-04 9.99746316e-01 3.73126847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.962755096 meters 0.019912044775634012 Centerline is valid? [True, True] Translation: X:180.77, Y:-71.19, Z:3.73 [[ 7.86855211e-01 6.16907221e-01 -1.68629085e-02 1.80767752e+02] [-6.16753643e-01 7.87035762e-01 1.37714800e-02 -7.11916318e+01] [ 2.17674375e-02 -4.35900601e-04 9.99762966e-01 3.73286466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.022755096 meters 0.019569167413641734 Centerline is valid? [True, True] Translation: X:180.82, Y:-71.23, Z:3.73 [[ 7.86217231e-01 6.17746911e-01 -1.58499245e-02 1.80815245e+02] [-6.17611440e-01 7.86376885e-01 1.29423523e-02 -7.12272643e+01] [ 2.04591124e-02 -3.86405646e-04 9.99790616e-01 3.73433509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.082755096 meters 0.020353239339768067 Centerline is valid? [True, True] Translation: X:180.86, Y:-71.26, Z:3.74 [[ 7.87061720e-01 6.16689617e-01 -1.50919010e-02 1.80860714e+02] [-6.16566628e-01 7.87206302e-01 1.23220126e-02 -7.12639476e+01] [ 1.94792968e-02 -3.93021957e-04 9.99810183e-01 3.73517352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.142755096 meters 0.022830521983662214 Centerline is valid? [True, True] Translation: X:180.90, Y:-71.30, Z:3.74 [[ 7.89152731e-01 6.14015225e-01 -1.49422620e-02 1.80902649e+02] [-6.13894218e-01 7.89294051e-01 1.21979702e-02 -7.13034842e+01] [ 1.92835779e-02 -4.53093309e-04 9.99813952e-01 3.73536021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.202755096 meters 0.025160680600782234 Centerline is valid? [True, True] Translation: X:180.95, Y:-71.34, Z:3.74 [[ 7.91590460e-01 6.10871815e-01 -1.48380644e-02 1.80946192e+02] [-6.10751989e-01 7.91729342e-01 1.21102392e-02 -7.13442164e+01] [ 1.91455348e-02 -5.23972454e-04 9.99816570e-01 3.73629040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26275509599998 meters 0.027399632549994255 Centerline is valid? [True, True] Translation: X:180.99, Y:-71.38, Z:3.74 [[ 7.93156884e-01 6.08839219e-01 -1.47296519e-02 1.80988613e+02] [-6.08720803e-01 7.93293441e-01 1.20208616e-02 -7.13836594e+01] [ 1.90037082e-02 -5.68183648e-04 9.99819252e-01 3.73738257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32275509599998 meters 0.02958587760855605 Centerline is valid? [True, True] Translation: X:181.03, Y:-71.42, Z:3.74 [[ 7.94766320e-01 6.06741124e-01 -1.45501090e-02 1.81032077e+02] [-6.06625265e-01 7.94899263e-01 1.18722114e-02 -7.14237975e+01] [ 1.87692298e-02 -6.09170066e-04 9.99823657e-01 3.73833498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38275509599998 meters 0.024433856847865636 Centerline is valid? [True, True] Translation: X:181.08, Y:-71.46, Z:3.74 [[ 7.94584959e-01 6.06957299e-01 -1.54136510e-02 1.81084845e+02] [-6.06827434e-01 7.94734191e-01 1.25710453e-02 -7.14584807e+01] [ 1.98798431e-02 -6.35337213e-04 9.99802175e-01 3.73859291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44275509599998 meters 0.029524753357830773 Centerline is valid? [True, True] Translation: X:181.13, Y:-71.50, Z:3.74 [[ 7.93530996e-01 6.08308287e-01 -1.64190967e-02 1.81127277e+02] [-6.08161029e-01 7.93700579e-01 1.33997675e-02 -7.15038529e+01] [ 2.11830362e-02 -6.47676113e-04 9.99775405e-01 3.73787953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.502755096 meters 0.022782879443430652 Centerline is valid? [True, True] Translation: X:181.18, Y:-71.54, Z:3.74 [[ 7.91634209e-01 6.10753915e-01 -1.71736358e-02 1.81181658e+02] [-6.10593269e-01 7.91820231e-01 1.40207445e-02 -7.15359578e+01] [ 2.21616568e-02 -6.13194578e-04 9.99754212e-01 3.73844539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.562755096 meters 0.02118894391254019 Centerline is valid? [True, True] Translation: X:181.23, Y:-71.57, Z:3.74 [[ 7.88339017e-01 6.14985293e-01 -1.77393215e-02 1.81229329e+02] [-6.14814799e-01 7.88538410e-01 1.44892888e-02 -7.15713370e+01] [ 2.28988358e-02 -5.16074306e-04 9.99737654e-01 3.73874826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.622755096 meters 0.020007106892541576 Centerline is valid? [True, True] Translation: X:181.28, Y:-71.61, Z:3.74 [[ 7.85198112e-01 6.18988139e-01 -1.78216006e-02 1.81275431e+02] [-6.18817117e-01 7.85400232e-01 1.45551325e-02 -7.16068164e+01] [ 2.30065436e-02 -4.00351010e-04 9.99735234e-01 3.73944874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.682755096 meters 0.018049732256743695 Centerline is valid? [True, True] Translation: X:181.32, Y:-71.64, Z:3.74 [[ 7.84042837e-01 6.20466717e-01 -1.72592995e-02 1.81323113e+02] [-6.20306724e-01 7.84232704e-01 1.40937627e-02 -7.16408607e+01] [ 2.22800178e-02 -3.44054160e-04 9.99751710e-01 3.74163711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.742755096 meters 0.01780909874249175 Centerline is valid? [True, True] Translation: X:181.37, Y:-71.68, Z:3.74 [[ 7.83957854e-01 6.20594856e-01 -1.64957005e-02 1.81368461e+02] [-6.20448781e-01 7.84131315e-01 1.34681431e-02 -7.16781337e+01] [ 2.12930557e-02 -3.23719343e-04 9.99773225e-01 3.74371701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.802755096 meters 0.019139896051252082 Centerline is valid? [True, True] Translation: X:181.41, Y:-71.72, Z:3.75 [[ 7.84486528e-01 6.19938233e-01 -1.60460580e-02 1.81410708e+02] [-6.19799919e-01 7.84650546e-01 1.30989219e-02 -7.17174610e+01] [ 2.07110707e-02 -3.30582315e-04 9.99785448e-01 3.74578983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.862755096 meters 0.01847828747442973 Centerline is valid? [True, True] Translation: X:181.46, Y:-71.76, Z:3.75 [[ 7.85658623e-01 6.18467311e-01 -1.54503626e-02 1.81457967e+02] [-6.18338829e-01 7.85810448e-01 1.26108057e-02 -7.17570871e+01] [ 1.99404275e-02 -3.54229097e-04 9.99801107e-01 3.74870203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.922755096 meters 0.020397331318417915 Centerline is valid? [True, True] Translation: X:181.50, Y:-71.80, Z:3.75 [[ 7.86648107e-01 6.17198604e-01 -1.58315537e-02 1.81501312e+02] [-6.17063295e-01 7.86807296e-01 1.29293798e-02 -7.17998719e+01] [ 2.04363771e-02 -4.01801503e-04 9.99791075e-01 3.75018880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98275509599998 meters 0.019685591406164406 Centerline is valid? [True, True] Translation: X:181.55, Y:-71.84, Z:3.75 [[ 7.87030463e-01 6.16694968e-01 -1.64427933e-02 1.81549002e+02] [-6.16548779e-01 7.87202087e-01 1.34341779e-02 -7.18387939e+01] [ 2.12285911e-02 -4.35323114e-04 9.99774553e-01 3.75091591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04275509599998 meters 0.01962220639074799 Centerline is valid? [True, True] Translation: X:181.59, Y:-71.88, Z:3.75 [[ 7.86256605e-01 6.17662079e-01 -1.71495477e-02 1.81593467e+02] [-6.17503268e-01 7.86443497e-01 1.40121457e-02 -7.18760795e+01] [ 2.21419213e-02 -4.27240401e-04 9.99754746e-01 3.75114246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10275509599998 meters 0.018696354461356354 Centerline is valid? [True, True] Translation: X:181.64, Y:-71.91, Z:3.75 [[ 7.85219944e-01 6.18966612e-01 -1.76060192e-02 1.81640518e+02] [-6.18799626e-01 7.85417197e-01 1.43822542e-02 -7.19127449e+01] [ 2.27302054e-02 -3.98634728e-04 9.99741556e-01 3.75191039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16275509599998 meters 0.017602220406995835 Centerline is valid? [True, True] Translation: X:181.69, Y:-71.95, Z:3.75 [[ 7.83666777e-01 6.20925241e-01 -1.78389462e-02 1.81688003e+02] [-6.20754339e-01 7.83869712e-01 1.45713503e-02 -7.19492161e+01] [ 2.30311288e-02 -3.45479815e-04 9.99734689e-01 3.75325925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.222755096 meters 0.017242023447051526 Centerline is valid? [True, True] Translation: X:181.73, Y:-71.99, Z:3.75 [[ 7.82666978e-01 6.22177179e-01 -1.81096381e-02 1.81732825e+02] [-6.22001422e-01 7.82876402e-01 1.47909094e-02 -7.19853424e+01] [ 2.33801746e-02 -3.12135724e-04 9.99726598e-01 3.75488590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.282755096 meters 0.016852012429834164 Centerline is valid? [True, True] Translation: X:181.78, Y:-72.02, Z:3.76 [[ 7.82590309e-01 6.22279428e-01 -1.79087205e-02 1.81779966e+02] [-6.22107630e-01 7.82795134e-01 1.46244895e-02 -7.20231652e+01] [ 2.31193782e-02 -3.03832073e-04 9.99732665e-01 3.75746049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.342755096 meters 0.017288325545141564 Centerline is valid? [True, True] Translation: X:181.83, Y:-72.06, Z:3.76 [[ 7.83410857e-01 6.21269878e-01 -1.70636286e-02 1.81825141e+02] [-6.21113677e-01 7.83596604e-01 1.39342091e-02 -7.20620642e+01] [ 2.20279058e-02 -3.17757584e-04 9.99757306e-01 3.76029067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.402755096 meters 0.017981839108888478 Centerline is valid? [True, True] Translation: X:181.87, Y:-72.10, Z:3.76 [[ 7.84422965e-01 6.20008198e-01 -1.64452589e-02 1.81869507e+02] [-6.19862864e-01 7.84595259e-01 1.34279595e-02 -7.20994646e+01] [ 2.12283172e-02 -3.39394524e-04 9.99774596e-01 3.76254980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.462755096 meters 0.019189754898894556 Centerline is valid? [True, True] Translation: X:181.91, Y:-72.14, Z:3.76 [[ 7.85946428e-01 6.18078174e-01 -1.63579538e-02 1.81914682e+02] [-6.17934024e-01 7.86116544e-01 1.33537099e-02 -7.21369762e+01] [ 2.11128948e-02 -3.87164390e-04 9.99777023e-01 3.76401063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.522755096 meters 0.020479358224318015 Centerline is valid? [True, True] Translation: X:181.96, Y:-72.17, Z:3.77 [[ 7.87526287e-01 6.16065839e-01 -1.62858798e-02 1.81959962e+02] [-6.15922569e-01 7.87694541e-01 1.32928130e-02 -7.21740483e+01] [ 2.10175466e-02 -4.37598716e-04 9.99779011e-01 3.76534993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.582755096 meters 0.02040495858214455 Centerline is valid? [True, True] Translation: X:182.01, Y:-72.21, Z:3.77 [[ 7.88661551e-01 6.14621084e-01 -1.59336203e-02 1.82008783e+02] [-6.14483685e-01 7.88822355e-01 1.30035975e-02 -7.22107588e+01] [ 2.05610811e-02 -4.64487639e-04 9.99788491e-01 3.76688085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.642755096 meters 0.022630525048156283 Centerline is valid? [True, True] Translation: X:182.05, Y:-72.25, Z:3.77 [[ 7.88931785e-01 6.14284775e-01 -1.55194648e-02 1.82053194e+02] [-6.14154345e-01 7.89084280e-01 1.26664366e-02 -7.22494855e+01] [ 2.00269649e-02 -4.61607709e-04 9.99799334e-01 3.76748585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.702755096 meters 0.021935600313521805 Centerline is valid? [True, True] Translation: X:182.10, Y:-72.28, Z:3.77 [[ 7.87814789e-01 6.15732507e-01 -1.48774009e-02 1.82101880e+02] [-6.15612931e-01 7.87955148e-01 1.21410112e-02 -7.22834067e+01] [ 1.91983399e-02 -4.06147799e-04 9.99815612e-01 3.76813331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76275509599998 meters 0.02038733024386613 Centerline is valid? [True, True] Translation: X:182.15, Y:-72.32, Z:3.77 [[ 7.85457502e-01 6.18735563e-01 -1.49269836e-02 1.82150121e+02] [-6.18615764e-01 7.85599257e-01 1.21796665e-02 -7.23159657e+01] [ 1.92626200e-02 -3.32543088e-04 9.99814403e-01 3.76860847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82275509599998 meters 0.01735877305942093 Centerline is valid? [True, True] Translation: X:182.20, Y:-72.35, Z:3.77 [[ 7.82742198e-01 6.22167250e-01 -1.49185990e-02 1.82201833e+02] [-6.22048248e-01 7.82884316e-01 1.21706425e-02 -7.23462673e+01] [ 1.92517123e-02 -2.46387054e-04 9.99814638e-01 3.76935725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88275509599998 meters 0.0169401388937303 Centerline is valid? [True, True] Translation: X:182.25, Y:-72.38, Z:3.77 [[ 7.81578261e-01 6.23633222e-01 -1.47318437e-02 1.82249480e+02] [-6.23517469e-01 7.81717060e-01 1.20168416e-02 -7.23807706e+01] [ 1.90102351e-02 -2.06540256e-04 9.99819268e-01 3.77072480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94275509599998 meters 0.016967242065988628 Centerline is valid? [True, True] Translation: X:182.30, Y:-72.42, Z:3.77 [[ 7.81167487e-01 6.24146363e-01 -1.47876691e-02 1.82296952e+02] [-6.24029860e-01 7.81307417e-01 1.20604093e-02 -7.24157757e+01] [ 1.90811761e-02 -1.93252535e-04 9.99817919e-01 3.77210354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.002755096 meters 0.017594572890061163 Centerline is valid? [True, True] Translation: X:182.34, Y:-72.45, Z:3.77 [[ 7.82314616e-01 6.22712733e-01 -1.45840532e-02 1.82342284e+02] [-6.22599203e-01 7.82450511e-01 1.18924469e-02 -7.24535330e+01] [ 1.88168780e-02 -2.23615106e-04 9.99822922e-01 3.77337800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.062755096 meters 0.019167402159429175 Centerline is valid? [True, True] Translation: X:182.39, Y:-72.49, Z:3.77 [[ 7.85594360e-01 6.18572684e-01 -1.44684411e-02 1.82386038e+02] [-6.18460277e-01 7.85727518e-01 1.17962993e-02 -7.24930305e+01] [ 1.86651208e-02 -3.18950084e-04 9.99825741e-01 3.77413389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.122755096 meters 0.021425544100635824 Centerline is valid? [True, True] Translation: X:182.43, Y:-72.53, Z:3.77 [[ 7.89883567e-01 6.13080787e-01 -1.46934807e-02 1.82430783e+02] [-6.12963938e-01 7.90020090e-01 1.19778448e-02 -7.25349108e+01] [ 1.89515314e-02 -4.54529034e-04 9.99820300e-01 3.77480371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.182755096 meters 0.025810734136198176 Centerline is valid? [True, True] Translation: X:182.47, Y:-72.58, Z:3.78 [[ 7.93665552e-01 6.08177685e-01 -1.46593105e-02 1.82471634e+02] [-6.08060521e-01 7.93800716e-01 1.19509623e-02 -7.25793284e+01] [ 1.89048797e-02 -5.71319136e-04 9.99821124e-01 3.77622956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.242755096 meters 0.028061603542903827 Centerline is valid? [True, True] Translation: X:182.51, Y:-72.62, Z:3.78 [[ 7.95651576e-01 6.05587878e-01 -1.42088992e-02 1.82514003e+02] [-6.05477390e-01 7.95778202e-01 1.15838067e-02 -7.26195115e+01] [ 1.83221452e-02 -6.13506894e-04 9.99831947e-01 3.77803897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.302755096 meters 0.02824018828415963 Centerline is valid? [True, True] Translation: X:182.56, Y:-72.66, Z:3.78 [[ 7.97669847e-01 6.02935047e-01 -1.38615967e-02 1.82560737e+02] [-6.02829531e-01 7.97790009e-01 1.12986069e-02 -7.26597360e+01] [ 1.78709694e-02 -6.56378224e-04 9.99840086e-01 3.77911031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.362755096 meters 0.03165231020292743 Centerline is valid? [True, True] Translation: X:182.60, Y:-72.70, Z:3.78 [[ 7.97691640e-01 6.02897357e-01 -1.42416412e-02 1.82604506e+02] [-6.02785855e-01 7.97818472e-01 1.16145920e-02 -7.27020739e+01] [ 1.83646512e-02 -6.80203068e-04 9.99831124e-01 3.77975902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.422755096 meters 0.032007982988586585 Centerline is valid? [True, True] Translation: X:182.65, Y:-72.74, Z:3.78 [[ 7.97490283e-01 6.03164094e-01 -1.42241036e-02 1.82649798e+02] [-6.03052797e-01 7.97616836e-01 1.16063927e-02 -7.27397492e+01] [ 1.83459439e-02 -6.78099923e-04 9.99831469e-01 3.77993738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48275509599998 meters 0.028521536976791037 Centerline is valid? [True, True] Translation: X:182.70, Y:-72.77, Z:3.78 [[ 7.96928425e-01 6.03890557e-01 -1.48754906e-02 1.82698753e+02] [-6.03768993e-01 7.97066947e-01 1.21360575e-02 -7.27741778e+01] [ 1.91856125e-02 -6.90209215e-04 9.99815701e-01 3.78008386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54275509599998 meters 0.02715513386191157 Centerline is valid? [True, True] Translation: X:182.75, Y:-72.81, Z:3.78 [[ 7.95998002e-01 6.05111037e-01 -1.50934591e-02 1.82747448e+02] [-6.04986117e-01 7.96140806e-01 1.23131968e-02 -7.28123915e+01] [ 1.94673700e-02 -6.69946887e-04 9.99810268e-01 3.78080537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60275509599998 meters 0.02719242876454427 Centerline is valid? [True, True] Translation: X:182.79, Y:-72.85, Z:3.78 [[ 7.95176359e-01 6.06181259e-01 -1.54544058e-02 1.82792223e+02] [-6.06050359e-01 7.95326247e-01 1.26144154e-02 -7.28496335e+01] [ 1.99379168e-02 -6.64536708e-04 9.99800999e-01 3.78182782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66275509599998 meters 0.026007464098653142 Centerline is valid? [True, True] Translation: X:182.84, Y:-72.89, Z:3.78 [[ 7.94247032e-01 6.07409747e-01 -1.50017431e-02 1.82839227e+02] [-6.07286637e-01 7.94388458e-01 1.22441299e-02 -7.28865096e+01] [ 1.93544154e-02 -6.14505676e-04 9.99812497e-01 3.78316972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.722755096 meters 0.025946733380589344 Centerline is valid? [True, True] Translation: X:182.88, Y:-72.92, Z:3.79 [[ 7.93723183e-01 6.08101351e-01 -1.47056494e-02 1.82884428e+02] [-6.07983190e-01 7.93859184e-01 1.20015207e-02 -7.29241670e+01] [ 1.89723558e-02 -5.85097592e-04 9.99819837e-01 3.78549273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.782755096 meters 0.025866028454516302 Centerline is valid? [True, True] Translation: X:182.93, Y:-72.96, Z:3.79 [[ 7.93602459e-01 6.08271917e-01 -1.41567373e-02 1.82929711e+02] [-6.08162472e-01 7.93728520e-01 1.15517914e-02 -7.29624949e+01] [ 1.82632364e-02 -5.57933688e-04 9.99833058e-01 3.78786197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.842755096 meters 0.02573681052401517 Centerline is valid? [True, True] Translation: X:182.97, Y:-73.00, Z:3.79 [[ 7.93584920e-01 6.08297481e-01 -1.40410195e-02 1.82974888e+02] [-6.08189846e-01 7.93708933e-01 1.14560163e-02 -7.30007088e+01] [ 1.81131485e-02 -5.51716334e-04 9.99835791e-01 3.78950185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.902755096 meters 0.02627040706761681 Centerline is valid? [True, True] Translation: X:183.02, Y:-73.04, Z:3.79 [[ 7.93822040e-01 6.07972067e-01 -1.47151347e-02 1.83019537e+02] [-6.07853811e-01 7.93958200e-01 1.20050263e-02 -7.30393339e+01] [ 1.89819225e-02 -5.85203730e-04 9.99819656e-01 3.79045862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.962755096 meters 0.0251602247184349 Centerline is valid? [True, True] Translation: X:183.07, Y:-73.08, Z:3.79 [[ 7.93268827e-01 6.08684738e-01 -1.50816860e-02 1.83068361e+02] [-6.08560678e-01 7.93411968e-01 1.23024325e-02 -7.30776616e+01] [ 1.94542931e-02 -5.81015116e-04 9.99810579e-01 3.79188927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.022755096 meters 0.023677352408133727 Centerline is valid? [True, True] Translation: X:183.12, Y:-73.12, Z:3.79 [[ 7.92542856e-01 6.09623297e-01 -1.53380546e-02 1.83117759e+02] [-6.09495017e-01 7.92691054e-01 1.25186758e-02 -7.31155655e+01] [ 1.97900150e-02 -5.73119225e-04 9.99803994e-01 3.79281540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.082755096 meters 0.02329051457243639 Centerline is valid? [True, True] Translation: X:183.17, Y:-73.15, Z:3.79 [[ 7.90321055e-01 6.12497513e-01 -1.54733930e-02 1.83165038e+02] [-6.12367361e-01 7.90472349e-01 1.26364911e-02 -7.31545741e+01] [ 1.99711086e-02 -5.11484125e-04 9.99800427e-01 3.79405578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.142755096 meters 0.02091964808506896 Centerline is valid? [True, True] Translation: X:183.21, Y:-73.19, Z:3.80 [[ 7.87245438e-01 6.16443184e-01 -1.55698903e-02 1.83214525e+02] [-6.16312043e-01 7.87399279e-01 1.27216778e-02 -7.31907098e+01] [ 2.01019120e-02 -4.19171917e-04 9.99797848e-01 3.79614545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.202755096 meters 0.019788736381666946 Centerline is valid? [True, True] Translation: X:183.26, Y:-73.23, Z:3.80 [[ 7.84197302e-01 6.20353244e-01 -1.40158639e-02 1.83260795e+02] [-6.20247581e-01 7.84322491e-01 1.14528661e-02 -7.32262188e+01] [ 1.80977799e-02 -2.88000960e-04 9.99836180e-01 3.79958023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26275509599998 meters 0.01874557663406391 Centerline is valid? [True, True] Translation: X:183.31, Y:-73.26, Z:3.80 [[ 7.82098950e-01 6.23011040e-01 -1.33595153e-02 1.83307252e+02] [-6.22915450e-01 7.82213013e-01 1.09153229e-02 -7.32618600e+01] [ 1.72503534e-02 -2.15014102e-04 9.99851178e-01 3.80221579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32275509599998 meters 0.01815068362588872 Centerline is valid? [True, True] Translation: X:183.35, Y:-73.30, Z:3.81 [[ 7.80361579e-01 6.25213089e-01 -1.20165841e-02 1.83352439e+02] [-6.25136035e-01 7.80454080e-01 9.81670300e-03 -7.32990968e+01] [ 1.55159233e-02 -1.48578150e-04 9.99879610e-01 3.80571945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38275509599998 meters 0.018264845529788225 Centerline is valid? [True, True] Translation: X:183.40, Y:-73.34, Z:3.81 [[ 7.80652197e-01 6.24865115e-01 -1.12131683e-02 1.83396375e+02] [-6.24798006e-01 7.80732712e-01 9.15882927e-03 -7.33397156e+01] [ 1.44775202e-02 -1.43895027e-04 9.99895185e-01 3.80859897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44275509599998 meters 0.01949417661564114 Centerline is valid? [True, True] Translation: X:183.44, Y:-73.38, Z:3.81 [[ 7.83314772e-01 6.21554217e-01 -9.39807289e-03 1.83437752e+02] [-6.21506841e-01 7.83371129e-01 7.67593068e-03 -7.33818474e+01] [ 1.21331861e-02 -1.71703291e-04 9.99926375e-01 3.81212513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.502755096 meters 0.020296737162705265 Centerline is valid? [True, True] Translation: X:183.49, Y:-73.42, Z:3.82 [[ 7.85121619e-01 6.19300540e-01 -7.13334265e-03 1.83485444e+02] [-6.19273194e-01 7.85154009e-01 5.82180897e-03 -7.34221544e+01] [ 9.20622202e-03 -1.53340192e-04 9.99957610e-01 3.81560564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.562755096 meters 0.021450126872565117 Centerline is valid? [True, True] Translation: X:183.53, Y:-73.46, Z:3.82 [[ 7.87426404e-01 6.16381937e-01 -5.74152834e-03 1.83531944e+02] [-6.16364113e-01 7.87447321e-01 4.69011437e-03 -7.34631034e+01] [ 7.41205289e-03 -1.54247872e-04 9.99972518e-01 3.81805588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.622755096 meters 0.021940842763880197 Centerline is valid? [True, True] Translation: X:183.58, Y:-73.50, Z:3.82 [[ 7.88537118e-01 6.14963294e-01 -5.41854119e-03 1.83580144e+02] [-6.14947402e-01 7.88555719e-01 4.42380793e-03 -7.35028842e+01] [ 6.99330114e-03 -1.56218927e-04 9.99975534e-01 3.81890868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.682755096 meters 0.02232503429206911 Centerline is valid? [True, True] Translation: X:183.63, Y:-73.54, Z:3.82 [[ 7.88628229e-01 6.14838582e-01 -6.24781101e-03 1.83629760e+02] [-6.14817421e-01 7.88652956e-01 5.10433958e-03 -7.35418732e+01] [ 8.06569953e-03 -1.84163230e-04 9.99967455e-01 3.81823379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.742755096 meters 0.02270256079594916 Centerline is valid? [True, True] Translation: X:183.68, Y:-73.58, Z:3.82 [[ 7.89163170e-01 6.14130192e-01 -8.09927330e-03 1.83678122e+02] [-6.14094524e-01 7.89204691e-01 6.62356011e-03 -7.35819268e+01] [ 1.04597127e-02 -2.53350310e-04 9.99945264e-01 3.81611390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.802755096 meters 0.02394583307786746 Centerline is valid? [True, True] Translation: X:183.73, Y:-73.62, Z:3.81 [[ 7.89371107e-01 6.13831548e-01 -1.02023162e-02 1.83727181e+02] [-6.13774828e-01 7.89436965e-01 8.35097833e-03 -7.36205074e+01] [ 1.31801795e-02 -3.30096159e-04 9.99913083e-01 3.81282621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.862755096 meters 0.023278743426130795 Centerline is valid? [True, True] Translation: X:183.78, Y:-73.66, Z:3.81 [[ 7.90682050e-01 6.12110060e-01 -1.19653820e-02 1.83777205e+02] [-6.12031735e-01 7.90772466e-01 9.80119620e-03 -7.36576577e+01] [ 1.54613054e-02 -4.26436420e-04 9.99880376e-01 3.80982323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.922755096 meters 0.02525972512785659 Centerline is valid? [True, True] Translation: X:183.82, Y:-73.70, Z:3.81 [[ 7.91381062e-01 6.11184154e-01 -1.30362874e-02 1.83823768e+02] [-6.11090939e-01 7.91488276e-01 1.06852469e-02 -7.36976862e+01] [ 1.68487222e-02 -4.89744922e-04 9.99857930e-01 3.80968689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98275509599998 meters 0.025848554948859716 Centerline is valid? [True, True] Translation: X:183.87, Y:-73.73, Z:3.81 [[ 7.92318671e-01 6.09931292e-01 -1.46608896e-02 1.83871539e+02] [-6.09813046e-01 7.92454084e-01 1.20238799e-02 -7.37335334e+01] [ 1.89518224e-02 -5.86342812e-04 9.99820226e-01 3.80756830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04275509599998 meters 0.026122879950313187 Centerline is valid? [True, True] Translation: X:183.92, Y:-73.77, Z:3.81 [[ 7.93146786e-01 6.08832658e-01 -1.55232069e-02 1.83918946e+02] [-6.08699903e-01 7.93298414e-01 1.27300400e-02 -7.37696232e+01] [ 2.00649995e-02 -6.47815768e-04 9.99798468e-01 3.80664812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10275509599998 meters 0.027431966313244478 Centerline is valid? [True, True] Translation: X:183.97, Y:-73.81, Z:3.80 [[ 7.94431787e-01 6.07102700e-01 -1.74484220e-02 1.83966541e+02] [-6.06934579e-01 7.94622998e-01 1.43075947e-02 -7.38055354e+01] [ 2.25510968e-02 -7.76357397e-04 9.99745390e-01 3.80338746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16275509599998 meters 0.027434393947586178 Centerline is valid? [True, True] Translation: X:184.01, Y:-73.84, Z:3.80 [[ 7.95235822e-01 6.06024914e-01 -1.82699483e-02 1.84014845e+02] [-6.05840332e-01 7.95445215e-01 1.49800180e-02 -7.38411239e+01] [ 2.36110071e-02 -8.43975316e-04 9.99720865e-01 3.80221915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.222755096 meters 0.028358736264903234 Centerline is valid? [True, True] Translation: X:184.06, Y:-73.88, Z:3.80 [[ 7.95402303e-01 6.05745071e-01 -2.02011495e-02 1.84062486e+02] [-6.05519353e-01 7.95658233e-01 1.65616824e-02 -7.38758152e+01] [ 2.61053684e-02 -9.41013353e-04 9.99658754e-01 3.79973214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.282755096 meters 0.028759196023633242 Centerline is valid? [True, True] Translation: X:184.11, Y:-73.91, Z:3.80 [[ 7.94636937e-01 6.06700650e-01 -2.15976642e-02 1.84109819e+02] [-6.06443072e-01 7.94929795e-01 1.77037080e-02 -7.39105059e+01] [ 2.79094779e-02 -9.70266491e-04 9.99609984e-01 3.79855181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.342755096 meters 0.028075385902973638 Centerline is valid? [True, True] Translation: X:184.16, Y:-73.94, Z:3.80 [[ 7.93575081e-01 6.08041509e-01 -2.28935122e-02 1.84159396e+02] [-6.07752803e-01 7.93904638e-01 1.87605286e-02 -7.39437972e+01] [ 2.95824457e-02 -9.74291757e-04 9.99561869e-01 3.79720847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.402755096 meters 0.029965693230200874 Centerline is valid? [True, True] Translation: X:184.21, Y:-73.98, Z:3.79 [[ 7.91665459e-01 6.10455920e-01 -2.46854190e-02 1.84207210e+02] [-6.10121749e-01 7.92049668e-01 2.02181745e-02 -7.39789081e+01] [ 3.18943823e-02 -9.44919385e-04 9.99490798e-01 3.79298771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.462755096 meters 0.02613194733333684 Centerline is valid? [True, True] Translation: X:184.26, Y:-74.01, Z:3.79 [[ 7.89648562e-01 6.13032497e-01 -2.54225581e-02 1.84257749e+02] [-6.12679663e-01 7.90057225e-01 2.08137496e-02 -7.40085028e+01] [ 3.28447806e-02 -8.59663097e-04 9.99460095e-01 3.79449055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.522755096 meters 0.024971706910588604 Centerline is valid? [True, True] Translation: X:184.31, Y:-74.04, Z:3.80 [[ 7.88229588e-01 6.14864599e-01 -2.52119260e-02 1.84305666e+02] [-6.14518747e-01 7.88632316e-01 2.06344477e-02 -7.40430978e+01] [ 3.25703310e-02 -7.71481069e-04 9.99469148e-01 3.79672871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.582755096 meters 0.023679940988584808 Centerline is valid? [True, True] Translation: X:184.35, Y:-74.08, Z:3.80 [[ 7.86319216e-01 6.17388732e-01 -2.30920836e-02 1.84353199e+02] [-6.17099896e-01 7.86657986e-01 1.88926298e-02 -7.40766111e+01] [ 2.98296687e-02 -6.05515437e-04 9.99554813e-01 3.80173682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.642755096 meters 0.022336467821821096 Centerline is valid? [True, True] Translation: X:184.40, Y:-74.11, Z:3.81 [[ 7.85017729e-01 6.19076793e-01 -2.21605441e-02 1.84399098e+02] [-6.18811573e-01 7.85330285e-01 1.81267799e-02 -7.41116060e+01] [ 2.86252153e-02 -5.16642454e-04 9.99590081e-01 3.80634513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.702755096 meters 0.02266503939408475 Centerline is valid? [True, True] Translation: X:184.44, Y:-74.15, Z:3.81 [[ 7.85297748e-01 6.18750440e-01 -2.13386918e-02 1.84441316e+02] [-6.18504531e-01 7.85587447e-01 1.74501389e-02 -7.41497069e+01] [ 2.75606896e-02 -5.05477225e-04 9.99620004e-01 3.80933641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76275509599998 meters 0.023964330969784352 Centerline is valid? [True, True] Translation: X:184.48, Y:-74.19, Z:3.81 [[ 7.86619047e-01 6.17087867e-01 -2.08096138e-02 1.84484159e+02] [-6.16853564e-01 7.86894063e-01 1.70121795e-02 -7.41902644e+01] [ 2.68729711e-02 -5.45620031e-04 9.99638708e-01 3.81258102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82275509599998 meters 0.020844751678638494 Centerline is valid? [True, True] Translation: X:184.53, Y:-74.23, Z:3.82 [[ 7.87467006e-01 6.16038532e-01 -1.98050981e-02 1.84530885e+02] [-6.15826131e-01 7.87715829e-01 1.61848457e-02 -7.42255509e+01] [ 2.55712779e-02 -5.48535053e-04 9.99672851e-01 3.81828127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88275509599998 meters 0.022317931043854308 Centerline is valid? [True, True] Translation: X:184.57, Y:-74.27, Z:3.82 [[ 7.88984887e-01 6.14136102e-01 -1.84308320e-02 1.84571004e+02] [-6.13951698e-01 7.89199929e-01 1.50593764e-02 -7.42678727e+01] [ 2.37941180e-02 -5.65979788e-04 9.99716720e-01 3.82205344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94275509599998 meters 0.022017823153186605 Centerline is valid? [True, True] Translation: X:184.61, Y:-74.31, Z:3.82 [[ 7.89694715e-01 6.13216419e-01 -1.86515600e-02 1.84613428e+02] [-6.13027385e-01 7.89914720e-01 1.52368088e-02 -7.43086017e+01] [ 2.40766031e-02 -5.98510352e-04 9.99709937e-01 3.82380819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.002755096 meters 0.021791915280981136 Centerline is valid? [True, True] Translation: X:184.66, Y:-74.35, Z:3.82 [[ 7.89110859e-01 6.13950949e-01 -1.91907183e-02 1.84657754e+02] [-6.13751107e-01 7.89343957e-01 1.56746799e-02 -7.43475916e+01] [ 2.47715621e-02 -5.90735562e-04 9.99692963e-01 3.82440945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.062755096 meters 0.020679434729082465 Centerline is valid? [True, True] Translation: X:184.70, Y:-74.39, Z:3.83 [[ 7.86902792e-01 6.16763287e-01 -1.96734190e-02 1.84702036e+02] [-6.16554209e-01 7.87148515e-01 1.60661750e-02 -7.43852044e+01] [ 2.53949295e-02 -5.12788666e-04 9.99677365e-01 3.82565261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.122755096 meters 0.019268581024477403 Centerline is valid? [True, True] Translation: X:184.75, Y:-74.42, Z:3.83 [[ 7.85421337e-01 6.18634565e-01 -2.01146509e-02 1.84748176e+02] [-6.18416711e-01 7.85678728e-01 1.64227630e-02 -7.44225120e+01] [ 2.59633421e-02 -4.59552207e-04 9.99662790e-01 3.82721733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.182755096 meters 0.018834254295979288 Centerline is valid? [True, True] Translation: X:184.79, Y:-74.46, Z:3.83 [[ 7.83723634e-01 6.20749477e-01 -2.11507009e-02 1.84791375e+02] [-6.20509492e-01 7.84008878e-01 1.72640821e-02 -7.44618962e+01] [ 2.72990073e-02 -4.06058481e-04 9.99627230e-01 3.82791129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.242755096 meters 0.01801053898169919 Centerline is valid? [True, True] Translation: X:184.84, Y:-74.50, Z:3.83 [[ 7.82925677e-01 6.21758543e-01 -2.10641679e-02 1.84835978e+02] [-6.21520956e-01 7.83208899e-01 1.71907366e-02 -7.45003731e+01] [ 2.71861312e-02 -3.67247311e-04 9.99630321e-01 3.83079009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.302755096 meters 0.018678332541336898 Centerline is valid? [True, True] Translation: X:184.88, Y:-74.54, Z:3.83 [[ 7.83336812e-01 6.21268411e-01 -2.02237642e-02 1.84876837e+02] [-6.21049338e-01 7.83597746e-01 1.65012874e-02 -7.45399155e+01] [ 2.60990246e-02 -3.66110488e-04 9.99659295e-01 3.83294561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.362755096 meters 0.018762087856151414 Centerline is valid? [True, True] Translation: X:184.92, Y:-74.58, Z:3.84 [[ 7.85859805e-01 6.18111536e-01 -1.90393503e-02 1.84921070e+02] [-6.17916542e-01 7.86090285e-01 1.55309711e-02 -7.45825320e+01] [ 2.45665207e-02 -4.40436362e-04 9.99698100e-01 3.83789400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.422755096 meters 0.020234264810026697 Centerline is valid? [True, True] Translation: X:184.96, Y:-74.63, Z:3.84 [[ 7.87772497e-01 6.15682613e-01 -1.86925898e-02 1.84963577e+02] [-6.15493947e-01 7.87994075e-01 1.52491988e-02 -7.46262222e+01] [ 2.41183166e-02 -5.07723551e-04 9.99708982e-01 3.83998945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48275509599998 meters 0.021625782738042613 Centerline is valid? [True, True] Translation: X:185.01, Y:-74.67, Z:3.84 [[ 7.90498290e-01 6.12192782e-01 -1.82332378e-02 1.85007655e+02] [-6.12012298e-01 7.90708313e-01 1.48765316e-02 -7.46698441e+01] [ 2.35244780e-02 -6.00906984e-04 9.99723081e-01 3.84232338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54275509599998 meters 0.02293112493956098 Centerline is valid? [True, True] Translation: X:185.05, Y:-74.71, Z:3.84 [[ 7.92726349e-01 6.09336225e-01 -1.71551904e-02 1.85053239e+02] [-6.09175646e-01 7.92911686e-01 1.40032200e-02 -7.47121509e+01] [ 2.21352201e-02 -6.50197268e-04 9.99754775e-01 3.84470039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60275509599998 meters 0.024277301560907114 Centerline is valid? [True, True] Translation: X:185.10, Y:-74.75, Z:3.85 [[ 7.93689015e-01 6.08084942e-01 -1.70425939e-02 1.85098836e+02] [-6.07926110e-01 7.93871675e-01 1.39143304e-02 -7.47530486e+01] [ 2.19907274e-02 -6.83013348e-04 9.99757941e-01 3.84630501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66275509599998 meters 0.02532069140858099 Centerline is valid? [True, True] Translation: X:185.14, Y:-74.79, Z:3.85 [[ 7.93993332e-01 6.07656859e-01 -1.81033379e-02 1.85144668e+02] [-6.07477335e-01 7.94199338e-01 1.47884880e-02 -7.47933355e+01] [ 2.33639851e-02 -7.44593363e-04 9.99726748e-01 3.84593103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.722755096 meters 0.02328870135790706 Centerline is valid? [True, True] Translation: X:185.20, Y:-74.83, Z:3.85 [[ 7.92167470e-01 6.09985538e-01 -1.97063869e-02 1.85196627e+02] [-6.09773296e-01 7.92412198e-01 1.61070519e-02 -7.48283720e+01] [ 2.54406501e-02 -7.43054108e-04 9.99676058e-01 3.84573921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.782755096 meters 0.02154142555469713 Centerline is valid? [True, True] Translation: X:185.25, Y:-74.86, Z:3.85 [[ 7.88963369e-01 6.14123897e-01 -1.97139711e-02 1.85248017e+02] [-6.13912600e-01 7.89209389e-01 1.61201715e-02 -7.48619495e+01] [ 2.54582337e-02 -6.15569600e-04 9.99675697e-01 3.84751216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.842755096 meters 0.020156172730319107 Centerline is valid? [True, True] Translation: X:185.30, Y:-74.89, Z:3.85 [[ 7.86611755e-01 6.17128533e-01 -1.98574972e-02 1.85297171e+02] [-6.16915107e-01 7.86862187e-01 1.62373187e-02 -7.48946566e+01] [ 2.56456263e-02 -5.22075744e-04 9.99670961e-01 3.84867273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.902755096 meters 0.0181894853880216 Centerline is valid? [True, True] Translation: X:185.35, Y:-74.92, Z:3.85 [[ 7.83687754e-01 6.20819498e-01 -2.04121437e-02 1.85348921e+02] [-6.20595298e-01 7.83953431e-01 1.66881288e-02 -7.49241828e+01] [ 2.63624859e-02 -4.10601778e-04 9.99652365e-01 3.84991788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.962755096 meters 0.018319993866623974 Centerline is valid? [True, True] Translation: X:185.40, Y:-74.96, Z:3.85 [[ 7.83242216e-01 6.21381042e-01 -2.04262525e-02 1.85397263e+02] [-6.21156794e-01 7.83508423e-01 1.66969473e-02 -7.49581037e+01] [ 2.63793074e-02 -3.89848455e-04 9.99651930e-01 3.85046933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.022755096 meters 0.019351011847106903 Centerline is valid? [True, True] Translation: X:185.44, Y:-74.99, Z:3.85 [[ 7.84777494e-01 6.19458894e-01 -1.98736792e-02 1.85442836e+02] [-6.19246066e-01 7.85028970e-01 1.62427056e-02 -7.49946475e+01] [ 2.56631023e-02 -4.40212120e-04 9.99670551e-01 3.85232874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.082755096 meters 0.02098088126260662 Centerline is valid? [True, True] Translation: X:185.49, Y:-75.03, Z:3.86 [[ 7.88658371e-01 6.14611240e-01 -1.64620039e-02 1.85489084e+02] [-6.14464195e-01 7.88830006e-01 1.34526633e-02 -7.50327079e+01] [ 2.12538807e-02 -4.94243491e-04 9.99773989e-01 3.85756260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.142755096 meters 0.021932003896104578 Centerline is valid? [True, True] Translation: X:185.54, Y:-75.07, Z:3.86 [[ 7.90243790e-01 6.12600909e-01 -1.53257451e-02 1.85535214e+02] [-6.12473104e-01 7.90392224e-01 1.25231868e-02 -7.50711791e+01] [ 1.97850654e-02 -5.09763884e-04 9.99804126e-01 3.86009728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20275509599998 meters 0.025812418622686857 Centerline is valid? [True, True] Translation: X:185.58, Y:-75.11, Z:3.86 [[ 7.94885112e-01 6.06598413e-01 -1.40008508e-02 1.85580924e+02] [-6.06490825e-01 7.95008178e-01 1.14400926e-02 -7.51122110e+01] [ 1.80703329e-02 -6.02171791e-04 9.99836537e-01 3.86201319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26275509599998 meters 0.02761534467457637 Centerline is valid? [True, True] Translation: X:185.63, Y:-75.15, Z:3.86 [[ 7.97792936e-01 6.02783459e-01 -1.33616064e-02 1.85629461e+02] [-6.02684923e-01 7.97904548e-01 1.09186005e-02 -7.51496957e+01] [ 1.72428383e-02 -6.57943644e-04 9.99851115e-01 3.86286369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32275509599998 meters 0.027989650847359188 Centerline is valid? [True, True] Translation: X:185.68, Y:-75.19, Z:3.86 [[ 7.98014483e-01 6.02482760e-01 -1.36897036e-02 1.85680305e+02] [-6.02379270e-01 7.98131605e-01 1.11873155e-02 -7.51861582e+01] [ 1.76663498e-02 -6.81246193e-04 9.99843706e-01 3.86290195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38275509599998 meters 0.02812852729957935 Centerline is valid? [True, True] Translation: X:185.73, Y:-75.22, Z:3.86 [[ 7.96950343e-01 6.03882981e-01 -1.39819972e-02 1.85729058e+02] [-6.03775112e-01 7.97072705e-01 1.14331841e-02 -7.52216381e+01] [ 1.80489736e-02 -6.69698084e-04 9.99836880e-01 3.86365101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44275509599998 meters 0.026814870750180828 Centerline is valid? [True, True] Translation: X:185.78, Y:-75.25, Z:3.86 [[ 7.94360548e-01 6.07283379e-01 -1.40789625e-02 1.85780085e+02] [-6.07174547e-01 7.94485080e-01 1.15120194e-02 -7.52529609e+01] [ 1.81765837e-02 -5.96306358e-04 9.99834614e-01 3.86415524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.502755096 meters 0.02507889646802425 Centerline is valid? [True, True] Translation: X:185.83, Y:-75.28, Z:3.86 [[ 7.92640280e-01 6.09505031e-01 -1.50001678e-02 1.85831343e+02] [-6.09381907e-01 7.92781988e-01 1.22641917e-02 -7.52834490e+01] [ 1.93669494e-02 -5.80261524e-04 9.99812275e-01 3.86447168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.562755096 meters 0.023854071879962687 Centerline is valid? [True, True] Translation: X:185.88, Y:-75.32, Z:3.87 [[ 7.92264911e-01 6.09992590e-01 -1.50117002e-02 1.85880855e+02] [-6.09869403e-01 7.92406915e-01 1.22716068e-02 -7.53155073e+01] [ 1.93809643e-02 -5.67186830e-04 9.99812011e-01 3.86708294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.622755096 meters 0.024983119109029953 Centerline is valid? [True, True] Translation: X:185.93, Y:-75.35, Z:3.87 [[ 7.92324942e-01 6.09926254e-01 -1.45310216e-02 1.85925723e+02] [-6.09810856e-01 7.92457988e-01 1.18767473e-02 -7.53503023e+01] [ 1.87591641e-02 -5.49068429e-04 9.99823881e-01 3.86910835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.682755096 meters 0.026939119750066295 Centerline is valid? [True, True] Translation: X:185.97, Y:-75.39, Z:3.87 [[ 7.92793942e-01 6.09344793e-01 -1.32924017e-02 1.85972318e+02] [-6.09248192e-01 7.92905202e-01 1.08618759e-02 -7.53869290e+01] [ 1.71582420e-02 -5.12857700e-04 9.99852655e-01 3.87313662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.742755096 meters 0.02819883223339413 Centerline is valid? [True, True] Translation: X:186.02, Y:-75.42, Z:3.88 [[ 7.93475701e-01 6.08487670e-01 -1.17926986e-02 1.86018838e+02] [-6.08411634e-01 7.93563191e-01 9.63043389e-03 -7.54212253e+01] [ 1.52182518e-02 -4.66700244e-04 9.99884087e-01 3.87647599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.802755096 meters 0.0297783700916952 Centerline is valid? [True, True] Translation: X:186.35, Y:-75.05, Z:5.04 [[ 8.02587096e-01 -5.96278675e-01 1.74841563e-02 1.86347065e+02] [-5.96116851e-01 -8.02777174e-01 -1.39107551e-02 -7.50457593e+01] [ 2.23305682e-02 7.41992354e-04 -9.99750366e-01 5.03880712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.862755096 meters 0.03136809652970624 Centerline is valid? [True, True] Translation: X:186.15, Y:-75.47, Z:3.88 [[ 8.40717339e-01 5.41328991e-01 -1.25410900e-02 1.86146306e+02] [-5.41259387e-01 8.40810710e-01 8.69632483e-03 -7.54744348e+01] [ 1.52522555e-02 -5.23168408e-04 9.99883541e-01 3.87782045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.922755096 meters 0.03288281674880078 Centerline is valid? [True, True] Translation: X:186.20, Y:-75.51, Z:3.87 [[ 8.40923257e-01 5.40974914e-01 -1.39361905e-02 1.86196665e+02] [-5.40888955e-01 8.41038524e-01 9.66126924e-03 -7.55052265e+01] [ 1.69473774e-02 -5.86454489e-04 9.99856211e-01 3.87437045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98275509599998 meters 0.029553603926266558 Centerline is valid? [True, True] Translation: X:186.25, Y:-75.53, Z:3.88 [[ 8.38933964e-01 5.44039107e-01 -1.45346239e-02 1.86249521e+02] [-5.43946096e-01 8.39059684e-01 1.00742921e-02 -7.55330282e+01] [ 1.76762258e-02 -5.45613843e-04 9.99843614e-01 3.87525526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04275509599998 meters 0.026160167616318487 Centerline is valid? [True, True] Translation: X:186.30, Y:-75.56, Z:3.88 [[ 8.35847681e-01 5.48742911e-01 -1.54878270e-02 1.86303110e+02] [-5.48638168e-01 8.35991025e-01 1.07315661e-02 -7.55596196e+01] [ 1.88365552e-02 -4.72741603e-04 9.99822465e-01 3.87502849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10275509599998 meters 0.02467222465519574 Centerline is valid? [True, True] Translation: X:186.35, Y:-75.59, Z:3.88 [[ 8.34179166e-01 5.51274275e-01 -1.55496527e-02 1.86354010e+02] [-5.51169152e-01 8.34323978e-01 1.07733757e-02 -7.55896433e+01] [ 1.89125329e-02 -4.16436687e-04 9.99821055e-01 3.87569215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16275509599998 meters 0.02522167643645592 Centerline is valid? [True, True] Translation: X:186.40, Y:-75.62, Z:3.87 [[ 8.31778427e-01 5.54866167e-01 -1.63763899e-02 1.86404167e+02] [-5.54750400e-01 8.31939551e-01 1.13391586e-02 -7.56191532e+01] [ 1.99158819e-02 -3.46858689e-04 9.99801599e-01 3.87353370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.222755096 meters 0.021737032275787757 Centerline is valid? [True, True] Translation: X:186.45, Y:-75.65, Z:3.88 [[ 8.31584337e-01 5.55210386e-01 -1.44539978e-02 1.86453381e+02] [-5.55120285e-01 8.31709889e-01 1.00065161e-02 -7.56497327e+01] [ 1.75772546e-02 -2.97554654e-04 9.99845464e-01 3.87865400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.282755096 meters 0.02208351507983402 Centerline is valid? [True, True] Translation: X:186.50, Y:-75.68, Z:3.88 [[ 8.32204184e-01 5.54296175e-01 -1.38545101e-02 1.86500789e+02] [-5.54213378e-01 8.32319447e-01 9.58486707e-03 -7.56844938e+01] [ 1.68442333e-02 -2.98211632e-04 9.99858081e-01 3.88081365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.342755096 meters 0.02307786560270424 Centerline is valid? [True, True] Translation: X:186.55, Y:-75.72, Z:3.88 [[ 8.33313424e-01 5.52669869e-01 -1.20313497e-02 1.86546257e+02] [-5.52607338e-01 8.33400225e-01 8.31833367e-03 -7.57213474e+01] [ 1.46242219e-02 -2.83166978e-04 9.99893020e-01 3.88367501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.402755096 meters 0.023473605299296218 Centerline is valid? [True, True] Translation: X:186.59, Y:-75.76, Z:3.88 [[ 8.34283147e-01 5.51217457e-01 -1.14430969e-02 1.86593624e+02] [-5.51160762e-01 8.34361570e-01 7.91111845e-03 -7.57570481e+01] [ 1.39084269e-02 -2.93126787e-04 9.99903230e-01 3.88439328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.462755096 meters 0.023935037433398837 Centerline is valid? [True, True] Translation: X:186.64, Y:-75.79, Z:3.88 [[ 8.34786263e-01 5.50448443e-01 -1.17646472e-02 1.86640564e+02] [-5.50388518e-01 8.34869101e-01 8.12799918e-03 -7.57919363e+01] [ 1.42959849e-02 -3.10015309e-04 9.99897759e-01 3.88470529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.522755096 meters 0.024064706838293773 Centerline is valid? [True, True] Translation: X:186.69, Y:-75.83, Z:3.88 [[ 8.35269846e-01 5.49698415e-01 -1.24874855e-02 1.86686733e+02] [-5.49630918e-01 8.35363118e-01 8.62064030e-03 -7.58282545e+01] [ 1.51703372e-02 -3.37052757e-04 9.99884867e-01 3.88332419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.582755096 meters 0.02406665364746321 Centerline is valid? [True, True] Translation: X:186.73, Y:-75.87, Z:3.88 [[ 8.35905370e-01 5.48716021e-01 -1.31506872e-02 1.86732393e+02] [-5.48641070e-01 8.36008726e-01 9.07671901e-03 -7.58650651e+01] [ 1.59746304e-02 -3.72271058e-04 9.99872328e-01 3.88228697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.642755096 meters 0.02598575983194629 Centerline is valid? [True, True] Translation: X:186.78, Y:-75.91, Z:3.88 [[ 8.37639422e-01 5.46056536e-01 -1.35077339e-02 1.86776199e+02] [-5.45977143e-01 8.37748215e-01 9.32133908e-03 -7.59055989e+01] [ 1.64060581e-02 -4.33007135e-04 9.99865318e-01 3.88137555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70275509599998 meters 0.028446675994542175 Centerline is valid? [True, True] Translation: X:186.82, Y:-75.94, Z:3.88 [[ 8.38889134e-01 5.44113095e-01 -1.43513433e-02 1.86820830e+02] [-5.44023224e-01 8.39011735e-01 9.90151498e-03 -7.59443757e+01] [ 1.74284894e-02 -4.98809284e-04 9.99847988e-01 3.88030258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76275509599998 meters 0.02814813489627112 Centerline is valid? [True, True] Translation: X:186.87, Y:-75.98, Z:3.88 [[ 8.39784589e-01 5.42745482e-01 -1.37544931e-02 1.86867066e+02] [-5.42662776e-01 8.39897070e-01 9.48807126e-03 -7.59811090e+01] [ 1.67019663e-02 -5.03884612e-04 9.99860385e-01 3.88306323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82275509599998 meters 0.02838561711276735 Centerline is valid? [True, True] Translation: X:186.91, Y:-76.02, Z:3.88 [[ 8.40298377e-01 5.41956640e-01 -1.34773326e-02 1.86913331e+02] [-5.41877160e-01 8.40406296e-01 9.29522171e-03 -7.60178386e+01] [ 1.63640423e-02 -5.07700980e-04 9.99865971e-01 3.88471144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88275509599998 meters 0.026105224405852463 Centerline is valid? [True, True] Translation: X:186.96, Y:-76.05, Z:3.89 [[ 8.40243689e-01 5.42054282e-01 -1.29497946e-02 1.86963002e+02] [-5.41980939e-01 8.40343335e-01 8.92980576e-03 -7.60501903e+01] [ 1.57227130e-02 -4.84671112e-04 9.99876273e-01 3.88629846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94275509599998 meters 0.027325972598929504 Centerline is valid? [True, True] Translation: X:187.01, Y:-76.09, Z:3.89 [[ 8.38655764e-01 5.44493623e-01 -1.35353275e-02 1.87008104e+02] [-5.44413843e-01 8.38764857e-01 9.33176496e-03 -7.60877803e+01] [ 1.64340435e-02 -4.57318810e-04 9.99864847e-01 3.88765096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.002755096 meters 0.025006900504761065 Centerline is valid? [True, True] Translation: X:187.06, Y:-76.12, Z:3.89 [[ 8.35965377e-01 5.48614298e-01 -1.35735318e-02 1.87058407e+02] [-5.48534636e-01 8.36075482e-01 9.35639813e-03 -7.61195483e+01] [ 1.64815509e-02 -3.76072572e-04 9.99864099e-01 3.88962347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.062755096 meters 0.023594712598137103 Centerline is valid? [True, True] Translation: X:187.11, Y:-76.15, Z:3.89 [[ 8.35230882e-01 5.49730299e-01 -1.36371215e-02 1.87108924e+02] [-5.49650058e-01 8.35342129e-01 9.39903028e-03 -7.61505821e+01] [ 1.65585938e-02 -3.54715754e-04 9.99862834e-01 3.88991988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.122755096 meters 0.021070588310093976 Centerline is valid? [True, True] Translation: X:187.16, Y:-76.18, Z:3.89 [[ 8.33287961e-01 5.52669222e-01 -1.37078791e-02 1.87160695e+02] [-5.52588585e-01 8.33400650e-01 9.44521864e-03 -7.61843401e+01] [ 1.66442370e-02 -2.95769438e-04 9.99861431e-01 3.89248096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.182755096 meters 0.020982109326416885 Centerline is valid? [True, True] Translation: X:187.21, Y:-76.22, Z:3.89 [[ 8.33231794e-01 5.52764869e-01 -1.32580651e-02 1.87209842e+02] [-5.52689352e-01 8.33337216e-01 9.14134437e-03 -7.62208411e+01] [ 1.61014531e-02 -2.89267368e-04 9.99870321e-01 3.89486675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.242755096 meters 0.02138000294687306 Centerline is valid? [True, True] Translation: X:187.26, Y:-76.26, Z:3.90 [[ 8.33296299e-01 5.52686256e-01 -1.24571705e-02 1.87256247e+02] [-5.52619565e-01 8.33389361e-01 8.59006921e-03 -7.62575732e+01] [ 1.51292866e-02 -2.73996737e-04 9.99885508e-01 3.89761906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.302755096 meters 0.021736639643200543 Centerline is valid? [True, True] Translation: X:187.30, Y:-76.30, Z:3.90 [[ 8.33758980e-01 5.51986130e-01 -1.25409488e-02 1.87302863e+02] [-5.51918464e-01 8.33853242e-01 8.64755373e-03 -7.62955544e+01] [ 1.52306406e-02 -2.88394367e-04 9.99883965e-01 3.89955326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.362755096 meters 0.021092885071365454 Centerline is valid? [True, True] Translation: X:187.35, Y:-76.33, Z:3.90 [[ 8.33815802e-01 5.51878101e-01 -1.34822223e-02 1.87353234e+02] [-5.51799912e-01 8.33924736e-01 9.29474755e-03 -7.63325702e+01] [ 1.63727263e-02 -3.10618333e-04 9.99865910e-01 3.89899867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.422755096 meters 0.02251352921881641 Centerline is valid? [True, True] Translation: X:187.40, Y:-76.37, Z:3.90 [[ 8.33728060e-01 5.51984417e-01 -1.45163657e-02 1.87401235e+02] [-5.51893654e-01 8.33854357e-01 1.00152773e-02 -7.63714713e+01] [ 1.76328118e-02 -3.38527595e-04 9.99844473e-01 3.89912421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48275509599998 meters 0.022550929201646183 Centerline is valid? [True, True] Translation: X:187.45, Y:-76.41, Z:3.90 [[ 8.34457071e-01 5.50850125e-01 -1.56696050e-02 1.87449367e+02] [-5.50744026e-01 8.34604087e-01 1.08182808e-02 -7.64085619e+01] [ 1.90371677e-02 -3.97449552e-04 9.99818698e-01 3.89951443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54275509599998 meters 0.022984621817891408 Centerline is valid? [True, True] Translation: X:187.50, Y:-76.45, Z:3.90 [[ 8.35586334e-01 5.49128948e-01 -1.59021009e-02 1.87497408e+02] [-5.49019362e-01 8.35737520e-01 1.09790041e-02 -7.64475627e+01] [ 1.93188714e-02 -4.43344521e-04 9.99813275e-01 3.90123102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60275509599998 meters 0.024110828773270553 Centerline is valid? [True, True] Translation: X:187.55, Y:-76.49, Z:3.90 [[ 8.36869191e-01 5.47165827e-01 -1.61094483e-02 1.87545698e+02] [-5.47052871e-01 8.37024078e-01 1.11287494e-02 -7.64871133e+01] [ 1.95732675e-02 -5.00587596e-04 9.99808300e-01 3.90283924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66275509599998 meters 0.025296253584353653 Centerline is valid? [True, True] Translation: X:187.59, Y:-76.53, Z:3.90 [[ 8.37844672e-01 5.45664952e-01 -1.63114911e-02 1.87594468e+02] [-5.45548729e-01 8.38003257e-01 1.12749645e-02 -7.65262634e+01] [ 1.98214357e-02 -5.47955691e-04 9.99803386e-01 3.90390057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.722755096 meters 0.026139118157193553 Centerline is valid? [True, True] Translation: X:187.64, Y:-76.57, Z:3.91 [[ 8.39691836e-01 5.42808882e-01 -1.66174324e-02 1.87642214e+02] [-5.42687569e-01 8.39856010e-01 1.14928130e-02 -7.65664679e+01] [ 2.01946514e-02 -6.32347264e-04 9.99795867e-01 3.90519481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.782755096 meters 0.028843792101719994 Centerline is valid? [True, True] Translation: X:187.69, Y:-76.61, Z:3.91 [[ 8.40565163e-01 5.41444081e-01 -1.69857148e-02 1.87688342e+02] [-5.41317002e-01 8.40736488e-01 1.17499483e-02 -7.66072395e+01] [ 2.06424501e-02 -6.81940984e-04 9.99786689e-01 3.90612191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.842755096 meters 0.027218314947048163 Centerline is valid? [True, True] Translation: X:187.74, Y:-76.64, Z:3.91 [[ 8.40852019e-01 5.40968189e-01 -1.79248696e-02 1.87739002e+02] [-5.40826405e-01 8.41042730e-01 1.24066715e-02 -7.66437457e+01] [ 2.17871959e-02 -7.37931946e-04 9.99762359e-01 3.90669923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.902755096 meters 0.02712455045298854 Centerline is valid? [True, True] Translation: X:187.79, Y:-76.68, Z:3.91 [[ 8.40064493e-01 5.42180983e-01 -1.82051778e-02 1.87788787e+02] [-5.42034848e-01 8.40261422e-01 1.26081826e-02 -7.66805791e+01] [ 2.21330254e-02 -7.23845793e-04 9.99754773e-01 3.90731549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.962755096 meters 0.025365396991826515 Centerline is valid? [True, True] Translation: X:187.84, Y:-76.72, Z:3.91 [[ 8.38392271e-01 5.44723837e-01 -1.93478989e-02 1.87841203e+02] [-5.44559285e-01 8.38615195e-01 1.34067215e-02 -7.67150580e+01] [ 2.35284028e-02 -7.04013717e-04 9.99722921e-01 3.90713526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.022755096 meters 0.025253141707535155 Centerline is valid? [True, True] Translation: X:187.89, Y:-76.75, Z:3.91 [[ 8.37642748e-01 5.45850478e-01 -2.00470004e-02 1.87891280e+02] [-5.45674037e-01 8.37882310e-01 1.38953367e-02 -7.67513216e+01] [ 2.43818032e-02 -7.00200412e-04 9.99702474e-01 3.90728371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.082755096 meters 0.02526341795348277 Centerline is valid? [True, True] Translation: X:187.94, Y:-76.79, Z:3.91 [[ 8.36682687e-01 5.47283516e-01 -2.10436132e-02 1.87940400e+02] [-5.47089321e-01 8.36946991e-01 1.45948354e-02 -7.67886953e+01] [ 2.55999015e-02 -6.98510052e-04 9.99672025e-01 3.90730587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.142755096 meters 0.02477772280684045 Centerline is valid? [True, True] Translation: X:187.99, Y:-76.83, Z:3.91 [[ 8.35939597e-01 5.48433018e-01 -2.06449515e-02 1.87990684e+02] [-5.48246262e-01 8.36194231e-01 1.43263554e-02 -7.68255716e+01] [ 2.51202357e-02 -6.57450316e-04 9.99684221e-01 3.90924103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20275509599998 meters 0.02463189122208262 Centerline is valid? [True, True] Translation: X:188.04, Y:-76.86, Z:3.91 [[ 8.34971152e-01 5.49921462e-01 -2.02376078e-02 1.88039890e+02] [-5.49742252e-01 8.35216150e-01 1.40513163e-02 -7.68624711e+01] [ 2.46298972e-02 -6.06975683e-04 9.99696454e-01 3.91123894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26275509599998 meters 0.024185833500785358 Centerline is valid? [True, True] Translation: X:188.09, Y:-76.90, Z:3.91 [[ 8.34275980e-01 5.50973641e-01 -2.02888231e-02 1.88090496e+02] [-5.50793671e-01 8.34522443e-01 1.40934238e-02 -7.68994366e+01] [ 2.46965832e-02 -5.82849548e-04 9.99694823e-01 3.91240402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32275509599998 meters 0.02135931214878923 Centerline is valid? [True, True] Translation: X:188.14, Y:-76.93, Z:3.91 [[ 8.32019035e-01 5.54384022e-01 -2.00669260e-02 1.88144365e+02] [-5.54208861e-01 8.32260852e-01 1.39431649e-02 -7.69318305e+01] [ 2.44307848e-02 -4.79710349e-04 9.99701409e-01 3.91433129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38275509599998 meters 0.020992419911852127 Centerline is valid? [True, True] Translation: X:188.19, Y:-76.97, Z:3.91 [[ 8.29798784e-01 5.57690555e-01 -2.03770052e-02 1.88194310e+02] [-5.57510832e-01 8.30048849e-01 1.41626599e-02 -7.69665781e+01] [ 2.48122914e-02 -3.91756852e-04 9.99692051e-01 3.91498346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44275509599998 meters 0.01925733292463931 Centerline is valid? [True, True] Translation: X:188.25, Y:-77.00, Z:3.92 [[ 8.28562512e-01 5.59522002e-01 -2.04766178e-02 1.88247270e+02] [-5.59340884e-01 8.28815426e-01 1.42395700e-02 -7.69994722e+01] [ 2.49386894e-02 -3.44964354e-04 9.99688923e-01 3.91710081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.502755096 meters 0.018986342468277326 Centerline is valid? [True, True] Translation: X:188.30, Y:-77.03, Z:3.92 [[ 8.28081853e-01 5.60239404e-01 -2.03040591e-02 1.88298883e+02] [-5.60061333e-01 8.28330673e-01 1.41279814e-02 -7.70348381e+01] [ 2.47335268e-02 -3.27606578e-04 9.99694026e-01 3.91821369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.562755096 meters 0.019405537602140338 Centerline is valid? [True, True] Translation: X:188.35, Y:-77.07, Z:3.92 [[ 8.29836235e-01 5.57620846e-01 -2.07560848e-02 1.88349270e+02] [-5.57433696e-01 8.30095665e-01 1.44520442e-02 -7.70710691e+01] [ 2.52882971e-02 -4.22688859e-04 9.99680111e-01 3.91821436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.622755096 meters 0.022891399245594697 Centerline is valid? [True, True] Translation: X:188.40, Y:-77.11, Z:3.92 [[ 8.33005614e-01 5.52872941e-01 -2.08124622e-02 1.88396301e+02] [-5.52683093e-01 8.33265372e-01 1.44988917e-02 -7.71098278e+01] [ 2.53583490e-02 -5.74962153e-04 9.99678260e-01 3.91731458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.682755096 meters 0.024234762742188044 Centerline is valid? [True, True] Translation: X:188.45, Y:-77.15, Z:3.92 [[ 8.35095701e-01 5.49728816e-01 -2.03322192e-02 1.88445784e+02] [-5.49546606e-01 8.35342921e-01 1.41680055e-02 -7.71477351e+01] [ 2.47729363e-02 -6.58138467e-04 9.99692887e-01 3.91925155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.742755096 meters 0.025398810009701248 Centerline is valid? [True, True] Translation: X:188.49, Y:-77.18, Z:3.92 [[ 8.38061712e-01 5.45213596e-01 -1.98671102e-02 1.88493917e+02] [-5.45038311e-01 8.38296806e-01 1.38457688e-02 -7.71846483e+01] [ 2.42034364e-02 -7.75272476e-04 9.99706753e-01 3.92218575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.802755096 meters 0.028601319710719268 Centerline is valid? [True, True] Translation: X:188.54, Y:-77.22, Z:3.92 [[ 8.39991728e-01 5.42242727e-01 -1.96652644e-02 1.88541346e+02] [-5.42070155e-01 8.40221458e-01 1.37057942e-02 -7.72227984e+01] [ 2.39550443e-02 -8.52800798e-04 9.99712673e-01 3.92240576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.862755096 meters 0.028728473816895805 Centerline is valid? [True, True] Translation: X:188.59, Y:-77.26, Z:3.92 [[ 8.39718611e-01 5.42643044e-01 -2.02776287e-02 1.88593452e+02] [-5.42459594e-01 8.39962957e-01 1.41357429e-02 -7.72585556e+01] [ 2.47031196e-02 -8.70252133e-04 9.99694453e-01 3.92278410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.922755096 meters 0.025049244840908837 Centerline is valid? [True, True] Translation: X:188.65, Y:-77.29, Z:3.92 [[ 8.37738642e-01 5.45696558e-01 -2.02295485e-02 1.88647608e+02] [-5.45514685e-01 8.37982489e-01 1.41094611e-02 -7.72880082e+01] [ 2.46514917e-02 -7.84525009e-04 9.99695798e-01 3.92391377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98275509599998 meters 0.02390662449117077 Centerline is valid? [True, True] Translation: X:188.70, Y:-77.32, Z:3.93 [[ 8.35936654e-01 5.48442344e-01 -2.05160088e-02 1.88699821e+02] [-5.48256030e-01 8.36188067e-01 1.43123164e-02 -7.73213944e+01] [ 2.50047221e-02 -7.16164329e-04 9.99687077e-01 3.92530667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04275509599998 meters 0.02268038072866218 Centerline is valid? [True, True] Translation: X:188.75, Y:-77.36, Z:3.93 [[ 8.34179987e-01 5.51123025e-01 -2.01782230e-02 1.88752361e+02] [-5.50943377e-01 8.34423760e-01 1.40848604e-02 -7.73550901e+01] [ 2.45996796e-02 -6.32250319e-04 9.99697182e-01 3.92696259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10275509599998 meters 0.02094680834908688 Centerline is valid? [True, True] Translation: X:188.81, Y:-77.39, Z:3.93 [[ 8.32661325e-01 5.53453358e-01 -1.90918373e-02 1.88805101e+02] [-5.53292972e-01 8.32879997e-01 1.33340580e-02 -7.73873042e+01] [ 2.32809886e-02 -5.39375040e-04 9.99728816e-01 3.93032252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16275509599998 meters 0.021546774375432405 Centerline is valid? [True, True] Translation: X:188.86, Y:-77.42, Z:3.93 [[ 8.32594694e-01 5.53591727e-01 -1.79520223e-02 1.88855998e+02] [-5.53449805e-01 8.32788053e-01 1.25448143e-02 -7.74231279e+01] [ 2.18949351e-02 -5.09202579e-04 9.99760148e-01 3.93275752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.222755096 meters 0.0213278914104158 Centerline is valid? [True, True] Translation: X:188.91, Y:-77.46, Z:3.93 [[ 8.33265111e-01 5.52580570e-01 -1.79991417e-02 1.88907483e+02] [-5.52437542e-01 8.33459309e-01 1.25834015e-02 -7.74583446e+01] [ 2.19548954e-02 -5.41907854e-04 9.99758815e-01 3.93412893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.282755096 meters 0.024640462151703735 Centerline is valid? [True, True] Translation: X:188.95, Y:-77.50, Z:3.93 [[ 8.34372531e-01 5.50898585e-01 -1.82545339e-02 1.88954197e+02] [-5.50750897e-01 8.34571979e-01 1.27695867e-02 -7.74979583e+01] [ 2.22694698e-02 -6.00891457e-04 9.99751824e-01 3.93456521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.342755096 meters 0.023584232476557023 Centerline is valid? [True, True] Translation: X:189.01, Y:-77.53, Z:3.94 [[ 8.34749784e-01 5.50330300e-01 -1.81482331e-02 1.89006148e+02] [-5.50184038e-01 8.34946812e-01 1.27021923e-02 -7.75318181e+01] [ 2.21432107e-02 -6.18284145e-04 9.99754618e-01 3.93627621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.402755096 meters 0.024985368679123043 Centerline is valid? [True, True] Translation: X:189.06, Y:-77.57, Z:3.94 [[ 8.34379135e-01 5.50879894e-01 -1.85148771e-02 1.89055397e+02] [-5.50727624e-01 8.34584301e-01 1.29664656e-02 -7.75688802e+01] [ 2.25951909e-02 -6.22294055e-04 9.99744502e-01 3.93675640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.462755096 meters 0.024724112223713415 Centerline is valid? [True, True] Translation: X:189.11, Y:-77.60, Z:3.94 [[ 8.33688101e-01 5.51909090e-01 -1.89870243e-02 1.89107520e+02] [-5.51749032e-01 8.33904057e-01 1.33052435e-02 -7.76027472e+01] [ 2.31766414e-02 -6.16350912e-04 9.99731196e-01 3.93606982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.522755096 meters 0.020862591852678778 Centerline is valid? [True, True] Translation: X:189.16, Y:-77.63, Z:3.94 [[ 8.31624404e-01 5.55008739e-01 -1.91350472e-02 1.89161122e+02] [-5.54846814e-01 8.31844341e-01 1.34165940e-02 -7.76347006e+01] [ 2.33637076e-02 -5.40547021e-04 9.99726885e-01 3.93845707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.582755096 meters 0.019358796504111868 Centerline is valid? [True, True] Translation: X:189.21, Y:-77.67, Z:3.94 [[ 8.30154705e-01 5.57178262e-01 -1.98884635e-02 1.89212318e+02] [-5.57003749e-01 8.30392756e-01 1.39532871e-02 -7.76693178e+01] [ 2.42897043e-02 -5.05438220e-04 9.99704834e-01 3.93986253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.642755096 meters 0.018876099753669464 Centerline is valid? [True, True] Translation: X:189.26, Y:-77.71, Z:3.94 [[ 8.29442102e-01 5.58237964e-01 -1.99041471e-02 1.89262541e+02] [-5.58063276e-01 8.29680748e-01 1.39727013e-02 -7.77055245e+01] [ 2.43141800e-02 -4.81773220e-04 9.99704251e-01 3.94086901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70275509599998 meters 0.01886816956899375 Centerline is valid? [True, True] Translation: X:189.31, Y:-77.74, Z:3.94 [[ 8.28961612e-01 5.58943301e-01 -2.01254179e-02 1.89312908e+02] [-5.58764698e-01 8.29205741e-01 1.41368696e-02 -7.77429051e+01] [ 2.45898206e-02 -4.73549119e-04 9.99697512e-01 3.94225694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76275509599998 meters 0.019121240576151288 Centerline is valid? [True, True] Translation: X:189.36, Y:-77.78, Z:3.94 [[ 8.28992968e-01 5.58909304e-01 -1.97749496e-02 1.89362802e+02] [-5.58736634e-01 8.29228657e-01 1.38999550e-02 -7.77815523e+01] [ 2.41667691e-02 -4.73976163e-04 9.99707829e-01 3.94415196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82275509599998 meters 0.019709434018315285 Centerline is valid? [True, True] Translation: X:189.41, Y:-77.82, Z:3.95 [[ 8.29207241e-01 5.58598443e-01 -1.95737290e-02 1.89410670e+02] [-5.58428967e-01 8.29438089e-01 1.37675176e-02 -7.78208787e+01] [ 2.39257103e-02 -4.85588062e-04 9.99713621e-01 3.94616539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88275509599998 meters 0.020267929429429034 Centerline is valid? [True, True] Translation: X:189.46, Y:-77.86, Z:3.95 [[ 8.29197306e-01 5.58619382e-01 -1.93962335e-02 1.89459176e+02] [-5.58452775e-01 8.29423986e-01 1.36510111e-02 -7.78590394e+01] [ 2.37134207e-02 -4.87501231e-04 9.99718678e-01 3.94773527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94275509599998 meters 0.020430351055698705 Centerline is valid? [True, True] Translation: X:189.51, Y:-77.90, Z:3.95 [[ 8.29079382e-01 5.58805834e-01 -1.90635170e-02 1.89510184e+02] [-5.58644755e-01 8.29298383e-01 1.34249417e-02 -7.78964379e+01] [ 2.33112796e-02 -4.80608582e-04 9.99728140e-01 3.94899151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.002755096 meters 0.018413431202395088 Centerline is valid? [True, True] Translation: X:189.56, Y:-77.93, Z:3.95 [[ 8.28078471e-01 5.60293512e-01 -1.89004494e-02 1.89562415e+02] [-5.60135371e-01 8.28294021e-01 1.33184302e-02 -7.79300366e+01] [ 2.31173593e-02 -4.41895074e-04 9.99732660e-01 3.95111747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.062755096 meters 0.019201974547541016 Centerline is valid? [True, True] Translation: X:189.61, Y:-77.97, Z:3.95 [[ 8.26441185e-01 5.62691219e-01 -1.93277124e-02 1.89611849e+02] [-5.62526308e-01 8.26667067e-01 1.36276389e-02 -7.79664533e+01] [ 2.36457361e-02 -3.90095305e-04 9.99720324e-01 3.95122956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.122755096 meters 0.017051062772413174 Centerline is valid? [True, True] Translation: X:189.67, Y:-78.00, Z:3.95 [[ 8.25071885e-01 5.64684702e-01 -1.96868444e-02 1.89665111e+02] [-5.64513983e-01 8.25306651e-01 1.38886708e-02 -7.79980384e+01] [ 2.40904035e-02 -3.45652822e-04 9.99709724e-01 3.95292559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.182755096 meters 0.016154941485953127 Centerline is valid? [True, True] Translation: X:189.72, Y:-78.03, Z:3.95 [[ 8.22920154e-01 5.67833253e-01 -1.91785640e-02 1.89718420e+02] [-5.67671906e-01 8.23143567e-01 1.35379097e-02 -7.80307205e+01] [ 2.34739869e-02 -2.53486738e-04 9.99724416e-01 3.95411548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.242755096 meters 0.01588941253125946 Centerline is valid? [True, True] Translation: X:189.77, Y:-78.06, Z:3.96 [[ 8.21666409e-01 5.69666478e-01 -1.85584270e-02 1.89770512e+02] [-5.69515694e-01 8.21875941e-01 1.31076721e-02 -7.80646139e+01] [ 2.27197261e-02 -2.00818399e-04 9.99741854e-01 3.95627386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.302755096 meters 0.015575651987801274 Centerline is valid? [True, True] Translation: X:189.82, Y:-78.10, Z:3.96 [[ 8.20624547e-01 5.71152146e-01 -1.89888996e-02 1.89822583e+02] [-5.70994497e-01 8.20844198e-01 1.34196855e-02 -7.80979983e+01] [ 2.32516103e-02 -1.69966197e-04 9.99729630e-01 3.95664397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.362755096 meters 0.016905127080448043 Centerline is valid? [True, True] Translation: X:189.87, Y:-78.13, Z:3.96 [[ 8.20915403e-01 5.70732902e-01 -1.90225226e-02 1.89874479e+02] [-5.70574394e-01 8.21135750e-01 1.34514725e-02 -7.81337357e+01] [ 2.32972713e-02 -1.88756641e-04 9.99728564e-01 3.95635669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.422755096 meters 0.016141990895206234 Centerline is valid? [True, True] Translation: X:189.92, Y:-78.17, Z:3.96 [[ 8.22151353e-01 5.68974624e-01 -1.83038245e-02 1.89924065e+02] [-5.68827246e-01 8.22355046e-01 1.29515466e-02 -7.81709920e+01] [ 2.24213438e-02 -2.36417495e-04 9.99748582e-01 3.96001837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48275509599998 meters 0.01729622274522302 Centerline is valid? [True, True] Translation: X:189.97, Y:-78.21, Z:3.96 [[ 8.24211397e-01 5.66015629e-01 -1.73747151e-02 1.89972674e+02] [-5.65882027e-01 8.24394453e-01 1.23011191e-02 -7.82094946e+01] [ 2.12862444e-02 -3.06683534e-04 9.99773375e-01 3.96228447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54275509599998 meters 0.018746183752113996 Centerline is valid? [True, True] Translation: X:190.02, Y:-78.25, Z:3.96 [[ 8.25842765e-01 5.63649567e-01 -1.68194247e-02 1.90020738e+02] [-5.63523739e-01 8.26013943e-01 1.19147455e-02 -7.82476994e+01] [ 2.06088205e-02 -3.61561248e-04 9.99787550e-01 3.96426230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60275509599998 meters 0.019092081740941753 Centerline is valid? [True, True] Translation: X:190.07, Y:-78.28, Z:3.97 [[ 8.25993194e-01 5.63441009e-01 -1.64156258e-02 1.90071741e+02] [-5.63320984e-01 8.26156219e-01 1.16349109e-02 -7.82842810e+01] [ 2.01174573e-02 -3.63090729e-04 9.99797558e-01 3.96628392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66275509599998 meters 0.018681671025855582 Centerline is valid? [True, True] Translation: X:190.12, Y:-78.32, Z:3.97 [[ 8.24841785e-01 5.65128209e-01 -1.63137233e-02 1.90123015e+02] [-5.65009851e-01 8.25003031e-01 1.15701005e-02 -7.83180254e+01] [ 1.99974614e-02 -3.26088004e-04 9.99799978e-01 3.96656853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.722755096 meters 0.01731911061218954 Centerline is valid? [True, True] Translation: X:190.18, Y:-78.35, Z:3.97 [[ 8.23584394e-01 5.66964457e-01 -1.61260896e-02 1.90175897e+02] [-5.66849040e-01 8.23742207e-01 1.14429648e-02 -7.83511594e+01] [ 1.97714950e-02 -2.83188785e-04 9.99804485e-01 3.96735432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.782755096 meters 0.017058042801155637 Centerline is valid? [True, True] Translation: X:190.23, Y:-78.39, Z:3.97 [[ 8.21747721e-01 5.69590649e-01 -1.72387670e-02 1.90226996e+02] [-5.69459168e-01 8.21928485e-01 1.22401792e-02 -7.83855760e+01] [ 2.11409253e-02 -2.41565394e-04 9.99776476e-01 3.96667044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.842755096 meters 0.019703412218376137 Centerline is valid? [True, True] Translation: X:190.28, Y:-78.42, Z:3.96 [[ 8.21341041e-01 5.70138580e-01 -1.84633231e-02 1.90279079e+02] [-5.69987710e-01 8.21548499e-01 1.31176954e-02 -7.84187959e+01] [ 2.26474196e-02 -2.50234378e-04 9.99743483e-01 3.96371836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.902755096 meters 0.018471984178060615 Centerline is valid? [True, True] Translation: X:190.33, Y:-78.45, Z:3.97 [[ 8.21241047e-01 5.70294420e-01 -1.80946583e-02 1.90330488e+02] [-5.70149388e-01 8.21440329e-01 1.28631793e-02 -7.84544220e+01] [ 2.21994814e-02 -2.47112442e-04 9.99753531e-01 3.96579609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.962755096 meters 0.01638373048057898 Centerline is valid? [True, True] Translation: X:190.38, Y:-78.49, Z:3.97 [[ 8.21927763e-01 5.69308456e-01 -1.79620251e-02 1.90380847e+02] [-5.69165121e-01 8.22123959e-01 1.27773349e-02 -7.84909376e+01] [ 2.20412560e-02 -2.78688123e-04 9.99757023e-01 3.96867644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.022755096 meters 0.0174824592962058 Centerline is valid? [True, True] Translation: X:190.43, Y:-78.53, Z:3.97 [[ 8.23119546e-01 5.67595289e-01 -1.76011499e-02 1.90429403e+02] [-5.67457107e-01 8.23307648e-01 1.25279088e-02 -7.85283452e+01] [ 2.16019434e-02 -3.24069007e-04 9.99766598e-01 3.96915353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.082755096 meters 0.020346331256777758 Centerline is valid? [True, True] Translation: X:190.48, Y:-78.57, Z:3.97 [[ 8.25832677e-01 5.63623060e-01 -1.81503712e-02 1.90478356e+02] [-5.63474995e-01 8.26031988e-01 1.29261014e-02 -7.85658752e+01] [ 2.22782361e-02 -4.47516599e-04 9.99751709e-01 3.96806618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.142755096 meters 0.019957818879436092 Centerline is valid? [True, True] Translation: X:190.53, Y:-78.60, Z:3.97 [[ 8.27078751e-01 5.61807943e-01 -1.76797801e-02 1.90527261e+02] [-5.61666892e-01 8.27267548e-01 1.25978553e-02 -7.86021839e+01] [ 2.17034835e-02 -4.89271289e-04 9.99764332e-01 3.97078819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20275509599998 meters 0.023125206863346508 Centerline is valid? [True, True] Translation: X:190.58, Y:-78.64, Z:3.97 [[ 8.28606158e-01 5.59539483e-01 -1.80942650e-02 1.90575760e+02] [-5.59391039e-01 8.28803502e-01 1.29004070e-02 -7.86401030e+01] [ 2.22148773e-02 -5.67586986e-04 9.99753058e-01 3.96985114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26275509599998 meters 0.021886393412412455 Centerline is valid? [True, True] Translation: X:190.63, Y:-78.68, Z:3.97 [[ 8.28663175e-01 5.59459715e-01 -1.79490758e-02 1.90627091e+02] [-5.59313470e-01 8.28857346e-01 1.28039818e-02 -7.86758078e+01] [ 2.20405353e-02 -5.71028398e-04 9.99756915e-01 3.97259102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32275509599998 meters 0.022114364955083583 Centerline is valid? [True, True] Translation: X:190.68, Y:-78.71, Z:3.97 [[ 8.28667499e-01 5.59444259e-01 -1.82290314e-02 1.90679159e+02] [-5.59293213e-01 8.28867768e-01 1.30125366e-02 -7.87119682e+01] [ 2.23892455e-02 -5.87692570e-04 9.99749157e-01 3.97404248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38275509599998 meters 0.022170265315447347 Centerline is valid? [True, True] Translation: X:190.73, Y:-78.75, Z:3.98 [[ 8.28051949e-01 5.60386668e-01 -1.72264987e-02 1.90729526e+02] [-5.60251821e-01 8.28230942e-01 1.23046174e-02 -7.87478057e+01] [ 2.11628628e-02 -5.37685140e-04 9.99775897e-01 3.97641867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44275509599998 meters 0.021705830445814128 Centerline is valid? [True, True] Translation: X:190.78, Y:-78.78, Z:3.98 [[ 8.26527078e-01 5.62670183e-01 -1.59766911e-02 1.90780393e+02] [-5.62554501e-01 8.26681355e-01 1.14180035e-02 -7.87823645e+01] [ 1.96322028e-02 -4.49529637e-04 9.99807169e-01 3.97942308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.502755096 meters 0.021044143296039892 Centerline is valid? [True, True] Translation: X:190.83, Y:-78.82, Z:3.98 [[ 8.25594969e-01 5.64049750e-01 -1.55186164e-02 1.90832318e+02] [-5.63940733e-01 8.25740705e-01 1.10967325e-02 -7.88167571e+01] [ 1.90734624e-02 -4.09826581e-04 9.99818001e-01 3.98097365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.562755096 meters 0.021020983182224087 Centerline is valid? [True, True] Translation: X:190.88, Y:-78.85, Z:3.98 [[ 8.25049968e-01 5.64830627e-01 -1.60908063e-02 1.90882038e+02] [-5.64713447e-01 8.25206758e-01 1.15121418e-02 -7.88503727e+01] [ 1.97806523e-02 -4.11397510e-04 9.99804259e-01 3.98024122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.622755096 meters 0.020022106035384585 Centerline is valid? [True, True] Translation: X:190.93, Y:-78.89, Z:3.98 [[ 8.25279414e-01 5.64490262e-01 -1.62675364e-02 1.90933032e+02] [-5.64370436e-01 8.25439619e-01 1.16381660e-02 -7.88851405e+01] [ 1.99975004e-02 -4.23822178e-04 9.99799940e-01 3.98054805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.682755096 meters 0.023829584314517524 Centerline is valid? [True, True] Translation: X:190.98, Y:-78.92, Z:3.98 [[ 8.26167874e-01 5.63201271e-01 -1.58421131e-02 1.90980377e+02] [-5.63087269e-01 8.26319627e-01 1.13402094e-02 -7.89239326e+01] [ 1.94774693e-02 -4.48424513e-04 9.99810196e-01 3.97898314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.742755096 meters 0.020809509934335918 Centerline is valid? [True, True] Translation: X:191.03, Y:-78.96, Z:3.98 [[ 8.26665129e-01 5.62496183e-01 -1.49267537e-02 1.91031904e+02] [-5.62394804e-01 8.26799764e-01 1.06880536e-02 -7.89582177e+01] [ 1.83534258e-02 -4.40712426e-04 9.99831465e-01 3.98330895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.802755096 meters 0.023994730286616445 Centerline is valid? [True, True] Translation: X:191.08, Y:-79.00, Z:3.98 [[ 8.28041110e-01 5.60479194e-01 -1.45255639e-02 1.91080002e+02] [-5.60382774e-01 8.28168367e-01 1.04068485e-02 -7.89981374e+01] [ 1.78624346e-02 -4.77422608e-04 9.99840340e-01 3.98333432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.862755096 meters 0.022973227909212652 Centerline is valid? [True, True] Translation: X:191.13, Y:-79.04, Z:3.99 [[ 8.28174658e-01 5.60303085e-01 -1.36817202e-02 1.91129640e+02] [-5.60217427e-01 8.28287537e-01 9.80768398e-03 -7.90356777e+01] [ 1.68276739e-02 -4.57737260e-04 9.99858300e-01 3.98762622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.922755096 meters 0.02335740774273594 Centerline is valid? [True, True] Translation: X:191.18, Y:-79.07, Z:3.99 [[ 8.27992840e-01 5.60581335e-01 -1.32824418e-02 1.91181097e+02] [-5.60500555e-01 8.28099251e-01 9.52671349e-03 -7.90721847e+01] [ 1.63396779e-02 -4.43234561e-04 9.99866400e-01 3.98850368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98275509599998 meters 0.023521386376157905 Centerline is valid? [True, True] Translation: X:191.23, Y:-79.11, Z:3.99 [[ 8.27320435e-01 5.61562114e-01 -1.37437275e-02 1.91230698e+02] [-5.61475644e-01 8.27434465e-01 9.86440338e-03 -7.91087192e+01] [ 1.69115091e-02 -4.44254214e-04 9.99856892e-01 3.98945864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04275509599998 meters 0.0214418254904246 Centerline is valid? [True, True] Translation: X:191.28, Y:-79.14, Z:3.99 [[ 8.25767311e-01 5.63820964e-01 -1.46379205e-02 1.91283338e+02] [-5.63723115e-01 8.25896928e-01 1.05125262e-02 -7.91421752e+01] [ 1.80165962e-02 -4.29166327e-04 9.99837596e-01 3.98982140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10275509599998 meters 0.02053435298498315 Centerline is valid? [True, True] Translation: X:191.34, Y:-79.18, Z:3.99 [[ 8.23676159e-01 5.66855535e-01 -1.52442784e-02 1.91335189e+02] [-5.66749802e-01 8.23817125e-01 1.09547318e-02 -7.91762784e+01] [ 1.87682479e-02 -3.83459625e-04 9.99823787e-01 3.98958880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16275509599998 meters 0.019711298226078193 Centerline is valid? [True, True] Translation: X:191.39, Y:-79.21, Z:3.99 [[ 8.22492098e-01 5.68572189e-01 -1.52451558e-02 1.91386070e+02] [-5.68466619e-01 8.22633298e-01 1.09617311e-02 -7.92115261e+01] [ 1.87737083e-02 -3.49575084e-04 9.99823697e-01 3.99072119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.222755096 meters 0.020358885297270056 Centerline is valid? [True, True] Translation: X:191.43, Y:-79.25, Z:3.99 [[ 8.21698929e-01 5.69720323e-01 -1.51533137e-02 1.91434085e+02] [-5.69616097e-01 8.21838577e-01 1.09020768e-02 -7.92488837e+01] [ 1.86647125e-02 -3.26653382e-04 9.99825746e-01 3.99204012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.282755096 meters 0.022124381320338234 Centerline is valid? [True, True] Translation: X:191.48, Y:-79.29, Z:3.99 [[ 8.22096419e-01 5.69149054e-01 -1.50609735e-02 1.91483946e+02] [-5.69045891e-01 8.22234296e-01 1.08414397e-02 -7.92861992e+01] [ 1.85540441e-02 -3.42323631e-04 9.99827800e-01 3.99117774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.342755096 meters 0.021457790131976816 Centerline is valid? [True, True] Translation: X:191.53, Y:-79.33, Z:4.00 [[ 8.23734374e-01 5.66776810e-01 -1.50242769e-02 1.91531493e+02] [-5.66673638e-01 8.23871281e-01 1.08213160e-02 -7.93257299e+01] [ 1.85113412e-02 -4.00028283e-04 9.99828570e-01 3.99556892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.402755096 meters 0.022123968447860444 Centerline is valid? [True, True] Translation: X:191.58, Y:-79.36, Z:4.00 [[ 8.25337415e-01 5.64438369e-01 -1.50823885e-02 1.91579742e+02] [-5.64333889e-01 8.25475085e-01 1.08694803e-02 -7.93641384e+01] [ 1.85852877e-02 -4.59485780e-04 9.99827173e-01 3.99709452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.462755096 meters 0.023920133334842157 Centerline is valid? [True, True] Translation: X:191.63, Y:-79.40, Z:4.00 [[ 8.27606796e-01 5.61103679e-01 -1.51543121e-02 1.91626503e+02] [-5.60997526e-01 8.27745352e-01 1.09274057e-02 -7.94046564e+01] [ 1.86753189e-02 -5.42063617e-04 9.99825454e-01 3.99777132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.522755096 meters 0.024483372819245997 Centerline is valid? [True, True] Translation: X:191.68, Y:-79.44, Z:4.00 [[ 8.28969577e-01 5.59088356e-01 -1.51542571e-02 1.91675122e+02] [-5.58981754e-01 8.29107870e-01 1.09333951e-02 -7.94434144e+01] [ 1.86772477e-02 -5.92498729e-04 9.99825389e-01 3.99901916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.582755096 meters 0.02755652806501021 Centerline is valid? [True, True] Translation: X:191.72, Y:-79.48, Z:4.00 [[ 8.31122394e-01 5.55864872e-01 -1.58054128e-02 1.91719139e+02] [-5.55748194e-01 8.31272371e-01 1.14100803e-02 -7.94849816e+01] [ 1.94810658e-02 -6.99343619e-04 9.99809981e-01 3.99950281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.642755096 meters 0.028006633343686364 Centerline is valid? [True, True] Translation: X:191.77, Y:-79.52, Z:4.00 [[ 8.29498557e-01 5.58278877e-01 -1.60261896e-02 1.91770267e+02] [-5.58159364e-01 8.29653102e-01 1.15695134e-02 -7.95184048e+01] [ 1.97551929e-02 -6.51726906e-04 9.99804635e-01 3.99723489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70275509599998 meters 0.02486904256896395 Centerline is valid? [True, True] Translation: X:191.82, Y:-79.55, Z:4.00 [[ 8.26960191e-01 5.61994393e-01 -1.72957736e-02 1.91821748e+02] [-5.61855976e-01 8.27140817e-01 1.24872194e-02 -7.95525141e+01] [ 2.13237876e-02 -6.08699591e-04 9.99772437e-01 3.99996703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76275509599998 meters 0.024463451111065723 Centerline is valid? [True, True] Translation: X:191.87, Y:-79.59, Z:4.00 [[ 8.25858647e-01 5.63598558e-01 -1.77245692e-02 1.91872812e+02] [-5.63453507e-01 8.26048622e-01 1.27992379e-02 -7.95884067e+01] [ 2.18549880e-02 -5.83390652e-04 9.99760981e-01 4.00068390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82275509599998 meters 0.022420471088538705 Centerline is valid? [True, True] Translation: X:191.93, Y:-79.62, Z:4.00 [[ 8.22866855e-01 5.67944833e-01 -1.81330130e-02 1.91925645e+02] [-5.67793923e-01 8.23066481e-01 1.31007137e-02 -7.96196479e+01] [ 2.23651578e-02 -4.84328460e-04 9.99749751e-01 4.00178178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88275509599998 meters 0.020866254478794418 Centerline is valid? [True, True] Translation: X:191.98, Y:-79.65, Z:4.00 [[ 8.20532814e-01 5.71321061e-01 -1.78366624e-02 1.91979304e+02] [-5.71175806e-01 8.20726565e-01 1.28880996e-02 -7.96523912e+01] [ 2.20022654e-02 -3.87238581e-04 9.99757846e-01 4.00451090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94275509599998 meters 0.023268183712825682 Centerline is valid? [True, True] Translation: X:192.03, Y:-79.69, Z:4.00 [[ 8.19038680e-01 5.73458458e-01 -1.79175456e-02 1.92029811e+02] [-5.73312290e-01 8.19234573e-01 1.29511788e-02 -7.96884268e+01] [ 2.21056359e-02 -3.35167290e-04 9.99755584e-01 4.00289594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.002755096 meters 0.020653828260236883 Centerline is valid? [True, True] Translation: X:192.08, Y:-79.72, Z:4.01 [[ 8.18224787e-01 5.74653385e-01 -1.67835020e-02 1.92078656e+02] [-5.74525268e-01 8.18396850e-01 1.21372287e-02 -7.97229398e+01] [ 2.07102648e-02 -2.88435384e-04 9.99785478e-01 4.00870256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.062755096 meters 0.02025671249199094 Centerline is valid? [True, True] Translation: X:192.13, Y:-79.76, Z:4.01 [[ 8.18191887e-01 5.74703139e-01 -1.66834649e-02 1.92131523e+02] [-5.74576550e-01 8.18361913e-01 1.20651692e-02 -7.97576818e+01] [ 2.05870029e-02 -2.85695871e-04 9.99788024e-01 4.00992038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.122755096 meters 0.02246145205499112 Centerline is valid? [True, True] Translation: X:192.18, Y:-79.80, Z:4.01 [[ 8.19795616e-01 5.72425475e-01 -1.62549499e-02 1.92178394e+02] [-5.72304711e-01 8.19956681e-01 1.17625898e-02 -7.97973601e+01] [ 2.00615608e-02 -3.40135167e-04 9.99798689e-01 4.00987497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.182755096 meters 0.021148204286315697 Centerline is valid? [True, True] Translation: X:192.23, Y:-79.83, Z:4.01 [[ 8.21034692e-01 5.70642584e-01 -1.64035440e-02 1.92228530e+02] [-5.70519119e-01 8.21198446e-01 1.18763664e-02 -7.98342036e+01] [ 2.02477253e-02 -3.92373374e-04 9.99794917e-01 4.01350688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.242755096 meters 0.024075854779488145 Centerline is valid? [True, True] Translation: X:192.28, Y:-79.87, Z:4.01 [[ 8.23599428e-01 5.66923209e-01 -1.67945246e-02 1.92275371e+02] [-5.66792859e-01 8.23770492e-01 1.21668368e-02 -7.98743226e+01] [ 2.07324960e-02 -5.01583188e-04 9.99784933e-01 4.01351151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.302755096 meters 0.025181842194602164 Centerline is valid? [True, True] Translation: X:192.32, Y:-79.91, Z:4.01 [[ 8.25034461e-01 5.64804931e-01 -1.77067135e-02 1.92324790e+02] [-5.64659383e-01 8.25224236e-01 1.28351214e-02 -7.99114589e+01] [ 2.18613490e-02 -5.91155565e-04 9.99760837e-01 4.01365014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.362755096 meters 0.027042564515023498 Centerline is valid? [True, True] Translation: X:192.37, Y:-79.95, Z:4.01 [[ 8.27607963e-01 5.60935087e-01 -2.04178219e-02 1.92370767e+02] [-5.60740174e-01 8.27859395e-01 1.48080737e-02 -7.99505758e+01] [ 2.52094538e-02 -8.06186713e-04 9.99681866e-01 4.01370905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.422755096 meters 0.026453255195935 Centerline is valid? [True, True] Translation: X:192.42, Y:-79.99, Z:4.02 [[ 8.28153635e-01 5.60121813e-01 -2.06182348e-02 1.92420819e+02] [-5.59922731e-01 8.28409830e-01 1.49562231e-02 -7.99867681e+01] [ 2.54576551e-02 -8.41432153e-04 9.99675547e-01 4.01632461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48275509599998 meters 0.027685589107805435 Centerline is valid? [True, True] Translation: X:192.47, Y:-80.02, Z:4.02 [[ 8.28396956e-01 5.59714700e-01 -2.18617615e-02 1.92472201e+02] [-5.59490470e-01 8.28684873e-01 1.58680274e-02 -8.00221795e+01] [ 2.69980793e-02 -9.13578367e-04 9.99635068e-01 4.01557894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54275509599998 meters 0.028640044598061895 Centerline is valid? [True, True] Translation: X:192.52, Y:-80.06, Z:4.02 [[ 8.27394091e-01 5.61190778e-01 -2.19983685e-02 1.92522283e+02] [-5.60963997e-01 8.27686014e-01 1.59767459e-02 -8.00580803e+01] [ 2.71737443e-02 -8.78772432e-04 9.99630339e-01 4.01688957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60275509599998 meters 0.024630648284838446 Centerline is valid? [True, True] Translation: X:192.57, Y:-80.09, Z:4.02 [[ 8.25379836e-01 5.64204067e-01 -2.05401230e-02 1.92574384e+02] [-5.64007128e-01 8.25635048e-01 1.49240363e-02 -8.00906177e+01] [ 2.53788474e-02 -7.33222849e-04 9.99677636e-01 4.02294682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66275509599998 meters 0.024494928166257115 Centerline is valid? [True, True] Translation: X:192.63, Y:-80.13, Z:4.02 [[ 8.23933014e-01 5.66316612e-01 -2.04910424e-02 1.92625491e+02] [-5.66121183e-01 8.24187507e-01 1.48915933e-02 -8.01254227e+01] [ 2.53218179e-02 -6.69262209e-04 9.99679127e-01 4.02362548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.722755096 meters 0.02459953048328161 Centerline is valid? [True, True] Translation: X:192.68, Y:-80.16, Z:4.02 [[ 8.21578982e-01 5.69714922e-01 -2.08058561e-02 1.92676309e+02] [-5.69514300e-01 8.21842181e-01 1.51291679e-02 -8.01599820e+01] [ 2.57184429e-02 -5.80573780e-04 9.99669058e-01 4.02333938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.782755096 meters 0.021099832577816155 Centerline is valid? [True, True] Translation: X:192.73, Y:-80.19, Z:4.03 [[ 8.19408673e-01 5.72854693e-01 -2.01724586e-02 1.92728304e+02] [-5.72666854e-01 8.19656804e-01 1.46764504e-02 -8.01939108e+01] [ 2.49419665e-02 -4.73912361e-04 9.99688788e-01 4.02829734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.842755096 meters 0.019989099962642944 Centerline is valid? [True, True] Translation: X:192.78, Y:-80.23, Z:4.03 [[ 8.16999368e-01 5.76319971e-01 -1.91657240e-02 1.92779766e+02] [-5.76151181e-01 8.17224060e-01 1.39517607e-02 -8.02278221e+01] [ 2.37033691e-02 -3.56225105e-04 9.99718972e-01 4.02997502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.902755096 meters 0.022160973869802897 Centerline is valid? [True, True] Translation: X:192.83, Y:-80.26, Z:4.03 [[ 8.16418325e-01 5.77157026e-01 -1.87319740e-02 1.92827619e+02] [-5.76995874e-01 8.16633124e-01 1.36419406e-02 -8.02619011e+01] [ 2.31706923e-02 -3.29258551e-04 9.99731469e-01 4.02753013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.962755096 meters 0.020705673973587913 Centerline is valid? [True, True] Translation: X:192.88, Y:-80.30, Z:4.03 [[ 8.16480981e-01 5.77086622e-01 -1.81614421e-02 1.92878634e+02] [-5.76935107e-01 8.16682881e-01 1.32270628e-02 -8.02983083e+01] [ 2.24652999e-02 -3.21671633e-04 9.99747572e-01 4.03001897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.022755096 meters 0.02008232121090676 Centerline is valid? [True, True] Translation: X:192.93, Y:-80.34, Z:4.03 [[ 8.17481763e-01 5.75647435e-01 -1.88041864e-02 1.92926702e+02] [-5.75484410e-01 8.17697918e-01 1.37043298e-02 -8.03375665e+01] [ 2.32650064e-02 -3.81523557e-04 9.99729260e-01 4.03217549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.082755096 meters 0.022469068331790208 Centerline is valid? [True, True] Translation: X:192.97, Y:-80.38, Z:4.03 [[ 8.20232608e-01 5.71675886e-01 -2.01283107e-02 1.92972411e+02] [-5.71487715e-01 8.20479369e-01 1.46764036e-02 -8.03778282e+01] [ 2.49050097e-02 -5.34982472e-04 9.99689679e-01 4.03079873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.142755096 meters 0.02277283882906307 Centerline is valid? [True, True] Translation: X:193.02, Y:-80.42, Z:4.03 [[ 8.22960127e-01 5.67703400e-01 -2.12009191e-02 1.93021037e+02] [-5.67493270e-01 8.23232878e-01 1.54601938e-02 -8.04171485e+01] [ 2.62300982e-02 -6.91744121e-04 9.99655692e-01 4.03228492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20275509599998 meters 0.025612848881822692 Centerline is valid? [True, True] Translation: X:193.07, Y:-80.46, Z:4.03 [[ 8.25853222e-01 5.63442855e-01 -2.23294705e-02 1.93066110e+02] [-5.63208122e-01 8.26154578e-01 1.62857438e-02 -8.04575394e+01] [ 2.76236803e-02 -8.73494874e-04 9.99618012e-01 4.03203684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26275509599998 meters 0.028964209617140604 Centerline is valid? [True, True] Translation: X:193.11, Y:-80.50, Z:4.03 [[ 8.28913266e-01 5.58888630e-01 -2.33729811e-02 1.93110969e+02] [-5.58629588e-01 8.29242030e-01 1.70481107e-02 -8.04978368e+01] [ 2.89098535e-02 -1.07456629e-03 9.99581445e-01 4.03278415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32275509599998 meters 0.028826904759691716 Centerline is valid? [True, True] Translation: X:193.16, Y:-80.53, Z:4.04 [[ 8.30486808e-01 5.56567471e-01 -2.28978442e-02 1.93160890e+02] [-5.56317948e-01 8.30801641e-01 1.67025097e-02 -8.05344707e+01] [ 2.83196401e-02 -1.13273227e-03 9.99598277e-01 4.03550369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38275509599998 meters 0.031442850817428224 Centerline is valid? [True, True] Translation: X:193.21, Y:-80.57, Z:4.04 [[ 8.31380223e-01 5.55298910e-01 -2.12142623e-02 1.93208822e+02] [-5.55084217e-01 8.31650122e-01 1.54785652e-02 -8.05726902e+01] [ 2.62380743e-02 -1.09287081e-03 9.99655125e-01 4.03652433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44275509599998 meters 0.030160738548907405 Centerline is valid? [True, True] Translation: X:193.26, Y:-80.61, Z:4.04 [[ 8.30234641e-01 5.57056197e-01 -1.99708452e-02 1.93259234e+02] [-5.56866256e-01 8.30474218e-01 1.45789254e-02 -8.06085502e+01] [ 2.47065528e-02 -9.82839142e-04 9.99694263e-01 4.04144191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.502755096 meters 0.026823271857368602 Centerline is valid? [True, True] Translation: X:193.31, Y:-80.64, Z:4.04 [[ 8.27336217e-01 5.61375157e-01 -1.93058724e-02 1.93311553e+02] [-5.61198678e-01 8.27561021e-01 1.40996763e-02 -8.06397321e+01] [ 2.38919954e-02 -8.30742797e-04 9.99714200e-01 4.04390939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.562755096 meters 0.02260283070179018 Centerline is valid? [True, True] Translation: X:193.37, Y:-80.67, Z:4.04 [[ 8.22588361e-01 5.68311316e-01 -1.92519294e-02 1.93365214e+02] [-5.68137697e-01 8.22813377e-01 1.40607341e-02 -8.06687247e+01] [ 2.38316194e-02 -6.28449335e-04 9.99715789e-01 4.04466873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.622755096 meters 0.0203012059261057 Centerline is valid? [True, True] Translation: X:193.42, Y:-80.70, Z:4.05 [[ 8.18409873e-01 5.74326920e-01 -1.88113838e-02 1.93418886e+02] [-5.74162728e-01 8.18625917e-01 1.37393271e-02 -8.06995221e+01] [ 2.32903518e-02 -4.43605504e-04 9.99728645e-01 4.04521459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.682755096 meters 0.019332046216249413 Centerline is valid? [True, True] Translation: X:193.47, Y:-80.74, Z:4.05 [[ 8.17313425e-01 5.75897268e-01 -1.84689347e-02 1.93469661e+02] [-5.75739336e-01 8.17521976e-01 1.34920509e-02 -8.07353603e+01] [ 2.28687953e-02 -3.93942069e-04 9.99738397e-01 4.04754897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.742755096 meters 0.01861774011863658 Centerline is valid? [True, True] Translation: X:193.52, Y:-80.77, Z:4.05 [[ 8.15579207e-01 5.78364209e-01 -1.80388119e-02 1.93519761e+02] [-5.78213992e-01 8.15778608e-01 1.31849012e-02 -8.07701386e+01] [ 2.23413518e-02 -3.23037831e-04 9.99750349e-01 4.04893859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.802755096 meters 0.018150781355275408 Centerline is valid? [True, True] Translation: X:193.57, Y:-80.81, Z:4.05 [[ 8.15377707e-01 5.78643377e-01 -1.81944165e-02 1.93570547e+02] [-5.78490508e-01 8.15580614e-01 1.33038806e-02 -8.08067273e+01] [ 2.25372158e-02 -3.22390426e-04 9.99745953e-01 4.05065336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.862755096 meters 0.018198251839204517 Centerline is valid? [True, True] Translation: X:193.62, Y:-80.84, Z:4.05 [[ 8.15324796e-01 5.78705684e-01 -1.85797740e-02 1.93620761e+02] [-5.78546070e-01 8.15536399e-01 1.35950721e-02 -8.08445285e+01] [ 2.30200275e-02 -3.35144158e-04 9.99734948e-01 4.05188221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.922755096 meters 0.01865752457991343 Centerline is valid? [True, True] Translation: X:193.67, Y:-80.88, Z:4.05 [[ 8.15671815e-01 5.78197223e-01 -1.91692757e-02 1.93668811e+02] [-5.78026959e-01 8.15896952e-01 1.40356109e-02 -8.08814632e+01] [ 2.37555049e-02 -3.68094057e-04 9.99717730e-01 4.05280948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98275509599998 meters 0.021564097992828737 Centerline is valid? [True, True] Translation: X:193.72, Y:-80.92, Z:4.05 [[ 8.16653020e-01 5.76747187e-01 -2.09887400e-02 1.93718130e+02] [-5.76542374e-01 8.16922563e-01 1.53758510e-02 -8.09184639e+01] [ 2.60141541e-02 -4.55837217e-04 9.99661471e-01 4.05024670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04275509599998 meters 0.01915795836733188 Centerline is valid? [True, True] Translation: X:193.77, Y:-80.96, Z:4.05 [[ 8.16952086e-01 5.76342156e-01 -2.04696806e-02 1.93768151e+02] [-5.76147003e-01 8.17208360e-01 1.50042597e-02 -8.09568532e+01] [ 2.53755815e-02 -4.64216120e-04 9.99677880e-01 4.05421124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10275509599998 meters 0.021606547143806946 Centerline is valid? [True, True] Translation: X:193.82, Y:-80.99, Z:4.05 [[ 8.18573418e-01 5.74043586e-01 -2.02859749e-02 1.93815973e+02] [-5.73850998e-01 8.18824567e-01 1.48781852e-02 -8.09943019e+01] [ 2.51513814e-02 -5.37759969e-04 9.99683509e-01 4.05426544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16275509599998 meters 0.023249063681748484 Centerline is valid? [True, True] Translation: X:193.87, Y:-81.03, Z:4.06 [[ 8.20071619e-01 5.71916749e-01 -1.98437067e-02 1.93865741e+02] [-5.71731715e-01 8.20311453e-01 1.45590580e-02 -8.10318449e+01] [ 2.46045890e-02 -5.94193782e-04 9.99697085e-01 4.05619890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.222755096 meters 0.02228007839192454 Centerline is valid? [True, True] Translation: X:193.91, Y:-81.07, Z:4.06 [[ 8.20443980e-01 5.71448383e-01 -1.78443818e-02 1.93914409e+02] [-5.71298492e-01 8.20637825e-01 1.30993617e-02 -8.10705263e+01] [ 2.21293837e-02 -5.52824049e-04 9.99754962e-01 4.06057081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.282755096 meters 0.023681534608366347 Centerline is valid? [True, True] Translation: X:193.97, Y:-81.11, Z:4.06 [[ 8.21203001e-01 5.70347537e-01 -1.81470974e-02 1.93965843e+02] [-5.70192060e-01 8.21403267e-01 1.33299497e-02 -8.11058335e+01] [ 2.25087891e-02 -5.99263857e-04 9.99746466e-01 4.06038433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.342755096 meters 0.022766096180838902 Centerline is valid? [True, True] Translation: X:194.02, Y:-81.14, Z:4.06 [[ 8.21025127e-01 5.70642230e-01 -1.68874362e-02 1.94017505e+02] [-5.70507508e-01 8.21198597e-01 1.24115820e-02 -8.11411622e+01] [ 2.09505118e-02 -5.55811558e-04 9.99780359e-01 4.06241252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.402755096 meters 0.024036253778167756 Centerline is valid? [True, True] Translation: X:194.07, Y:-81.18, Z:4.06 [[ 8.21178545e-01 5.70400208e-01 -1.75898015e-02 1.94067687e+02] [-5.70253808e-01 8.21366698e-01 1.29360824e-02 -8.11769234e+01] [ 2.18264212e-02 -5.92182009e-04 9.99761600e-01 4.06195015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.462755096 meters 0.023364325355009957 Centerline is valid? [True, True] Translation: X:194.12, Y:-81.21, Z:4.06 [[ 8.21543385e-01 5.69883918e-01 -1.72854314e-02 1.94118328e+02] [-5.69742333e-01 8.21724991e-01 1.27166237e-02 -8.12135571e+01] [ 2.14508704e-02 -5.99016061e-04 9.99769724e-01 4.06370819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.522755096 meters 0.02526994722214437 Centerline is valid? [True, True] Translation: X:194.17, Y:-81.25, Z:4.06 [[ 8.23439581e-01 5.67148458e-01 -1.70259804e-02 1.94167582e+02] [-5.67010358e-01 8.23615313e-01 1.25327636e-02 -8.12505474e+01] [ 2.11307957e-02 -6.66066391e-04 9.99776498e-01 4.06462273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.582755096 meters 0.02898623118278892 Centerline is valid? [True, True] Translation: X:194.22, Y:-81.29, Z:4.07 [[ 8.26439849e-01 5.62788513e-01 -1.63176302e-02 1.94215673e+02] [-5.62660701e-01 8.26600585e-01 1.20170026e-02 -8.12880994e+01] [ 2.02511937e-02 -7.50040567e-04 9.99794642e-01 4.06544770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.642755096 meters 0.027562443568178007 Centerline is valid? [True, True] Translation: X:194.27, Y:-81.32, Z:4.07 [[ 8.28227209e-01 5.60163828e-01 -1.60055176e-02 1.94267495e+02] [-5.60040353e-01 8.28381462e-01 1.17879730e-02 -8.13215735e+01] [ 1.98618702e-02 -7.99384235e-04 9.99802414e-01 4.06643302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70275509599998 meters 0.035103746714356746 Centerline is valid? [True, True] Translation: X:194.31, Y:-81.36, Z:4.07 [[ 8.30143940e-01 5.57320442e-01 -1.59676018e-02 1.94311811e+02] [-5.57196902e-01 8.30297036e-01 1.17662629e-02 -8.13628648e+01] [ 1.98154313e-02 -8.70593576e-04 9.99803276e-01 4.06763805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76275509599998 meters 0.03551382032916898 Centerline is valid? [True, True] Translation: X:194.36, Y:-81.40, Z:4.07 [[ 8.30823639e-01 5.56282629e-01 -1.67844691e-02 1.94362749e+02] [-5.56145889e-01 8.30992629e-01 1.23693553e-02 -8.13968889e+01] [ 2.08286276e-02 -9.42139275e-04 9.99782617e-01 4.06844287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82275509599998 meters 0.036851398775008586 Centerline is valid? [True, True] Translation: X:194.41, Y:-81.43, Z:4.07 [[ 8.30853200e-01 5.56202699e-01 -1.79309272e-02 1.94411475e+02] [-5.56046606e-01 8.31046051e-01 1.32148499e-02 -8.14290558e+01] [ 2.22515615e-02 -1.00916910e-03 9.99751894e-01 4.06855076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88275509599998 meters 0.03639548049057993 Centerline is valid? [True, True] Translation: X:194.46, Y:-81.46, Z:4.07 [[ 8.30511761e-01 5.56704105e-01 -1.81866463e-02 1.94461799e+02] [-5.56543714e-01 8.30710253e-01 1.34003746e-02 -8.14606489e+01] [ 2.25678771e-02 -1.00750501e-03 9.99744805e-01 4.06924345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94275509599998 meters 0.0332717417119937 Centerline is valid? [True, True] Translation: X:194.51, Y:-81.49, Z:4.07 [[ 8.29834027e-01 5.57716777e-01 -1.80965047e-02 1.94512665e+02] [-5.57558266e-01 8.30030752e-01 1.33315612e-02 -8.14906143e+01] [ 2.24558908e-02 -9.73127349e-04 9.99747361e-01 4.07121767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.002755096 meters 0.027777898915394558 Centerline is valid? [True, True] Translation: X:194.57, Y:-81.52, Z:4.07 [[ 8.28144433e-01 5.60221855e-01 -1.81182697e-02 1.94566036e+02] [-5.60063615e-01 8.28342113e-01 1.33450965e-02 -8.15176151e+01] [ 2.24843405e-02 -9.04283761e-04 9.99746786e-01 4.07262989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.062755096 meters 0.03060047725084088 Centerline is valid? [True, True] Translation: X:194.61, Y:-81.56, Z:4.07 [[ 8.27134860e-01 5.61747095e-01 -1.69742259e-02 1.94611588e+02] [-5.61608575e-01 8.27308619e-01 1.25003239e-02 -8.15552993e+01] [ 2.10649441e-02 -8.06582864e-04 9.99777784e-01 4.07465643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.122755096 meters 0.027220721345814467 Centerline is valid? [True, True] Translation: X:194.66, Y:-81.59, Z:4.08 [[ 8.26733757e-01 5.62305475e-01 -1.79957808e-02 1.94662159e+02] [-5.62149954e-01 8.26929168e-01 1.32506346e-02 -8.15859398e+01] [ 2.23321405e-02 -8.38419549e-04 9.99750255e-01 4.07545807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.182755096 meters 0.027268732914444625 Centerline is valid? [True, True] Translation: X:194.71, Y:-81.62, Z:4.08 [[ 8.26901316e-01 5.62066715e-01 -1.77544643e-02 1.94712441e+02] [-5.61915301e-01 8.27091479e-01 1.30721282e-02 -8.16228418e+01] [ 2.20319743e-02 -8.32854818e-04 9.99756920e-01 4.07691829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.242755096 meters 0.03190907831363859 Centerline is valid? [True, True] Translation: X:194.75, Y:-81.66, Z:4.08 [[ 8.27295110e-01 5.61497266e-01 -1.74247489e-02 1.94754572e+02] [-5.61351168e-01 8.27478168e-01 1.28353992e-02 -8.16626263e+01] [ 2.16256408e-02 -8.37259816e-04 9.99765788e-01 4.07789508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.302755096 meters 0.032683949841116756 Centerline is valid? [True, True] Translation: X:194.80, Y:-81.70, Z:4.08 [[ 8.27694297e-01 5.60903108e-01 -1.76026814e-02 1.94801401e+02] [-5.60753937e-01 8.27881009e-01 1.29636578e-02 -8.16983171e+01] [ 2.18442816e-02 -8.59172683e-04 9.99761016e-01 4.07863083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.362755096 meters 0.027577702194407694 Centerline is valid? [True, True] Translation: X:194.85, Y:-81.73, Z:4.08 [[ 8.27978155e-01 5.60478155e-01 -1.77880003e-02 1.94852539e+02] [-5.60325782e-01 8.28168743e-01 1.30977492e-02 -8.17282620e+01] [ 2.20724681e-02 -8.77574999e-04 9.99755988e-01 4.08020722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.422755096 meters 0.03228924205535377 Centerline is valid? [True, True] Translation: X:194.89, Y:-81.77, Z:4.08 [[ 8.28122916e-01 5.60276153e-01 -1.74088905e-02 1.94893955e+02] [-5.60130213e-01 8.28305433e-01 1.28161956e-02 -8.17687298e+01] [ 2.16004873e-02 -8.62139731e-04 9.99766311e-01 4.08190990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48275509599998 meters 0.028306726264223193 Centerline is valid? [True, True] Translation: X:194.94, Y:-81.80, Z:4.08 [[ 8.28150220e-01 5.60203081e-01 -1.84315145e-02 1.94944021e+02] [-5.60039548e-01 8.28354801e-01 1.35657468e-02 -8.17988064e+01] [ 2.28674067e-02 -9.12099124e-04 9.99738091e-01 4.08271599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54275509599998 meters 0.02780785093967094 Centerline is valid? [True, True] Translation: X:194.99, Y:-81.84, Z:4.08 [[ 8.27950926e-01 5.60482235e-01 -1.88925579e-02 1.94994579e+02] [-5.60310517e-01 8.28165929e-01 1.39038917e-02 -8.18356644e+01] [ 2.34390571e-02 -9.26041143e-04 9.99724839e-01 4.08386893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60275509599998 meters 0.031708493109206766 Centerline is valid? [True, True] Translation: X:195.04, Y:-81.88, Z:4.08 [[ 8.27787905e-01 5.60713744e-01 -1.91645894e-02 1.95038922e+02] [-5.60536937e-01 8.28009189e-01 1.41111913e-02 -8.18754407e+01] [ 2.37807950e-02 -9.38613256e-04 9.99716756e-01 4.08407638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66275509599998 meters 0.02720362293233635 Centerline is valid? [True, True] Translation: X:195.09, Y:-81.91, Z:4.09 [[ 8.26790520e-01 5.62160722e-01 -1.98181362e-02 1.95089142e+02] [-5.61972116e-01 8.27027488e-01 1.45902348e-02 -8.19061090e+01] [ 2.45922003e-02 -9.25827876e-04 9.99697137e-01 4.08514738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.722755096 meters 0.030912898547380253 Centerline is valid? [True, True] Translation: X:195.13, Y:-81.95, Z:4.08 [[ 8.25713259e-01 5.63718205e-01 -2.04792342e-02 1.95132433e+02] [-5.63517352e-01 8.25966684e-01 1.50741834e-02 -8.19454539e+01] [ 2.54127567e-02 -9.06549255e-04 9.99676633e-01 4.08474578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.782755096 meters 0.024609146981329277 Centerline is valid? [True, True] Translation: X:195.18, Y:-81.98, Z:4.09 [[ 8.23765789e-01 5.66572135e-01 -2.01479942e-02 1.95183578e+02] [-5.66378641e-01 8.24011754e-01 1.48278105e-02 -8.19750668e+01] [ 2.50032083e-02 -8.03249408e-04 9.99687048e-01 4.08811302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.842755096 meters 0.025557458092297723 Centerline is valid? [True, True] Translation: X:195.23, Y:-82.01, Z:4.09 [[ 8.21609435e-01 5.69741628e-01 -1.87726814e-02 1.95228615e+02] [-5.69574522e-01 8.21823610e-01 1.38136959e-02 -8.20143272e+01] [ 2.32980703e-02 -6.57021858e-04 9.99728347e-01 4.09030753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.902755096 meters 0.022121407281391295 Centerline is valid? [True, True] Translation: X:195.28, Y:-82.05, Z:4.09 [[ 8.20218455e-01 5.71761946e-01 -1.81649165e-02 1.95279078e+02] [-5.71605994e-01 8.20419369e-01 1.33658616e-02 -8.20469078e+01] [ 2.25449403e-02 -5.79751169e-04 9.99745662e-01 4.09310541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.962755096 meters 0.02064350542976687 Centerline is valid? [True, True] Translation: X:195.33, Y:-82.08, Z:4.09 [[ 8.18648506e-01 5.74018678e-01 -1.78095870e-02 1.95327592e+02] [-5.73869320e-01 8.18842049e-01 1.31035309e-02 -8.20825452e+01] [ 2.21049102e-02 -5.06810401e-04 9.99755528e-01 4.09484185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.022755096 meters 0.019695435309823383 Centerline is valid? [True, True] Translation: X:195.38, Y:-82.12, Z:4.10 [[ 8.17599032e-01 5.75474666e-01 -1.89929615e-02 1.95375939e+02] [-5.75305150e-01 8.17819454e-01 1.39758882e-02 -8.21211996e+01] [ 2.35755830e-02 -4.99924044e-04 9.99721932e-01 4.09505140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.082755096 meters 0.019996592188424252 Centerline is valid? [True, True] Translation: X:195.42, Y:-82.16, Z:4.10 [[ 8.17286847e-01 5.75882731e-01 -2.00322315e-02 1.95424276e+02] [-5.75694046e-01 8.17532145e-01 1.47498346e-02 -8.21622468e+01] [ 2.48711682e-02 -5.22409429e-04 9.99690528e-01 4.09525120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.142755096 meters 0.0204598260888941 Centerline is valid? [True, True] Translation: X:195.47, Y:-82.20, Z:4.10 [[ 8.17614827e-01 5.75410428e-01 -2.02196158e-02 1.95471571e+02] [-5.75217859e-01 8.17864621e-01 1.48954951e-02 -8.22007884e+01] [ 2.51079317e-02 -5.48093550e-04 9.99684596e-01 4.09634570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20275509599998 meters 0.021523185211649004 Centerline is valid? [True, True] Translation: X:195.52, Y:-82.24, Z:4.10 [[ 8.19287361e-01 5.73031413e-01 -2.00803369e-02 1.95517357e+02] [-5.72840701e-01 8.19533169e-01 1.47957766e-02 -8.22425549e+01] [ 2.49349470e-02 -6.19158499e-04 9.99688884e-01 4.09787654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26275509599998 meters 0.02283634573922011 Centerline is valid? [True, True] Translation: X:195.56, Y:-82.28, Z:4.10 [[ 8.20850100e-01 5.70782786e-01 -2.03008517e-02 1.95563907e+02] [-5.70586965e-01 8.21100797e-01 1.49665152e-02 -8.22836958e+01] [ 2.52116748e-02 -7.01864159e-04 9.99681889e-01 4.09942465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32275509599998 meters 0.024965529606769458 Centerline is valid? [True, True] Translation: X:195.61, Y:-82.33, Z:4.10 [[ 8.22933275e-01 5.67750196e-01 -2.09890514e-02 1.95609959e+02] [-5.67539692e-01 8.23200480e-01 1.54812382e-02 -8.23264714e+01] [ 2.60676732e-02 -8.27906308e-04 9.99659838e-01 4.09990328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38275509599998 meters 0.024226377433920702 Centerline is valid? [True, True] Translation: X:195.66, Y:-82.37, Z:4.10 [[ 8.23118210e-01 5.67448345e-01 -2.18812310e-02 1.95658016e+02] [-5.67219322e-01 8.23408530e-01 1.61441597e-02 -8.23654044e+01] [ 2.71781689e-02 -8.77094829e-04 9.99630221e-01 4.10145075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44275509599998 meters 0.025152261466526056 Centerline is valid? [True, True] Translation: X:195.71, Y:-82.40, Z:4.10 [[ 8.21670573e-01 5.69507679e-01 -2.27700184e-02 1.95705821e+02] [-5.69260179e-01 8.21985572e-01 1.68097643e-02 -8.24037763e+01] [ 2.82899165e-02 -8.50023920e-04 9.99599399e-01 4.10162941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.502755096 meters 0.02233860996930005 Centerline is valid? [True, True] Translation: X:195.76, Y:-82.44, Z:4.10 [[ 8.18437534e-01 5.74156695e-01 -2.24519975e-02 1.95756240e+02] [-5.73917626e-01 8.18745149e-01 1.65812963e-02 -8.24386933e+01] [ 2.79027264e-02 -6.85158145e-04 9.99610408e-01 4.10316374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.562755096 meters 0.02092315166093873 Centerline is valid? [True, True] Translation: X:195.81, Y:-82.47, Z:4.10 [[ 8.16038016e-01 5.77581559e-01 -2.19431016e-02 1.95805326e+02] [-5.77354383e-01 8.16332795e-01 1.62075310e-02 -8.24741332e+01] [ 2.72740445e-02 -5.57015546e-04 9.99627839e-01 4.10435149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.622755096 meters 0.021500657121648815 Centerline is valid? [True, True] Translation: X:195.85, Y:-82.51, Z:4.11 [[ 8.16310792e-01 5.77258291e-01 -2.02375089e-02 1.95850044e+02] [-5.77064915e-01 8.16561443e-01 1.49497172e-02 -8.25119303e+01] [ 2.51550177e-02 -5.25259119e-04 9.99683424e-01 4.10620263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.682755096 meters 0.022509983179408468 Centerline is valid? [True, True] Translation: X:195.90, Y:-82.55, Z:4.11 [[ 8.17207833e-01 5.76047571e-01 -1.84541082e-02 1.95895695e+02] [-5.75886496e-01 8.17416010e-01 1.36311919e-02 -8.25511119e+01] [ 2.29368985e-02 -5.12045129e-04 9.99736784e-01 4.10879878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.742755096 meters 0.023129514162619415 Centerline is valid? [True, True] Translation: X:195.94, Y:-82.59, Z:4.11 [[ 8.17440538e-01 5.75777747e-01 -1.64606760e-02 1.95942297e+02] [-5.75649537e-01 8.17606123e-01 1.21588961e-02 -8.25889221e+01] [ 2.04591713e-02 -4.63594051e-04 9.99790582e-01 4.11092180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.802755096 meters 0.021791297172485027 Centerline is valid? [True, True] Translation: X:195.99, Y:-82.63, Z:4.11 [[ 8.17163105e-01 5.76185495e-01 -1.59604096e-02 1.95993304e+02] [-5.76065046e-01 8.17318838e-01 1.17889926e-02 -8.26262771e+01] [ 1.98373899e-02 -4.39295668e-04 9.99803123e-01 4.11103069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.862755096 meters 0.022191534274560807 Centerline is valid? [True, True] Translation: X:196.04, Y:-82.66, Z:4.11 [[ 8.17345625e-01 5.75902572e-01 -1.68034999e-02 1.96041898e+02] [-5.75768830e-01 8.17518196e-01 1.24198802e-02 -8.26648857e+01] [ 2.08898079e-02 -4.76403261e-04 9.99781671e-01 4.11127818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.922755096 meters 0.02313917782205886 Centerline is valid? [True, True] Translation: X:196.09, Y:-82.70, Z:4.11 [[ 8.17667240e-01 5.75430670e-01 -1.73155273e-02 1.96091524e+02] [-5.75288390e-01 8.17850404e-01 1.28056361e-02 -8.27021778e+01] [ 2.15302668e-02 -5.09327324e-04 9.99768067e-01 4.11054727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98275509599998 meters 0.0238103893549913 Centerline is valid? [True, True] Translation: X:196.14, Y:-82.74, Z:4.11 [[ 8.17486828e-01 5.75687637e-01 -1.72925043e-02 1.96140195e+02] [-5.75545632e-01 8.17669546e-01 1.27960441e-02 -8.27408989e+01] [ 2.15060785e-02 -5.07972189e-04 9.99768589e-01 4.11102795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04275509599998 meters 0.023118223757283677 Centerline is valid? [True, True] Translation: X:196.19, Y:-82.78, Z:4.11 [[ 8.16520321e-01 5.77051535e-01 -1.74954886e-02 1.96191260e+02] [-5.76906316e-01 8.16707593e-01 1.29541796e-02 -8.27767089e+01] [ 2.17639276e-02 -4.84093049e-04 9.99763020e-01 4.11168615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10275509599998 meters 0.019011064563786484 Centerline is valid? [True, True] Translation: X:196.24, Y:-82.81, Z:4.11 [[ 8.13100777e-01 5.81888394e-01 -1.65234363e-02 1.96242679e+02] [-5.81759731e-01 8.13268579e-01 1.22406831e-02 -8.28096521e+01] [ 2.05607030e-02 -3.40239137e-04 9.99788549e-01 4.11368836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16275509599998 meters 0.017526600387928828 Centerline is valid? [True, True] Translation: X:196.29, Y:-82.84, Z:4.12 [[ 8.09719887e-01 5.86600941e-01 -1.59072129e-02 1.96294427e+02] [-5.86482577e-01 8.09876095e-01 1.17854365e-02 -8.28435111e+01] [ 1.97962197e-02 -2.13599108e-04 9.99804013e-01 4.11518975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.222755096 meters 0.01702530081312293 Centerline is valid? [True, True] Translation: X:196.35, Y:-82.88, Z:4.12 [[ 8.07649017e-01 5.89474766e-01 -1.49186156e-02 1.96345382e+02] [-5.89371038e-01 8.07786780e-01 1.10588704e-02 -8.28778774e+01] [ 1.85699855e-02 -1.39085897e-04 9.99827553e-01 4.11725661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.282755096 meters 0.016496035976197747 Centerline is valid? [True, True] Translation: X:196.40, Y:-82.91, Z:4.12 [[ 8.05997734e-01 5.91729286e-01 -1.49701214e-02 1.96395813e+02] [-5.91625121e-01 8.06136740e-01 1.11028312e-02 -8.29107287e+01] [ 1.86378353e-02 -9.21569394e-05 9.99826296e-01 4.11826291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.342755096 meters 0.016349054609505986 Centerline is valid? [True, True] Translation: X:196.44, Y:-82.95, Z:4.12 [[ 8.05551624e-01 5.92339897e-01 -1.48332924e-02 1.96443835e+02] [-5.92237731e-01 8.05688178e-01 1.10013605e-02 -8.29453327e+01] [ 1.84675530e-02 -7.73283715e-05 9.99829457e-01 4.11947621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.402755096 meters 0.01635062387508867 Centerline is valid? [True, True] Translation: X:196.49, Y:-82.98, Z:4.12 [[ 8.05909195e-01 5.91845406e-01 -1.51454406e-02 1.96490957e+02] [-5.91738824e-01 8.06051492e-01 1.12319683e-02 -8.29812545e+01] [ 1.88555938e-02 -8.98013026e-05 9.99822213e-01 4.12048980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.462755096 meters 0.01652676968211416 Centerline is valid? [True, True] Translation: X:196.54, Y:-83.02, Z:4.12 [[ 8.07325986e-01 5.89900142e-01 -1.55748261e-02 1.96540031e+02] [-5.89787097e-01 8.07476194e-01 1.15488800e-02 -8.30196173e+01] [ 1.93889872e-02 -1.37879440e-04 9.99812006e-01 4.12196096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.522755096 meters 0.016863964758371246 Centerline is valid? [True, True] Translation: X:196.59, Y:-83.06, Z:4.12 [[ 8.07868374e-01 5.89156641e-01 -1.55930718e-02 1.96588745e+02] [-5.89043062e-01 8.08018828e-01 1.15690874e-02 -8.30582099e+01] [ 1.94155003e-02 -1.61309089e-04 9.99811488e-01 4.12295866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.582755096 meters 0.017608480048898936 Centerline is valid? [True, True] Translation: X:196.64, Y:-83.10, Z:4.12 [[ 8.10612060e-01 5.85357290e-01 -1.62766822e-02 1.96636816e+02] [-5.85232611e-01 8.10775413e-01 1.20838893e-02 -8.30980027e+01] [ 2.02701264e-02 -2.69701128e-04 9.99794504e-01 4.12363710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.642755096 meters 0.019243488969283372 Centerline is valid? [True, True] Translation: X:196.68, Y:-83.14, Z:4.12 [[ 8.13983621e-01 5.80648772e-01 -1.66633780e-02 1.96683569e+02] [-5.80516966e-01 8.14154065e-01 1.23778202e-02 -8.31392405e+01] [ 2.07537231e-02 -4.01969301e-04 9.99784537e-01 4.12460983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70275509599998 meters 0.020558489140724147 Centerline is valid? [True, True] Translation: X:196.73, Y:-83.18, Z:4.13 [[ 8.15512114e-01 5.78488236e-01 -1.70690755e-02 1.96732431e+02] [-5.78349399e-01 8.15690591e-01 1.26819758e-02 -8.31780795e+01] [ 2.12594581e-02 -4.70415332e-04 9.99773882e-01 4.12562726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76275509599998 meters 0.02122394223466841 Centerline is valid? [True, True] Translation: X:196.78, Y:-83.22, Z:4.13 [[ 8.16149038e-01 5.77592734e-01 -1.69523176e-02 1.96782119e+02] [-5.77455445e-01 8.16324927e-01 1.26024596e-02 -8.32158402e+01] [ 2.11176885e-02 -4.96277162e-04 9.99776874e-01 4.12677265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82275509599998 meters 0.021451620918556666 Centerline is valid? [True, True] Translation: X:196.83, Y:-83.25, Z:4.13 [[ 8.15686975e-01 5.78233367e-01 -1.73474085e-02 1.96832243e+02] [-5.78089594e-01 8.15871269e-01 1.29032574e-02 -8.32506779e+01] [ 2.16143461e-02 -4.96662702e-04 9.99766259e-01 4.12802855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88275509599998 meters 0.02100838510046115 Centerline is valid? [True, True] Translation: X:196.88, Y:-83.29, Z:4.13 [[ 8.14471767e-01 5.79935149e-01 -1.76341705e-02 1.96882641e+02] [-5.79786880e-01 8.14662512e-01 1.31211751e-02 -8.32852719e+01] [ 2.19753283e-02 -4.62765939e-04 9.99758406e-01 4.12940786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94275509599998 meters 0.020241059892042924 Centerline is valid? [True, True] Translation: X:196.93, Y:-83.32, Z:4.13 [[ 8.13628856e-01 5.81113287e-01 -1.77604222e-02 1.96933601e+02] [-5.80963015e-01 8.13822557e-01 1.32219963e-02 -8.33208941e+01] [ 2.21373099e-02 -4.39649267e-04 9.99754843e-01 4.13057105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.002755096 meters 0.019511304439980406 Centerline is valid? [True, True] Translation: X:196.98, Y:-83.36, Z:4.13 [[ 8.12881254e-01 5.82156723e-01 -1.78218268e-02 1.96983839e+02] [-5.82005495e-01 8.13076488e-01 1.32751248e-02 -8.33566205e+01] [ 2.22187115e-02 -4.18698926e-04 9.99753046e-01 4.13241373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.062755096 meters 0.018814919942124204 Centerline is valid? [True, True] Translation: X:197.04, Y:-83.39, Z:4.13 [[ 8.12714774e-01 5.82398723e-01 -1.75049633e-02 1.97035473e+02] [-5.82252720e-01 8.12903167e-01 1.30465305e-02 -8.33929609e+01] [ 2.18281228e-02 -4.10795579e-04 9.99761654e-01 4.13454943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.122755096 meters 0.019948528731534326 Centerline is valid? [True, True] Translation: X:197.08, Y:-83.43, Z:4.14 [[ 8.13041478e-01 5.81929757e-01 -1.79252171e-02 1.97082380e+02] [-5.81776358e-01 8.13238934e-01 1.33680540e-02 -8.34323326e+01] [ 2.23567529e-02 -4.40314811e-04 9.99749960e-01 4.13517237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.182755096 meters 0.020347364056334877 Centerline is valid? [True, True] Translation: X:197.13, Y:-83.47, Z:4.14 [[ 8.13396912e-01 5.81423349e-01 -1.82305559e-02 1.97131336e+02] [-5.81264440e-01 8.13601052e-01 1.36006783e-02 -8.34710626e+01] [ 2.27401514e-02 -4.65975840e-04 9.99741301e-01 4.13612414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.242755096 meters 0.018736130768592547 Centerline is valid? [True, True] Translation: X:197.19, Y:-83.50, Z:4.14 [[ 8.12320331e-01 5.82946750e-01 -1.75717632e-02 1.97185418e+02] [-5.82799321e-01 8.12510256e-01 1.31162376e-02 -8.35019736e+01] [ 2.19233058e-02 -4.13774802e-04 9.99759570e-01 4.13812924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.302755096 meters 0.019134901700685533 Centerline is valid? [True, True] Translation: X:197.23, Y:-83.54, Z:4.14 [[ 8.11699625e-01 5.83791871e-01 -1.81870913e-02 1.97234991e+02] [-5.83633967e-01 8.11903247e-01 1.35834698e-02 -8.35370028e+01] [ 2.26960777e-02 -4.11093086e-04 9.99742326e-01 4.13824846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.362755096 meters 0.019355672030143215 Centerline is valid? [True, True] Translation: X:197.28, Y:-83.58, Z:4.14 [[ 8.12742449e-01 5.82297363e-01 -1.94805667e-02 1.97283458e+02] [-5.82115566e-01 8.12975731e-01 1.45577732e-02 -8.35756596e+01] [ 2.43141809e-02 -4.91779112e-04 9.99704246e-01 4.13815557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.422755096 meters 0.020270910707825784 Centerline is valid? [True, True] Translation: X:197.33, Y:-83.61, Z:4.14 [[ 8.13410150e-01 5.81346860e-01 -1.99939191e-02 1.97334037e+02] [-5.81154849e-01 8.13655662e-01 1.49501259e-02 -8.36122002e+01] [ 2.49593742e-02 -5.41021103e-04 9.99688320e-01 4.13775373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48275509599998 meters 0.021449027047605606 Centerline is valid? [True, True] Translation: X:197.38, Y:-83.65, Z:4.14 [[ 8.13340766e-01 5.81451383e-01 -1.97759227e-02 1.97383767e+02] [-5.81263377e-01 8.13580973e-01 1.47948381e-02 -8.36499213e+01] [ 2.46917935e-02 -5.38225383e-04 9.99694966e-01 4.13808812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54275509599998 meters 0.021123196201596323 Centerline is valid? [True, True] Translation: X:197.43, Y:-83.68, Z:4.14 [[ 8.12434506e-01 5.82690562e-01 -2.05397588e-02 1.97429922e+02] [-5.82488046e-01 8.12693937e-01 1.53701352e-02 -8.36848651e+01] [ 2.56485702e-02 -5.23064194e-04 9.99670884e-01 4.13895123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60275509599998 meters 0.01950367332639929 Centerline is valid? [True, True] Translation: X:197.48, Y:-83.72, Z:4.14 [[ 8.11328234e-01 5.84232547e-01 -2.04652585e-02 1.97481191e+02] [-5.84032033e-01 8.11586168e-01 1.53125913e-02 -8.37182175e+01] [ 2.55554350e-02 -4.71171151e-04 9.99673296e-01 4.14073269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66275509599998 meters 0.019010007920851786 Centerline is valid? [True, True] Translation: X:197.53, Y:-83.75, Z:4.14 [[ 8.10933102e-01 5.84820048e-01 -1.93136107e-02 1.97530219e+02] [-5.84641616e-01 8.11162948e-01 1.44517334e-02 -8.37532493e+01] [ 2.41181488e-02 -4.27848373e-04 9.99709024e-01 4.14322403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.722755096 meters 0.019118029946677027 Centerline is valid? [True, True] Translation: X:197.58, Y:-83.79, Z:4.15 [[ 8.10812746e-01 5.85064323e-01 -1.68056112e-02 1.97576759e+02] [-5.84929284e-01 8.10986809e-01 1.25749210e-02 -8.37893629e+01] [ 2.09862667e-02 -3.65812141e-04 9.99779697e-01 4.14786693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.782755096 meters 0.018123902429469478 Centerline is valid? [True, True] Translation: X:197.63, Y:-83.83, Z:4.15 [[ 8.11314759e-01 5.84410902e-01 -1.52400471e-02 1.97626659e+02] [-5.84299758e-01 8.11457810e-01 1.14024138e-02 -8.38261334e+01] [ 1.90303502e-02 -3.46190748e-04 9.99818847e-01 4.15066272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.842755096 meters 0.018558257544476507 Centerline is valid? [True, True] Translation: X:197.68, Y:-83.86, Z:4.15 [[ 8.11624186e-01 5.83999159e-01 -1.45314232e-02 1.97675944e+02] [-5.83897936e-01 8.11754189e-01 1.08782744e-02 -8.38646296e+01] [ 1.81488468e-02 -3.44202603e-04 9.99835237e-01 4.15223248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.902755096 meters 0.019325382788511754 Centerline is valid? [True, True] Translation: X:197.72, Y:-83.90, Z:4.15 [[ 8.12442960e-01 5.82878783e-01 -1.37389892e-02 1.97723839e+02] [-5.82788044e-01 8.12559043e-01 1.02906267e-02 -8.39038323e+01] [ 1.71619279e-02 -3.53628527e-04 9.99852661e-01 4.15327681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.962755096 meters 0.02027275420151562 Centerline is valid? [True, True] Translation: X:197.77, Y:-83.94, Z:4.15 [[ 8.13681450e-01 5.81163962e-01 -1.30746516e-02 1.97771749e+02] [-5.81081479e-01 8.13786402e-01 9.79828720e-03 -8.39435594e+01] [ 1.63343851e-02 -3.75246634e-04 9.99866515e-01 4.15471520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.022755096 meters 0.020593215501008885 Centerline is valid? [True, True] Translation: X:197.82, Y:-83.98, Z:4.16 [[ 8.14810372e-01 5.79603039e-01 -1.20155745e-02 1.97820038e+02] [-5.79533138e-01 8.14898874e-01 9.00925990e-03 -8.39818000e+01] [ 1.50132726e-02 -3.77414794e-04 9.99887223e-01 4.15614874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.082755096 meters 0.021807935487304676 Centerline is valid? [True, True] Translation: X:197.87, Y:-84.02, Z:4.16 [[ 8.15471337e-01 5.78676958e-01 -1.18100127e-02 1.97867371e+02] [-5.78609263e-01 8.15556757e-01 8.85981958e-03 -8.40205929e+01] [ 1.47587091e-02 -3.91546168e-04 9.99891008e-01 4.15742472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.142755096 meters 0.022745183395805762 Centerline is valid? [True, True] Translation: X:197.92, Y:-84.06, Z:4.16 [[ 8.16942930e-01 5.76603251e-01 -1.15299472e-02 1.97915580e+02] [-5.76538458e-01 8.17024181e-01 8.65414037e-03 -8.40591018e+01] [ 1.44102512e-02 -4.22480796e-04 9.99896078e-01 4.15771849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20275509599998 meters 0.024712678525962605 Centerline is valid? [True, True] Translation: X:197.96, Y:-84.10, Z:4.16 [[ 8.18361275e-01 5.74595506e-01 -1.11726019e-02 1.97962439e+02] [-5.74534403e-01 8.18437416e-01 8.39148116e-03 -8.40976952e+01] [ 1.39657828e-02 -4.48219095e-04 9.99902373e-01 4.15836959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26275509599998 meters 0.02577072129572487 Centerline is valid? [True, True] Translation: X:198.01, Y:-84.14, Z:4.16 [[ 8.18372412e-01 5.74568180e-01 -1.17474052e-02 1.98010567e+02] [-5.74500631e-01 8.18456587e-01 8.82273784e-03 -8.41363046e+01] [ 1.46840056e-02 -4.71393576e-04 9.99892073e-01 4.15807768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32275509599998 meters 0.023621291247315494 Centerline is valid? [True, True] Translation: X:198.06, Y:-84.17, Z:4.16 [[ 8.17762314e-01 5.75441549e-01 -1.14813461e-02 1.98062519e+02] [-5.75377040e-01 8.17842785e-01 8.62790935e-03 -8.41709900e+01] [ 1.43547936e-02 -4.49476208e-04 9.99896864e-01 4.15880537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38275509599998 meters 0.024304745275133037 Centerline is valid? [True, True] Translation: X:198.11, Y:-84.21, Z:4.16 [[ 8.16439618e-01 5.77321784e-01 -1.12208833e-02 1.98110886e+02] [-5.77260278e-01 8.16516619e-01 8.43701243e-03 -8.42077540e+01] [ 1.40329088e-02 -4.10940968e-04 9.99901449e-01 4.16046650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44275509599998 meters 0.02140463074504962 Centerline is valid? [True, True] Translation: X:198.16, Y:-84.24, Z:4.16 [[ 8.14965371e-01 5.79408947e-01 -1.08034963e-02 1.98164242e+02] [-5.79352046e-01 8.15036894e-01 8.12819562e-03 -8.42408916e+01] [ 1.35147973e-02 -3.65170275e-04 9.99908604e-01 4.16157269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.502755096 meters 0.019595737879843162 Centerline is valid? [True, True] Translation: X:198.22, Y:-84.27, Z:4.16 [[ 8.12243525e-01 5.83215890e-01 -1.09399591e-02 1.98216069e+02] [-5.83157857e-01 8.12317137e-01 8.23295963e-03 -8.42739623e+01] [ 1.36883091e-02 -3.07445048e-04 9.99906263e-01 4.16287181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.562755096 meters 0.0185660892630175 Centerline is valid? [True, True] Translation: X:198.27, Y:-84.31, Z:4.16 [[ 8.10234834e-01 5.86009568e-01 -1.05971778e-02 1.98267304e+02] [-5.85955366e-01 8.10304093e-01 7.97405453e-03 -8.43088349e+01] [ 1.32598088e-02 -2.51383538e-04 9.99912053e-01 4.16455216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.622755096 meters 0.01890292889888742 Centerline is valid? [True, True] Translation: X:198.32, Y:-84.35, Z:4.17 [[ 8.09706390e-01 5.86723230e-01 -1.14635532e-02 1.98316460e+02] [-5.86659796e-01 8.09787492e-01 8.63145280e-03 -8.43458686e+01] [ 1.43473158e-02 -2.63736719e-04 9.99897037e-01 4.16503994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.682755096 meters 0.018205266981804306 Centerline is valid? [True, True] Translation: X:198.37, Y:-84.38, Z:4.16 [[ 8.09698670e-01 5.86726075e-01 -1.18564749e-02 1.98367350e+02] [-5.86658153e-01 8.09785426e-01 8.93172585e-03 -8.43826665e+01] [ 1.48416770e-02 -2.76308913e-04 9.99889818e-01 4.16497248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.742755096 meters 0.01917750939666565 Centerline is valid? [True, True] Translation: X:198.41, Y:-84.42, Z:4.17 [[ 8.10492007e-01 5.85615265e-01 -1.25486238e-02 1.98414732e+02] [-5.85538931e-01 8.10589082e-01 9.46047529e-03 -8.44205180e+01] [ 1.57119762e-02 -3.19931813e-04 9.99876508e-01 4.16509826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.802755096 meters 0.02102763227236201 Centerline is valid? [True, True] Translation: X:198.46, Y:-84.46, Z:4.16 [[ 8.11990677e-01 5.83499047e-01 -1.41422271e-02 1.98461217e+02] [-5.83401713e-01 8.12113720e-01 1.06651892e-02 -8.44601112e+01] [ 1.77082244e-02 -4.09434656e-04 9.99843113e-01 4.16382282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.862755096 meters 0.023164166685852312 Centerline is valid? [True, True] Translation: X:198.51, Y:-84.50, Z:4.16 [[ 8.13681341e-01 5.81105832e-01 -1.54494888e-02 1.98508320e+02] [-5.80989112e-01 8.13827839e-01 1.16575901e-02 -8.44999621e+01] [ 1.93475177e-02 -5.09578771e-04 9.99812689e-01 4.16257061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.922755096 meters 0.02234708887123075 Centerline is valid? [True, True] Translation: X:198.56, Y:-84.54, Z:4.16 [[ 8.14846739e-01 5.79446115e-01 -1.63398697e-02 1.98558746e+02] [-5.79315083e-01 8.15010341e-01 1.23360687e-02 -8.45367342e+01] [ 2.04652499e-02 -5.86072362e-04 9.99790393e-01 4.16261059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98275509599998 meters 0.02426100220397673 Centerline is valid? [True, True] Translation: X:198.61, Y:-84.58, Z:4.16 [[ 8.15509993e-01 5.78512113e-01 -1.63458556e-02 1.98605577e+02] [-5.78380651e-01 8.15673560e-01 1.23477102e-02 -8.45756073e+01] [ 2.04761821e-02 -6.15554511e-04 9.99790152e-01 4.16356414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04275509599998 meters 0.024285428986891632 Centerline is valid? [True, True] Translation: X:198.66, Y:-84.61, Z:4.16 [[ 8.15898589e-01 5.77975962e-01 -1.59147775e-02 1.98655030e+02] [-5.77851117e-01 8.16053556e-01 1.20283172e-02 -8.46125292e+01] [ 1.99393890e-02 -6.17515053e-04 9.99801000e-01 4.16499666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10275509599998 meters 0.023576433582348833 Centerline is valid? [True, True] Translation: X:198.71, Y:-84.65, Z:4.17 [[ 8.15872500e-01 5.78035653e-01 -1.50614780e-02 1.98706082e+02] [-5.77923733e-01 8.16011298e-01 1.13895322e-02 -8.46489321e+01] [ 1.88738919e-02 -5.88020496e-04 9.99821699e-01 4.16750795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16275509599998 meters 0.022444671663979794 Centerline is valid? [True, True] Translation: X:198.76, Y:-84.68, Z:4.17 [[ 8.14652831e-01 5.79760493e-01 -1.47829428e-02 1.98756645e+02] [-5.79652821e-01 8.14786767e-01 1.11862419e-02 -8.46846395e+01] [ 1.85302873e-02 -5.43929168e-04 9.99828152e-01 4.16957138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.222755096 meters 0.021994339976253788 Centerline is valid? [True, True] Translation: X:198.81, Y:-84.72, Z:4.17 [[ 8.13123360e-01 5.81910310e-01 -1.45187060e-02 1.98805843e+02] [-5.81806679e-01 8.13252820e-01 1.09926601e-02 -8.47208238e+01] [ 1.82041208e-02 -4.91308641e-04 9.99834171e-01 4.17116739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.282755096 meters 0.021736327938425344 Centerline is valid? [True, True] Translation: X:198.86, Y:-84.75, Z:4.17 [[ 8.10332254e-01 5.85790088e-01 -1.45468794e-02 1.98857655e+02] [-5.85686566e-01 8.10462710e-01 1.10200363e-02 -8.47543006e+01] [ 1.82451313e-02 -4.09979051e-04 9.99833460e-01 4.17003659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.342755096 meters 0.019138317415733443 Centerline is valid? [True, True] Translation: X:198.91, Y:-84.79, Z:4.17 [[ 8.06131613e-01 5.91555207e-01 -1.46376007e-02 1.98910099e+02] [-5.91451318e-01 8.06264447e-01 1.10896573e-02 -8.47876057e+01] [ 1.83619216e-02 -2.82295128e-04 9.99831366e-01 4.17150755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.402755096 meters 0.018220785861341574 Centerline is valid? [True, True] Translation: X:198.96, Y:-84.82, Z:4.17 [[ 8.02506238e-01 5.96464617e-01 -1.46184323e-02 1.98960620e+02] [-5.96361775e-01 8.02639353e-01 1.10770999e-02 -8.48198989e+01] [ 1.83404272e-02 -1.71567589e-04 9.99831785e-01 4.17229563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.462755096 meters 0.01541023634453049 Centerline is valid? [True, True] Translation: X:199.01, Y:-84.85, Z:4.18 [[ 8.00421350e-01 5.99258937e-01 -1.46419856e-02 1.99008224e+02] [-5.99156246e-01 8.00555254e-01 1.10940801e-02 -8.48523593e+01] [ 1.83699451e-02 -1.07101409e-04 9.99831253e-01 4.17555651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.522755096 meters 0.015372526938014884 Centerline is valid? [True, True] Translation: X:199.06, Y:-84.89, Z:4.18 [[ 7.99963141e-01 5.99869303e-01 -1.46898880e-02 1.99055439e+02] [-5.99766082e-01 8.00098001e-01 1.11281620e-02 -8.48882956e+01] [ 1.84287927e-02 -9.16228475e-05 9.99830171e-01 4.17656324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.582755096 meters 0.016139853256098683 Centerline is valid? [True, True] Translation: X:199.10, Y:-84.93, Z:4.18 [[ 8.01683756e-01 5.97581197e-01 -1.41374861e-02 1.99098992e+02] [-5.97485259e-01 8.01808390e-01 1.07084958e-02 -8.49281825e+01] [ 1.77347507e-02 -1.37887548e-04 9.99842717e-01 4.17867280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.642755096 meters 0.017325578948277576 Centerline is valid? [True, True] Translation: X:199.14, Y:-84.97, Z:4.18 [[ 8.04588871e-01 5.93667158e-01 -1.40019327e-02 1.99144965e+02] [-5.93572493e-01 8.04710667e-01 1.06036796e-02 -8.49702267e+01] [ 1.75625609e-02 -2.20440487e-04 9.99845742e-01 4.17978978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70275509599998 meters 0.017932212411389512 Centerline is valid? [True, True] Translation: X:199.19, Y:-85.01, Z:4.18 [[ 8.06541109e-01 5.91002066e-01 -1.44220789e-02 1.99192195e+02] [-5.90901093e-01 8.06669990e-01 1.09282110e-02 -8.50099356e+01] [ 1.80924535e-02 -2.92029263e-04 9.99836276e-01 4.18002269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76275509599998 meters 0.019594829671435422 Centerline is valid? [True, True] Translation: X:199.24, Y:-85.05, Z:4.18 [[ 8.08840586e-01 5.87841323e-01 -1.48150384e-02 1.99237269e+02] [-5.87734122e-01 8.08976166e-01 1.12323325e-02 -8.50532373e+01] [ 1.85878422e-02 -3.77862804e-04 9.99827160e-01 4.18117147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82275509599998 meters 0.021089773072744032 Centerline is valid? [True, True] Translation: X:199.28, Y:-85.10, Z:4.18 [[ 8.10540140e-01 5.85494131e-01 -1.48762844e-02 1.99282797e+02] [-5.85385522e-01 8.10676526e-01 1.12854031e-02 -8.50952698e+01] [ 1.86673918e-02 -4.38910670e-04 9.99825653e-01 4.18211264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88275509599998 meters 0.022838514107742895 Centerline is valid? [True, True] Translation: X:199.33, Y:-85.14, Z:4.18 [[ 8.11707138e-01 5.83858396e-01 -1.55208171e-02 1.99330251e+02] [-5.83739743e-01 8.11855357e-01 1.17809653e-02 -8.51351545e+01] [ 1.94790740e-02 -5.02575876e-04 9.99810139e-01 4.18097301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94275509599998 meters 0.022092247753880023 Centerline is valid? [True, True] Translation: X:199.38, Y:-85.18, Z:4.18 [[ 8.11635956e-01 5.83961088e-01 -1.53792981e-02 1.99379205e+02] [-5.83844477e-01 8.11781496e-01 1.16803362e-02 -8.51754011e+01] [ 1.93054915e-02 -5.01062547e-04 9.99813506e-01 4.18421434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.002755096 meters 0.020672438615407785 Centerline is valid? [True, True] Translation: X:199.43, Y:-85.21, Z:4.19 [[ 8.09017279e-01 5.87588755e-01 -1.51821415e-02 1.99430720e+02] [-5.87475609e-01 8.09159615e-01 1.15380124e-02 -8.52093307e+01] [ 1.90643821e-02 -4.15313568e-04 9.99818172e-01 4.18597424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.062755096 meters 0.021023649162521463 Centerline is valid? [True, True] Translation: X:199.48, Y:-85.24, Z:4.18 [[ 8.06163825e-01 5.91472363e-01 -1.61347903e-02 1.99483687e+02] [-5.91345322e-01 8.06325198e-01 1.22631860e-02 -8.52434457e+01] [ 2.02632236e-02 -3.44904152e-04 9.99794620e-01 4.18303483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.122755096 meters 0.01818873054743611 Centerline is valid? [True, True] Translation: X:199.53, Y:-85.28, Z:4.19 [[ 8.03993076e-01 5.94428633e-01 -1.58029499e-02 1.99534339e+02] [-5.94307280e-01 8.04148325e-01 1.20136698e-02 -8.52786824e+01] [ 1.98491850e-02 -2.67099176e-04 9.99802950e-01 4.18707037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.182755096 meters 0.019032815046582743 Centerline is valid? [True, True] Translation: X:199.58, Y:-85.31, Z:4.19 [[ 8.02979647e-01 5.95791039e-01 -1.60226106e-02 1.99583579e+02] [-5.95666421e-01 8.03139452e-01 1.21875136e-02 -8.53146994e+01] [ 2.01296021e-02 -2.42194288e-04 9.99797350e-01 4.18613251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.242755096 meters 0.018251500295632942 Centerline is valid? [True, True] Translation: X:199.63, Y:-85.35, Z:4.19 [[ 8.03692364e-01 5.94843432e-01 -1.54879265e-02 1.99632326e+02] [-5.94726744e-01 8.03841542e-01 1.17845849e-02 -8.53525422e+01] [ 1.94598216e-02 -2.60096802e-04 9.99810606e-01 4.19019389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.302755096 meters 0.018639288238226928 Centerline is valid? [True, True] Translation: X:199.68, Y:-85.39, Z:4.19 [[ 8.04041888e-01 5.94381522e-01 -1.50747676e-02 1.99681436e+02] [-5.94270779e-01 8.04183147e-01 1.14763993e-02 -8.53918378e+01] [ 1.89442337e-02 -2.69011840e-04 9.99820506e-01 4.19179178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.362755096 meters 0.020552099568605185 Centerline is valid? [True, True] Translation: X:199.73, Y:-85.43, Z:4.19 [[ 8.05428084e-01 5.92505482e-01 -1.49283086e-02 1.99728778e+02] [-5.92396425e-01 8.05566356e-01 1.13719624e-02 -8.54313953e+01] [ 1.87636932e-02 -3.15821228e-04 9.99823897e-01 4.19151102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.422755096 meters 0.021613090151513362 Centerline is valid? [True, True] Translation: X:199.78, Y:-85.47, Z:4.19 [[ 8.07198112e-01 5.90099970e-01 -1.46025051e-02 1.99775442e+02] [-5.89995125e-01 8.07330100e-01 1.11293754e-02 -8.54716010e+01] [ 1.83564860e-02 -3.68204004e-04 9.99831438e-01 4.19466195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48275509599998 meters 0.023480083760715573 Centerline is valid? [True, True] Translation: X:199.82, Y:-85.51, Z:4.19 [[ 8.08415211e-01 5.88423026e-01 -1.49395226e-02 1.99821456e+02] [-5.88312937e-01 8.08553132e-01 1.13895335e-02 -8.55098994e+01] [ 1.87812615e-02 -4.18357724e-04 9.99823529e-01 4.19316051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54275509599998 meters 0.024262387257168946 Centerline is valid? [True, True] Translation: X:199.87, Y:-85.55, Z:4.19 [[ 8.08973509e-01 5.87644556e-01 -1.53537486e-02 1.99872068e+02] [-5.87528149e-01 8.09119073e-01 1.17046610e-02 -8.55466989e+01] [ 1.93011912e-02 -4.48001206e-04 9.99813614e-01 4.19164395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60275509599998 meters 0.02105361497793228 Centerline is valid? [True, True] Translation: X:199.92, Y:-85.58, Z:4.20 [[ 8.09258860e-01 5.87250357e-01 -1.53985549e-02 1.99924159e+02] [-5.87133073e-01 8.09405215e-01 1.17452906e-02 -8.55811887e+01] [ 1.93610967e-02 -4.63979638e-04 9.99812449e-01 4.19548269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66275509599998 meters 0.0219481470187801 Centerline is valid? [True, True] Translation: X:199.97, Y:-85.62, Z:4.20 [[ 8.09407645e-01 5.87046433e-01 -1.53541159e-02 1.99972412e+02] [-5.86929655e-01 8.09553124e-01 1.17183123e-02 -8.56191357e+01] [ 1.93091659e-02 -4.73105581e-04 9.99813449e-01 4.19763750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.722755096 meters 0.02170952029028278 Centerline is valid? [True, True] Translation: X:200.02, Y:-85.65, Z:4.20 [[ 8.08711151e-01 5.87993681e-01 -1.58020600e-02 2.00023372e+02] [-5.87870026e-01 8.08865384e-01 1.20673972e-02 -8.56547619e+01] [ 1.98772926e-02 -4.69481274e-04 9.99802317e-01 4.19831850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.782755096 meters 0.020792195851432934 Centerline is valid? [True, True] Translation: X:200.08, Y:-85.69, Z:4.20 [[ 8.07599892e-01 5.89493025e-01 -1.67447890e-02 2.00075194e+02] [-5.89354344e-01 8.07773333e-01 1.27944953e-02 -8.56900484e+01] [ 2.10682598e-02 -4.64218922e-04 9.99777932e-01 4.19843508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.842755096 meters 0.019969944317855537 Centerline is valid? [True, True] Translation: X:200.13, Y:-85.73, Z:4.20 [[ 8.06658858e-01 5.90781675e-01 -1.66882727e-02 2.00126426e+02] [-5.90644138e-01 8.06831349e-01 1.27544927e-02 -8.57259718e+01] [ 2.09997421e-02 -4.31694096e-04 9.99779388e-01 4.20004315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.902755096 meters 0.021516232830898322 Centerline is valid? [True, True] Translation: X:200.17, Y:-85.76, Z:4.20 [[ 8.05806641e-01 5.91929810e-01 -1.71684982e-02 2.00174238e+02] [-5.91784339e-01 8.05989407e-01 1.31290386e-02 -8.57635819e+01] [ 2.16090970e-02 -4.19418157e-04 9.99766408e-01 4.19991488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.962755096 meters 0.019755260465948356 Centerline is valid? [True, True] Translation: X:200.22, Y:-85.80, Z:4.20 [[ 8.05533900e-01 5.92320663e-01 -1.64732578e-02 2.00224837e+02] [-5.92186726e-01 8.05702225e-01 1.26018276e-02 -8.58005876e+01] [ 2.07368633e-02 -3.95954693e-04 9.99784890e-01 4.20447088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.022755096 meters 0.01958910092177883 Centerline is valid? [True, True] Translation: X:200.28, Y:-85.84, Z:4.21 [[ 8.05625672e-01 5.92190772e-01 -1.66543409e-02 2.00275224e+02] [-5.92053668e-01 8.05797692e-01 1.27488668e-02 -8.58383812e+01] [ 2.09697907e-02 -4.10550768e-04 9.99780025e-01 4.20550948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.082755096 meters 0.02119514393366596 Centerline is valid? [True, True] Translation: X:200.32, Y:-85.88, Z:4.21 [[ 8.06619549e-01 5.90848810e-01 -1.62045361e-02 2.00322110e+02] [-5.90718583e-01 8.06782183e-01 1.24123096e-02 -8.58783004e+01] [ 2.04073294e-02 -4.39691021e-04 9.99791652e-01 4.20707912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.142755096 meters 0.021511850348418134 Centerline is valid? [True, True] Translation: X:200.37, Y:-85.92, Z:4.21 [[ 8.07847465e-01 5.89179752e-01 -1.58016636e-02 2.00370713e+02] [-5.89055524e-01 8.08001854e-01 1.21076051e-02 -8.59163113e+01] [ 1.99013292e-02 -4.73040862e-04 9.99801837e-01 4.20895798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20275509599998 meters 0.02350515979756059 Centerline is valid? [True, True] Translation: X:200.42, Y:-85.96, Z:4.21 [[ 8.09357493e-01 5.87112920e-01 -1.54553436e-02 2.00417434e+02] [-5.86993572e-01 8.09504880e-01 1.18488659e-02 -8.59558227e+01] [ 1.94677983e-02 -5.17781086e-04 9.99810350e-01 4.21080787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26275509599998 meters 0.025348339357427814 Centerline is valid? [True, True] Translation: X:200.46, Y:-86.00, Z:4.21 [[ 8.11530402e-01 5.84099565e-01 -1.56877321e-02 2.00464991e+02] [-5.83975915e-01 8.11681793e-01 1.20331656e-02 -8.59963279e+01] [ 1.97620133e-02 -6.04021977e-04 9.99804530e-01 4.21188869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32275509599998 meters 0.02692501402367668 Centerline is valid? [True, True] Translation: X:200.51, Y:-86.04, Z:4.21 [[ 8.13327394e-01 5.81578564e-01 -1.62764710e-02 2.00512166e+02] [-5.81444903e-01 8.13489947e-01 1.24872070e-02 -8.60359274e+01] [ 2.05030375e-02 -6.92316452e-04 9.99789551e-01 4.21230556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38275509599998 meters 0.031269674156968075 Centerline is valid? [True, True] Translation: X:200.56, Y:-86.08, Z:4.21 [[ 8.15224854e-01 5.78893903e-01 -1.70377895e-02 2.00557379e+02] [-5.78746707e-01 8.15402482e-01 1.30783175e-02 -8.60775970e+01] [ 2.14636141e-02 -8.01204950e-04 9.99769309e-01 4.21194351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44275509599998 meters 0.02739788020947208 Centerline is valid? [True, True] Translation: X:200.61, Y:-86.11, Z:4.21 [[ 8.15376243e-01 5.78648376e-01 -1.81008219e-02 2.00609668e+02] [-5.78482002e-01 8.15576673e-01 1.39019142e-02 -8.61108500e+01] [ 2.28069282e-02 -8.64290935e-04 9.99739515e-01 4.21205426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.502755096 meters 0.02628496409645709 Centerline is valid? [True, True] Translation: X:200.66, Y:-86.15, Z:4.21 [[ 8.14732127e-01 5.79545171e-01 -1.84107369e-02 2.00660037e+02] [-5.79373085e-01 8.14939663e-01 1.41482983e-02 -8.61474178e+01] [ 2.32032177e-02 -8.60387753e-04 9.99730399e-01 4.21288723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.562755096 meters 0.026476506408416596 Centerline is valid? [True, True] Translation: X:200.71, Y:-86.18, Z:4.22 [[ 8.13138165e-01 5.81803220e-01 -1.76447375e-02 2.00707943e+02] [-5.81645532e-01 8.13329221e-01 1.35666279e-02 -8.61840946e+01] [ 2.22440884e-02 -7.68560176e-04 9.99752274e-01 4.21539622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.622755096 meters 0.02396240743282626 Centerline is valid? [True, True] Translation: X:200.76, Y:-86.22, Z:4.22 [[ 8.10454988e-01 5.85559110e-01 -1.68297551e-02 2.00760328e+02] [-5.85416399e-01 8.10629461e-01 1.29428474e-02 -8.62176551e+01] [ 2.12214975e-02 -6.37180677e-04 9.99774596e-01 4.21799494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.682755096 meters 0.022263631891497142 Centerline is valid? [True, True] Translation: X:200.81, Y:-86.25, Z:4.22 [[ 8.08265505e-01 5.88591177e-01 -1.63493225e-02 2.00811325e+02] [-5.88457083e-01 8.08430660e-01 1.25749492e-02 -8.62527013e+01] [ 2.06187977e-02 -5.43023058e-04 9.99787263e-01 4.21981944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.742755096 meters 0.020605433546605368 Centerline is valid? [True, True] Translation: X:200.86, Y:-86.29, Z:4.22 [[ 8.05578084e-01 5.92283087e-01 -1.56427589e-02 2.00862783e+02] [-5.92160989e-01 8.05729830e-01 1.20334454e-02 -8.62869345e+01] [ 1.97310436e-02 -4.30848337e-04 9.99805231e-01 4.22164718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.802755096 meters 0.020484123018707785 Centerline is valid? [True, True] Translation: X:200.91, Y:-86.32, Z:4.22 [[ 8.03565016e-01 5.95009055e-01 -1.57318324e-02 2.00912571e+02] [-5.94886047e-01 8.03718912e-01 1.21037672e-02 -8.63229925e+01] [ 1.98458223e-02 -3.67516271e-04 9.99802985e-01 4.22215881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.862755096 meters 0.019305774127398454 Centerline is valid? [True, True] Translation: X:200.96, Y:-86.36, Z:4.22 [[ 8.03387185e-01 5.95248179e-01 -1.57682494e-02 2.00963412e+02] [-5.95124517e-01 8.03541829e-01 1.21383251e-02 -8.63606448e+01] [ 1.98957639e-02 -3.67703044e-04 9.99801992e-01 4.22287284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.922755096 meters 0.02050822569561229 Centerline is valid? [True, True] Translation: X:201.01, Y:-86.40, Z:4.22 [[ 8.03990653e-01 5.94418748e-01 -1.62905584e-02 2.01010745e+02] [-5.94286416e-01 8.04155573e-01 1.25486926e-02 -8.64002045e+01] [ 2.05593214e-02 -4.07774044e-04 9.99788552e-01 4.22198154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98275509599998 meters 0.02075363503429927 Centerline is valid? [True, True] Translation: X:201.06, Y:-86.44, Z:4.22 [[ 8.05611262e-01 5.92196973e-01 -1.71242569e-02 2.01058102e+02] [-5.92050140e-01 8.05793090e-01 1.31957979e-02 -8.64403903e+01] [ 2.16131194e-02 -4.92264669e-04 9.99766288e-01 4.22344501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04275509599998 meters 0.023160750353467992 Centerline is valid? [True, True] Translation: X:201.10, Y:-86.48, Z:4.22 [[ 8.07425088e-01 5.89705034e-01 -1.76833373e-02 2.01102775e+02] [-5.89547676e-01 8.07618494e-01 1.36347319e-02 -8.64824007e+01] [ 2.23218602e-02 -5.83854195e-04 9.99750666e-01 4.22369184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10275509599998 meters 0.025853069301223303 Centerline is valid? [True, True] Translation: X:201.15, Y:-86.52, Z:4.22 [[ 8.08952587e-01 5.87611242e-01 -1.75710088e-02 2.01147210e+02] [-5.87455224e-01 8.09143136e-01 1.35552804e-02 -8.65245211e+01] [ 2.21826964e-02 -6.43398242e-04 9.99753727e-01 4.22477005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16275509599998 meters 0.025303251890766022 Centerline is valid? [True, True] Translation: X:201.20, Y:-86.56, Z:4.23 [[ 8.10824446e-01 5.85023373e-01 -1.76457016e-02 2.01195162e+02] [-5.84865255e-01 8.11016110e-01 1.36199606e-02 -8.65634976e+01] [ 2.22789436e-02 -7.23039269e-04 9.99751532e-01 4.22614800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.222755096 meters 0.02620995695368753 Centerline is valid? [True, True] Translation: X:201.24, Y:-86.60, Z:4.23 [[ 8.11654066e-01 5.83862343e-01 -1.79566448e-02 2.01242223e+02] [-5.83698149e-01 8.11852305e-01 1.38674546e-02 -8.66034374e+01] [ 2.26748280e-02 -7.74315563e-04 9.99742593e-01 4.22701183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.282755096 meters 0.030570855902258557 Centerline is valid? [True, True] Translation: X:201.29, Y:-86.65, Z:4.23 [[ 8.11751673e-01 5.83698506e-01 -1.88487836e-02 2.01286155e+02] [-5.83517354e-01 8.11970058e-01 1.45644320e-02 -8.66460608e+01] [ 2.38058851e-02 -8.24109737e-04 9.99716260e-01 4.22516011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.342755096 meters 0.02647719507070732 Centerline is valid? [True, True] Translation: X:201.34, Y:-86.68, Z:4.23 [[ 8.10806794e-01 5.84985788e-01 -1.95951436e-02 2.01337053e+02] [-5.84790174e-01 8.11043123e-01 1.51494166e-02 -8.66810592e+01] [ 2.47546998e-02 -8.24202454e-04 9.99693216e-01 4.22902690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.402755096 meters 0.024136028597476746 Centerline is valid? [True, True] Translation: X:201.39, Y:-86.72, Z:4.23 [[ 8.08861442e-01 5.87676059e-01 -1.94940281e-02 2.01387560e+02] [-5.87483072e-01 8.09095975e-01 1.50779282e-02 -8.67163550e+01] [ 2.46334771e-02 -7.43543200e-04 9.99696273e-01 4.23127574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.462755096 meters 0.02298336972321175 Centerline is valid? [True, True] Translation: X:201.44, Y:-86.75, Z:4.23 [[ 8.06711020e-01 5.90644300e-01 -1.88849342e-02 2.01437466e+02] [-5.90463964e-01 8.06931787e-01 1.46081178e-02 -8.67528389e+01] [ 2.38670552e-02 -6.33656463e-04 9.99714940e-01 4.23386912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.522755096 meters 0.021270110545486498 Centerline is valid? [True, True] Translation: X:201.49, Y:-86.79, Z:4.24 [[ 8.05277330e-01 5.92626257e-01 -1.79594432e-02 2.01487730e+02] [-5.92463595e-01 8.05477385e-01 1.38949932e-02 -8.67894945e+01] [ 2.27004632e-02 -5.49006722e-04 9.99742161e-01 4.23671855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.582755096 meters 0.02256418172668147 Centerline is valid? [True, True] Translation: X:201.53, Y:-86.83, Z:4.24 [[ 8.04413152e-01 5.93796831e-01 -1.80223519e-02 2.01534843e+02] [-5.93633135e-01 8.04614845e-01 1.39517926e-02 -8.68286750e+01] [ 2.27855821e-02 -5.24340227e-04 9.99740237e-01 4.23745321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.642755096 meters 0.02185079059755806 Centerline is valid? [True, True] Translation: X:201.59, Y:-86.87, Z:4.24 [[ 8.04177132e-01 5.94098952e-01 -1.85896460e-02 2.01586105e+02] [-5.93924672e-01 8.04391785e-01 1.43992840e-02 -8.68660199e+01] [ 2.35079581e-02 -5.38725554e-04 9.99723505e-01 4.23866163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70275509599998 meters 0.02137839374513571 Centerline is valid? [True, True] Translation: X:201.64, Y:-86.90, Z:4.24 [[ 8.04278840e-01 5.93973485e-01 -1.81946560e-02 2.01635453e+02] [-5.93806289e-01 8.04484437e-01 1.41025408e-02 -8.69048798e+01] [ 2.30138529e-02 -5.38274012e-04 9.99735001e-01 4.24172229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76275509599998 meters 0.022367603800640838 Centerline is valid? [True, True] Translation: X:201.68, Y:-86.94, Z:4.24 [[ 8.05952861e-01 5.91685505e-01 -1.86614539e-02 2.01682911e+02] [-5.91508781e-01 8.06168637e-01 1.44737970e-02 -8.69447439e+01] [ 2.36082147e-02 -6.26784228e-04 9.99721091e-01 4.24326079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82275509599998 meters 0.026215333375509072 Centerline is valid? [True, True] Translation: X:201.73, Y:-86.99, Z:4.24 [[ 8.08338920e-01 5.88392129e-01 -1.95676326e-02 2.01729382e+02] [-5.88196661e-01 8.08575363e-01 1.51845560e-02 -8.69857392e+01] [ 2.47563789e-02 -7.64651412e-04 9.99693221e-01 4.24191608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88275509599998 meters 0.027400542244834368 Centerline is valid? [True, True] Translation: X:201.77, Y:-87.03, Z:4.25 [[ 8.10456249e-01 5.85501878e-01 -1.86606409e-02 2.01773946e+02] [-5.85323257e-01 8.10670639e-01 1.44844815e-02 -8.70268885e+01] [ 2.36083247e-02 -8.16531440e-04 9.99720951e-01 4.24692965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94275509599998 meters 0.027521732011760208 Centerline is valid? [True, True] Translation: X:201.82, Y:-87.06, Z:4.25 [[ 8.11658361e-01 5.83823339e-01 -1.90003590e-02 2.01822763e+02] [-5.83637594e-01 8.11880241e-01 1.47524005e-02 -8.70643236e+01] [ 2.40388118e-02 -8.84585455e-04 9.99710635e-01 4.24819925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.002755096 meters 0.02815642275429389 Centerline is valid? [True, True] Translation: X:201.87, Y:-87.10, Z:4.25 [[ 8.11437504e-01 5.84105787e-01 -1.97384633e-02 2.01872816e+02] [-5.83905261e-01 8.11677025e-01 1.53314460e-02 -8.71025519e+01] [ 2.49764435e-02 -9.15117669e-04 9.99687621e-01 4.24787019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.062755096 meters 0.025660772507884375 Centerline is valid? [True, True] Translation: X:201.92, Y:-87.14, Z:4.25 [[ 8.08529708e-01 5.88104657e-01 -2.03131453e-02 2.01924355e+02] [-5.87893326e-01 8.08784420e-01 1.57860814e-02 -8.71372124e+01] [ 2.57128234e-02 -8.21553242e-04 9.99669033e-01 4.24916480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.122755096 meters 0.024560324929410658 Centerline is valid? [True, True] Translation: X:201.97, Y:-87.17, Z:4.25 [[ 8.05194747e-01 5.92668621e-01 -2.01326624e-02 2.01973613e+02] [-5.92462407e-01 8.05446122e-01 1.56473967e-02 -8.71723833e+01] [ 2.54894958e-02 -6.71355977e-04 9.99674865e-01 4.25082563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.182755096 meters 0.019846885326648384 Centerline is valid? [True, True] Translation: X:202.03, Y:-87.20, Z:4.25 [[ 8.00248030e-01 5.99341295e-01 -1.98268214e-02 2.02028515e+02] [-5.99143318e-01 8.00493477e-01 1.54103116e-02 -8.72009034e+01] [ 2.51072773e-02 -4.52963912e-04 9.99684660e-01 4.25266266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.242755096 meters 0.018374830329946294 Centerline is valid? [True, True] Translation: X:202.08, Y:-87.23, Z:4.25 [[ 7.97715266e-01 6.02728534e-01 -1.92007377e-02 2.02080650e+02] [-6.02543822e-01 7.97946239e-01 1.49245480e-02 -8.72345967e+01] [ 2.43166074e-02 -3.36253902e-04 9.99704251e-01 4.25384851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.302755096 meters 0.018414802080556746 Centerline is valid? [True, True] Translation: X:202.13, Y:-87.27, Z:4.26 [[ 7.97489540e-01 6.03054677e-01 -1.83163894e-02 2.02128578e+02] [-6.02886650e-01 7.97699793e-01 1.42382533e-02 -8.72704274e+01] [ 2.31974253e-02 -3.12151449e-04 9.99730855e-01 4.25533479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.362755096 meters 0.021428842169160422 Centerline is valid? [True, True] Translation: X:202.18, Y:-87.31, Z:4.25 [[ 7.99163403e-01 6.00839846e-01 -1.81475849e-02 2.02177726e+02] [-6.00674317e-01 7.99369339e-01 1.41076196e-02 -8.73081723e+01] [ 2.29830430e-02 -3.73505131e-04 9.99735785e-01 4.25378212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.422755096 meters 0.02351681544924611 Centerline is valid? [True, True] Translation: X:202.22, Y:-87.35, Z:4.26 [[ 8.02383600e-01 5.96583480e-01 -1.63923579e-02 2.02221733e+02] [-5.96447406e-01 8.02550899e-01 1.27493409e-02 -8.73505234e+01] [ 2.07617478e-02 -4.52682702e-04 9.99784349e-01 4.25638927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48275509599998 meters 0.024237408166187115 Centerline is valid? [True, True] Translation: X:202.27, Y:-87.39, Z:4.26 [[ 8.06306866e-01 5.91289750e-01 -1.56738486e-02 2.02269569e+02] [-5.91164279e-01 8.06458995e-01 1.21935900e-02 -8.73881590e+01] [ 1.98502610e-02 -5.65955867e-04 9.99802804e-01 4.25747381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54275509599998 meters 0.02542806104481521 Centerline is valid? [True, True] Translation: X:202.32, Y:-87.43, Z:4.26 [[ 8.08632224e-01 5.88110871e-01 -1.54767651e-02 2.02317144e+02] [-5.87987938e-01 8.08780068e-01 1.20410522e-02 -8.74273200e+01] [ 1.95987728e-02 -6.36631592e-04 9.99807723e-01 4.25808192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60275509599998 meters 0.026131023962240665 Centerline is valid? [True, True] Translation: X:202.36, Y:-87.47, Z:4.26 [[ 8.09908488e-01 5.86351054e-01 -1.55139307e-02 2.02364876e+02] [-5.86227076e-01 8.10056770e-01 1.20766526e-02 -8.74667392e+01] [ 1.96483226e-02 -6.86297252e-04 9.99806718e-01 4.25992823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66275509599998 meters 0.02724957904000129 Centerline is valid? [True, True] Translation: X:202.41, Y:-87.50, Z:4.26 [[ 8.09220333e-01 5.87292036e-01 -1.58277573e-02 2.02414892e+02] [-5.87163023e-01 8.09374819e-01 1.23282758e-02 -8.75032389e+01] [ 2.00508864e-02 -6.82817683e-04 9.99798728e-01 4.25711037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.722755096 meters 0.025846305301013634 Centerline is valid? [True, True] Translation: X:202.47, Y:-87.54, Z:4.26 [[ 8.07498836e-01 5.89645244e-01 -1.62516285e-02 2.02465109e+02] [-5.89509547e-01 8.07662100e-01 1.26659829e-02 -8.75396241e+01] [ 2.05942610e-02 -6.47276269e-04 9.99787706e-01 4.25778177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.782755096 meters 0.023527283109043992 Centerline is valid? [True, True] Translation: X:202.52, Y:-87.57, Z:4.26 [[ 8.05109073e-01 5.92913530e-01 -1.59036532e-02 2.02516327e+02] [-5.92784084e-01 8.05265941e-01 1.24013725e-02 -8.75743842e+01] [ 2.01596118e-02 -5.57025009e-04 9.99796619e-01 4.25912879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.842755096 meters 0.02324354503949047 Centerline is valid? [True, True] Translation: X:202.56, Y:-87.61, Z:4.26 [[ 8.03680939e-01 5.94867269e-01 -1.51617915e-02 2.02564800e+02] [-5.94749937e-01 8.03823797e-01 1.18244148e-02 -8.76115198e+01] [ 1.92213662e-02 -4.85582264e-04 9.99815135e-01 4.26132972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.902755096 meters 0.022830783655920447 Centerline is valid? [True, True] Translation: X:202.61, Y:-87.65, Z:4.26 [[ 8.02877728e-01 5.95970443e-01 -1.43730792e-02 2.02614629e+02] [-5.95865075e-01 8.03006250e-01 1.12149096e-02 -8.76485017e+01] [ 1.82254270e-02 -4.39785203e-04 9.99833806e-01 4.26298240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.962755096 meters 0.02301732822695283 Centerline is valid? [True, True] Translation: X:202.66, Y:-87.68, Z:4.26 [[ 8.02519106e-01 5.96471301e-01 -1.36041256e-02 2.02661467e+02] [-5.96376873e-01 8.02634300e-01 1.06210164e-02 -8.76844578e+01] [ 1.72542693e-02 -4.10382731e-04 9.99851050e-01 4.26453393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.022755096 meters 0.022319783346382436 Centerline is valid? [True, True] Translation: X:202.71, Y:-87.72, Z:4.27 [[ 8.02227909e-01 5.96877973e-01 -1.29254791e-02 2.02711288e+02] [-5.96792807e-01 8.02331939e-01 1.00898478e-02 -8.77221752e+01] [ 1.63929326e-02 -3.80524552e-04 9.99865554e-01 4.26657118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.082755096 meters 0.023726525175528628 Centerline is valid? [True, True] Translation: X:202.76, Y:-87.76, Z:4.27 [[ 8.02313776e-01 5.96793323e-01 -1.14163891e-02 2.02758353e+02] [-5.96726792e-01 8.02394923e-01 8.91752926e-03 -8.77615527e+01] [ 1.44823746e-02 -3.42191325e-04 9.99895066e-01 4.26990776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.142755096 meters 0.022144132313214996 Centerline is valid? [True, True] Translation: X:202.81, Y:-87.80, Z:4.27 [[ 8.02581241e-01 5.96441117e-01 -1.10156726e-02 2.02809643e+02] [-5.96379117e-01 8.02656763e-01 8.60636300e-03 -8.77963742e+01] [ 1.39749929e-02 -3.37788423e-04 9.99902288e-01 4.26988890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20275509599998 meters 0.022773299430386498 Centerline is valid? [True, True] Translation: X:202.86, Y:-87.84, Z:4.27 [[ 8.03141914e-01 5.95675187e-01 -1.15817794e-02 2.02858174e+02] [-5.95606489e-01 8.03225331e-01 9.05421436e-03 -8.78350079e+01] [ 1.46961495e-02 -3.73636060e-04 9.99891936e-01 4.27007142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26275509599998 meters 0.024391202449403723 Centerline is valid? [True, True] Translation: X:202.90, Y:-87.88, Z:4.27 [[ 8.04560180e-01 5.93766157e-01 -1.11654255e-02 2.02904364e+02] [-5.93702057e-01 8.04637553e-01 8.73361294e-03 -8.78754912e+01] [ 1.41698445e-02 -3.97781111e-04 9.99899524e-01 4.27142418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32275509599998 meters 0.026085078632602614 Centerline is valid? [True, True] Translation: X:202.95, Y:-87.92, Z:4.27 [[ 8.05964737e-01 5.91855116e-01 -1.13298268e-02 2.02951528e+02] [-5.91788858e-01 8.06044246e-01 8.86684225e-03 -8.79155138e+01] [ 1.43802276e-02 -4.41496943e-04 9.99896502e-01 4.27265848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38275509599998 meters 0.02724453700677376 Centerline is valid? [True, True] Translation: X:203.00, Y:-87.95, Z:4.27 [[ 8.06112899e-01 5.91636427e-01 -1.21791418e-02 2.02998263e+02] [-5.91559745e-01 8.06204753e-01 9.53748916e-03 -8.79541750e+01] [ 1.54616080e-02 -4.83603006e-04 9.99880345e-01 4.27295053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44275509599998 meters 0.027571022174425596 Centerline is valid? [True, True] Translation: X:203.04, Y:-87.99, Z:4.27 [[ 8.06147584e-01 5.91583187e-01 -1.24661348e-02 2.03044655e+02] [-5.91502760e-01 8.06243811e-01 9.76740793e-03 -8.79920839e+01] [ 1.58289784e-02 -5.00219136e-04 9.99874589e-01 4.27397845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.502755096 meters 0.023999892367201826 Centerline is valid? [True, True] Translation: X:203.10, Y:-88.03, Z:4.27 [[ 8.05355189e-01 5.92673209e-01 -1.18948284e-02 2.03097732e+02] [-5.92600136e-01 8.05442897e-01 9.31765808e-03 -8.80254882e+01] [ 1.51029313e-02 -4.55147363e-04 9.99885841e-01 4.27490044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.562755096 meters 0.023608658839795005 Centerline is valid? [True, True] Translation: X:203.15, Y:-88.06, Z:4.28 [[ 8.04276508e-01 5.94151808e-01 -1.10872769e-02 2.03147551e+02] [-5.94088396e-01 8.04352825e-01 8.68969418e-03 -8.80630918e+01] [ 1.40810800e-02 -4.02094348e-04 9.99900776e-01 4.27690318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.622755096 meters 0.02329878411397881 Centerline is valid? [True, True] Translation: X:203.20, Y:-88.10, Z:4.28 [[ 8.03994870e-01 5.94543940e-01 -1.04762740e-02 2.03196893e+02] [-5.94487304e-01 8.04063033e-01 8.21488764e-03 -8.81016324e+01] [ 1.33076963e-02 -3.76715622e-04 9.99911378e-01 4.27853839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.682755096 meters 0.023972978179016242 Centerline is valid? [True, True] Translation: X:203.24, Y:-88.14, Z:4.28 [[ 8.04110142e-01 5.94390962e-01 -1.03084503e-02 2.03243330e+02] [-5.94336039e-01 8.04176126e-01 8.08899495e-03 -8.81409918e+01] [ 1.30978351e-02 -3.77759367e-04 9.99914148e-01 4.28015686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.742755096 meters 0.02415524394639792 Centerline is valid? [True, True] Translation: X:203.29, Y:-88.18, Z:4.28 [[ 8.04549031e-01 5.93806314e-01 -9.74257299e-03 2.03292285e+02] [-5.93757169e-01 8.04607932e-01 7.64848738e-03 -8.81787729e+01] [ 1.23806716e-02 -3.68860555e-04 9.99923289e-01 4.28169474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.802755096 meters 0.024774744482199372 Centerline is valid? [True, True] Translation: X:203.34, Y:-88.22, Z:4.28 [[ 8.04842075e-01 5.93413466e-01 -9.47060388e-03 2.03340647e+02] [-5.93366950e-01 8.04897709e-01 7.43906689e-03 -8.82170885e+01] [ 1.20373098e-02 -3.67730688e-04 9.99927481e-01 4.28235043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.862755096 meters 0.025723014596489856 Centerline is valid? [True, True] Translation: X:203.39, Y:-88.26, Z:4.28 [[ 8.05009446e-01 5.93185017e-01 -9.55657750e-03 2.03387074e+02] [-5.93137581e-01 8.05066080e-01 7.51112112e-03 -8.82562974e+01] [ 1.21491609e-02 -3.78158181e-04 9.99926125e-01 4.28317975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.922755096 meters 0.026647742439687157 Centerline is valid? [True, True] Translation: X:203.43, Y:-88.30, Z:4.28 [[ 8.05602517e-01 5.92383275e-01 -9.30802888e-03 2.03434094e+02] [-5.92338180e-01 8.05656198e-01 7.31926940e-03 -8.82969733e+01] [ 1.18348839e-02 -3.82920962e-04 9.99929892e-01 4.28341340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98275509599998 meters 0.027276051333614 Centerline is valid? [True, True] Translation: X:203.48, Y:-88.34, Z:4.28 [[ 8.06039099e-01 5.91790219e-01 -9.23623306e-03 2.03481606e+02] [-5.91745732e-01 8.06091920e-01 7.26677455e-03 -8.83377168e+01] [ 1.17456589e-02 -3.91802917e-04 9.99930941e-01 4.28401992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04275509599998 meters 0.027611562418816987 Centerline is valid? [True, True] Translation: X:203.53, Y:-88.38, Z:4.28 [[ 8.05760063e-01 5.92181294e-01 -8.48737981e-03 2.03529296e+02] [-5.92143720e-01 8.05804683e-01 6.68039444e-03 -8.83790289e+01] [ 1.07951750e-02 -3.57046392e-04 9.99941667e-01 4.28494842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10275509599998 meters 0.02509552046713705 Centerline is valid? [True, True] Translation: X:203.58, Y:-88.42, Z:4.28 [[ 8.04121989e-01 5.94406197e-01 -8.31260506e-03 2.03579882e+02] [-5.94370209e-01 8.04164888e-01 6.54883374e-03 -8.84158459e+01] [ 1.05773725e-02 -3.25296413e-04 9.99944005e-01 4.28479135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16275509599998 meters 0.022986080160612883 Centerline is valid? [True, True] Translation: X:203.63, Y:-88.45, Z:4.28 [[ 8.01920863e-01 5.97366738e-01 -8.71263129e-03 2.03629716e+02] [-5.97327357e-01 8.01968135e-01 6.86582454e-03 -8.84526221e+01] [ 1.10886679e-02 -3.01554922e-04 9.99938473e-01 4.28420857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.222755096 meters 0.023594161488957186 Centerline is valid? [True, True] Translation: X:203.68, Y:-88.49, Z:4.29 [[ 8.00681468e-01 5.99030008e-01 -8.49923451e-03 2.03676616e+02] [-5.98992638e-01 8.00726530e-01 6.69652962e-03 -8.84912533e+01] [ 1.08169848e-02 -2.70808263e-04 9.99941458e-01 4.28505381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.282755096 meters 0.022924192169341898 Centerline is valid? [True, True] Translation: X:203.72, Y:-88.53, Z:4.29 [[ 7.99758085e-01 6.00264720e-01 -8.32289532e-03 2.03722934e+02] [-6.00228882e-01 7.99801351e-01 6.56413728e-03 -8.85273032e+01] [ 1.05968830e-02 -2.54079712e-04 9.99943819e-01 4.28611138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.342755096 meters 0.023062727702207526 Centerline is valid? [True, True] Translation: X:203.77, Y:-88.56, Z:4.29 [[ 8.00090822e-01 5.99838239e-01 -6.98313594e-03 2.03768282e+02] [-5.99812999e-01 8.00121266e-01 5.50694799e-03 -8.85641454e+01] [ 8.89063354e-03 -2.17482836e-04 9.99960454e-01 4.28811144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.402755096 meters 0.02382388054829617 Centerline is valid? [True, True] Translation: X:203.81, Y:-88.60, Z:4.29 [[ 8.00746507e-01 5.98970720e-01 -6.25366353e-03 2.03813995e+02] [-5.98950460e-01 8.00770900e-01 4.93061059e-03 -8.86018782e+01] [ 7.96104316e-03 -2.02534549e-04 9.99968290e-01 4.28963167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.462755096 meters 0.02449845710124586 Centerline is valid? [True, True] Translation: X:203.86, Y:-88.64, Z:4.29 [[ 8.01037998e-01 5.98590378e-01 -5.26160970e-03 2.03859572e+02] [-5.98576025e-01 8.01055260e-01 4.14881073e-03 -8.86392869e+01] [ 6.69827831e-03 -1.73881628e-04 9.99977551e-01 4.29145127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.522755096 meters 0.02409167812775958 Centerline is valid? [True, True] Translation: X:203.91, Y:-88.67, Z:4.29 [[ 7.99989772e-01 5.99990953e-01 -5.21745249e-03 2.03905354e+02] [-5.99976872e-01 8.00006769e-01 4.11365164e-03 -8.86744444e+01] [ 6.64215107e-03 -1.60528409e-04 9.99977928e-01 4.29221820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.582755096 meters 0.021632677218070346 Centerline is valid? [True, True] Translation: X:203.95, Y:-88.71, Z:4.29 [[ 7.97082840e-01 6.03834397e-01 -6.55495280e-03 2.03954411e+02] [-6.03812318e-01 7.97109776e-01 5.16622345e-03 -8.87073253e+01] [ 8.34456038e-03 -1.59946820e-04 9.99965171e-01 4.29092187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.642755096 meters 0.017783950114288738 Centerline is valid? [True, True] Translation: X:204.01, Y:-88.74, Z:4.29 [[ 7.94728316e-01 6.06922708e-01 -7.19239612e-03 2.04007983e+02] [-6.06896275e-01 7.94760849e-01 5.66606728e-03 -8.87407451e+01] [ 9.15509975e-03 -1.37945694e-04 9.99958082e-01 4.28848786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70275509599998 meters 0.016658572139651134 Centerline is valid? [True, True] Translation: X:204.06, Y:-88.78, Z:4.29 [[ 7.92293899e-01 6.10083918e-01 -8.24565632e-03 2.04055703e+02] [-6.10049312e-01 7.92336796e-01 6.49909224e-03 -8.87750915e+01] [ 1.04983286e-02 -1.18934158e-04 9.99944884e-01 4.28801791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76275509599998 meters 0.016419495088154004 Centerline is valid? [True, True] Translation: X:204.10, Y:-88.81, Z:4.29 [[ 7.92053016e-01 6.10396205e-01 -8.27605067e-03 2.04103252e+02] [-6.10361375e-01 7.92096244e-01 6.52166749e-03 -8.88122976e+01] [ 1.05362297e-02 -1.14124738e-04 9.99944486e-01 4.28810409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82275509599998 meters 0.017167581713838906 Centerline is valid? [True, True] Translation: X:204.15, Y:-88.85, Z:4.29 [[ 7.93209634e-01 6.08906814e-01 -7.13916394e-03 2.04150233e+02] [-6.08880866e-01 7.93241753e-01 5.62245710e-03 -8.88535782e+01] [ 9.08663536e-03 -1.12886815e-04 9.99958709e-01 4.29023687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88275509599998 meters 0.01803380491104655 Centerline is valid? [True, True] Translation: X:204.20, Y:-88.89, Z:4.29 [[ 7.94478598e-01 6.07257915e-01 -6.44842817e-03 2.04195455e+02] [-6.07236645e-01 7.94504757e-01 5.08405617e-03 -8.88932232e+01] [ 8.21064021e-03 -1.23451932e-04 9.99966285e-01 4.29277205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94275509599998 meters 0.018921732112556024 Centerline is valid? [True, True] Translation: X:204.24, Y:-88.93, Z:4.29 [[ 7.96512558e-01 6.04596889e-01 -5.50874055e-03 2.04243267e+02] [-6.04581329e-01 7.96531598e-01 4.33945152e-03 -8.89333379e+01] [ 7.01150480e-03 -1.25945951e-04 9.99975411e-01 4.29381224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.002755096 meters 0.019435838008062912 Centerline is valid? [True, True] Translation: X:204.29, Y:-88.97, Z:4.30 [[ 7.96951200e-01 6.04019125e-01 -5.44807312e-03 2.04291587e+02] [-6.04003876e-01 7.96969811e-01 4.29407066e-03 -8.89722574e+01] [ 6.93565061e-03 -1.31507481e-04 9.99975939e-01 4.29520774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.062755096 meters 0.01998058201133838 Centerline is valid? [True, True] Translation: X:204.34, Y:-89.01, Z:4.30 [[ 7.98328672e-01 6.02197520e-01 -5.42941483e-03 2.04340176e+02] [-6.02182317e-01 7.98347120e-01 4.28167408e-03 -8.90104312e+01] [ 6.91297121e-03 -1.48685580e-04 9.99976094e-01 4.29544509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.122755096 meters 0.021242180065853544 Centerline is valid? [True, True] Translation: X:204.39, Y:-89.05, Z:4.30 [[ 7.99388206e-01 6.00786624e-01 -5.82475424e-03 2.04386378e+02] [-6.00769063e-01 7.99409408e-01 4.59694900e-03 -8.90511192e+01] [ 7.41814881e-03 -1.75414669e-04 9.99972470e-01 4.29636065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.182755096 meters 0.021801437010988883 Centerline is valid? [True, True] Translation: X:204.43, Y:-89.09, Z:4.30 [[ 7.99932145e-01 6.00059903e-01 -6.05604271e-03 2.04434199e+02] [-6.00040879e-01 7.99955046e-01 4.78198698e-03 -8.90911333e+01] [ 7.71404057e-03 -1.91391913e-04 9.99970228e-01 4.29640882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.242755096 meters 0.022116397916124717 Centerline is valid? [True, True] Translation: X:204.48, Y:-89.13, Z:4.30 [[ 8.00647761e-01 5.99092490e-01 -7.16596854e-03 2.04482581e+02] [-5.99065775e-01 8.00679793e-01 5.66278007e-03 -8.91299096e+01] [ 9.13017521e-03 -2.41005696e-04 9.99958290e-01 4.29573255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.302755096 meters 0.022718909568139014 Centerline is valid? [True, True] Translation: X:204.53, Y:-89.17, Z:4.30 [[ 8.00487521e-01 5.99299880e-01 -7.70598178e-03 2.04531140e+02] [-5.99268961e-01 8.00524570e-01 6.09311410e-03 -8.91695388e+01] [ 9.82043029e-03 -2.59506105e-04 9.99951745e-01 4.29614479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.362755096 meters 0.023519544370531945 Centerline is valid? [True, True] Translation: X:204.58, Y:-89.21, Z:4.30 [[ 7.99777311e-01 6.00250577e-01 -7.44958373e-03 2.04577731e+02] [-6.00221682e-01 7.99811969e-01 5.89467496e-03 -8.92084708e+01] [ 9.49654828e-03 -2.43025618e-04 9.99954877e-01 4.29765327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.422755096 meters 0.021651422871723985 Centerline is valid? [True, True] Translation: X:204.63, Y:-89.24, Z:4.30 [[ 7.98643428e-01 6.01755441e-01 -7.68528438e-03 2.04629201e+02] [-6.01724728e-01 7.98680370e-01 6.08419431e-03 -8.92441083e+01] [ 9.79928280e-03 -2.34676141e-04 9.99951958e-01 4.29727233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48275509599998 meters 0.020030575062658432 Centerline is valid? [True, True] Translation: X:204.68, Y:-89.28, Z:4.30 [[ 7.96605414e-01 6.04438357e-01 -8.60742848e-03 2.04681713e+02] [-6.04399917e-01 7.96651881e-01 6.82060106e-03 -8.92788977e+01] [ 1.09797570e-02 -2.30998666e-04 9.99939694e-01 4.29649153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54275509599998 meters 0.01973212122464768 Centerline is valid? [True, True] Translation: X:204.73, Y:-89.32, Z:4.30 [[ 7.94587409e-01 6.07070423e-01 -9.81588133e-03 2.04731527e+02] [-6.07020624e-01 7.94648005e-01 7.77875350e-03 -8.93151679e+01] [ 1.25224217e-02 -2.22457176e-04 9.99921567e-01 4.29691087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60275509599998 meters 0.019386405743246963 Centerline is valid? [True, True] Translation: X:204.78, Y:-89.35, Z:4.30 [[ 7.93746224e-01 6.08154095e-01 -1.07484700e-02 2.04780154e+02] [-6.08094377e-01 7.93818962e-01 8.52551977e-03 -8.93488153e+01] [ 1.37171691e-02 -2.31014938e-04 9.99905889e-01 4.29649893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66275509599998 meters 0.02091672304003292 Centerline is valid? [True, True] Translation: X:204.82, Y:-89.39, Z:4.30 [[ 7.93790578e-01 6.08083390e-01 -1.14502752e-02 2.04824496e+02] [-6.08015633e-01 7.93873120e-01 9.08073656e-03 -8.93852792e+01] [ 1.46119107e-02 -2.46256809e-04 9.99893210e-01 4.29712928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.722755096 meters 0.01985692150060279 Centerline is valid? [True, True] Translation: X:204.88, Y:-89.42, Z:4.30 [[ 7.95110355e-01 6.06340177e-01 -1.22927692e-02 2.04875477e+02] [-6.06261928e-01 7.95205321e-01 9.74541401e-03 -8.94205729e+01] [ 1.56843116e-02 -2.96041623e-04 9.99876950e-01 4.29640833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.782755096 meters 0.021338555821876576 Centerline is valid? [True, True] Translation: X:204.92, Y:-89.46, Z:4.30 [[ 7.96880185e-01 6.03992181e-01 -1.32444844e-02 2.04921743e+02] [-6.03900908e-01 7.96990154e-01 1.05065338e-02 -8.94602571e+01] [ 1.69015879e-02 -3.74092387e-04 9.99857088e-01 4.29631306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.842755096 meters 0.02113383386112536 Centerline is valid? [True, True] Translation: X:204.97, Y:-89.50, Z:4.30 [[ 7.97253352e-01 6.03492898e-01 -1.35430884e-02 2.04971100e+02] [-6.03397292e-01 7.97368274e-01 1.07491360e-02 -8.94983624e+01] [ 1.72858563e-02 -3.97921813e-04 9.99850509e-01 4.29688141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.902755096 meters 0.022253870414576105 Centerline is valid? [True, True] Translation: X:205.02, Y:-89.54, Z:4.30 [[ 7.97068154e-01 6.03714094e-01 -1.45482325e-02 2.05019235e+02] [-6.03603672e-01 7.97200796e-01 1.15541331e-02 -8.95376778e+01] [ 1.85732555e-02 -4.28064986e-04 9.99827411e-01 4.29704498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.962755096 meters 0.02106146790824261 Centerline is valid? [True, True] Translation: X:205.07, Y:-89.57, Z:4.30 [[ 7.95689545e-01 6.05484503e-01 -1.63298951e-02 2.05069452e+02] [-6.05345564e-01 7.95856974e-01 1.29778852e-02 -8.95738586e+01] [ 2.08541693e-02 -4.41138021e-04 9.99782431e-01 4.29604506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.022755096 meters 0.020527687147942363 Centerline is valid? [True, True] Translation: X:205.12, Y:-89.61, Z:4.30 [[ 7.94848762e-01 6.06567103e-01 -1.70820336e-02 2.05119078e+02] [-6.06415143e-01 7.95032174e-01 1.35836708e-02 -8.96113296e+01] [ 2.18201742e-02 -4.38160071e-04 9.99761816e-01 4.29638697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.082755096 meters 0.0208419873606183 Centerline is valid? [True, True] Translation: X:205.16, Y:-89.65, Z:4.30 [[ 7.94140629e-01 6.07479028e-01 -1.76037384e-02 2.05164413e+02] [-6.07317716e-01 7.94335600e-01 1.40052454e-02 -8.96480265e+01] [ 2.24911690e-02 -4.31072230e-04 9.99746949e-01 4.29666726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.142755096 meters 0.020526076226039497 Centerline is valid? [True, True] Translation: X:205.21, Y:-89.69, Z:4.30 [[ 7.94482895e-01 6.07019367e-01 -1.80115964e-02 2.05213143e+02] [-6.06850361e-01 7.94686908e-01 1.43303238e-02 -8.96860193e+01] [ 2.30123639e-02 -4.54853314e-04 9.99735077e-01 4.29780169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20275509599998 meters 0.021960055684770784 Centerline is valid? [True, True] Translation: X:205.26, Y:-89.73, Z:4.30 [[ 7.96246142e-01 6.04713745e-01 -1.77021806e-02 2.05258868e+02] [-6.04549745e-01 7.96442727e-01 1.40921431e-02 -8.97281227e+01] [ 2.26204856e-02 -5.18965805e-04 9.99743989e-01 4.30010251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26275509599998 meters 0.023479836979357637 Centerline is valid? [True, True] Translation: X:205.30, Y:-89.77, Z:4.30 [[ 7.97930895e-01 6.02497665e-01 -1.74025949e-02 2.05303708e+02] [-6.02338469e-01 7.98120436e-01 1.38614079e-02 -8.97709552e+01] [ 2.22408326e-02 -5.78193230e-04 9.99752475e-01 4.30245589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32275509599998 meters 0.02275723516577147 Centerline is valid? [True, True] Translation: X:205.35, Y:-89.81, Z:4.30 [[ 7.97396527e-01 6.03221237e-01 -1.68201424e-02 2.05353476e+02] [-6.03072524e-01 7.97573722e-01 1.34048219e-02 -8.98084169e+01] [ 2.15013768e-02 -5.45192711e-04 9.99768670e-01 4.30474151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38275509599998 meters 0.022138089765064973 Centerline is valid? [True, True] Translation: X:205.40, Y:-89.84, Z:4.31 [[ 7.94808331e-01 6.06631872e-01 -1.66580191e-02 2.05401604e+02] [-6.06486618e-01 7.94982746e-01 1.32821627e-02 -8.98437824e+01] [ 2.13002210e-02 -4.53907901e-04 9.99773022e-01 4.30664042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44275509599998 meters 0.02007204931060781 Centerline is valid? [True, True] Translation: X:205.45, Y:-89.88, Z:4.31 [[ 7.92404432e-01 6.09782527e-01 -1.61395765e-02 2.05453285e+02] [-6.09646821e-01 7.92568698e-01 1.28690322e-02 -8.98789220e+01] [ 2.06390342e-02 -3.58036639e-04 9.99786928e-01 4.30890951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.502755096 meters 0.020391331035896864 Centerline is valid? [True, True] Translation: X:205.50, Y:-89.92, Z:4.31 [[ 7.92441799e-01 6.09734221e-01 -1.61299633e-02 2.05499062e+02] [-6.09598529e-01 7.92605859e-01 1.28680467e-02 -8.99161907e+01] [ 2.06307919e-02 -3.64376162e-04 9.99787096e-01 4.31025619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.562755096 meters 0.021067706661470446 Centerline is valid? [True, True] Translation: X:205.54, Y:-89.95, Z:4.31 [[ 7.93720229e-01 6.08072561e-01 -1.59987236e-02 2.05544434e+02] [-6.07938742e-01 7.93881350e-01 1.27627906e-02 -8.99546091e+01] [ 2.04617911e-02 -4.03841149e-04 9.99790554e-01 4.31131773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.622755096 meters 0.022036741884042612 Centerline is valid? [True, True] Translation: X:205.59, Y:-90.00, Z:4.31 [[ 7.96209670e-01 6.04807256e-01 -1.60731075e-02 2.05591089e+02] [-6.04671538e-01 7.96371737e-01 1.28213829e-02 -8.99954430e+01] [ 2.05546340e-02 -4.89558418e-04 9.99788611e-01 4.31301041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.682755096 meters 0.023403945484535425 Centerline is valid? [True, True] Translation: X:205.64, Y:-90.04, Z:4.31 [[ 7.97907647e-01 6.02573286e-01 -1.57740686e-02 2.05637514e+02] [-6.02442086e-01 7.98063371e-01 1.25852414e-02 -9.00363372e+01] [ 2.01722367e-02 -5.38897573e-04 9.99796374e-01 4.31478036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.742755096 meters 0.027823248088205417 Centerline is valid? [True, True] Translation: X:205.68, Y:-90.08, Z:4.31 [[ 8.01539196e-01 5.97739924e-01 -1.55531512e-02 2.05680195e+02] [-5.97611331e-01 8.01689811e-01 1.24154954e-02 -9.00793028e+01] [ 1.98900401e-02 -6.56766795e-04 9.99801958e-01 4.31470985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.802755096 meters 0.028629740677261956 Centerline is valid? [True, True] Translation: X:205.73, Y:-90.12, Z:4.32 [[ 8.02984130e-01 5.95828653e-01 -1.43074527e-02 2.05725976e+02] [-5.95719535e-01 8.03111323e-01 1.14209779e-02 -9.01193611e+01] [ 1.82954231e-02 -6.47634944e-04 9.99832415e-01 4.31846489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.862755096 meters 0.02663148385603393 Centerline is valid? [True, True] Translation: X:205.78, Y:-90.15, Z:4.32 [[ 8.01726029e-01 5.97522424e-01 -1.42241799e-02 2.05776811e+02] [-5.97414735e-01 8.01851969e-01 1.13602063e-02 -9.01547480e+01] [ 1.81936647e-02 -6.10038467e-04 9.99834295e-01 4.31976557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.922755096 meters 0.02634215171382991 Centerline is valid? [True, True] Translation: X:205.83, Y:-90.19, Z:4.32 [[ 8.00808581e-01 5.98762697e-01 -1.37422681e-02 2.05825443e+02] [-5.98662260e-01 8.00926283e-01 1.09812222e-02 -9.01927792e+01] [ 1.75816899e-02 -5.66879674e-04 9.99845269e-01 4.32122943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98275509599998 meters 0.0243642464395433 Centerline is valid? [True, True] Translation: X:205.87, Y:-90.23, Z:4.32 [[ 7.97416751e-01 6.03267397e-01 -1.39632899e-02 2.05873971e+02] [-6.03164271e-01 7.97538850e-01 1.11644660e-02 -9.02268095e+01] [ 1.78714245e-02 -4.80574593e-04 9.99840178e-01 4.32226023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04275509599998 meters 0.02202763716119047 Centerline is valid? [True, True] Translation: X:205.92, Y:-90.26, Z:4.32 [[ 7.94119683e-01 6.07577151e-01 -1.49644448e-02 2.05924662e+02] [-6.07459486e-01 7.94260560e-01 1.19639555e-02 -9.02600308e+01] [ 1.91546943e-02 -4.10518610e-04 9.99816448e-01 4.32216872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10275509599998 meters 0.021427853736263575 Centerline is valid? [True, True] Translation: X:205.97, Y:-90.30, Z:4.32 [[ 7.93189566e-01 6.08769149e-01 -1.58251791e-02 2.05971786e+02] [-6.08637806e-01 7.93347314e-01 1.26514904e-02 -9.02955430e+01] [ 2.02567003e-02 -4.03227908e-04 9.99794731e-01 4.32196252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16275509599998 meters 0.022071418791846924 Centerline is valid? [True, True] Translation: X:206.02, Y:-90.33, Z:4.32 [[ 7.93676776e-01 6.08105503e-01 -1.68781512e-02 2.06015446e+02] [-6.07955994e-01 7.93856094e-01 1.34911481e-02 -9.03344913e+01] [ 2.16028646e-02 -4.46437703e-04 9.99766531e-01 4.32258624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.222755096 meters 0.024491813941586626 Centerline is valid? [True, True] Translation: X:206.06, Y:-90.38, Z:4.32 [[ 7.95286999e-01 6.05981521e-01 -1.74638177e-02 2.06057061e+02] [-6.05820992e-01 7.95478551e-01 1.39570769e-02 -9.03753026e+01] [ 2.23498231e-02 -5.19934422e-04 9.99750076e-01 4.32320635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.282755096 meters 0.021825413756144992 Centerline is valid? [True, True] Translation: X:206.11, Y:-90.41, Z:4.33 [[ 7.95927621e-01 6.05163189e-01 -1.66353934e-02 2.06108232e+02] [-6.05017375e-01 7.96101280e-01 1.32938893e-02 -9.04103704e+01] [ 2.12884305e-02 -5.16271619e-04 9.99773242e-01 4.32663024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.342755096 meters 0.02130608523373184 Centerline is valid? [True, True] Translation: X:206.16, Y:-90.45, Z:4.33 [[ 7.95843653e-01 6.05266563e-01 -1.68898812e-02 2.06158142e+02] [-6.05116105e-01 7.96022682e-01 1.35051903e-02 -9.04491046e+01] [ 2.16189686e-02 -5.27680876e-04 9.99766144e-01 4.32811266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.402755096 meters 0.022078885535204245 Centerline is valid? [True, True] Translation: X:206.20, Y:-90.49, Z:4.33 [[ 7.96130233e-01 6.04877895e-01 -1.73027282e-02 2.06204414e+02] [-6.04719698e-01 7.96318039e-01 1.38443891e-02 -9.04884137e+01] [ 2.21526396e-02 -5.58636180e-04 9.99754444e-01 4.32930841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.462755096 meters 0.02206468900751376 Centerline is valid? [True, True] Translation: X:206.25, Y:-90.53, Z:4.33 [[ 7.96223685e-01 6.04736863e-01 -1.79212451e-02 2.06253639e+02] [-6.04566937e-01 7.96425125e-01 1.43470926e-02 -9.05255612e+01] [ 2.29491456e-02 -5.88902740e-04 9.99736460e-01 4.32932120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.522755096 meters 0.022309617928316015 Centerline is valid? [True, True] Translation: X:206.30, Y:-90.56, Z:4.33 [[ 7.96384007e-01 6.04479581e-01 -1.94152135e-02 2.06302508e+02] [-6.04279891e-01 7.96620369e-01 1.55499807e-02 -9.05618668e+01] [ 2.48662003e-02 -6.51532870e-04 9.99690576e-01 4.32845500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.582755096 meters 0.022086158048290293 Centerline is valid? [True, True] Translation: X:206.35, Y:-90.60, Z:4.33 [[ 7.96316154e-01 6.04562584e-01 -1.96128627e-02 2.06351018e+02] [-6.04358762e-01 7.96557373e-01 1.57110572e-02 -9.06003256e+01] [ 2.51210877e-02 -6.57763214e-04 9.99684199e-01 4.32939673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.642755096 meters 0.02264786361694873 Centerline is valid? [True, True] Translation: X:206.40, Y:-90.64, Z:4.33 [[ 7.96663970e-01 6.04104030e-01 -1.96173637e-02 2.06398238e+02] [-6.03899807e-01 7.96905178e-01 1.57213419e-02 -9.06386347e+01] [ 2.51305047e-02 -6.77704540e-04 9.99683949e-01 4.33083518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70275509599998 meters 0.02261068863060738 Centerline is valid? [True, True] Translation: X:206.45, Y:-90.67, Z:4.33 [[ 7.97037335e-01 6.03624328e-01 -1.92134604e-02 2.06446733e+02] [-6.03428290e-01 7.97268594e-01 1.53976541e-02 -9.06745292e+01] [ 2.46126872e-02 -6.78559661e-04 9.99696832e-01 4.33333978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76275509599998 meters 0.023922101264721676 Centerline is valid? [True, True] Translation: X:206.49, Y:-90.71, Z:4.33 [[ 7.97534057e-01 6.02981416e-01 -1.87840159e-02 2.06491143e+02] [-6.02793886e-01 7.97754941e-01 1.50527236e-02 -9.07110442e+01] [ 2.40615541e-02 -6.82169845e-04 9.99710246e-01 4.33469773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82275509599998 meters 0.02361377307748039 Centerline is valid? [True, True] Translation: X:206.54, Y:-90.75, Z:4.34 [[ 7.97727674e-01 6.02711277e-01 -1.92269411e-02 2.06537764e+02] [-6.02514801e-01 7.97959035e-01 1.54043176e-02 -9.07474157e+01] [ 2.46266673e-02 -7.03933860e-04 9.99696470e-01 4.33574162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88275509599998 meters 0.02316862948463722 Centerline is valid? [True, True] Translation: X:206.58, Y:-90.78, Z:4.34 [[ 7.97591821e-01 6.02892513e-01 -1.91808269e-02 2.06584879e+02] [-6.02697084e-01 7.97822120e-01 1.53652172e-02 -9.07841534e+01] [ 2.45664624e-02 -6.94943109e-04 9.99697957e-01 4.33721155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94275509599998 meters 0.022745999745654888 Centerline is valid? [True, True] Translation: X:206.63, Y:-90.82, Z:4.34 [[ 7.96993659e-01 6.03661977e-01 -1.98323969e-02 2.06631901e+02] [-6.03453323e-01 7.97240075e-01 1.58855296e-02 -9.08189180e+01] [ 2.54006718e-02 -6.92740581e-04 9.99677111e-01 4.33827491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.002755096 meters 0.02235580751082388 Centerline is valid? [True, True] Translation: X:206.68, Y:-90.85, Z:4.34 [[ 7.96221653e-01 6.04680141e-01 -1.98243836e-02 2.06679568e+02] [-6.04472034e-01 7.96468138e-01 1.58765770e-02 -9.08538200e+01] [ 2.53897407e-02 -6.57988897e-04 9.99677412e-01 4.33906364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.062755096 meters 0.02117240922043214 Centerline is valid? [True, True] Translation: X:206.73, Y:-90.89, Z:4.34 [[ 7.95976829e-01 6.05010133e-01 -1.95863982e-02 2.06728529e+02] [-6.04807139e-01 7.96217515e-01 1.56841516e-02 -9.08900628e+01] [ 2.50841040e-02 -6.38227787e-04 9.99685141e-01 4.34097909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.122755096 meters 0.021316082196506863 Centerline is valid? [True, True] Translation: X:206.78, Y:-90.93, Z:4.34 [[ 7.95896107e-01 6.05098976e-01 -2.01150775e-02 2.06775127e+02] [-6.04884912e-01 7.96149988e-01 1.61071403e-02 -9.09275048e+01] [ 2.57610329e-02 -6.52303377e-04 9.99667917e-01 4.34171013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.182755096 meters 0.02234771168026046 Centerline is valid? [True, True] Translation: X:206.82, Y:-90.96, Z:4.34 [[ 7.96526061e-01 6.04283438e-01 -1.96916332e-02 2.06819239e+02] [-6.04078092e-01 7.96769155e-01 1.57661531e-02 -9.09641802e+01] [ 2.52169112e-02 -6.62867566e-04 9.99681783e-01 4.34258255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.242755096 meters 0.02337940763062519 Centerline is valid? [True, True] Translation: X:206.86, Y:-91.00, Z:4.34 [[ 7.97686739e-01 6.02778128e-01 -1.88253543e-02 2.06864287e+02] [-6.02590114e-01 7.97908560e-01 1.50693407e-02 -9.10015750e+01] [ 2.41043803e-02 -6.76640918e-04 9.99709218e-01 4.34455167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.302755096 meters 0.024793618789793897 Centerline is valid? [True, True] Translation: X:206.91, Y:-91.04, Z:4.35 [[ 7.98776917e-01 6.01348444e-01 -1.83162691e-02 2.06908968e+02] [-6.01170139e-01 7.98986584e-01 1.46595620e-02 -9.10400619e+01] [ 2.34499581e-02 -6.98525738e-04 9.99724768e-01 4.34555973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.362755096 meters 0.02579611263911768 Centerline is valid? [True, True] Translation: X:206.95, Y:-91.08, Z:4.35 [[ 7.99216087e-01 6.00753621e-01 -1.86743780e-02 2.06953803e+02] [-6.00568178e-01 7.99433898e-01 1.49434503e-02 -9.10772864e+01] [ 2.39062627e-02 -7.27808707e-04 9.99713940e-01 4.34602811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.422755096 meters 0.026171606789234702 Centerline is valid? [True, True] Translation: X:207.00, Y:-91.11, Z:4.35 [[ 7.98942996e-01 6.01094404e-01 -1.93805951e-02 2.07001225e+02] [-6.00894862e-01 7.99177682e-01 1.55047347e-02 -9.11129508e+01] [ 2.48083484e-02 -7.41699165e-04 9.99691950e-01 4.34571105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48275509599998 meters 0.026004012533896163 Centerline is valid? [True, True] Translation: X:207.05, Y:-91.15, Z:4.35 [[ 7.98031027e-01 6.02308879e-01 -1.92482421e-02 2.07047543e+02] [-6.02112466e-01 7.98262819e-01 1.53964267e-02 -9.11474779e+01] [ 2.46385605e-02 -6.97219630e-04 9.99696181e-01 4.34599225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54275509599998 meters 0.025780028360914652 Centerline is valid? [True, True] Translation: X:207.09, Y:-91.18, Z:4.35 [[ 7.97793264e-01 6.02633317e-01 -1.89471063e-02 2.07094562e+02] [-6.02443189e-01 7.98017940e-01 1.51516536e-02 -9.11825601e+01] [ 2.42510220e-02 -6.73332027e-04 9.99705674e-01 4.34722965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60275509599998 meters 0.02199108036935794 Centerline is valid? [True, True] Translation: X:207.15, Y:-91.21, Z:4.35 [[ 7.97587737e-01 6.02947072e-01 -1.75678892e-02 2.07146097e+02] [-6.02783829e-01 7.97780957e-01 1.40427944e-02 -9.12129711e+01] [ 2.24823893e-02 -6.10721067e-04 9.99747053e-01 4.35073366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66275509599998 meters 0.025787957741949072 Centerline is valid? [True, True] Translation: X:207.19, Y:-91.25, Z:4.35 [[ 7.97075581e-01 6.03626336e-01 -1.74861162e-02 2.07188201e+02] [-6.03464826e-01 7.97267146e-01 1.39750702e-02 -9.12523582e+01] [ 2.23768263e-02 -5.86931134e-04 9.99749435e-01 4.35141673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.722755096 meters 0.021278661635735267 Centerline is valid? [True, True] Translation: X:207.24, Y:-91.28, Z:4.35 [[ 7.95886025e-01 6.05202387e-01 -1.71902767e-02 2.07239361e+02] [-6.05046720e-01 7.96071472e-01 1.37360037e-02 -9.12819746e+01] [ 2.19977510e-02 -5.31372839e-04 9.99757879e-01 4.35377856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.782755096 meters 0.019541726299777372 Centerline is valid? [True, True] Translation: X:207.29, Y:-91.31, Z:4.35 [[ 7.94039336e-01 6.07612037e-01 -1.75825041e-02 2.07288292e+02] [-6.07449825e-01 7.94233837e-01 1.40471310e-02 -9.13148089e+01] [ 2.24998256e-02 -4.73485476e-04 9.99746735e-01 4.35389689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.842755096 meters 0.019380618814807002 Centerline is valid? [True, True] Translation: X:207.33, Y:-91.35, Z:4.35 [[ 7.93420526e-01 6.08423376e-01 -1.74603750e-02 2.07334828e+02] [-6.08263656e-01 7.93612498e-01 1.39472997e-02 -9.13506623e+01] [ 2.23426350e-02 -4.45562364e-04 9.99750273e-01 4.35458822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.902755096 meters 0.018060822962637047 Centerline is valid? [True, True] Translation: X:207.38, Y:-91.39, Z:4.36 [[ 7.91629577e-01 6.10734537e-01 -1.80537680e-02 2.07383086e+02] [-6.10564438e-01 7.91835319e-01 1.44185287e-02 -9.13853744e+01] [ 2.31015045e-02 -3.91145047e-04 9.99733048e-01 4.35539750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.962755096 meters 0.017714851928515348 Centerline is valid? [True, True] Translation: X:207.43, Y:-91.42, Z:4.36 [[ 7.90875876e-01 6.11706359e-01 -1.81845944e-02 2.07429604e+02] [-6.11534135e-01 7.91084824e-01 1.45190398e-02 -9.14219022e+01] [ 2.32669457e-02 -3.62258136e-04 9.99729222e-01 4.35652432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.022755096 meters 0.017529480946582902 Centerline is valid? [True, True] Translation: X:207.48, Y:-91.46, Z:4.36 [[ 7.90840776e-01 6.11760957e-01 -1.78717257e-02 2.07475558e+02] [-6.11594676e-01 7.91042607e-01 1.42669555e-02 -9.14591546e+01] [ 2.28652628e-02 -3.52637865e-04 9.99738494e-01 4.35850098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.082755096 meters 0.01785493760270232 Centerline is valid? [True, True] Translation: X:207.52, Y:-91.50, Z:4.36 [[ 7.91255892e-01 6.11252562e-01 -1.68647109e-02 2.07519958e+02] [-6.11104423e-01 7.91435523e-01 1.34609656e-02 -9.14970917e+01] [ 2.15753810e-02 -3.44968945e-04 9.99767165e-01 4.36027171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.142755096 meters 0.018062014493483138 Centerline is valid? [True, True] Translation: X:207.56, Y:-91.54, Z:4.36 [[ 7.92300513e-01 6.09904387e-01 -1.66293338e-02 2.07564321e+02] [-6.09760103e-01 7.92474919e-01 1.32709744e-02 -9.15353255e+01] [ 2.12723555e-02 -3.74695587e-04 9.99773648e-01 4.36172968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20275509599998 meters 0.018858406125042266 Centerline is valid? [True, True] Translation: X:207.61, Y:-91.57, Z:4.36 [[ 7.93307942e-01 6.08584160e-01 -1.69655380e-02 2.07608302e+02] [-6.08433732e-01 7.93489223e-01 1.35368611e-02 -9.15733691e+01] [ 2.17002908e-02 -4.16493794e-04 9.99764434e-01 4.36207680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26275509599998 meters 0.01916957566612313 Centerline is valid? [True, True] Translation: X:207.65, Y:-91.61, Z:4.36 [[ 7.93446890e-01 6.08421120e-01 -1.63025556e-02 2.07652645e+02] [-6.08282249e-01 7.93614251e-01 1.30048383e-02 -9.16105993e+01] [ 2.08503588e-02 -4.02093296e-04 9.99782527e-01 4.36307658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32275509599998 meters 0.01866776243693485 Centerline is valid? [True, True] Translation: X:207.70, Y:-91.65, Z:4.36 [[ 7.93200211e-01 6.08734185e-01 -1.66167507e-02 2.07698195e+02] [-6.08590045e-01 7.93374144e-01 1.32523413e-02 -9.16478526e+01] [ 2.12504535e-02 -3.98970873e-04 9.99774104e-01 4.36446012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38275509599998 meters 0.01926959853896783 Centerline is valid? [True, True] Translation: X:207.74, Y:-91.69, Z:4.36 [[ 7.93355296e-01 6.08525954e-01 -1.68385596e-02 2.07740982e+02] [-6.08377942e-01 7.93533866e-01 1.34269836e-02 -9.16863837e+01] [ 2.15326353e-02 -4.08160266e-04 9.99768063e-01 4.36468862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44275509599998 meters 0.020043001349775918 Centerline is valid? [True, True] Translation: X:207.78, Y:-91.73, Z:4.36 [[ 7.94500468e-01 6.07005640e-01 -1.76962827e-02 2.07783796e+02] [-6.06841849e-01 7.94697384e-01 1.41081098e-02 -9.17264970e+01] [ 2.26268918e-02 -4.70054916e-04 9.99743869e-01 4.36404491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.502755096 meters 0.020543551475614385 Centerline is valid? [True, True] Translation: X:207.83, Y:-91.77, Z:4.36 [[ 7.96249600e-01 6.04681383e-01 -1.86279183e-02 2.07827146e+02] [-6.04499305e-01 7.96467267e-01 1.48486583e-02 -9.17684433e+01] [ 2.38152344e-02 -5.62674561e-04 9.99716219e-01 4.36436651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.562755096 meters 0.02179829919640645 Centerline is valid? [True, True] Translation: X:207.87, Y:-91.81, Z:4.37 [[ 7.97865815e-01 6.02567153e-01 -1.79712732e-02 2.07870930e+02] [-6.02397171e-01 7.98067956e-01 1.43243195e-02 -9.18102410e+01] [ 2.29736617e-02 -6.03040716e-04 9.99735889e-01 4.36582356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.622755096 meters 0.025059492580310712 Centerline is valid? [True, True] Translation: X:207.91, Y:-91.85, Z:4.37 [[ 7.99340413e-01 6.00654655e-01 -1.63978730e-02 2.07912564e+02] [-6.00512733e-01 7.99508365e-01 1.30702692e-02 -9.18545871e+01] [ 2.09609546e-02 -6.00462819e-04 9.99780115e-01 4.36879471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.682755096 meters 0.025566743852458156 Centerline is valid? [True, True] Translation: X:207.96, Y:-91.89, Z:4.37 [[ 7.99490963e-01 6.00467131e-01 -1.59193455e-02 2.07956104e+02] [-6.00333331e-01 7.99649223e-01 1.26890659e-02 -9.18924612e+01] [ 2.03492593e-02 -5.87879787e-04 9.99792760e-01 4.37074012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.742755096 meters 0.022486297162329732 Centerline is valid? [True, True] Translation: X:208.01, Y:-91.93, Z:4.37 [[ 7.98539446e-01 6.01730348e-01 -1.59794123e-02 2.08006238e+02] [-6.01595830e-01 7.98699117e-01 1.27349505e-02 -9.19290891e+01] [ 2.04257486e-02 -5.56212497e-04 9.99791218e-01 4.37207567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.802755096 meters 0.021203092611598626 Centerline is valid? [True, True] Translation: X:208.06, Y:-91.97, Z:4.37 [[ 7.96882188e-01 6.03920126e-01 -1.61015846e-02 2.08056140e+02] [-6.03783838e-01 7.97044680e-01 1.28395593e-02 -9.19667006e+01] [ 2.05877506e-02 -5.09739581e-04 9.99787920e-01 4.37238273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.862755096 meters 0.020083981503005718 Centerline is valid? [True, True] Translation: X:208.10, Y:-92.00, Z:4.37 [[ 7.95054103e-01 6.06328626e-01 -1.59552808e-02 2.08103453e+02] [-6.06195157e-01 7.95214057e-01 1.27293236e-02 -9.20035591e+01] [ 2.04060168e-02 -4.48487047e-04 9.99791675e-01 4.37349274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.922755096 meters 0.019381239641360806 Centerline is valid? [True, True] Translation: X:208.15, Y:-92.04, Z:4.37 [[ 7.93690010e-01 6.08111601e-01 -1.60140422e-02 2.08149910e+02] [-6.07977532e-01 7.93851446e-01 1.27750581e-02 -9.20387410e+01] [ 2.04814316e-02 -4.03258188e-04 9.99790152e-01 4.37390864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98275509599998 meters 0.017172606634163166 Centerline is valid? [True, True] Translation: X:208.20, Y:-92.07, Z:4.37 [[ 7.91460900e-01 6.10993401e-01 -1.66345250e-02 2.08200638e+02] [-6.10849405e-01 7.91635616e-01 1.32686099e-02 -9.20744390e+01] [ 2.12755156e-02 -3.40396252e-04 9.99773593e-01 4.37398449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04275509599998 meters 0.017048501174756703 Centerline is valid? [True, True] Translation: X:208.25, Y:-92.11, Z:4.38 [[ 7.90719073e-01 6.11953399e-01 -1.66248471e-02 2.08247159e+02] [-6.11809631e-01 7.90893757e-01 1.32679899e-02 -9.21125663e+01] [ 2.12678793e-02 -3.20011130e-04 9.99773762e-01 4.37513590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10275509599998 meters 0.01804945587777608 Centerline is valid? [True, True] Translation: X:208.29, Y:-92.15, Z:4.38 [[ 7.90936740e-01 6.11688604e-01 -1.60039413e-02 2.08289858e+02] [-6.11555275e-01 7.91098573e-01 1.27747305e-02 -9.21527802e+01] [ 2.04748522e-02 -3.16708924e-04 9.99790318e-01 4.37638014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16275509599998 meters 0.01795175586967197 Centerline is valid? [True, True] Translation: X:208.34, Y:-92.19, Z:4.38 [[ 7.92054029e-01 6.10250883e-01 -1.56293112e-02 2.08335338e+02] [-6.10123473e-01 7.92208143e-01 1.24742002e-02 -9.21901084e+01] [ 1.99940593e-02 -3.44430905e-04 9.99800039e-01 4.37832588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.222755096 meters 0.017614949643748084 Centerline is valid? [True, True] Translation: X:208.38, Y:-92.22, Z:4.38 [[ 7.91465268e-01 6.11029988e-01 -1.50027944e-02 2.08382517e+02] [-6.10912764e-01 7.91607389e-01 1.19723410e-02 -9.22249260e+01] [ 1.91917822e-02 -3.10293481e-04 9.99815773e-01 4.37935518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.282755096 meters 0.017255119578886577 Centerline is valid? [True, True] Translation: X:208.43, Y:-92.26, Z:4.38 [[ 7.90757383e-01 6.11945720e-01 -1.50065660e-02 2.08429835e+02] [-6.11828638e-01 7.90899712e-01 1.19734772e-02 -9.22600706e+01] [ 1.91958069e-02 -2.86668657e-04 9.99815702e-01 4.37949969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.342755096 meters 0.017377151926662802 Centerline is valid? [True, True] Translation: X:208.48, Y:-92.29, Z:4.38 [[ 7.90499498e-01 6.12278188e-01 -1.50321112e-02 2.08477049e+02] [-6.12160803e-01 7.90642361e-01 1.19919930e-02 -9.22943432e+01] [ 1.92274596e-02 -2.77595182e-04 9.99815097e-01 4.37971104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.402755096 meters 0.01729033902416933 Centerline is valid? [True, True] Translation: X:208.52, Y:-92.33, Z:4.38 [[ 7.91919877e-01 6.10432382e-01 -1.53367529e-02 2.08524582e+02] [-6.10309888e-01 7.92068305e-01 1.22327656e-02 -9.23314966e+01] [ 1.96150322e-02 -3.27198282e-04 9.99807553e-01 4.37963890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.462755096 meters 0.019806956783745118 Centerline is valid? [True, True] Translation: X:208.57, Y:-92.37, Z:4.38 [[ 7.95024147e-01 6.06378998e-01 -1.55279042e-02 2.08568992e+02] [-6.06252656e-01 7.95175656e-01 1.23852011e-02 -9.23714550e+01] [ 1.98575372e-02 -4.32700776e-04 9.99802726e-01 4.37937709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.522755096 meters 0.02123343361696831 Centerline is valid? [True, True] Translation: X:208.62, Y:-92.41, Z:4.38 [[ 7.97473918e-01 6.03144731e-01 -1.58676982e-02 2.08615435e+02] [-6.03012156e-01 7.97631593e-01 1.26562751e-02 -9.24119564e+01] [ 2.02901430e-02 -5.24634423e-04 9.99793996e-01 4.37975686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.582755096 meters 0.02244226071695418 Centerline is valid? [True, True] Translation: X:208.66, Y:-92.45, Z:4.38 [[ 7.98450049e-01 6.01851218e-01 -1.58943574e-02 2.08663080e+02] [-6.01717805e-01 7.98608035e-01 1.26842592e-02 -9.24521167e+01] [ 2.03273984e-02 -5.63829585e-04 9.99793218e-01 4.38061511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.642755096 meters 0.021498757113999113 Centerline is valid? [True, True] Translation: X:208.71, Y:-92.49, Z:4.38 [[ 7.97979998e-01 6.02457414e-01 -1.65222926e-02 2.08712546e+02] [-6.02313217e-01 7.98150820e-01 1.31930391e-02 -9.24896733e+01] [ 2.11355256e-02 -5.76186101e-04 9.99776454e-01 4.38104538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70275509599998 meters 0.020855747499176937 Centerline is valid? [True, True] Translation: X:208.76, Y:-92.53, Z:4.38 [[ 7.96686613e-01 6.04177535e-01 -1.61228589e-02 2.08762035e+02] [-6.04040429e-01 7.96849567e-01 1.28813171e-02 -9.25272076e+01] [ 2.06300955e-02 -5.23514290e-04 9.99787040e-01 4.38154810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76275509599998 meters 0.021802769570436455 Centerline is valid? [True, True] Translation: X:208.81, Y:-92.57, Z:4.38 [[ 7.96444337e-01 6.04500091e-01 -1.60018175e-02 2.08808188e+02] [-6.04364966e-01 7.96604904e-01 1.27912320e-02 -9.25667866e+01] [ 2.04794272e-02 -5.16566372e-04 9.99790141e-01 4.38263472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82275509599998 meters 0.020413385875010563 Centerline is valid? [True, True] Translation: X:208.86, Y:-92.60, Z:4.38 [[ 7.95942986e-01 6.05169402e-01 -1.56447571e-02 2.08858150e+02] [-6.05040350e-01 7.96096574e-01 1.25067401e-02 -9.26039323e+01] [ 2.00234340e-02 -4.88942805e-04 9.99799391e-01 4.38492857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88275509599998 meters 0.020754958922927093 Centerline is valid? [True, True] Translation: X:208.91, Y:-92.64, Z:4.39 [[ 7.96049689e-01 6.05061056e-01 -1.43530805e-02 2.08907167e+02] [-6.04952309e-01 7.96178944e-01 1.14801220e-02 -9.26431670e+01] [ 1.83737952e-02 -4.55818336e-04 9.99831084e-01 4.38717266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94275509599998 meters 0.021052483704297954 Centerline is valid? [True, True] Translation: X:208.96, Y:-92.68, Z:4.39 [[ 7.96746716e-01 6.04150521e-01 -1.40292262e-02 2.08955357e+02] [-6.04046357e-01 7.96870081e-01 1.12282392e-02 -9.26820303e+01] [ 1.79630172e-02 -4.71759732e-04 9.99838541e-01 4.38908700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.002755096 meters 0.021583095704168297 Centerline is valid? [True, True] Translation: X:209.00, Y:-92.72, Z:4.39 [[ 7.97034867e-01 6.03779248e-01 -1.36396558e-02 2.09003151e+02] [-6.03680629e-01 7.97151427e-01 1.09225239e-02 -9.27213848e+01] [ 1.74676643e-02 -4.71636375e-04 9.99847317e-01 4.39043681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.062755096 meters 0.02213809751413581 Centerline is valid? [True, True] Translation: X:209.05, Y:-92.76, Z:4.39 [[ 7.97328420e-01 6.03379148e-01 -1.41772660e-02 2.09052101e+02] [-6.03272415e-01 7.97454293e-01 1.13597560e-02 -9.27598509e+01] [ 1.81599616e-02 -5.04702834e-04 9.99834967e-01 4.39129635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.122755096 meters 0.02227294050764256 Centerline is valid? [True, True] Translation: X:209.10, Y:-92.80, Z:4.39 [[ 7.97238249e-01 6.03482247e-01 -1.48442720e-02 2.09100891e+02] [-6.03365117e-01 7.97376257e-01 1.19012572e-02 -9.27988430e+01] [ 1.90186674e-02 -5.31621531e-04 9.99818987e-01 4.39185943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.182755096 meters 0.02163590968189716 Centerline is valid? [True, True] Translation: X:209.15, Y:-92.84, Z:4.39 [[ 7.97040374e-01 6.03730233e-01 -1.53768841e-02 2.09149916e+02] [-6.03604431e-01 7.97188498e-01 1.23365039e-02 -9.28376575e+01] [ 1.97061955e-02 -5.51136336e-04 9.99805662e-01 4.39302695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.242755096 meters 0.020772236524095516 Centerline is valid? [True, True] Translation: X:209.20, Y:-92.88, Z:4.40 [[ 7.95645858e-01 6.05583745e-01 -1.46968272e-02 2.09199535e+02] [-6.05469001e-01 7.95781433e-01 1.17983214e-02 -9.28754280e+01] [ 1.88403339e-02 -4.88812222e-04 9.99822386e-01 4.39536790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.302755096 meters 0.021347693268309553 Centerline is valid? [True, True] Translation: X:209.25, Y:-92.91, Z:4.40 [[ 7.94575112e-01 6.07000138e-01 -1.41853526e-02 2.09246596e+02] [-6.06893350e-01 7.94701601e-01 1.13941817e-02 -9.29139532e+01] [ 1.81893923e-02 -4.44537059e-04 9.99834460e-01 4.39756861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.362755096 meters 0.020201997942399966 Centerline is valid? [True, True] Translation: X:209.29, Y:-92.95, Z:4.40 [[ 7.93581104e-01 6.08305446e-01 -1.39109854e-02 2.09294077e+02] [-6.08202931e-01 7.93702916e-01 1.11748095e-02 -9.29493404e+01] [ 1.78388871e-02 -4.07415537e-04 9.99840791e-01 4.39972482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42275509599997 meters 0.01905802159168308 Centerline is valid? [True, True] Translation: X:209.34, Y:-92.98, Z:4.40 [[ 7.92377921e-01 6.09894127e-01 -1.28989652e-02 2.09341714e+02] [-6.09806221e-01 7.92482830e-01 1.03603486e-02 -9.29839045e+01] [ 1.65409243e-02 -3.43442257e-04 9.99863131e-01 4.40278477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48275509599998 meters 0.018015901479002602 Centerline is valid? [True, True] Translation: X:209.39, Y:-93.02, Z:4.40 [[ 7.91155198e-01 6.11491643e-01 -1.23054136e-02 2.09390443e+02] [-6.11411858e-01 7.91250835e-01 9.88213201e-03 -9.30176196e+01] [ 1.57795100e-02 -2.94624301e-04 9.99875452e-01 4.40417140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54275509599998 meters 0.017132157726662246 Centerline is valid? [True, True] Translation: X:209.44, Y:-93.05, Z:4.40 [[ 7.90445682e-01 6.12407464e-01 -1.23580696e-02 2.09439491e+02] [-6.12327136e-01 7.90542233e-01 9.92254306e-03 -9.30527519e+01] [ 1.58462153e-02 -2.76049975e-04 9.99874403e-01 4.40478419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60275509599998 meters 0.01705904274772057 Centerline is valid? [True, True] Translation: X:209.49, Y:-93.09, Z:4.41 [[ 7.89945437e-01 6.13037817e-01 -1.30706331e-02 2.09486228e+02] [-6.12948039e-01 7.90053516e-01 1.04949193e-02 -9.30873398e+01] [ 1.67602820e-02 -2.78794716e-04 9.99859498e-01 4.40526750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66275509599998 meters 0.01655133916615803 Centerline is valid? [True, True] Translation: X:209.53, Y:-93.12, Z:4.41 [[ 7.89748554e-01 6.13278404e-01 -1.36682197e-02 2.09534908e+02] [-6.13180307e-01 7.89866773e-01 1.09723325e-02 -9.31221211e+01] [ 1.75251672e-02 -2.84300618e-04 9.99846382e-01 4.40568667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.722755096 meters 0.017117564479223944 Centerline is valid? [True, True] Translation: X:209.58, Y:-93.16, Z:4.41 [[ 7.90257575e-01 6.12610917e-01 -1.41714248e-02 2.09580441e+02] [-6.12505374e-01 7.90384570e-01 1.13753379e-02 -9.31587936e+01] [ 1.81695317e-02 -3.09373113e-04 9.99834873e-01 4.40638265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.782755096 meters 0.017844578325483303 Centerline is valid? [True, True] Translation: X:209.63, Y:-93.20, Z:4.41 [[ 7.91259705e-01 6.11310571e-01 -1.44036587e-02 2.09625230e+02] [-6.11201360e-01 7.91390718e-01 1.15598418e-02 -9.31963128e+01] [ 1.84655753e-02 -3.43301203e-04 9.99829438e-01 4.40723298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.842755096 meters 0.01910070324590269 Centerline is valid? [True, True] Translation: X:209.67, Y:-93.23, Z:4.41 [[ 7.92708833e-01 6.09425809e-01 -1.45907306e-02 2.09670257e+02] [-6.09313458e-01 7.92843005e-01 1.17080716e-02 -9.32347819e+01] [ 1.87033596e-02 -3.90763249e-04 9.99825001e-01 4.40728341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.902755096 meters 0.019242835661411134 Centerline is valid? [True, True] Translation: X:209.72, Y:-93.27, Z:4.41 [[ 7.93759845e-01 6.08039745e-01 -1.52635750e-02 2.09716395e+02] [-6.07916575e-01 7.93906464e-01 1.22459976e-02 -9.32728335e+01] [ 1.95639041e-02 -4.41400937e-04 9.99808511e-01 4.40780136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.962755096 meters 0.01944096466586459 Centerline is valid? [True, True] Translation: X:209.76, Y:-93.31, Z:4.41 [[ 7.93574429e-01 6.08257557e-01 -1.61978157e-02 2.09761840e+02] [-6.08118917e-01 7.93739586e-01 1.29943194e-02 -9.33103342e+01] [ 2.07607405e-02 -4.61761477e-04 9.99784366e-01 4.40870105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.022755096 meters 0.018741613870839172 Centerline is valid? [True, True] Translation: X:209.81, Y:-93.35, Z:4.41 [[ 7.92820540e-01 6.09228442e-01 -1.66221648e-02 2.09809349e+02] [-6.09082700e-01 7.92994644e-01 1.33326113e-02 -9.33459773e+01] [ 2.13038937e-02 -4.46095087e-04 9.99772947e-01 4.41022581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.082755096 meters 0.018448196223651982 Centerline is valid? [True, True] Translation: X:209.86, Y:-93.38, Z:4.41 [[ 7.91729671e-01 6.10632936e-01 -1.70747367e-02 2.09855298e+02] [-6.10479515e-01 7.91913659e-01 1.36937531e-02 -9.33815659e+01] [ 2.18835739e-02 -4.17973652e-04 9.99760439e-01 4.41097832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.142755096 meters 0.017514198761977844 Centerline is valid? [True, True] Translation: X:209.90, Y:-93.42, Z:4.41 [[ 7.90913465e-01 6.11671866e-01 -1.77036663e-02 2.09902093e+02] [-6.11507257e-01 7.91111476e-01 1.41953123e-02 -9.34179177e+01] [ 2.26884468e-02 -4.01343197e-04 9.99742504e-01 4.41146799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20275509599998 meters 0.018082666025915756 Centerline is valid? [True, True] Translation: X:209.95, Y:-93.46, Z:4.41 [[ 7.91394036e-01 6.11023567e-01 -1.85924791e-02 2.09946525e+02] [-6.10841894e-01 7.91612284e-01 1.49054520e-02 -9.34565070e+01] [ 2.38256173e-02 -4.39020692e-04 9.99716033e-01 4.41197455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26275509599998 meters 0.01876295670256418 Centerline is valid? [True, True] Translation: X:209.99, Y:-93.49, Z:4.41 [[ 7.92491986e-01 6.09591843e-01 -1.88211879e-02 2.09990633e+02] [-6.09405328e-01 7.92715301e-01 1.50863437e-02 -9.34949223e+01] [ 2.41163557e-02 -4.86074283e-04 9.99709040e-01 4.41358951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32275509599998 meters 0.021074803416081582 Centerline is valid? [True, True] Translation: X:210.03, Y:-93.54, Z:4.42 [[ 7.94634369e-01 6.06793972e-01 -1.89022699e-02 2.10032668e+02] [-6.06605109e-01 7.94858949e-01 1.51490242e-02 -9.35365806e+01] [ 2.42169750e-02 -5.71721816e-04 9.99706563e-01 4.41531695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38275509599998 meters 0.02294359915672935 Centerline is valid? [True, True] Translation: X:210.08, Y:-93.58, Z:4.42 [[ 7.96525378e-01 6.04331461e-01 -1.81881028e-02 2.10075096e+02] [-6.04156003e-01 7.96732766e-01 1.45747659e-02 -9.35767939e+01] [ 2.32990470e-02 -6.20719405e-04 9.99728348e-01 4.41696730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44275509599998 meters 0.023834472509283625 Centerline is valid? [True, True] Translation: X:210.12, Y:-93.62, Z:4.42 [[ 7.97008914e-01 6.03676255e-01 -1.87555400e-02 2.10119548e+02] [-6.03489564e-01 7.97229293e-01 1.50266440e-02 -9.36150208e+01] [ 2.40236941e-02 -6.57596521e-04 9.99711173e-01 4.41723375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.502755096 meters 0.022455884847157243 Centerline is valid? [True, True] Translation: X:210.17, Y:-93.65, Z:4.42 [[ 7.97114602e-01 6.03516485e-01 -1.93949487e-02 2.10166878e+02] [-6.03316843e-01 7.97350228e-01 1.55370908e-02 -9.36530429e+01] [ 2.48414572e-02 -6.83542768e-04 9.99691170e-01 4.41766812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.562755096 meters 0.021464894038601946 Centerline is valid? [True, True] Translation: X:210.21, Y:-93.69, Z:4.42 [[ 7.95875107e-01 6.05128860e-01 -2.00468673e-02 2.10214378e+02] [-6.04916075e-01 7.96127273e-01 1.60595114e-02 -9.36913510e+01] [ 2.56779316e-02 -6.54693025e-04 9.99670053e-01 4.41806532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.622755096 meters 0.0214036825009481 Centerline is valid? [True, True] Translation: X:210.26, Y:-93.73, Z:4.42 [[ 7.95169879e-01 6.06056179e-01 -2.00192553e-02 2.10259402e+02] [-6.05844284e-01 7.95421598e-01 1.60370020e-02 -9.37275549e+01] [ 2.56430722e-02 -6.23589543e-04 9.99670968e-01 4.41861833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.682755096 meters 0.019731245353697555 Centerline is valid? [True, True] Translation: X:210.31, Y:-93.76, Z:4.42 [[ 7.92172461e-01 6.09971548e-01 -1.99374518e-02 2.10305362e+02] [-6.09762695e-01 7.92423162e-01 1.59683451e-02 -9.37622498e+01] [ 2.55391348e-02 -4.92568899e-04 9.99673702e-01 4.41994449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.742755096 meters 0.018554943399169858 Centerline is valid? [True, True] Translation: X:210.35, Y:-93.80, Z:4.42 [[ 7.90057840e-01 6.12726609e-01 -1.93574787e-02 2.10350641e+02] [-6.12530625e-01 7.90294851e-01 1.55010577e-02 -9.37990597e+01] [ 2.47960263e-02 -3.89683692e-04 9.99692455e-01 4.42220201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.802755096 meters 0.017679605380957142 Centerline is valid? [True, True] Translation: X:210.40, Y:-93.84, Z:4.42 [[ 7.89220118e-01 6.13804623e-01 -1.93775890e-02 2.10397020e+02] [-6.13608614e-01 7.89457890e-01 1.55148138e-02 -9.38359520e+01] [ 2.48208549e-02 -3.54347625e-04 9.99691852e-01 4.42386134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.862755096 meters 0.01714512377635787 Centerline is valid? [True, True] Translation: X:210.44, Y:-93.87, Z:4.43 [[ 7.88163551e-01 6.15176149e-01 -1.88818087e-02 2.10442631e+02] [-6.14990491e-01 7.88389634e-01 1.51156133e-02 -9.38736936e+01] [ 2.41849870e-02 -3.01442657e-04 9.99707455e-01 4.42575274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92275509599997 meters 0.016733146329053743 Centerline is valid? [True, True] Translation: X:210.49, Y:-93.91, Z:4.43 [[ 7.87899672e-01 6.15551358e-01 -1.76247437e-02 2.10487315e+02] [-6.15389740e-01 7.88096728e-01 1.41072696e-02 -9.39116420e+01] [ 2.25737519e-02 -2.69026669e-04 9.99745144e-01 4.42813687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98275509599998 meters 0.017015713573965103 Centerline is valid? [True, True] Translation: X:210.53, Y:-93.95, Z:4.43 [[ 7.88037210e-01 6.15378382e-01 -1.75157837e-02 2.10530200e+02] [-6.15218767e-01 7.88231802e-01 1.40176582e-02 -9.39485180e+01] [ 2.24326616e-02 -2.70397450e-04 9.99748320e-01 4.42958963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04275509599998 meters 0.01677106269935439 Centerline is valid? [True, True] Translation: X:210.58, Y:-93.99, Z:4.43 [[ 7.88811190e-01 6.14408438e-01 -1.67086397e-02 2.10577941e+02] [-6.14263021e-01 7.88988081e-01 1.33697368e-02 -9.39889912e+01] [ 2.13973967e-02 -2.82698480e-04 9.99771010e-01 4.43109375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10275509599998 meters 0.017572602205896872 Centerline is valid? [True, True] Translation: X:210.62, Y:-94.03, Z:4.43 [[ 7.89674769e-01 6.13300043e-01 -1.66377906e-02 2.10623087e+02] [-6.13155458e-01 7.89849958e-01 1.33202249e-02 -9.40304100e+01] [ 2.13106527e-02 -3.17093435e-04 9.99772852e-01 4.43102304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16275509599998 meters 0.017604298722514407 Centerline is valid? [True, True] Translation: X:210.67, Y:-94.07, Z:4.43 [[ 7.89769270e-01 6.13186985e-01 -1.63163005e-02 2.10672161e+02] [-6.13047814e-01 7.89937732e-01 1.30674255e-02 -9.40700466e+01] [ 2.09016366e-02 -3.17578738e-04 9.99781486e-01 4.43194317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.222755096 meters 0.017802390928361007 Centerline is valid? [True, True] Translation: X:210.72, Y:-94.11, Z:4.43 [[ 7.89630598e-01 6.13351840e-01 -1.68237829e-02 2.10720372e+02] [-6.13203719e-01 7.89809731e-01 1.34828708e-02 -9.41102890e+01] [ 2.15573311e-02 -3.30081084e-04 9.99767559e-01 4.43189027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.282755096 meters 0.018173624540740757 Centerline is valid? [True, True] Translation: X:210.77, Y:-94.15, Z:4.43 [[ 7.89926040e-01 6.12969711e-01 -1.68814669e-02 2.10766870e+02] [-6.12820322e-01 7.90106330e-01 1.35366578e-02 -9.41492390e+01] [ 2.16357151e-02 -3.47652494e-04 9.99765860e-01 4.43248100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.342755096 meters 0.018056151800157263 Centerline is valid? [True, True] Translation: X:210.82, Y:-94.19, Z:4.43 [[ 7.89860625e-01 6.13063998e-01 -1.65144579e-02 2.10816198e+02] [-6.12921033e-01 7.90033177e-01 1.32433652e-02 -9.41888159e+01] [ 2.11660000e-02 -3.38354081e-04 9.99775918e-01 4.43434039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.402755096 meters 0.01868958770764509 Centerline is valid? [True, True] Translation: X:210.86, Y:-94.23, Z:4.43 [[ 7.90064281e-01 6.12789829e-01 -1.69427822e-02 2.10862948e+02] [-6.12639118e-01 7.90245845e-01 1.35946793e-02 -9.42267621e+01] [ 2.17196444e-02 -3.60859352e-04 9.99764036e-01 4.43432229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.462755096 meters 0.018679183436185104 Centerline is valid? [True, True] Translation: X:210.91, Y:-94.26, Z:4.44 [[ 7.90190448e-01 6.12638364e-01 -1.65315127e-02 2.10909558e+02] [-6.12494844e-01 7.90363276e-01 1.32648898e-02 -9.42630230e+01] [ 2.11924809e-02 -3.56322864e-04 9.99775351e-01 4.43576315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.522755096 meters 0.018737628710232396 Centerline is valid? [True, True] Translation: X:210.96, Y:-94.30, Z:4.44 [[ 7.89866336e-01 6.13067041e-01 -1.61237324e-02 2.10956477e+02] [-6.12930644e-01 7.90030817e-01 1.29357625e-02 -9.42993110e+01] [ 2.06687352e-02 -3.34793630e-04 9.99786323e-01 4.43786796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.582755096 meters 0.01872652261184133 Centerline is valid? [True, True] Translation: X:211.00, Y:-94.33, Z:4.44 [[ 7.89536544e-01 6.13504428e-01 -1.56321135e-02 2.11003057e+02] [-6.13376338e-01 7.89691218e-01 1.25398806e-02 -9.43332097e+01] [ 2.00378150e-02 -3.12325432e-04 9.99799174e-01 4.43945266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.642755096 meters 0.017841411818477662 Centerline is valid? [True, True] Translation: X:211.05, Y:-94.37, Z:4.44 [[ 7.89613045e-01 6.13420886e-01 -1.50351553e-02 2.11054424e+02] [-6.13302414e-01 7.89756118e-01 1.20591195e-02 -9.43704275e+01] [ 1.92714217e-02 -3.00941021e-04 9.99814244e-01 4.44142057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70275509599998 meters 0.01876846403036089 Centerline is valid? [True, True] Translation: X:211.10, Y:-94.41, Z:4.44 [[ 7.91087233e-01 6.11536179e-01 -1.43000349e-02 2.11101545e+02] [-6.11428571e-01 7.91216398e-01 1.14766678e-02 -9.44103919e+01] [ 1.83328196e-02 -3.35595471e-04 9.99831883e-01 4.44371304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76275509599998 meters 0.02079047533243959 Centerline is valid? [True, True] Translation: X:211.15, Y:-94.45, Z:4.44 [[ 7.93801806e-01 6.08008214e-01 -1.43075123e-02 2.11147838e+02] [-6.07899796e-01 7.93930623e-01 1.14893000e-02 -9.44522640e+01] [ 1.83447609e-02 -4.22693265e-04 9.99831631e-01 4.44496220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82275509599998 meters 0.023806250509713436 Centerline is valid? [True, True] Translation: X:211.19, Y:-94.49, Z:4.45 [[ 7.96646276e-01 6.04281447e-01 -1.40941207e-02 2.11191749e+02] [-6.04175624e-01 7.96770783e-01 1.13197010e-02 -9.44941312e+01] [ 1.80700689e-02 -5.02473497e-04 9.99836597e-01 4.44636733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88275509599998 meters 0.026925379952819427 Centerline is valid? [True, True] Translation: X:211.24, Y:-94.54, Z:4.45 [[ 7.99366432e-01 6.00679087e-01 -1.40691675e-02 2.11235708e+02] [-6.00573021e-01 7.99490019e-01 1.13028684e-02 -9.45360705e+01] [ 1.80375556e-02 -5.85571134e-04 9.99837139e-01 4.44775351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94275509599998 meters 0.025280339649545628 Centerline is valid? [True, True] Translation: X:211.29, Y:-94.57, Z:4.45 [[ 8.00395837e-01 5.99306666e-01 -1.40720962e-02 2.11285474e+02] [-5.99200324e-01 8.00519293e-01 1.13063232e-02 -9.45731302e+01] [ 1.80409394e-02 -6.17529390e-04 9.99837058e-01 4.44860449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.002755096 meters 0.026505182904766115 Centerline is valid? [True, True] Translation: X:211.33, Y:-94.61, Z:4.45 [[ 8.00527295e-01 5.99125767e-01 -1.42956059e-02 2.11332653e+02] [-5.99015867e-01 8.00654675e-01 1.14926647e-02 -9.46126186e+01] [ 1.83313953e-02 -6.36896993e-04 9.99831763e-01 4.44952899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.062755096 meters 0.02477329231916671 Centerline is valid? [True, True] Translation: X:211.38, Y:-94.65, Z:4.45 [[ 7.98679447e-01 6.01561272e-01 -1.53355225e-02 2.11382926e+02] [-6.01435167e-01 7.98826417e-01 1.23327079e-02 -9.46485348e+01] [ 1.96692999e-02 -6.26557765e-04 9.99806344e-01 4.44886156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.122755096 meters 0.023370154357099174 Centerline is valid? [True, True] Translation: X:211.43, Y:-94.69, Z:4.45 [[ 7.96538897e-01 6.04374007e-01 -1.60575677e-02 2.11433257e+02] [-6.04236260e-01 7.96700519e-01 1.29160899e-02 -9.46853039e+01] [ 2.05992215e-02 -5.85603308e-04 9.99787642e-01 4.44941203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.182755096 meters 0.020005228126249146 Centerline is valid? [True, True] Translation: X:211.49, Y:-94.72, Z:4.45 [[ 7.92820558e-01 6.09238998e-01 -1.62297736e-02 2.11485798e+02] [-6.09099152e-01 7.92986521e-01 1.30613872e-02 -9.47183015e+01] [ 2.08274982e-02 -4.69794886e-04 9.99782974e-01 4.45075236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.242755096 meters 0.018639682085337315 Centerline is valid? [True, True] Translation: X:211.53, Y:-94.75, Z:4.45 [[ 7.89627585e-01 6.13370609e-01 -1.62718589e-02 2.11534250e+02] [-6.13230876e-01 7.89795141e-01 1.30968558e-02 -9.47526800e+01] [ 2.08846615e-02 -3.63232366e-04 9.99781826e-01 4.45201777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.302755096 meters 0.017954447668647625 Centerline is valid? [True, True] Translation: X:211.58, Y:-94.79, Z:4.45 [[ 7.88675088e-01 6.14591436e-01 -1.64003616e-02 2.11581045e+02] [-6.14449730e-01 7.88845520e-01 1.32013093e-02 -9.47878001e+01] [ 2.10507634e-02 -3.34346063e-04 9.99778352e-01 4.45330863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.362755096 meters 0.018757543317421046 Centerline is valid? [True, True] Translation: X:211.63, Y:-94.83, Z:4.45 [[ 7.89762848e-01 6.13192694e-01 -1.64123068e-02 2.11625863e+02] [-6.13050523e-01 7.89933277e-01 1.32088193e-02 -9.48262373e+01] [ 2.10641788e-02 -3.70261447e-04 9.99778057e-01 4.45373645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42275509599997 meters 0.01922254566332464 Centerline is valid? [True, True] Translation: X:211.67, Y:-94.87, Z:4.46 [[ 7.91134816e-01 6.11421483e-01 -1.64156150e-02 2.11673077e+02] [-6.11278895e-01 7.91304995e-01 1.32104784e-02 -9.48670277e+01] [ 2.10669284e-02 -4.16750409e-04 9.99777981e-01 4.45544804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48275509599998 meters 0.02048678485700319 Centerline is valid? [True, True] Translation: X:211.72, Y:-94.91, Z:4.46 [[ 7.93465843e-01 6.08389930e-01 -1.65423628e-02 2.11719409e+02] [-6.08244323e-01 7.93638102e-01 1.33194175e-02 -9.49086697e+01] [ 2.12320489e-02 -5.06704527e-04 9.99774446e-01 4.45695213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54275509599998 meters 0.02316263635335761 Centerline is valid? [True, True] Translation: X:211.76, Y:-94.95, Z:4.46 [[ 7.94112445e-01 6.07541248e-01 -1.67049538e-02 2.11764508e+02] [-6.07392516e-01 7.94287947e-01 1.34531711e-02 -9.49507226e+01] [ 2.14418998e-02 -5.36866702e-04 9.99769952e-01 4.45748513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60275509599998 meters 0.02588059455628938 Centerline is valid? [True, True] Translation: X:211.81, Y:-94.99, Z:4.46 [[ 7.96339505e-01 6.04585460e-01 -1.78833670e-02 2.11807605e+02] [-6.04414111e-01 7.96540005e-01 1.44084391e-02 -9.49904439e+01] [ 2.29559500e-02 -6.65049912e-04 9.99736256e-01 4.45703808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66275509599998 meters 0.0252949730533899 Centerline is valid? [True, True] Translation: X:211.86, Y:-95.03, Z:4.46 [[ 7.97804530e-01 6.02627407e-01 -1.86585507e-02 2.11855889e+02] [-6.02440369e-01 7.98022333e-01 1.50318951e-02 -9.50285481e+01] [ 2.39485721e-02 -7.51849794e-04 9.99712909e-01 4.45787276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.722755096 meters 0.023611252893696106 Centerline is valid? [True, True] Translation: X:211.91, Y:-95.06, Z:4.46 [[ 7.97506468e-01 6.02960277e-01 -2.05508810e-02 2.11907357e+02] [-6.02733370e-01 7.97770789e-01 1.65605837e-02 -9.50646810e+01] [ 2.63802667e-02 -8.20470823e-04 9.99651644e-01 4.45754847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.782755096 meters 0.024008082230154944 Centerline is valid? [True, True] Translation: X:211.96, Y:-95.10, Z:4.46 [[ 7.96747014e-01 6.03925311e-01 -2.16428840e-02 2.11955148e+02] [-6.03673692e-01 7.97040472e-01 1.74516314e-02 -9.51020842e+01] [ 2.77897364e-02 -8.39295508e-04 9.99613438e-01 4.45704386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.842755096 meters 0.02399705374318764 Centerline is valid? [True, True] Translation: X:212.00, Y:-95.14, Z:4.46 [[ 7.95289871e-01 6.05803417e-01 -2.27209344e-02 2.12000882e+02] [-6.05526689e-01 7.95613947e-01 1.83269239e-02 -9.51385509e+01] [ 2.91796054e-02 -8.17084758e-04 9.99573851e-01 4.45696876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.902755096 meters 0.02168240967246825 Centerline is valid? [True, True] Translation: X:212.05, Y:-95.17, Z:4.46 [[ 7.93998505e-01 6.07487665e-01 -2.29152739e-02 2.12051292e+02] [-6.07206791e-01 7.94328743e-01 1.84867715e-02 -9.51742525e+01] [ 2.94327464e-02 -7.64159041e-04 9.99566471e-01 4.45970169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.962755096 meters 0.02164761183918181 Centerline is valid? [True, True] Translation: X:212.10, Y:-95.21, Z:4.46 [[ 7.93546144e-01 6.08089272e-01 -2.26264217e-02 2.12098547e+02] [-6.07815495e-01 7.93868310e-01 1.82600827e-02 -9.52114890e+01] [ 2.90661595e-02 -7.37528514e-04 9.99577218e-01 4.46147628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.022755096 meters 0.021115383910105257 Centerline is valid? [True, True] Translation: X:212.15, Y:-95.25, Z:4.46 [[ 7.92991609e-01 6.08817103e-01 -2.24954075e-02 2.12146592e+02] [-6.08546794e-01 7.93310303e-01 1.81538819e-02 -9.52487231e+01] [ 2.88982324e-02 -7.06367912e-04 9.99582109e-01 4.46386863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.082755096 meters 0.021017266260864854 Centerline is valid? [True, True] Translation: X:212.19, Y:-95.29, Z:4.47 [[ 7.93043087e-01 6.08771093e-01 -2.19184676e-02 2.12194587e+02] [-6.08514443e-01 7.93345625e-01 1.76887699e-02 -9.52867577e+01] [ 2.81573321e-02 -6.90252620e-04 9.99603265e-01 4.46652055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.142755096 meters 0.022309744568152406 Centerline is valid? [True, True] Translation: X:212.24, Y:-95.32, Z:4.47 [[ 7.93624140e-01 6.08021950e-01 -2.16802491e-02 2.12239190e+02] [-6.07770569e-01 7.93919899e-01 1.74965447e-02 -9.53241115e+01] [ 2.78506644e-02 -7.09062895e-04 9.99611844e-01 4.46804654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20275509599998 meters 0.0233680818096791 Centerline is valid? [True, True] Translation: X:212.28, Y:-95.36, Z:4.47 [[ 7.94425639e-01 6.06967517e-01 -2.18709128e-02 2.12284035e+02] [-6.06711374e-01 7.94726286e-01 1.76476184e-02 -9.53616829e+01] [ 2.80929204e-02 -7.50388949e-04 9.99605034e-01 4.46924228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26275509599998 meters 0.02300535931009477 Centerline is valid? [True, True] Translation: X:212.33, Y:-95.40, Z:4.47 [[ 7.95940421e-01 6.04966298e-01 -2.22401555e-02 2.12332462e+02] [-6.04700603e-01 7.96250638e-01 1.79472056e-02 -9.54002076e+01] [ 2.85661925e-02 -8.36270999e-04 9.99591553e-01 4.47217406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32275509599998 meters 0.024460359475310552 Centerline is valid? [True, True] Translation: X:212.38, Y:-95.44, Z:4.47 [[ 7.97157914e-01 6.03369616e-01 -2.20083150e-02 2.12380298e+02] [-6.03108543e-01 7.97461166e-01 1.77700442e-02 -9.54400789e+01] [ 2.82726813e-02 -8.92128539e-04 9.99599850e-01 4.47433508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38275509599998 meters 0.02458423636389128 Centerline is valid? [True, True] Translation: X:212.43, Y:-95.48, Z:4.48 [[ 7.97132652e-01 6.03386779e-01 -2.24483698e-02 2.12429448e+02] [-6.03114868e-01 7.97448151e-01 1.81357005e-02 -9.54778108e+01] [ 2.88442529e-02 -9.17613493e-04 9.99583497e-01 4.47570233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44275509599998 meters 0.023635076101523537 Centerline is valid? [True, True] Translation: X:212.48, Y:-95.51, Z:4.48 [[ 7.96176878e-01 6.04636540e-01 -2.27383654e-02 2.12479892e+02] [-6.04357758e-01 7.96501010e-01 1.83804699e-02 -9.55145475e+01] [ 2.92246347e-02 -8.91997592e-04 9.99572471e-01 4.47731460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.502755096 meters 0.022232846153363784 Centerline is valid? [True, True] Translation: X:212.53, Y:-95.55, Z:4.48 [[ 7.94670291e-01 6.06615768e-01 -2.27252844e-02 2.12531101e+02] [-6.06337902e-01 7.94994736e-01 1.83771460e-02 -9.55491768e+01] [ 2.92143480e-02 -8.24570689e-04 9.99572830e-01 4.47945150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.562755096 meters 0.021855190000874037 Centerline is valid? [True, True] Translation: X:212.58, Y:-95.58, Z:4.48 [[ 7.92985883e-01 6.08811879e-01 -2.28360388e-02 2.12578657e+02] [-6.08532207e-01 7.93314274e-01 1.84665979e-02 -9.55829696e+01] [ 2.93588397e-02 -7.47286381e-04 9.99568657e-01 4.48078286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.622755096 meters 0.020755373272819316 Centerline is valid? [True, True] Translation: X:212.63, Y:-95.62, Z:4.48 [[ 7.91784315e-01 6.10380950e-01 -2.26427616e-02 2.12627359e+02] [-6.10106719e-01 7.92107715e-01 1.83073506e-02 -9.56157614e+01] [ 2.91099642e-02 -6.80972011e-04 9.99575983e-01 4.48326743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.682755096 meters 0.020475085679918913 Centerline is valid? [True, True] Translation: X:212.68, Y:-95.65, Z:4.49 [[ 7.91774402e-01 6.10414101e-01 -2.20889622e-02 2.12675624e+02] [-6.10153218e-01 7.92082185e-01 1.78567221e-02 -9.56503358e+01] [ 2.83962684e-02 -6.60844050e-04 9.99596526e-01 4.48530705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.742755096 meters 0.02076637499327454 Centerline is valid? [True, True] Translation: X:212.72, Y:-95.69, Z:4.49 [[ 7.92734253e-01 6.09202534e-01 -2.10873831e-02 2.12723012e+02] [-6.08964422e-01 7.93014391e-01 1.70443395e-02 -9.56855875e+01] [ 2.71060531e-02 -6.70165628e-04 9.99632339e-01 4.48882404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.802755096 meters 0.02279363177097462 Centerline is valid? [True, True] Translation: X:212.77, Y:-95.72, Z:4.49 [[ 7.94900816e-01 6.06417351e-01 -1.97658473e-02 2.12767628e+02] [-6.06207358e-01 7.95146204e-01 1.59735183e-02 -9.57227812e+01] [ 2.54033571e-02 -7.15160642e-04 9.99677027e-01 4.49180677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.862755096 meters 0.02667386164720442 Centerline is valid? [True, True] Translation: X:212.81, Y:-95.76, Z:4.49 [[ 7.97775858e-01 6.02637353e-01 -1.95422989e-02 2.12812811e+02] [-6.02431016e-01 7.98014750e-01 1.57901579e-02 -9.57616242e+01] [ 2.51107818e-02 -8.24119803e-04 9.99684335e-01 4.49311326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92275509599997 meters 0.02612761184393416 Centerline is valid? [True, True] Translation: X:212.86, Y:-95.80, Z:4.49 [[ 7.99979860e-01 5.99694790e-01 -1.99595271e-02 2.12859884e+02] [-5.99478679e-01 8.00228270e-01 1.61254226e-02 -9.57958768e+01] [ 2.56425098e-02 -9.34702413e-04 9.99670740e-01 4.49467103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98275509599998 meters 0.03227233093867233 Centerline is valid? [True, True] Translation: X:212.90, Y:-95.84, Z:4.49 [[ 8.02333672e-01 5.96509201e-01 -2.09153671e-02 2.12901938e+02] [-5.96270873e-01 8.02605506e-01 1.68952138e-02 -9.58386578e+01] [ 2.68649392e-02 -1.08437471e-03 9.99638484e-01 4.49479632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04275509599998 meters 0.032276772923431084 Centerline is valid? [True, True] Translation: X:212.95, Y:-95.87, Z:4.49 [[ 8.02614930e-01 5.96073605e-01 -2.24840465e-02 2.12949880e+02] [-5.95798057e-01 8.02928929e-01 1.81606676e-02 -9.58723547e+01] [ 2.88781860e-02 -1.18007171e-03 9.99582242e-01 4.49483039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10275509599998 meters 0.027657147656815408 Centerline is valid? [True, True] Translation: X:213.00, Y:-95.90, Z:4.50 [[ 8.01848992e-01 5.97043948e-01 -2.40149790e-02 2.13002412e+02] [-5.96730240e-01 8.02207605e-01 1.93901535e-02 -9.59009854e+01] [ 3.08417726e-02 -1.21751084e-03 9.99523538e-01 4.49685857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16275509599998 meters 0.02903470161428669 Centerline is valid? [True, True] Translation: X:213.05, Y:-95.94, Z:4.50 [[ 8.01218262e-01 5.97859460e-01 -2.47661527e-02 2.13047533e+02] [-5.97526498e-01 8.01600017e-01 1.99873973e-02 -9.59369090e+01] [ 3.18022030e-02 -1.21583524e-03 9.99493443e-01 4.49838201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.222755096 meters 0.03154687058633452 Centerline is valid? [True, True] Translation: X:213.09, Y:-95.97, Z:4.50 [[ 7.99957739e-01 5.99529109e-01 -2.51488244e-02 2.13094306e+02] [-5.99186827e-01 8.00352109e-01 2.02891254e-02 -9.59726528e+01] [ 3.22918360e-02 -1.16159859e-03 9.99477808e-01 4.49938876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.282755096 meters 0.02889482777056679 Centerline is valid? [True, True] Translation: X:213.14, Y:-96.00, Z:4.50 [[ 7.98287300e-01 6.01748968e-01 -2.52104606e-02 2.13144670e+02] [-6.01406366e-01 7.98684568e-01 2.03308523e-02 -9.60034168e+01] [ 3.23692752e-02 -1.06812967e-03 9.99475407e-01 4.50303620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.342755096 meters 0.027075124675469003 Centerline is valid? [True, True] Translation: X:213.19, Y:-96.04, Z:4.51 [[ 7.97507406e-01 6.02816782e-01 -2.43693579e-02 2.13193135e+02] [-6.02497381e-01 7.97879037e-01 1.96455651e-02 -9.60367091e+01] [ 3.12864761e-02 -9.85009354e-04 9.99509973e-01 4.50623091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.402755096 meters 0.028216400912170956 Centerline is valid? [True, True] Translation: X:213.24, Y:-96.07, Z:4.51 [[ 7.96731000e-01 6.03869269e-01 -2.36985123e-02 2.13239827e+02] [-6.03567948e-01 7.97082855e-01 1.90959529e-02 -9.60710552e+01] [ 3.04211369e-02 -9.10675255e-04 9.99536755e-01 4.50760361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.462755096 meters 0.02710478171291461 Centerline is valid? [True, True] Translation: X:213.29, Y:-96.10, Z:4.51 [[ 7.97033629e-01 6.03475954e-01 -2.35407520e-02 2.13286640e+02] [-6.03178692e-01 7.97380673e-01 1.89611958e-02 -9.61049983e+01] [ 3.02135664e-02 -9.13430685e-04 9.99543049e-01 4.50956103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.522755096 meters 0.02950440139895834 Centerline is valid? [True, True] Translation: X:213.33, Y:-96.14, Z:4.51 [[ 7.97680895e-01 6.02668035e-01 -2.22806930e-02 2.13330578e+02] [-6.02401697e-01 7.97991513e-01 1.79371510e-02 -9.61431666e+01] [ 2.85899514e-02 -8.86195355e-04 9.99590831e-01 4.51168700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.582755096 meters 0.029543630385283404 Centerline is valid? [True, True] Translation: X:213.38, Y:-96.18, Z:4.51 [[ 7.98753416e-01 6.01269355e-01 -2.16366154e-02 2.13376763e+02] [-6.01017844e-01 7.99045896e-01 1.74128271e-02 -9.61791839e+01] [ 2.77584481e-02 -9.04563195e-04 9.99614251e-01 4.51398713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.642755096 meters 0.029993766766205954 Centerline is valid? [True, True] Translation: X:213.71, Y:-95.79, Z:5.69 [[ 8.06909608e-01 -5.90632543e-01 7.07703936e-03 2.13709547e+02] [-5.90596728e-01 -8.06939822e-01 -6.60516632e-03 -9.57916228e+01] [ 9.61197106e-03 1.15009587e-03 -9.99953143e-01 5.68597091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70275509599998 meters 0.027463343757739258 Centerline is valid? [True, True] Translation: X:213.51, Y:-96.23, Z:4.52 [[ 8.43213293e-01 5.37089211e-01 -2.29460557e-02 2.13510178e+02] [-5.36861461e-01 8.43524978e-01 1.56647236e-02 -9.62260776e+01] [ 2.77689251e-02 -8.89850242e-04 9.99613973e-01 4.51623078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76275509599998 meters 0.02710137720925921 Centerline is valid? [True, True] Translation: X:213.56, Y:-96.26, Z:4.52 [[ 8.41854435e-01 5.39192292e-01 -2.35113407e-02 2.13558197e+02] [-5.38954108e-01 8.42182267e-01 1.60467751e-02 -9.62580688e+01] [ 2.84531316e-02 -8.37515161e-04 9.99594777e-01 4.51596162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82275509599998 meters 0.023891556850488542 Centerline is valid? [True, True] Translation: X:213.61, Y:-96.29, Z:4.52 [[ 8.39176377e-01 5.43323009e-01 -2.41478124e-02 2.13610290e+02] [-5.43073591e-01 8.39523436e-01 1.64764813e-02 -9.62860895e+01] [ 2.92247058e-02 -7.12634719e-04 9.99572613e-01 4.51545842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88275509599998 meters 0.02217516728727017 Centerline is valid? [True, True] Translation: X:213.66, Y:-96.32, Z:4.52 [[ 8.37419654e-01 5.46047614e-01 -2.36712319e-02 2.13661195e+02] [-5.45809180e-01 8.37753927e-01 1.61461036e-02 -9.63167592e+01] [ 2.86472088e-02 -6.01088801e-04 9.99589404e-01 4.51592440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94275509599998 meters 0.019968758827571594 Centerline is valid? [True, True] Translation: X:213.71, Y:-96.35, Z:4.52 [[ 8.34910403e-01 5.49933002e-01 -2.23229131e-02 2.13711828e+02] [-5.49722526e-01 8.35208659e-01 1.52197563e-02 -9.63466370e+01] [ 2.70141366e-02 -4.35724745e-04 9.99634957e-01 4.51777412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.002755096 meters 0.01875641980935486 Centerline is valid? [True, True] Translation: X:213.76, Y:-96.38, Z:4.52 [[ 8.33849697e-01 5.51592279e-01 -2.09914530e-02 2.13762060e+02] [-5.51406791e-01 8.34113800e-01 1.43080246e-02 -9.63781948e+01] [ 2.54014565e-02 -3.55912210e-04 9.99677268e-01 4.51951237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.062755096 meters 0.019012495647238746 Centerline is valid? [True, True] Translation: X:213.81, Y:-96.41, Z:4.52 [[ 8.34537765e-01 5.50618427e-01 -1.91328517e-02 2.13808932e+02] [-5.50464248e-01 8.34756988e-01 1.30339119e-02 -9.64131404e+01] [ 2.31479937e-02 -3.45340870e-04 9.99731990e-01 4.52245725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.122755096 meters 0.02022934595773086 Centerline is valid? [True, True] Translation: X:213.86, Y:-96.45, Z:4.52 [[ 8.35993706e-01 5.48410650e-01 -1.89811129e-02 2.13855712e+02] [-5.48258540e-01 8.36209066e-01 1.29217543e-02 -9.64496189e+01] [ 2.29586064e-02 -3.95947964e-04 9.99736338e-01 4.52374140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.182755096 meters 0.021697635117185907 Centerline is valid? [True, True] Translation: X:213.90, Y:-96.49, Z:4.53 [[ 8.38187098e-01 5.45078022e-01 -1.82301761e-02 2.13901816e+02] [-5.44937083e-01 8.38385196e-01 1.24031641e-02 -9.64859020e+01] [ 2.20446019e-02 -4.61873158e-04 9.99756882e-01 4.52517382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.242755096 meters 0.023343791832778824 Centerline is valid? [True, True] Translation: X:213.95, Y:-96.52, Z:4.53 [[ 8.40256186e-01 5.41888610e-01 -1.80630933e-02 2.13948046e+02] [-5.41749658e-01 8.40450146e-01 1.22825183e-02 -9.65216198e+01] [ 2.18368862e-02 -5.34787421e-04 9.99761404e-01 4.52518427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.302755096 meters 0.023768711445173674 Centerline is valid? [True, True] Translation: X:214.00, Y:-96.56, Z:4.52 [[ 8.41171479e-01 5.40450313e-01 -1.85473049e-02 2.13995016e+02] [-5.40303525e-01 8.41375729e-01 1.26088961e-02 -9.65575325e+01] [ 2.24197340e-02 -5.85069511e-04 9.99748475e-01 4.52468105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.362755096 meters 0.024049054272673318 Centerline is valid? [True, True] Translation: X:214.04, Y:-96.59, Z:4.52 [[ 8.40925996e-01 5.40822049e-01 -1.88409199e-02 2.14042870e+02] [-5.40670724e-01 8.41136833e-01 1.28060689e-02 -9.65921354e+01] [ 2.27735962e-02 -5.82222460e-04 9.99740478e-01 4.52442210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42275509599997 meters 0.023160096553252334 Centerline is valid? [True, True] Translation: X:214.09, Y:-96.63, Z:4.52 [[ 8.39873908e-01 5.42435141e-01 -1.93890547e-02 2.14091102e+02] [-5.42275370e-01 8.40097502e-01 1.31761393e-02 -9.66253597e+01] [ 2.34358974e-02 -5.52088796e-04 9.99725189e-01 4.52454945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48275509599998 meters 0.02202067988233851 Centerline is valid? [True, True] Translation: X:214.14, Y:-96.66, Z:4.53 [[ 8.38672013e-01 5.44312114e-01 -1.88036446e-02 2.14139118e+02] [-5.44162368e-01 8.38882644e-01 1.27760237e-02 -9.66595431e+01] [ 2.27281956e-02 -4.82657713e-04 9.99741565e-01 4.52628422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54275509599998 meters 0.019510948824505873 Centerline is valid? [True, True] Translation: X:214.19, Y:-96.69, Z:4.53 [[ 8.37899323e-01 5.45516997e-01 -1.83284265e-02 2.14189184e+02] [-5.45375063e-01 8.38099645e-01 1.24509011e-02 -9.66911386e+01] [ 2.21532259e-02 -4.36734826e-04 9.99754492e-01 4.52872131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60275509599998 meters 0.019654539468438738 Centerline is valid? [True, True] Translation: X:214.24, Y:-96.73, Z:4.53 [[ 8.36972958e-01 5.46956708e-01 -1.77377127e-02 2.14235095e+02] [-5.46824148e-01 8.37160804e-01 1.20473935e-02 -9.67267587e+01] [ 2.14387205e-02 -3.83932914e-04 9.99770091e-01 4.53050699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66275509599998 meters 0.019276137839917627 Centerline is valid? [True, True] Translation: X:214.28, Y:-96.76, Z:4.53 [[ 8.37275318e-01 5.46533088e-01 -1.64810731e-02 2.14281703e+02] [-5.46418607e-01 8.37437431e-01 1.11917728e-02 -9.67635049e+01] [ 1.99185417e-02 -3.65030150e-04 9.99801540e-01 4.53331884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.722755096 meters 0.0198523463652194 Centerline is valid? [True, True] Translation: X:214.33, Y:-96.80, Z:4.54 [[ 8.38073456e-01 5.45330455e-01 -1.57345667e-02 2.14329307e+02] [-5.45225914e-01 8.38221065e-01 1.06840141e-02 -9.68025658e+01] [ 1.90153635e-02 -3.75095106e-04 9.99819121e-01 4.53537610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.782755096 meters 0.020211420424386103 Centerline is valid? [True, True] Translation: X:214.38, Y:-96.84, Z:4.54 [[ 8.39390454e-01 5.43322877e-01 -1.49638571e-02 2.14377417e+02] [-5.43227996e-01 8.39523729e-01 1.01613418e-02 -9.68425454e+01] [ 1.80834026e-02 -4.00547240e-04 9.99836402e-01 4.53750069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.842755096 meters 0.0210069435802661 Centerline is valid? [True, True] Translation: X:214.43, Y:-96.88, Z:4.54 [[ 8.40044013e-01 5.42320611e-01 -1.46427567e-02 2.14425232e+02] [-5.42229502e-01 8.40171518e-01 9.94922164e-03 -9.68827602e+01] [ 1.76980951e-02 -4.18049408e-04 9.99843289e-01 4.53880068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.902755096 meters 0.02272656229325655 Centerline is valid? [True, True] Translation: X:214.47, Y:-96.92, Z:4.54 [[ 8.39566467e-01 5.43052961e-01 -1.48871917e-02 2.14470839e+02] [-5.42958789e-01 8.39698344e-01 1.01214845e-02 -9.69237705e+01] [ 1.79972523e-02 -4.14527379e-04 9.99837950e-01 4.53962491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.962755096 meters 0.020081971543066526 Centerline is valid? [True, True] Translation: X:214.52, Y:-96.96, Z:4.54 [[ 8.38489722e-01 5.44697983e-01 -1.54626649e-02 2.14522938e+02] [-5.44596556e-01 8.38632189e-01 1.05187026e-02 -9.69572885e+01] [ 1.86970046e-02 -3.98910004e-04 9.99825116e-01 4.53979316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.022755096 meters 0.019635133219878514 Centerline is valid? [True, True] Translation: X:214.57, Y:-96.99, Z:4.54 [[ 8.37326136e-01 5.46437340e-01 -1.70638439e-02 2.14571790e+02] [-5.46314022e-01 8.37499893e-01 1.16154403e-02 -9.69944437e+01] [ 2.06380777e-02 -4.03694495e-04 9.99786931e-01 4.53886437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.082755096 meters 0.01904259796542974 Centerline is valid? [True, True] Translation: X:214.62, Y:-97.03, Z:4.54 [[ 8.36239758e-01 5.48079908e-01 -1.76488492e-02 2.14622020e+02] [-5.47948209e-01 8.36425890e-01 1.20204445e-02 -9.70312963e+01] [ 2.13501185e-02 -3.81318254e-04 9.99771988e-01 4.53946491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.142755096 meters 0.01790881276948847 Centerline is valid? [True, True] Translation: X:214.67, Y:-97.07, Z:4.54 [[ 8.34297661e-01 5.51019412e-01 -1.80283435e-02 2.14671491e+02] [-5.50882513e-01 8.34492364e-01 1.22862053e-02 -9.70682102e+01] [ 2.18144526e-02 -3.18853219e-04 9.99761986e-01 4.54105648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20275509599998 meters 0.016669478588334143 Centerline is valid? [True, True] Translation: X:214.72, Y:-97.10, Z:4.54 [[ 8.32841605e-01 5.53219540e-01 -1.79722599e-02 2.14721976e+02] [-5.53083848e-01 8.33035455e-01 1.22550677e-02 -9.71041506e+01] [ 2.17512726e-02 -2.66363550e-04 9.99763378e-01 4.54299965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26275509599998 meters 0.016751873322668726 Centerline is valid? [True, True] Translation: X:214.77, Y:-97.14, Z:4.54 [[ 8.32764041e-01 5.53354849e-01 -1.73914576e-02 2.14771202e+02] [-5.53227669e-01 8.32945582e-01 1.18660510e-02 -9.71427635e+01] [ 2.10522746e-02 -2.60185070e-04 9.99778342e-01 4.54452492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32275509599998 meters 0.017301442587335545 Centerline is valid? [True, True] Translation: X:214.82, Y:-97.18, Z:4.55 [[ 8.33151396e-01 5.52774335e-01 -1.72998643e-02 2.14820161e+02] [-5.52648196e-01 8.33330940e-01 1.18116717e-02 -9.71809068e+01] [ 2.09457012e-02 -2.80171942e-04 9.99780575e-01 4.54584014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38275509599998 meters 0.018631579917032313 Centerline is valid? [True, True] Translation: X:214.87, Y:-97.22, Z:4.55 [[ 8.34141539e-01 5.51288916e-01 -1.69830418e-02 2.14867976e+02] [-5.51166904e-01 8.34314347e-01 1.16023212e-02 -9.72194530e+01] [ 2.05654265e-02 -3.17487498e-04 9.99788459e-01 4.54674440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44275509599998 meters 0.019120555529172682 Centerline is valid? [True, True] Translation: X:214.92, Y:-97.26, Z:4.55 [[ 8.35267946e-01 5.49584210e-01 -1.68717208e-02 2.14917665e+02] [-5.49463364e-01 8.35438248e-01 1.15301793e-02 -9.72573486e+01] [ 2.04320853e-02 -3.60396703e-04 9.99791178e-01 4.54842566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.502755096 meters 0.020327634270804085 Centerline is valid? [True, True] Translation: X:214.97, Y:-97.30, Z:4.55 [[ 8.37121466e-01 5.46756783e-01 -1.68722251e-02 2.14965129e+02] [-5.46635217e-01 8.37291366e-01 1.15372698e-02 -9.72976464e+01] [ 2.04350489e-02 -4.35143820e-04 9.99791088e-01 4.54981003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.562755096 meters 0.021761942444459084 Centerline is valid? [True, True] Translation: X:215.01, Y:-97.34, Z:4.55 [[ 8.38438987e-01 5.44731533e-01 -1.69594313e-02 2.15013918e+02] [-5.44608151e-01 8.38610347e-01 1.16037993e-02 -9.73368025e+01] [ 2.05433099e-02 -4.92833181e-04 9.99788842e-01 4.55081046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.622755096 meters 0.021775013315960275 Centerline is valid? [True, True] Translation: X:215.07, Y:-97.37, Z:4.55 [[ 8.38218412e-01 5.45069296e-01 -1.70104763e-02 2.15065905e+02] [-5.44945096e-01 8.38390852e-01 1.16456512e-02 -9.73719550e+01] [ 2.06091146e-02 -4.91823630e-04 9.99787489e-01 4.55171970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.682755096 meters 0.02168429979177412 Centerline is valid? [True, True] Translation: X:215.12, Y:-97.41, Z:4.55 [[ 8.37657216e-01 5.45906111e-01 -1.78018737e-02 2.15117791e+02] [-5.45770093e-01 8.37846208e-01 1.21958143e-02 -9.74068555e+01] [ 2.15730019e-02 -5.00181569e-04 9.99767151e-01 4.55207974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.742755096 meters 0.020493639237835225 Centerline is valid? [True, True] Translation: X:215.17, Y:-97.44, Z:4.55 [[ 8.36100559e-01 5.48252175e-01 -1.88522663e-02 2.15171560e+02] [-5.48100058e-01 8.36312938e-01 1.29227083e-02 -9.74391022e+01] [ 2.28512972e-02 -4.71755383e-04 9.99738764e-01 4.55271178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.802755096 meters 0.02029160231515038 Centerline is valid? [True, True] Translation: X:215.22, Y:-97.47, Z:4.55 [[ 8.35021572e-01 5.49854125e-01 -1.99853568e-02 2.15223342e+02] [-5.49683516e-01 8.35260577e-01 1.37040568e-02 -9.74716741e+01] [ 2.42282128e-02 -4.57561816e-04 9.99706349e-01 4.55246138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.862755096 meters 0.01965611001174656 Centerline is valid? [True, True] Translation: X:215.28, Y:-97.50, Z:4.55 [[ 8.33928432e-01 5.51481639e-01 -2.07694944e-02 2.15276294e+02] [-5.51297734e-01 8.34186919e-01 1.42475372e-02 -9.75049347e+01] [ 2.51828957e-02 -4.31251154e-04 9.99682768e-01 4.55257410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92275509599997 meters 0.019590480193157206 Centerline is valid? [True, True] Translation: X:215.33, Y:-97.54, Z:4.56 [[ 8.33393926e-01 5.52329495e-01 -1.96645118e-02 2.15328236e+02] [-5.52164698e-01 8.33625801e-01 1.34970259e-02 -9.75388742e+01] [ 2.38476499e-02 -3.90290172e-04 9.99715528e-01 4.55540057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98275509599998 meters 0.019365855515630657 Centerline is valid? [True, True] Translation: X:215.38, Y:-97.57, Z:4.56 [[ 8.33224369e-01 5.52624728e-01 -1.85219143e-02 2.15380634e+02] [-5.52478440e-01 8.33430127e-01 1.27199258e-02 -9.75729055e+01] [ 2.24660670e-02 -3.65593800e-04 9.99747539e-01 4.55812012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04275509599998 meters 0.019637161285103316 Centerline is valid? [True, True] Translation: X:215.43, Y:-97.61, Z:4.56 [[ 8.33212872e-01 5.52676318e-01 -1.74699178e-02 2.15432643e+02] [-5.52546028e-01 8.33395924e-01 1.20050546e-02 -9.76075672e+01] [ 2.11942677e-02 -3.49832268e-04 9.99775315e-01 4.56027996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10275509599998 meters 0.020447447296600228 Centerline is valid? [True, True] Translation: X:215.48, Y:-97.64, Z:4.56 [[ 8.33503766e-01 5.52248070e-01 -1.71330151e-02 2.15483466e+02] [-5.52122511e-01 8.33679758e-01 1.17810763e-02 -9.76429425e+01] [ 2.07895246e-02 -3.60048160e-04 9.99783810e-01 4.56194226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16275509599998 meters 0.02009141231363709 Centerline is valid? [True, True] Translation: X:215.54, Y:-97.68, Z:4.56 [[ 8.34228522e-01 5.51151286e-01 -1.71764995e-02 2.15535836e+02] [-5.51024707e-01 8.34405240e-01 1.18181235e-02 -9.76762246e+01] [ 2.08457352e-02 -3.94340105e-04 9.99782626e-01 4.56342682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.222755096 meters 0.021710080806782453 Centerline is valid? [True, True] Translation: X:215.58, Y:-97.71, Z:4.56 [[ 8.34924796e-01 5.50092538e-01 -1.72854100e-02 2.15584311e+02] [-5.49963979e-01 8.35103596e-01 1.18998301e-02 -9.77135172e+01] [ 2.09811158e-02 -4.29110315e-04 9.99779780e-01 4.56450509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.282755096 meters 0.021864045463950637 Centerline is valid? [True, True] Translation: X:215.63, Y:-97.75, Z:4.57 [[ 8.35959272e-01 5.48536390e-01 -1.67309414e-02 2.15634789e+02] [-5.48415558e-01 8.36126558e-01 1.15219381e-02 -9.77491642e+01] [ 2.03093868e-02 -4.56362379e-04 9.99793639e-01 4.56703588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.342755096 meters 0.021780779501100828 Centerline is valid? [True, True] Translation: X:215.69, Y:-97.78, Z:4.57 [[ 8.36608957e-01 5.47547223e-01 -1.66580632e-02 2.15686340e+02] [-5.47427111e-01 8.36774644e-01 1.14784309e-02 -9.77834591e+01] [ 2.02240279e-02 -4.83882697e-04 9.99795356e-01 4.56794442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.402755096 meters 0.022112777153210857 Centerline is valid? [True, True] Translation: X:215.74, Y:-97.82, Z:4.57 [[ 8.36331987e-01 5.47946655e-01 -1.74146907e-02 2.15737686e+02] [-5.47815309e-01 8.36513127e-01 1.20073333e-02 -9.78184242e+01] [ 2.11469955e-02 -5.02082811e-04 9.99776251e-01 4.56770328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.462755096 meters 0.02140355820289519 Centerline is valid? [True, True] Translation: X:215.79, Y:-97.85, Z:4.57 [[ 8.35776380e-01 5.48763266e-01 -1.83499336e-02 2.15789191e+02] [-5.48617443e-01 8.35977639e-01 1.26604764e-02 -9.78523621e+01] [ 2.22877385e-02 -5.14233468e-04 9.99751465e-01 4.56818021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.522755096 meters 0.02219202394164082 Centerline is valid? [True, True] Translation: X:215.84, Y:-97.89, Z:4.57 [[ 8.35509479e-01 5.49167964e-01 -1.83972164e-02 2.15839121e+02] [-5.49021329e-01 8.35711844e-01 1.27001582e-02 -9.78880085e+01] [ 2.23492917e-02 -5.10638421e-04 9.99750093e-01 4.56925225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.582755096 meters 0.021959680583438192 Centerline is valid? [True, True] Translation: X:215.89, Y:-97.92, Z:4.57 [[ 8.35392048e-01 5.49358249e-01 -1.80455364e-02 2.15891460e+02] [-5.49217108e-01 8.35586779e-01 1.24620660e-02 -9.79236938e+01] [ 2.19247503e-02 -4.99793520e-04 9.99759499e-01 4.57166446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.642755096 meters 0.022954170689868405 Centerline is valid? [True, True] Translation: X:215.94, Y:-97.96, Z:4.58 [[ 8.36113058e-01 5.48294362e-01 -1.69778428e-02 2.15940919e+02] [-5.48169063e-01 8.36285262e-01 1.17319287e-02 -9.79600785e+01] [ 2.06308701e-02 -5.02490655e-04 9.99787035e-01 4.57512224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70275509599998 meters 0.02522336344515973 Centerline is valid? [True, True] Translation: X:215.99, Y:-98.00, Z:4.58 [[ 8.37528328e-01 5.46151033e-01 -1.62895143e-02 2.15989260e+02] [-5.46035170e-01 8.37686552e-01 1.12620067e-02 -9.79977134e+01] [ 1.97962636e-02 -5.37601959e-04 9.99803890e-01 4.57686343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76275509599998 meters 0.02619425912096842 Centerline is valid? [True, True] Translation: X:216.04, Y:-98.03, Z:4.58 [[ 8.39721702e-01 5.42790071e-01 -1.56971829e-02 2.16038886e+02] [-5.42681792e-01 8.39868192e-01 1.08578387e-02 -9.80346323e+01] [ 1.90770916e-02 -5.98987478e-04 9.99817836e-01 4.57929966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82275509599998 meters 0.02740473710893861 Centerline is valid? [True, True] Translation: X:216.09, Y:-98.07, Z:4.58 [[ 8.41055740e-01 5.40718961e-01 -1.57558524e-02 2.16088593e+02] [-5.40609452e-01 8.41203056e-01 1.09012983e-02 -9.80717056e+01] [ 1.91484099e-02 -6.50836803e-04 9.99816441e-01 4.58032804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88275509599998 meters 0.028814308446052074 Centerline is valid? [True, True] Translation: X:216.14, Y:-98.11, Z:4.58 [[ 8.42579685e-01 5.38315121e-01 -1.66224079e-02 2.16138981e+02] [-5.38192727e-01 8.42743302e-01 1.15028358e-02 -9.81087568e+01] [ 2.02005734e-02 -7.45996776e-04 9.99795669e-01 4.57974190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94275509599998 meters 0.027959023270022774 Centerline is valid? [True, True] Translation: X:216.19, Y:-98.14, Z:4.58 [[ 8.43251994e-01 5.37235049e-01 -1.74521154e-02 2.16190797e+02] [-5.37099841e-01 8.43432180e-01 1.20796907e-02 -9.81427721e+01] [ 2.12093090e-02 -8.12694889e-04 9.99774727e-01 4.58020489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.002755096 meters 0.028777929587259797 Centerline is valid? [True, True] Translation: X:216.24, Y:-98.18, Z:4.58 [[ 8.43839011e-01 5.36321055e-01 -1.71886520e-02 2.16241322e+02] [-5.36189566e-01 8.44013649e-01 1.19042108e-02 -9.81780165e+01] [ 2.08919357e-02 -8.28861612e-04 9.99781396e-01 4.58069296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.062755096 meters 0.030136300512864617 Centerline is valid? [True, True] Translation: X:216.29, Y:-98.21, Z:4.58 [[ 8.44500420e-01 5.35275038e-01 -1.73110873e-02 2.16291329e+02] [-5.35141310e-01 8.44677384e-01 1.19956479e-02 -9.82148498e+01] [ 2.10432548e-02 -8.66451821e-04 9.99778191e-01 4.58113511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.122755096 meters 0.031588722798981325 Centerline is valid? [True, True] Translation: X:216.34, Y:-98.25, Z:4.58 [[ 8.44623947e-01 5.35069290e-01 -1.76420994e-02 2.16340650e+02] [-5.34930200e-01 8.44807703e-01 1.22321676e-02 -9.82517360e+01] [ 2.14492387e-02 -8.94289940e-04 9.99769539e-01 4.58157567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.182755096 meters 0.02965507944641997 Centerline is valid? [True, True] Translation: X:216.39, Y:-98.28, Z:4.58 [[ 8.44066719e-01 5.35947907e-01 -1.76412955e-02 2.16393530e+02] [-5.35808880e-01 8.44250597e-01 1.22381897e-02 -9.82837033e+01] [ 2.14527064e-02 -8.77485838e-04 9.99769479e-01 4.58276741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.242755096 meters 0.028575260991905608 Centerline is valid? [True, True] Translation: X:216.45, Y:-98.32, Z:4.58 [[ 8.43313119e-01 5.37141751e-01 -1.73701707e-02 2.16446492e+02] [-5.37007070e-01 8.43491573e-01 1.20570507e-02 -9.83168724e+01] [ 2.11279380e-02 -8.39964584e-04 9.99776427e-01 4.58395082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.302755096 meters 0.02757135844538201 Centerline is valid? [True, True] Translation: X:216.50, Y:-98.35, Z:4.59 [[ 8.41660608e-01 5.39741969e-01 -1.69123440e-02 2.16498103e+02] [-5.39614690e-01 8.41830167e-01 1.17454719e-02 -9.83504141e+01] [ 2.05768455e-02 -7.59551740e-04 9.99787986e-01 4.58592742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.362755096 meters 0.027200082581807762 Centerline is valid? [True, True] Translation: X:216.55, Y:-98.38, Z:4.59 [[ 8.40250207e-01 5.41935954e-01 -1.68822793e-02 2.16549244e+02] [-5.41809538e-01 8.40419493e-01 1.17260632e-02 -9.83839748e+01] [ 2.05429718e-02 -7.05847048e-04 9.99788722e-01 4.58704496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42275509599997 meters 0.024088856916951763 Centerline is valid? [True, True] Translation: X:216.60, Y:-98.41, Z:4.59 [[ 8.38484191e-01 5.44676169e-01 -1.64964643e-02 2.16603294e+02] [-5.44555882e-01 8.38646216e-01 1.14636776e-02 -9.84134660e+01] [ 2.00786894e-02 -6.28865777e-04 9.99798205e-01 4.58884176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48275509599998 meters 0.023367775725662822 Centerline is valid? [True, True] Translation: X:216.66, Y:-98.45, Z:4.59 [[ 8.37503110e-01 5.46201879e-01 -1.58760194e-02 2.16655551e+02] [-5.46090723e-01 8.37653378e-01 1.10336363e-02 -9.84470705e+01] [ 1.93251942e-02 -5.70957861e-04 9.99813088e-01 4.59071854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54275509599998 meters 0.02362636866118763 Centerline is valid? [True, True] Translation: X:216.71, Y:-98.48, Z:4.59 [[ 8.37553278e-01 5.46156417e-01 -1.47537796e-02 2.16707789e+02] [-5.46060313e-01 8.37683043e-01 1.02593566e-02 -9.84822280e+01] [ 1.79622044e-02 -5.36304281e-04 9.99838523e-01 4.59275499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60275509599998 meters 0.02370182084033978 Centerline is valid? [True, True] Translation: X:216.76, Y:-98.52, Z:4.59 [[ 8.37922822e-01 5.45599696e-01 -1.43636793e-02 2.16759498e+02] [-5.45508409e-01 8.38045751e-01 9.99477207e-03 -9.85162385e+01] [ 1.74905650e-02 -5.39339801e-04 9.99846883e-01 4.59337196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66275509599998 meters 0.025524503576446086 Centerline is valid? [True, True] Translation: X:216.81, Y:-98.55, Z:4.59 [[ 8.39082050e-01 5.43804529e-01 -1.47630671e-02 2.16808615e+02] [-5.43707701e-01 8.39211699e-01 1.02790573e-02 -9.85528759e+01] [ 1.79791365e-02 -5.98179217e-04 9.99838183e-01 4.59395292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.722755096 meters 0.026672240485730726 Centerline is valid? [True, True] Translation: X:216.86, Y:-98.59, Z:4.59 [[ 8.39797635e-01 5.42695517e-01 -1.48831491e-02 2.16859413e+02] [-5.42596829e-01 8.39929269e-01 1.03684124e-02 -9.85887449e+01] [ 1.81276835e-02 -6.31818665e-04 9.99835480e-01 4.59442410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.782755096 meters 0.027904340153746023 Centerline is valid? [True, True] Translation: X:216.91, Y:-98.62, Z:4.60 [[ 8.40071069e-01 5.42289201e-01 -1.42485391e-02 2.16908998e+02] [-5.42198596e-01 8.40191669e-01 9.93185411e-03 -9.86240082e+01] [ 1.73574411e-02 -6.17925378e-04 9.99849157e-01 4.59546802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.842755096 meters 0.027504465475773867 Centerline is valid? [True, True] Translation: X:216.96, Y:-98.66, Z:4.60 [[ 8.39862953e-01 5.42602246e-01 -1.45952963e-02 2.16960964e+02] [-5.42507126e-01 8.39989526e-01 1.01790658e-02 -9.86589112e+01] [ 1.77830800e-02 -6.30968025e-04 9.99841669e-01 4.59679387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.902755096 meters 0.026425781588098263 Centerline is valid? [True, True] Translation: X:217.01, Y:-98.69, Z:4.60 [[ 8.38860024e-01 5.44161443e-01 -1.42191888e-02 2.17013908e+02] [-5.44071275e-01 8.38980321e-01 9.92311898e-03 -9.86916858e+01] [ 1.73293983e-02 -5.87855653e-04 9.99849662e-01 4.59852786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.962755096 meters 0.026746022761743843 Centerline is valid? [True, True] Translation: X:217.06, Y:-98.72, Z:4.60 [[ 8.37205353e-01 5.46726616e-01 -1.33118343e-02 2.17064643e+02] [-5.46647825e-01 8.37311025e-01 9.29530387e-03 -9.87238593e+01] [ 1.62281356e-02 -5.05192912e-04 9.99868188e-01 4.60104833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.022755096 meters 0.024373649163459955 Centerline is valid? [True, True] Translation: X:217.12, Y:-98.76, Z:4.60 [[ 8.36054621e-01 5.48487254e-01 -1.32061460e-02 2.17118341e+02] [-5.48409902e-01 8.36158784e-01 9.22318460e-03 -9.87554480e+01] [ 1.61012342e-02 -4.68704876e-04 9.99870257e-01 4.60237384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.082755096 meters 0.022831520950540085 Centerline is valid? [True, True] Translation: X:217.17, Y:-98.79, Z:4.60 [[ 8.34942486e-01 5.50186244e-01 -1.28895858e-02 2.17172286e+02] [-5.50112680e-01 8.35041863e-01 9.00705937e-03 -9.87869289e+01] [ 1.57189039e-02 -4.29651942e-04 9.99876358e-01 4.60402410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.142755096 meters 0.0255290446031699 Centerline is valid? [True, True] Translation: X:217.22, Y:-98.82, Z:4.61 [[ 8.34178677e-01 5.51359727e-01 -1.21813827e-02 2.17221667e+02] [-5.51294073e-01 8.34267523e-01 8.51734528e-03 -9.88233817e+01] [ 1.48586532e-02 -3.89463717e-04 9.99889528e-01 4.60605563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20275509599998 meters 0.020800552868132285 Centerline is valid? [True, True] Translation: X:217.28, Y:-98.85, Z:4.61 [[ 8.33007977e-01 5.53130050e-01 -1.20356802e-02 2.17277898e+02] [-5.53066111e-01 8.33094845e-01 8.41757562e-03 -9.88514890e+01] [ 1.46828771e-02 -3.55380824e-04 9.99892138e-01 4.60633838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26275509599998 meters 0.020218277370566497 Centerline is valid? [True, True] Translation: X:217.33, Y:-98.89, Z:4.61 [[ 8.32123939e-01 5.54450888e-01 -1.24081597e-02 2.17329630e+02] [-5.54382995e-01 8.32216373e-01 8.68348202e-03 -9.88855125e+01] [ 1.51408380e-02 -3.46860496e-04 9.99885311e-01 4.60707428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32275509599998 meters 0.020933470389439227 Centerline is valid? [True, True] Translation: X:217.38, Y:-98.92, Z:4.61 [[ 8.31686313e-01 5.55082269e-01 -1.34740857e-02 2.17380283e+02] [-5.55002182e-01 8.31795370e-01 9.43605591e-03 -9.89203005e+01] [ 1.64454694e-02 -3.69691574e-04 9.99864696e-01 4.60750245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38275509599998 meters 0.019962216861840548 Centerline is valid? [True, True] Translation: X:217.43, Y:-98.95, Z:4.61 [[ 8.31939080e-01 5.54703196e-01 -1.34807917e-02 2.17431716e+02] [-5.54622932e-01 8.32048208e-01 9.44363571e-03 -9.89549005e+01] [ 1.64550835e-02 -3.79773393e-04 9.99864534e-01 4.60891740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44275509599998 meters 0.020383331969529784 Centerline is valid? [True, True] Translation: X:217.48, Y:-98.99, Z:4.61 [[ 8.32462866e-01 5.53919782e-01 -1.33585744e-02 2.17481911e+02] [-5.53840774e-01 8.32569948e-01 9.36370055e-03 -9.89911186e+01] [ 1.63086866e-02 -3.96409794e-04 9.99866926e-01 4.61032501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.502755096 meters 0.022411548868240847 Centerline is valid? [True, True] Translation: X:217.53, Y:-99.03, Z:4.61 [[ 8.33726151e-01 5.51999305e-01 -1.40524744e-02 2.17529101e+02] [-5.51911488e-01 8.33844442e-01 9.85676297e-03 -9.90298551e+01] [ 1.71585040e-02 -4.62118986e-04 9.99852675e-01 4.61085442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.562755096 meters 0.02465911884150108 Centerline is valid? [True, True] Translation: X:217.58, Y:-99.07, Z:4.61 [[ 8.35408200e-01 5.49440923e-01 -1.44156574e-02 2.17575807e+02] [-5.49348066e-01 8.35532399e-01 1.01149328e-02 -9.90689055e+01] [ 1.76023069e-02 -5.30884307e-04 9.99844926e-01 4.61195599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.622755096 meters 0.025600386727075344 Centerline is valid? [True, True] Translation: X:217.63, Y:-99.11, Z:4.61 [[ 8.36020877e-01 5.48507457e-01 -1.44451541e-02 2.17625102e+02] [-5.48414070e-01 8.36145481e-01 1.01362060e-02 -9.91064646e+01] [ 1.76380349e-02 -5.52154090e-04 9.99844285e-01 4.61270411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.682755096 meters 0.02528866047700338 Centerline is valid? [True, True] Translation: X:217.68, Y:-99.14, Z:4.61 [[ 8.36277698e-01 5.48115687e-01 -1.44500785e-02 2.17675913e+02] [-5.48022076e-01 8.36402340e-01 1.01454447e-02 -9.91428999e+01] [ 1.76469569e-02 -5.65447171e-04 9.99844120e-01 4.61406475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.742755096 meters 0.024583604361249792 Centerline is valid? [True, True] Translation: X:217.73, Y:-99.18, Z:4.62 [[ 8.35016489e-01 5.50020009e-01 -1.50150933e-02 2.17725615e+02] [-5.49919123e-01 8.35151295e-01 1.05486008e-02 -9.91779399e+01] [ 1.83418161e-02 -5.51168685e-04 9.99831623e-01 4.61507162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.802755096 meters 0.02326042081252341 Centerline is valid? [True, True] Translation: X:217.78, Y:-99.21, Z:4.62 [[ 8.33175495e-01 5.52803858e-01 -1.50495680e-02 2.17776889e+02] [-5.52702855e-01 8.33311256e-01 1.05785383e-02 -9.92132560e+01] [ 1.83888312e-02 -4.95839689e-04 9.99830788e-01 4.61615622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.862755096 meters 0.021192501237882494 Centerline is valid? [True, True] Translation: X:217.83, Y:-99.25, Z:4.62 [[ 8.31954035e-01 5.54623184e-01 -1.56718756e-02 2.17829638e+02] [-5.54513852e-01 8.32101492e-01 1.10224481e-02 -9.92470018e+01] [ 1.91538964e-02 -4.79898040e-04 9.99816432e-01 4.61723927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92275509599997 meters 0.021269557971920622 Centerline is valid? [True, True] Translation: X:217.88, Y:-99.28, Z:4.62 [[ 8.30180387e-01 5.57274470e-01 -1.56744979e-02 2.17878453e+02] [-5.57165526e-01 8.30328241e-01 1.10267123e-02 -9.92839837e+01] [ 1.91598836e-02 -4.20870426e-04 9.99816344e-01 4.61868409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98275509599998 meters 0.019383287739201956 Centerline is valid? [True, True] Translation: X:217.93, Y:-99.32, Z:4.62 [[ 8.28877202e-01 5.59212463e-01 -1.56206808e-02 2.17930738e+02] [-5.59104537e-01 8.29024293e-01 1.09926518e-02 -9.93176037e+01] [ 1.90971517e-02 -3.77965031e-04 9.99817561e-01 4.62005947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04275509599998 meters 0.019444157542552146 Centerline is valid? [True, True] Translation: X:217.98, Y:-99.35, Z:4.62 [[ 8.27765170e-01 5.60842620e-01 -1.61362727e-02 2.17979777e+02] [-5.60727621e-01 8.27922356e-01 1.13625358e-02 -9.93547085e+01] [ 1.97321753e-02 -3.57457544e-04 9.99805238e-01 4.62112026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10275509599998 meters 0.019174944223048707 Centerline is valid? [True, True] Translation: X:218.03, Y:-99.39, Z:4.62 [[ 8.27264684e-01 5.61581028e-01 -1.61211413e-02 2.18029214e+02] [-5.61466261e-01 8.27421676e-01 1.13581703e-02 -9.93923208e+01] [ 1.97175147e-02 -3.44736278e-04 9.99805531e-01 4.62263248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16275509599998 meters 0.019302443692536208 Centerline is valid? [True, True] Translation: X:218.08, Y:-99.43, Z:4.62 [[ 8.27142352e-01 5.61748055e-01 -1.65726443e-02 2.18079486e+02] [-5.61626658e-01 8.27308283e-01 1.16834071e-02 -9.94296853e+01] [ 2.02738172e-02 -3.56202008e-04 9.99794402e-01 4.62373455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.222755096 meters 0.020734689817927837 Centerline is valid? [True, True] Translation: X:218.13, Y:-99.47, Z:4.62 [[ 8.27944087e-01 5.60547474e-01 -1.71789873e-02 2.18127976e+02] [-5.60416598e-01 8.28122191e-01 1.21190878e-02 -9.94691211e+01] [ 2.10196247e-02 -4.06537444e-04 9.99778981e-01 4.62343827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.282755096 meters 0.022372846206420292 Centerline is valid? [True, True] Translation: X:218.17, Y:-99.51, Z:4.63 [[ 8.30110745e-01 5.57322779e-01 -1.75348822e-02 2.18172653e+02] [-5.57185563e-01 8.30295771e-01 1.23766751e-02 -9.95109121e+01] [ 2.14569414e-02 -5.03827763e-04 9.99769646e-01 4.62507718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.342755096 meters 0.02322766629120942 Centerline is valid? [True, True] Translation: X:218.22, Y:-99.55, Z:4.63 [[ 8.33273517e-01 5.52566130e-01 -1.80532191e-02 2.18219356e+02] [-5.52419537e-01 8.33468809e-01 1.27436156e-02 -9.95509735e+01] [ 2.20884854e-02 -6.45966473e-04 9.99755811e-01 4.62606246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.402755096 meters 0.025745020877205208 Centerline is valid? [True, True] Translation: X:218.26, Y:-99.59, Z:4.63 [[ 8.35418379e-01 5.49313576e-01 -1.81859034e-02 2.18264657e+02] [-5.49164015e-01 8.35615970e-01 1.28388105e-02 -9.95918533e+01] [ 2.22489642e-02 -7.38734526e-04 9.99752188e-01 4.62708066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.462755096 meters 0.028737947580580455 Centerline is valid? [True, True] Translation: X:218.31, Y:-99.63, Z:4.63 [[ 8.38327661e-01 5.44863683e-01 -1.81741437e-02 2.18309076e+02] [-5.44713196e-01 8.38524197e-01 1.28337407e-02 -9.96344188e+01] [ 2.22320985e-02 -8.59183955e-04 9.99752467e-01 4.62815904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.522755096 meters 0.03161181798791923 Centerline is valid? [True, True] Translation: X:218.36, Y:-99.67, Z:4.63 [[ 8.40232832e-01 5.41906116e-01 -1.86158465e-02 2.18355466e+02] [-5.41747487e-01 8.40438480e-01 1.31462026e-02 -9.96745896e+01] [ 2.27694813e-02 -9.60783012e-04 9.99740280e-01 4.62697052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.582755096 meters 0.030582260210299927 Centerline is valid? [True, True] Translation: X:218.41, Y:-99.71, Z:4.63 [[ 8.40869189e-01 5.40934557e-01 -1.81331579e-02 2.18405700e+02] [-5.40783786e-01 8.41064134e-01 1.28069704e-02 -9.97115960e+01] [ 2.21788816e-02 -9.62868990e-04 9.99753555e-01 4.63023129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.642755096 meters 0.03192510369101091 Centerline is valid? [True, True] Translation: X:218.45, Y:-99.75, Z:4.63 [[ 8.41006960e-01 5.40721540e-01 -1.80972222e-02 2.18454567e+02] [-5.40571152e-01 8.41201087e-01 1.27890642e-02 -9.97493999e+01] [ 2.21387255e-02 -9.72855738e-04 9.99754435e-01 4.63047079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70275509599998 meters 0.030576912956608547 Centerline is valid? [True, True] Translation: X:218.50, Y:-99.79, Z:4.63 [[ 8.39723230e-01 5.42708995e-01 -1.82165540e-02 2.18503909e+02] [-5.42556938e-01 8.39920281e-01 1.28798937e-02 -9.97859805e+01] [ 2.22904873e-02 -9.32028149e-04 9.99751102e-01 4.63380805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76275509599998 meters 0.02960310668071109 Centerline is valid? [True, True] Translation: X:218.55, Y:-99.82, Z:4.63 [[ 8.38285459e-01 5.44900097e-01 -1.90098293e-02 2.18554850e+02] [-5.44735037e-01 8.38500478e-01 1.34420319e-02 -9.98208348e+01] [ 2.32643154e-02 -9.12939808e-04 9.99728932e-01 4.63469687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82275509599998 meters 0.02610606777320402 Centerline is valid? [True, True] Translation: X:218.61, Y:-99.85, Z:4.64 [[ 8.35332461e-01 5.49411247e-01 -1.91562149e-02 2.18607029e+02] [-5.49244781e-01 8.35551704e-01 1.35469909e-02 -9.98528587e+01] [ 2.34488771e-02 -7.94790174e-04 9.99724721e-01 4.63596268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88275509599998 meters 0.023438015169034102 Centerline is valid? [True, True] Translation: X:218.66, Y:-99.89, Z:4.64 [[ 8.32286859e-01 5.54026968e-01 -1.87803995e-02 2.18657990e+02] [-5.53868124e-01 8.32498465e-01 1.32818715e-02 -9.98865062e+01] [ 2.29931687e-02 -6.52462465e-04 9.99735409e-01 4.63857698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94275509599998 meters 0.02212796188286285 Centerline is valid? [True, True] Translation: X:218.71, Y:-99.92, Z:4.64 [[ 8.29502053e-01 5.58204408e-01 -1.82806700e-02 2.18708125e+02] [-5.58054892e-01 8.29703299e-01 1.29295159e-02 -9.99207691e+01] [ 2.23848450e-02 -5.23442686e-04 9.99749291e-01 4.64057126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.002755096 meters 0.021931549917223476 Centerline is valid? [True, True] Translation: X:218.76, Y:-99.95, Z:4.64 [[ 8.28036928e-01 5.60363393e-01 -1.86470702e-02 2.18760211e+02] [-5.60208315e-01 8.28246727e-01 1.31910247e-02 -9.99543393e+01] [ 2.28361423e-02 -4.76411787e-04 9.99739108e-01 4.63945151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.062755096 meters 0.019830241298384413 Centerline is valid? [True, True] Translation: X:218.81, Y:-99.99, Z:4.64 [[ 8.26898958e-01 5.62049083e-01 -1.84103783e-02 2.18809297e+02] [-5.61898163e-01 8.27103768e-01 1.30311813e-02 -9.99906100e+01] [ 2.25514567e-02 -4.30712471e-04 9.99745591e-01 4.64356795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.122755096 meters 0.020052026512176847 Centerline is valid? [True, True] Translation: X:218.86, Y:-100.03, Z:4.64 [[ 8.27270917e-01 5.61496195e-01 -1.85701963e-02 2.18858580e+02] [-5.61342338e-01 8.27479193e-01 1.31516107e-02 -1.00028010e+02] [ 2.27510304e-02 -4.55707632e-04 9.99741058e-01 4.64433254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.182755096 meters 0.022798235404988203 Centerline is valid? [True, True] Translation: X:218.91, Y:-100.07, Z:4.64 [[ 8.28378947e-01 5.59833064e-01 -1.93716454e-02 2.18905877e+02] [-5.59664990e-01 8.28605250e-01 1.37272920e-02 -1.00067481e+02] [ 2.37364390e-02 -5.29767942e-04 9.99718111e-01 4.64203639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.242755096 meters 0.021814897720037085 Centerline is valid? [True, True] Translation: X:218.96, Y:-100.10, Z:4.65 [[ 8.29456277e-01 5.58246887e-01 -1.90446125e-02 2.18955055e+02] [-5.58083858e-01 8.29674687e-01 1.35026233e-02 -1.00104683e+02] [ 2.33386303e-02 -5.71344844e-04 9.99727454e-01 4.64503203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.302755096 meters 0.02499072278790979 Centerline is valid? [True, True] Translation: X:219.00, Y:-100.15, Z:4.65 [[ 8.32062087e-01 5.54363432e-01 -1.88114006e-02 2.19000802e+02] [-5.54203214e-01 8.32274429e-01 1.33443560e-02 -1.00146286e+02] [ 2.30538707e-02 -6.77994004e-04 9.99733994e-01 4.64547147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.362755096 meters 0.024816694433962328 Centerline is valid? [True, True] Translation: X:219.05, Y:-100.18, Z:4.65 [[ 8.32761425e-01 5.53353323e-01 -1.75644182e-02 2.19051821e+02] [-5.53213285e-01 8.32946372e-01 1.24660530e-02 -1.00180963e+02] [ 2.15283503e-02 -6.64378573e-04 9.99768017e-01 4.64793688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42275509599997 meters 0.025323243296751893 Centerline is valid? [True, True] Translation: X:219.10, Y:-100.22, Z:4.65 [[ 8.32973168e-01 5.53020272e-01 -1.80077642e-02 2.19101417e+02] [-5.52872831e-01 8.33167506e-01 1.27882296e-02 -1.00218273e+02] [ 2.20756342e-02 -6.96248535e-04 9.99756061e-01 4.64881719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48275509599998 meters 0.02566925009819527 Centerline is valid? [True, True] Translation: X:219.15, Y:-100.25, Z:4.65 [[ 8.32275990e-01 5.54039582e-01 -1.88895978e-02 2.19152142e+02] [-5.53877425e-01 8.32490023e-01 1.34223363e-02 -1.00252869e+02] [ 2.31619073e-02 -7.08566440e-04 9.99731476e-01 4.64808925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54275509599998 meters 0.025488408982177625 Centerline is valid? [True, True] Translation: X:219.20, Y:-100.29, Z:4.65 [[ 8.31318346e-01 5.55434981e-01 -2.00446833e-02 2.19204196e+02] [-5.55252593e-01 8.31559659e-01 1.42510071e-02 -1.00287092e+02] [ 2.45838579e-02 -7.17261278e-04 9.99697514e-01 4.64677894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60275509599998 meters 0.024800127147152087 Centerline is valid? [True, True] Translation: X:219.26, Y:-100.32, Z:4.65 [[ 8.30383350e-01 5.56833434e-01 -2.00004952e-02 2.19255694e+02] [-5.56652061e-01 8.30623900e-01 1.42274244e-02 -1.00321710e+02] [ 2.45351950e-02 -6.80899456e-04 9.99698735e-01 4.64834444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66275509599998 meters 0.02494032418588093 Centerline is valid? [True, True] Translation: X:219.31, Y:-100.36, Z:4.65 [[ 8.29824091e-01 5.57697021e-01 -1.91314088e-02 2.19306800e+02] [-5.57531130e-01 8.30044356e-01 1.36164080e-02 -1.00356421e+02] [ 2.34737480e-02 -6.32867419e-04 9.99724253e-01 4.65065747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.722755096 meters 0.025232237985121572 Centerline is valid? [True, True] Translation: X:219.36, Y:-100.39, Z:4.65 [[ 8.29438603e-01 5.58315150e-01 -1.77706616e-02 2.19355860e+02] [-5.58172032e-01 8.29628748e-01 1.26539418e-02 -1.00392568e+02] [ 2.18079392e-02 -5.76581503e-04 9.99762012e-01 4.65327345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.782755096 meters 0.022170929839167026 Centerline is valid? [True, True] Translation: X:219.41, Y:-100.43, Z:4.66 [[ 8.29120976e-01 5.58795766e-01 -1.74842615e-02 2.19410230e+02] [-5.58657238e-01 8.29305119e-01 1.24543453e-02 -1.00425400e+02] [ 2.14592229e-02 -5.58449688e-04 9.99769568e-01 4.65532173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.842755096 meters 0.023329697118560398 Centerline is valid? [True, True] Translation: X:219.46, Y:-100.46, Z:4.66 [[ 8.28917323e-01 5.59109840e-01 -1.70955526e-02 2.19460155e+02] [-5.58977306e-01 8.29093414e-01 1.21853225e-02 -1.00462611e+02] [ 2.09867438e-02 -5.44598951e-04 9.99779606e-01 4.65633774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.902755096 meters 0.023281199210628108 Centerline is valid? [True, True] Translation: X:219.51, Y:-100.50, Z:4.66 [[ 8.29018003e-01 5.58958692e-01 -1.71560931e-02 2.19511243e+02] [-5.58825025e-01 8.29195315e-01 1.22360190e-02 -1.00499000e+02] [ 2.10651812e-02 -5.56625863e-04 9.99777950e-01 4.65712507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.962755096 meters 0.02297053328470955 Centerline is valid? [True, True] Translation: X:219.56, Y:-100.54, Z:4.66 [[ 8.29135465e-01 5.58799651e-01 -1.66532385e-02 2.19562032e+02] [-5.58673523e-01 8.29302506e-01 1.18847692e-02 -1.00535974e+02] [ 2.04517773e-02 -5.50360222e-04 9.99790689e-01 4.65864529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.022755096 meters 0.024464367576791417 Centerline is valid? [True, True] Translation: X:219.61, Y:-100.57, Z:4.66 [[ 8.29294934e-01 5.58563732e-01 -1.66274020e-02 2.19610334e+02] [-5.58437792e-01 8.29461417e-01 1.18739127e-02 -1.00573566e+02] [ 2.04241255e-02 -5.61605958e-04 9.99791248e-01 4.65915866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.082755096 meters 0.023457889464424023 Centerline is valid? [True, True] Translation: X:219.66, Y:-100.61, Z:4.66 [[ 8.29480725e-01 5.58288374e-01 -1.66077791e-02 2.19661442e+02] [-5.58162551e-01 8.29646770e-01 1.18661019e-02 -1.00608656e+02] [ 2.04032970e-02 -5.72862487e-04 9.99791667e-01 4.65960801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.142755096 meters 0.024595243307993654 Centerline is valid? [True, True] Translation: X:219.71, Y:-100.65, Z:4.66 [[ 8.29861130e-01 5.57711496e-01 -1.69821028e-02 2.19710403e+02] [-5.57579670e-01 8.30034650e-01 1.21405372e-02 -1.00645367e+02] [ 2.08666509e-02 -6.06084631e-04 9.99782084e-01 4.65922492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20275509599998 meters 0.02562675070859174 Centerline is valid? [True, True] Translation: X:219.76, Y:-100.68, Z:4.66 [[ 8.29705698e-01 5.57929762e-01 -1.74021517e-02 2.19759486e+02] [-5.57791237e-01 8.29887941e-01 1.24475456e-02 -1.00682434e+02] [ 2.13866921e-02 -6.21031804e-04 9.99771086e-01 4.65953226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26275509599998 meters 0.02435746921742048 Centerline is valid? [True, True] Translation: X:219.81, Y:-100.72, Z:4.66 [[ 8.29068503e-01 5.58861969e-01 -1.78526431e-02 2.19811120e+02] [-5.58716226e-01 8.29260464e-01 1.27773899e-02 -1.00717348e+02] [ 2.19452884e-02 -6.18770131e-04 9.99758982e-01 4.65999541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32275509599998 meters 0.021735834071940116 Centerline is valid? [True, True] Translation: X:219.86, Y:-100.75, Z:4.66 [[ 8.27568687e-01 5.61102781e-01 -1.71387866e-02 2.19863727e+02] [-5.60968803e-01 8.27745960e-01 1.22730335e-02 -1.00750096e+02] [ 2.10729946e-02 -5.42453656e-04 9.99777793e-01 4.66182885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38275509599998 meters 0.021072167054576627 Centerline is valid? [True, True] Translation: X:219.91, Y:-100.79, Z:4.66 [[ 8.26344980e-01 5.62913899e-01 -1.67903690e-02 2.19914693e+02] [-5.62785546e-01 8.26515397e-01 1.20303274e-02 -1.00785640e+02] [ 2.06495370e-02 -4.91823657e-04 9.99786655e-01 4.66333964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44275509599998 meters 0.01933708641821233 Centerline is valid? [True, True] Translation: X:219.97, Y:-100.82, Z:4.66 [[ 8.24602626e-01 5.65477607e-01 -1.62967784e-02 2.19966432e+02] [-5.65357059e-01 8.24763542e-01 1.16831520e-02 -1.00819379e+02] [ 2.00475495e-02 -4.20459128e-04 9.99798939e-01 4.66463772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.502755096 meters 0.018556806450040188 Centerline is valid? [True, True] Translation: X:220.02, Y:-100.85, Z:4.67 [[ 8.23110502e-01 5.67675713e-01 -1.52769721e-02 2.20016559e+02] [-5.67570048e-01 8.23252187e-01 1.09580243e-02 -1.00854996e+02] [ 1.87974049e-02 -3.48913103e-04 9.99823252e-01 4.66591743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.562755096 meters 0.017265936994353075 Centerline is valid? [True, True] Translation: X:220.07, Y:-100.89, Z:4.67 [[ 8.22104395e-01 5.69154506e-01 -1.44052789e-02 2.20068012e+02] [-5.69060688e-01 8.22230538e-01 1.03380952e-02 -1.00890629e+02] [ 1.77284336e-02 -3.01515584e-04 9.99842794e-01 4.66807348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.622755096 meters 0.01771341920927417 Centerline is valid? [True, True] Translation: X:220.12, Y:-100.93, Z:4.67 [[ 8.21695036e-01 5.69759777e-01 -1.38225937e-02 2.20117265e+02] [-5.69673453e-01 8.21811243e-01 9.92155062e-03 -1.00928117e+02] [ 1.70124634e-02 -2.78124204e-04 9.99855239e-01 4.66967426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.682755096 meters 0.01743654925848453 Centerline is valid? [True, True] Translation: X:220.17, Y:-100.96, Z:4.67 [[ 8.21780471e-01 5.69642507e-01 -1.35746842e-02 2.20168866e+02] [-5.69559137e-01 8.21892533e-01 9.74955151e-03 -1.00964786e+02] [ 1.67106905e-02 -2.80405610e-04 9.99860327e-01 4.66999375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.742755096 meters 0.018481004406696203 Centerline is valid? [True, True] Translation: X:220.22, Y:-101.00, Z:4.67 [[ 8.22719941e-01 5.68291493e-01 -1.32919839e-02 2.20217970e+02] [-5.68211280e-01 8.22827251e-01 9.55286557e-03 -1.01003551e+02] [ 1.63658188e-02 -3.06677813e-04 9.99866024e-01 4.66995944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.802755096 meters 0.019441560102389222 Centerline is valid? [True, True] Translation: X:220.27, Y:-101.04, Z:4.67 [[ 8.23751368e-01 5.66781564e-01 -1.38687607e-02 2.20266998e+02] [-5.66693920e-01 8.23868031e-01 9.97339753e-03 -1.01042317e+02] [ 1.70787664e-02 -3.56257475e-04 9.99854084e-01 4.67041457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.862755096 meters 0.02097354944728654 Centerline is valid? [True, True] Translation: X:220.32, Y:-101.08, Z:4.67 [[ 8.26124606e-01 5.63310565e-01 -1.41188855e-02 2.20315485e+02] [-5.63219115e-01 8.26245129e-01 1.01594851e-02 -1.01081175e+02] [ 1.73886057e-02 -4.40974464e-04 9.99848710e-01 4.67070320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92275509599997 meters 0.022824669179014767 Centerline is valid? [True, True] Translation: X:220.36, Y:-101.12, Z:4.67 [[ 8.28287396e-01 5.60110303e-01 -1.47118681e-02 2.20363968e+02] [-5.60010473e-01 8.28417870e-01 1.05879010e-02 -1.01119158e+02] [ 1.81179669e-02 -5.31024714e-04 9.99835715e-01 4.67165172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98275509599998 meters 0.02398595326246365 Centerline is valid? [True, True] Translation: X:220.41, Y:-101.16, Z:4.67 [[ 8.29149294e-01 5.58827187e-01 -1.49540313e-02 2.20413487e+02] [-5.58723725e-01 8.29283936e-01 1.07681014e-02 -1.01156125e+02] [ 1.84186458e-02 -5.73191616e-04 9.99830198e-01 4.67236244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04275509599998 meters 0.02331889707817116 Centerline is valid? [True, True] Translation: X:220.47, Y:-101.19, Z:4.67 [[ 8.29050823e-01 5.58970464e-01 -1.50583656e-02 2.20466129e+02] [-5.58865460e-01 8.29187364e-01 1.08495325e-02 -1.01191318e+02] [ 1.85507747e-02 -5.79213474e-04 9.99827752e-01 4.67307483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10275509599998 meters 0.02327519646552982 Centerline is valid? [True, True] Translation: X:220.52, Y:-101.23, Z:4.67 [[ 8.28572151e-01 5.59644748e-01 -1.63078349e-02 2.20517505e+02] [-5.59521554e-01 8.28732390e-01 1.17582548e-02 -1.01226103e+02] [ 2.00952766e-02 -6.17977380e-04 9.99797879e-01 4.67308804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16275509599998 meters 0.022348793621423665 Centerline is valid? [True, True] Translation: X:220.57, Y:-101.26, Z:4.67 [[ 8.27128826e-01 5.61759245e-01 -1.68658200e-02 2.20571420e+02] [-5.61627771e-01 8.27300550e-01 1.21674422e-02 -1.01258401e+02] [ 2.07882754e-02 -5.91729308e-04 9.99783725e-01 4.67379878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.222755096 meters 0.021501016799980423 Centerline is valid? [True, True] Translation: X:220.62, Y:-101.29, Z:4.68 [[ 8.25788540e-01 5.63747950e-01 -1.61721039e-02 2.20623499e+02] [-5.63627398e-01 8.25946716e-01 1.16695994e-02 -1.01291879e+02] [ 1.99360088e-02 -5.21580671e-04 9.99801122e-01 4.67630744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.282755096 meters 0.019934421348933647 Centerline is valid? [True, True] Translation: X:220.68, Y:-101.32, Z:4.68 [[ 8.23625503e-01 5.66924482e-01 -1.54162943e-02 2.20676975e+02] [-5.66815374e-01 8.23769657e-01 1.11303501e-02 -1.01323722e+02] [ 1.90095434e-02 -4.29047629e-04 9.99819210e-01 4.67877530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.342755096 meters 0.019443894543088387 Centerline is valid? [True, True] Translation: X:220.73, Y:-101.36, Z:4.68 [[ 8.22450789e-01 5.68628914e-01 -1.53576822e-02 2.20729484e+02] [-5.68520809e-01 8.22594070e-01 1.10944045e-02 -1.01357098e+02] [ 1.89417375e-02 -3.93439878e-04 9.99820512e-01 4.68012257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.402755096 meters 0.018792812637937216 Centerline is valid? [True, True] Translation: X:220.78, Y:-101.39, Z:4.68 [[ 8.22020539e-01 5.69257007e-01 -1.51225899e-02 2.20781853e+02] [-5.69152180e-01 8.22159544e-01 1.09306754e-02 -1.01391581e+02] [ 1.86555452e-02 -3.78184688e-04 9.99825899e-01 4.68093457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.462755096 meters 0.01931457890579454 Centerline is valid? [True, True] Translation: X:220.83, Y:-101.43, Z:4.68 [[ 8.22639253e-01 5.68350213e-01 -1.55786755e-02 2.20832515e+02] [-5.68238656e-01 8.22786644e-01 1.12680073e-02 -1.01428205e+02] [ 1.92221005e-02 -4.17099457e-04 9.99815151e-01 4.68155794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.522755096 meters 0.01999161181783179 Centerline is valid? [True, True] Translation: X:220.88, Y:-101.47, Z:4.68 [[ 8.23573034e-01 5.67015735e-01 -1.48530712e-02 2.20882291e+02] [-5.66914002e-01 8.23706847e-01 1.07491507e-02 -1.01465467e+02] [ 1.83295140e-02 -4.32296607e-04 9.99831907e-01 4.68300344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.582755096 meters 0.02213959600310753 Centerline is valid? [True, True] Translation: X:220.93, Y:-101.50, Z:4.68 [[ 8.25531088e-01 5.64177927e-01 -1.42017286e-02 2.20929513e+02] [-5.64084395e-01 8.25653098e-01 1.02838445e-02 -1.01503539e+02] [ 1.75276193e-02 -4.78659812e-04 9.99846265e-01 4.68464937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.642755096 meters 0.02385526875276073 Centerline is valid? [True, True] Translation: X:220.98, Y:-101.54, Z:4.69 [[ 8.27710212e-01 5.60970453e-01 -1.44206558e-02 2.20978639e+02] [-5.60873513e-01 8.27835637e-01 1.04432128e-02 -1.01542207e+02] [ 1.77962666e-02 -5.55790054e-04 9.99841479e-01 4.68568089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70275509599998 meters 0.0245950640155894 Centerline is valid? [True, True] Translation: X:221.03, Y:-101.58, Z:4.69 [[ 8.29006941e-01 5.59056325e-01 -1.42659764e-02 2.21028875e+02] [-5.58961144e-01 8.29129469e-01 1.03326471e-02 -1.01578686e+02] [ 1.76048731e-02 -5.91709663e-04 9.99844847e-01 4.68614439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76275509599998 meters 0.025412545662353455 Centerline is valid? [True, True] Translation: X:221.08, Y:-101.61, Z:4.69 [[ 8.29975268e-01 5.57615853e-01 -1.43392520e-02 2.21079892e+02] [-5.57519372e-01 8.30098887e-01 1.03916771e-02 -1.01613692e+02] [ 1.76975610e-02 -6.30424182e-04 9.99843187e-01 4.68683674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82275509599998 meters 0.025943039805883247 Centerline is valid? [True, True] Translation: X:221.13, Y:-101.65, Z:4.69 [[ 8.30106044e-01 5.57411678e-01 -1.47029647e-02 2.21130105e+02] [-5.57310090e-01 8.30235985e-01 1.06617230e-02 -1.01649480e+02] [ 1.81498993e-02 -6.56250125e-04 9.99835062e-01 4.68735445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88275509599998 meters 0.02578984019170789 Centerline is valid? [True, True] Translation: X:221.18, Y:-101.68, Z:4.69 [[ 8.29749648e-01 5.57939295e-01 -1.48075984e-02 2.21181795e+02] [-5.57836223e-01 8.29881506e-01 1.07439895e-02 -1.01683659e+02] [ 1.82830460e-02 -6.54606778e-04 9.99832637e-01 4.68831796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94275509599998 meters 0.026572945318797583 Centerline is valid? [True, True] Translation: X:221.23, Y:-101.72, Z:4.69 [[ 8.29450577e-01 5.58403662e-01 -1.40389242e-02 2.21232470e+02] [-5.58310983e-01 8.29569148e-01 1.01919191e-02 -1.01718458e+02] [ 1.73374633e-02 -6.15607642e-04 9.99849505e-01 4.68997430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.002755096 meters 0.02600164638048367 Centerline is valid? [True, True] Translation: X:221.28, Y:-101.75, Z:4.69 [[ 8.29072429e-01 5.58976674e-01 -1.35640750e-02 2.21283313e+02] [-5.58890137e-01 8.29183171e-01 9.85310669e-03 -1.01753867e+02] [ 1.67547595e-02 -5.88111376e-04 9.99859456e-01 4.69153497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.062755096 meters 0.026020182353042577 Centerline is valid? [True, True] Translation: X:221.33, Y:-101.79, Z:4.69 [[ 8.27926259e-01 5.60710386e-01 -1.19152547e-02 2.21333848e+02] [-5.60643725e-01 8.28011850e-01 8.65964260e-03 -1.01788898e+02] [ 1.47215236e-02 -4.89332719e-04 9.99891513e-01 4.69486198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.122755096 meters 0.02517061167542843 Centerline is valid? [True, True] Translation: X:221.39, Y:-101.82, Z:4.70 [[ 8.26600726e-01 5.62693394e-01 -1.03626215e-02 2.21385785e+02] [-5.62643086e-01 8.26665583e-01 7.53471647e-03 -1.01822742e+02] [ 1.28061577e-02 -3.97744765e-04 9.99917919e-01 4.69777987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.182755096 meters 0.023059201233239533 Centerline is valid? [True, True] Translation: X:221.44, Y:-101.86, Z:4.70 [[ 8.25671196e-01 5.64066701e-01 -9.78945682e-03 2.21438888e+02] [-5.64021857e-01 8.25729150e-01 7.12154276e-03 -1.01855669e+02] [ 1.21004650e-02 -3.58585117e-04 9.99926722e-01 4.69883691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.242755096 meters 0.024463509770132227 Centerline is valid? [True, True] Translation: X:221.49, Y:-101.89, Z:4.70 [[ 8.24270665e-01 5.66119690e-01 -9.29340924e-03 2.21488282e+02] [-5.66079363e-01 8.24322993e-01 6.76442958e-03 -1.01892365e+02] [ 1.14902477e-02 -3.14913687e-04 9.99933935e-01 4.70108212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.302755096 meters 0.024529393252211065 Centerline is valid? [True, True] Translation: X:221.54, Y:-101.92, Z:4.70 [[ 8.23489490e-01 5.67257356e-01 -9.17339390e-03 2.21536384e+02] [-5.67218054e-01 8.23540528e-01 6.68417488e-03 -1.01924963e+02] [ 1.13463090e-02 -3.01033128e-04 9.99935583e-01 4.70132935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.362755096 meters 0.022336968870491903 Centerline is valid? [True, True] Translation: X:221.59, Y:-101.96, Z:4.70 [[ 8.22850608e-01 5.68175200e-01 -9.68597252e-03 2.21589252e+02] [-5.68131500e-01 8.22907559e-01 7.05319126e-03 -1.01958445e+02] [ 1.19781084e-02 -3.00816626e-04 9.99928215e-01 4.69973030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42275509599997 meters 0.022629422140784474 Centerline is valid? [True, True] Translation: X:221.64, Y:-102.00, Z:4.70 [[ 8.22668953e-01 5.68436054e-01 -9.81051603e-03 2.21639476e+02] [-5.68391194e-01 8.22727391e-01 7.14775449e-03 -1.01995725e+02] [ 1.21344216e-02 -3.04024777e-04 9.99926329e-01 4.70016146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48275509599998 meters 0.022596483432440202 Centerline is valid? [True, True] Translation: X:221.69, Y:-102.03, Z:4.70 [[ 8.22016262e-01 5.69376929e-01 -9.95877695e-03 2.21689815e+02] [-5.69330709e-01 8.22076531e-01 7.26093536e-03 -1.02031681e+02] [ 1.23210859e-02 -2.98769405e-04 9.99924048e-01 4.70036342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54275509599998 meters 0.022030732393102596 Centerline is valid? [True, True] Translation: X:221.74, Y:-102.06, Z:4.70 [[ 8.20475956e-01 5.71585416e-01 -1.04555323e-02 2.21738289e+02] [-5.71534559e-01 8.20542522e-01 7.63002031e-03 -1.02064948e+02] [ 1.29404171e-02 -2.84550187e-04 9.99916229e-01 4.70125730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60275509599998 meters 0.021312135908556948 Centerline is valid? [True, True] Translation: X:221.79, Y:-102.10, Z:4.70 [[ 8.19410871e-01 5.73097876e-01 -1.11646009e-02 2.21786289e+02] [-5.73040040e-01 8.19486880e-01 8.14651116e-03 -1.02098294e+02] [ 1.38179922e-02 -2.77576472e-04 9.99904488e-01 4.70153971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66275509599998 meters 0.019142384247895796 Centerline is valid? [True, True] Translation: X:221.84, Y:-102.13, Z:4.70 [[ 8.17784832e-01 5.75400996e-01 -1.19021864e-02 2.21839647e+02] [-5.75335541e-01 8.17871402e-01 8.68242072e-03 -1.02131409e+02] [ 1.47303314e-02 -2.52601114e-04 9.99891471e-01 4.70108477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.722755096 meters 0.0192546796059516 Centerline is valid? [True, True] Translation: X:221.89, Y:-102.17, Z:4.70 [[ 8.17494043e-01 5.75816051e-01 -1.18052570e-02 2.21888039e+02] [-5.75751666e-01 8.17579241e-01 8.61416058e-03 -1.02166002e+02] [ 1.46119050e-02 -2.45128559e-04 9.99893210e-01 4.70224929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.782755096 meters 0.019718096791811534 Centerline is valid? [True, True] Translation: X:221.94, Y:-102.20, Z:4.70 [[ 8.18252075e-01 5.74736588e-01 -1.18910159e-02 2.21936856e+02] [-5.74671183e-01 8.18338429e-01 8.67450629e-03 -1.02203921e+02] [ 1.47164314e-02 -2.64508583e-04 9.99891672e-01 4.70346212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.842755096 meters 0.021826690592202994 Centerline is valid? [True, True] Translation: X:221.98, Y:-102.25, Z:4.70 [[ 8.21449469e-01 5.70159098e-01 -1.18055871e-02 2.21983283e+02] [-5.70094069e-01 8.21534224e-01 8.61808008e-03 -1.02246105e+02] [ 1.46123706e-02 -3.49022133e-04 9.99893173e-01 4.70492706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.902755096 meters 0.024561045429360877 Centerline is valid? [True, True] Translation: X:222.03, Y:-102.29, Z:4.71 [[ 8.25063291e-01 5.64911222e-01 -1.20779880e-02 2.22029394e+02] [-5.64842568e-01 8.25151565e-01 8.81861495e-03 -1.02287250e+02] [ 1.49479052e-02 -4.53753736e-04 9.99888171e-01 4.70660749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.962755096 meters 0.026103881570263554 Centerline is valid? [True, True] Translation: X:222.08, Y:-102.33, Z:4.71 [[ 8.28169853e-01 5.60349683e-01 -1.19552503e-02 2.22076837e+02] [-5.60281931e-01 8.28255969e-01 8.72970513e-03 -1.02326256e+02] [ 1.47936950e-02 -5.31367869e-04 9.99890426e-01 4.70790967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.022755096 meters 0.027589021366501123 Centerline is valid? [True, True] Translation: X:222.12, Y:-102.37, Z:4.71 [[ 8.29217229e-01 5.58792950e-01 -1.22158002e-02 2.22124828e+02] [-5.58722048e-01 8.29307007e-01 8.91969371e-03 -1.02365361e+02] [ 1.51149106e-02 -5.71126809e-04 9.99885600e-01 4.70931585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.082755096 meters 0.02764852827381823 Centerline is valid? [True, True] Translation: X:222.18, Y:-102.40, Z:4.71 [[ 8.29196695e-01 5.58797527e-01 -1.33478227e-02 2.22175192e+02] [-5.58712772e-01 8.29303881e-01 9.75250566e-03 -1.02403887e+02] [ 1.65190772e-02 -6.29146445e-04 9.99863353e-01 4.70934514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.142755096 meters 0.02695782952793476 Centerline is valid? [True, True] Translation: X:222.23, Y:-102.44, Z:4.71 [[ 8.27609991e-01 5.61108438e-01 -1.47994354e-02 2.22225581e+02] [-5.61004462e-01 8.27742046e-01 1.08212742e-02 -1.02439520e+02] [ 1.83220232e-02 -6.53245359e-04 9.99831924e-01 4.70857510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20275509599998 meters 0.025097736320173335 Centerline is valid? [True, True] Translation: X:222.28, Y:-102.47, Z:4.71 [[ 8.25789432e-01 5.63778864e-01 -1.50069001e-02 2.22276758e+02] [-5.63672365e-01 8.25925559e-01 1.09743707e-02 -1.02474466e+02] [ 1.85817006e-02 -6.03544485e-04 9.99827163e-01 4.70955675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26275509599998 meters 0.023557342176048296 Centerline is valid? [True, True] Translation: X:222.33, Y:-102.51, Z:4.71 [[ 8.23061694e-01 5.67756880e-01 -1.48853408e-02 2.22326401e+02] [-5.67652721e-01 8.23196128e-01 1.08868606e-02 -1.02509783e+02] [ 1.84346449e-02 -5.10853704e-04 9.99829937e-01 4.71161644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32275509599998 meters 0.022030280767858297 Centerline is valid? [True, True] Translation: X:222.38, Y:-102.55, Z:4.71 [[ 8.20726546e-01 5.71125408e-01 -1.49567606e-02 2.22377367e+02] [-5.71020787e-01 8.20862703e-01 1.09400104e-02 -1.02545021e+02] [ 1.85255649e-02 -4.38135726e-04 9.99828291e-01 4.71323944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38275509599998 meters 0.02018642422063296 Centerline is valid? [True, True] Translation: X:222.43, Y:-102.58, Z:4.72 [[ 8.18564421e-01 5.74222566e-01 -1.48570736e-02 2.22429055e+02] [-5.74119821e-01 8.18699157e-01 1.08683479e-02 -1.02579734e+02] [ 1.84043242e-02 -3.66702459e-04 9.99830559e-01 4.71510513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44275509599998 meters 0.019430905026949257 Centerline is valid? [True, True] Translation: X:222.48, Y:-102.62, Z:4.72 [[ 8.17170132e-01 5.76207050e-01 -1.47787334e-02 2.22479953e+02] [-5.76105593e-01 8.17303695e-01 1.08173940e-02 -1.02616149e+02] [ 1.83117721e-02 -3.25540305e-04 9.99832272e-01 4.71685065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.502755096 meters 0.01954208720233565 Centerline is valid? [True, True] Translation: X:222.53, Y:-102.65, Z:4.72 [[ 8.16183877e-01 5.77604583e-01 -1.47249494e-02 2.22529087e+02] [-5.77504050e-01 8.16316641e-01 1.07802429e-02 -1.02652588e+02] [ 1.82469390e-02 -2.94942536e-04 9.99833467e-01 4.71775617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.562755096 meters 0.019645090682719565 Centerline is valid? [True, True] Translation: X:222.58, Y:-102.69, Z:4.72 [[ 8.16224966e-01 5.77531079e-01 -1.53185703e-02 2.22577386e+02] [-5.77422189e-01 8.16368640e-01 1.12187134e-02 -1.02691133e+02] [ 1.89847560e-02 -3.11711554e-04 9.99819725e-01 4.71919508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.622755096 meters 0.020016348558909148 Centerline is valid? [True, True] Translation: X:222.63, Y:-102.73, Z:4.72 [[ 8.16983257e-01 5.76445845e-01 -1.57653291e-02 2.22625427e+02] [-5.76330178e-01 8.17135278e-01 1.15526048e-02 -1.02730474e+02] [ 1.95418576e-02 -3.52249756e-04 9.99808978e-01 4.72024878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.682755096 meters 0.0214182564242943 Centerline is valid? [True, True] Translation: X:222.67, Y:-102.77, Z:4.72 [[ 8.17656353e-01 5.75498242e-01 -1.54874662e-02 2.22673471e+02] [-5.75386323e-01 8.17802931e-01 1.13554152e-02 -1.02769704e+02] [ 1.92007167e-02 -3.73551124e-04 9.99815579e-01 4.72062741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.742755096 meters 0.020865659938977228 Centerline is valid? [True, True] Translation: X:222.72, Y:-102.81, Z:4.72 [[ 8.17742791e-01 5.75366785e-01 -1.58047945e-02 2.22722549e+02] [-5.75250074e-01 8.17895416e-01 1.15948865e-02 -1.02809377e+02] [ 1.95979816e-02 -3.89925634e-04 9.99807865e-01 4.72256199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.802755096 meters 0.020850255441543356 Centerline is valid? [True, True] Translation: X:222.77, Y:-102.85, Z:4.72 [[ 8.16594516e-01 5.76952469e-01 -1.72986722e-02 2.22770307e+02] [-5.76812817e-01 8.16777628e-01 1.26996212e-02 -1.02847804e+02] [ 2.14562463e-02 -3.92345213e-04 9.99769711e-01 4.72214940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.862755096 meters 0.01969322319480639 Centerline is valid? [True, True] Translation: X:222.82, Y:-102.88, Z:4.72 [[ 8.15956178e-01 5.77836222e-01 -1.79113309e-02 2.22821912e+02] [-5.77686571e-01 8.16152651e-01 1.31558066e-02 -1.02883378e+02] [ 2.22202818e-02 -3.87426384e-04 9.99753024e-01 4.72324586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92275509599997 meters 0.0196716495569206 Centerline is valid? [True, True] Translation: X:222.87, Y:-102.92, Z:4.72 [[ 8.14075760e-01 5.80447166e-01 -1.90195675e-02 2.22869822e+02] [-5.80279036e-01 8.14297840e-01 1.39738616e-02 -1.02921129e+02] [ 2.35986811e-02 -3.39125768e-04 9.99721455e-01 4.72316326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98275509599998 meters 0.018810748273020823 Centerline is valid? [True, True] Translation: X:222.92, Y:-102.96, Z:4.72 [[ 8.12586709e-01 5.82495486e-01 -2.00461907e-02 2.22920001e+02] [-5.82309126e-01 8.12833881e-01 1.47364882e-02 -1.02957839e+02] [ 2.48781609e-02 -3.01594711e-04 9.99690445e-01 4.72425033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04275509599998 meters 0.01850699839093353 Centerline is valid? [True, True] Translation: X:222.97, Y:-103.00, Z:4.73 [[ 8.12138069e-01 5.83116146e-01 -2.01821276e-02 2.22970260e+02] [-5.82927219e-01 8.12388747e-01 1.48452566e-02 -1.02995962e+02] [ 2.50522422e-02 -2.91686453e-04 9.99686101e-01 4.72552735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10275509599998 meters 0.018111871697409673 Centerline is valid? [True, True] Translation: X:223.02, Y:-103.03, Z:4.73 [[ 8.10955750e-01 5.84806448e-01 -1.87667265e-02 2.23020713e+02] [-5.84643348e-01 8.11172834e-01 1.38126431e-02 -1.03031455e+02] [ 2.33007815e-02 -2.29600477e-04 9.99728474e-01 4.72886043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16275509599998 meters 0.017900594122797354 Centerline is valid? [True, True] Translation: X:223.07, Y:-103.07, Z:4.73 [[ 8.09985272e-01 5.86172488e-01 -1.80464157e-02 2.23071838e+02] [-5.86021840e-01 8.10186261e-01 1.32900227e-02 -1.03066568e+02] [ 2.24112038e-02 -1.89128875e-04 9.99748820e-01 4.73133309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.222755096 meters 0.020551906398021926 Centerline is valid? [True, True] Translation: X:223.12, Y:-103.11, Z:4.73 [[ 8.10354951e-01 5.85655680e-01 -1.82284791e-02 2.23121105e+02] [-5.85501660e-01 8.10559917e-01 1.34323283e-02 -1.03106031e+02] [ 2.26419938e-02 -2.12148950e-04 9.99743615e-01 4.72944041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.282755096 meters 0.019622830483823326 Centerline is valid? [True, True] Translation: X:223.17, Y:-103.14, Z:4.73 [[ 8.09932443e-01 5.86274225e-01 -1.70871574e-02 2.23172607e+02] [-5.86138857e-01 8.10112645e-01 1.25993004e-02 -1.03142406e+02] [ 2.12291674e-02 -1.89135220e-04 9.99774618e-01 4.73279182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.342755096 meters 0.021462327072595468 Centerline is valid? [True, True] Translation: X:223.22, Y:-103.18, Z:4.73 [[ 8.11098942e-01 5.84626154e-01 -1.81869898e-02 2.23221593e+02] [-5.84472175e-01 8.11302777e-01 1.34194179e-02 -1.03179999e+02] [ 2.26004980e-02 -2.54686153e-04 9.99744544e-01 4.73105433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.402755096 meters 0.020426654207721103 Centerline is valid? [True, True] Translation: X:223.27, Y:-103.22, Z:4.73 [[ 8.12535673e-01 5.82604740e-01 -1.89075968e-02 2.23270141e+02] [-5.82437572e-01 8.12755565e-01 1.39594579e-02 -1.03218183e+02] [ 2.35001009e-02 -3.30062712e-04 9.99723780e-01 4.73390253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.462755096 meters 0.022008620478134407 Centerline is valid? [True, True] Translation: X:223.32, Y:-103.25, Z:4.73 [[ 8.13639433e-01 5.81078999e-01 -1.83867043e-02 2.23320545e+02] [-5.80920348e-01 8.13847074e-01 1.35826659e-02 -1.03254284e+02] [ 2.28565674e-02 -3.70181882e-04 9.99738686e-01 4.73438403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.522755096 meters 0.020832290649338534 Centerline is valid? [True, True] Translation: X:223.37, Y:-103.29, Z:4.74 [[ 8.15241546e-01 5.78812301e-01 -1.89087988e-02 2.23368162e+02] [-5.78643705e-01 8.15460677e-01 1.39766712e-02 -1.03293698e+02] [ 2.35092511e-02 -4.52905674e-04 9.99723517e-01 4.73849480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.582755096 meters 0.024067924810036875 Centerline is valid? [True, True] Translation: X:223.41, Y:-103.33, Z:4.74 [[ 8.16743041e-01 5.76682099e-01 -1.91979640e-02 2.23414675e+02] [-5.76507522e-01 8.16968468e-01 1.41985864e-02 -1.03333322e+02] [ 2.38722018e-02 -5.28825932e-04 9.99714879e-01 4.73697007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.642755096 meters 0.02494262844485102 Centerline is valid? [True, True] Translation: X:223.46, Y:-103.37, Z:4.74 [[ 8.18082449e-01 5.74773139e-01 -1.94150860e-02 2.23461980e+02] [-5.74593915e-01 8.18312583e-01 1.43648451e-02 -1.03369781e+02] [ 2.41441363e-02 -5.95837369e-04 9.99708310e-01 4.73877719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70275509599998 meters 0.02236883578629472 Centerline is valid? [True, True] Translation: X:223.52, Y:-103.40, Z:4.74 [[ 8.18496872e-01 5.74189970e-01 -1.92028376e-02 2.23516752e+02] [-5.74014459e-01 8.18721876e-01 1.42088400e-02 -1.03400526e+02] [ 2.38803567e-02 -6.07184678e-04 9.99714639e-01 4.74118593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76275509599998 meters 0.023137930199589218 Centerline is valid? [True, True] Translation: X:223.57, Y:-103.44, Z:4.74 [[ 8.19233617e-01 5.73185233e-01 -1.77473884e-02 2.23566269e+02] [-5.73034925e-01 8.19425613e-01 1.31392274e-02 -1.03438435e+02] [ 2.20738758e-02 -5.94223396e-04 9.99756166e-01 4.74487553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82275509599998 meters 0.0236750991065262 Centerline is valid? [True, True] Translation: X:223.62, Y:-103.48, Z:4.75 [[ 8.19421193e-01 5.72943080e-01 -1.68859574e-02 2.23615603e+02] [-5.72806811e-01 8.19594957e-01 1.25085642e-02 -1.03475870e+02] [ 2.10063409e-02 -5.77391193e-04 9.99779176e-01 4.74725869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88275509599998 meters 0.023982309441324796 Centerline is valid? [True, True] Translation: X:223.67, Y:-103.51, Z:4.75 [[ 8.19352873e-01 5.73068137e-01 -1.59304757e-02 2.23667482e+02] [-5.72946739e-01 8.19507542e-01 1.18077511e-02 -1.03511180e+02] [ 1.98217909e-02 -5.47400640e-04 9.99803379e-01 4.74745523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94275509599998 meters 0.023744140513109233 Centerline is valid? [True, True] Translation: X:223.72, Y:-103.55, Z:4.75 [[ 8.18424636e-01 5.74392066e-01 -1.59646560e-02 2.23716299e+02] [-5.74270242e-01 8.18580162e-01 1.18409704e-02 -1.03547735e+02] [ 1.98697102e-02 -5.22914965e-04 9.99802441e-01 4.74918785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.002755096 meters 0.02186043397947912 Centerline is valid? [True, True] Translation: X:223.77, Y:-103.58, Z:4.75 [[ 8.17347889e-01 5.75925284e-01 -1.58901032e-02 2.23767415e+02] [-5.75804758e-01 8.17502189e-01 1.17920113e-02 -1.03582546e+02] [ 1.97815116e-02 -4.88578572e-04 9.99804207e-01 4.74993588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.062755096 meters 0.021368235618373144 Centerline is valid? [True, True] Translation: X:223.82, Y:-103.62, Z:4.75 [[ 8.16427309e-01 5.77238122e-01 -1.55755842e-02 2.23817646e+02] [-5.77122433e-01 8.16575744e-01 1.15651310e-02 -1.03619887e+02] [ 1.93944788e-02 -4.53069740e-04 9.99811807e-01 4.75103979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.122755096 meters 0.022041052831535225 Centerline is valid? [True, True] Translation: X:223.86, Y:-103.66, Z:4.75 [[ 8.14464266e-01 5.79998944e-01 -1.57855712e-02 2.23864667e+02] [-5.79880578e-01 8.14617131e-01 1.17237335e-02 -1.03658524e+02] [ 1.96589498e-02 -3.94815795e-04 9.99806666e-01 4.75110203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.182755096 meters 0.019922212748505926 Centerline is valid? [True, True] Translation: X:223.92, Y:-103.69, Z:4.75 [[ 8.13276757e-01 5.81676170e-01 -1.52888801e-02 2.23915006e+02] [-5.81565320e-01 8.13420379e-01 1.13607352e-02 -1.03694245e+02] [ 1.90445556e-02 -3.47939435e-04 9.99818575e-01 4.75240704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.242755096 meters 0.02025117332365885 Centerline is valid? [True, True] Translation: X:223.96, Y:-103.73, Z:4.75 [[ 8.12833252e-01 5.82304290e-01 -1.49605771e-02 2.23963706e+02] [-5.82198141e-01 8.12970851e-01 1.11229385e-02 -1.03733123e+02] [ 1.86394479e-02 -3.31074119e-04 9.99826216e-01 4.75334117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.302755096 meters 0.01938339681803977 Centerline is valid? [True, True] Translation: X:224.01, Y:-103.77, Z:4.75 [[ 8.12810233e-01 5.82348193e-01 -1.44950968e-02 2.24013553e+02] [-5.82248442e-01 8.12939406e-01 1.07830605e-02 -1.03771115e+02] [ 1.80631312e-02 -3.24834418e-04 9.99836796e-01 4.75477216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.362755096 meters 0.02067744087262079 Centerline is valid? [True, True] Translation: X:224.06, Y:-103.81, Z:4.76 [[ 8.13034318e-01 5.82036564e-01 -1.44442617e-02 2.24059905e+02] [-5.81937334e-01 8.13162545e-01 1.07524094e-02 -1.03812828e+02] [ 1.80038280e-02 -3.36422755e-04 9.99837861e-01 4.75649434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42275509599997 meters 0.019211509973682026 Centerline is valid? [True, True] Translation: X:224.11, Y:-103.85, Z:4.76 [[ 8.12034504e-01 5.83463213e-01 -1.30630676e-02 2.24111861e+02] [-5.83382151e-01 8.12139520e-01 9.72960230e-03 -1.03847171e+02] [ 1.62858985e-02 -2.80012301e-04 9.99867337e-01 4.75832032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48275509599998 meters 0.019719955737089415 Centerline is valid? [True, True] Translation: X:224.16, Y:-103.88, Z:4.76 [[ 8.10836094e-01 5.85127159e-01 -1.30781034e-02 2.24159950e+02] [-5.85046032e-01 8.10941517e-01 9.74658051e-03 -1.03884493e+02] [ 1.63085660e-02 -2.51586769e-04 9.99866975e-01 4.75977711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54275509599998 meters 0.01837913355282295 Centerline is valid? [True, True] Translation: X:224.21, Y:-103.92, Z:4.76 [[ 8.09591422e-01 5.86821761e-01 -1.42109360e-02 2.24211286e+02] [-5.86726121e-01 8.09716100e-01 1.05969754e-02 -1.03919123e+02] [ 1.77253594e-02 -2.41293077e-04 9.99842864e-01 4.75931529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60275509599998 meters 0.018173803365014046 Centerline is valid? [True, True] Translation: X:224.26, Y:-103.96, Z:4.76 [[ 8.09460938e-01 5.86993499e-01 -1.45472277e-02 2.24263088e+02] [-5.86893191e-01 8.09591607e-01 1.08540966e-02 -1.03955613e+02] [ 1.81485976e-02 -2.48298339e-04 9.99835270e-01 4.76021812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66275509599998 meters 0.01831809815664604 Centerline is valid? [True, True] Translation: X:224.31, Y:-103.99, Z:4.76 [[ 8.09545297e-01 5.86872921e-01 -1.47169113e-02 2.24313309e+02] [-5.86770100e-01 8.09679015e-01 1.09882703e-02 -1.03993357e+02] [ 1.83646925e-02 -2.60058969e-04 9.99831321e-01 4.76035698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.722755096 meters 0.018960225237176543 Centerline is valid? [True, True] Translation: X:224.36, Y:-104.03, Z:4.76 [[ 8.10674299e-01 5.85302953e-01 -1.50875445e-02 2.24362951e+02] [-5.85194469e-01 8.10814626e-01 1.12727818e-02 -1.04030499e+02] [ 1.88311943e-02 -3.09406863e-04 9.99822629e-01 4.76101043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.782755096 meters 0.02007116179901169 Centerline is valid? [True, True] Translation: X:224.41, Y:-104.07, Z:4.76 [[ 8.11680835e-01 5.83915572e-01 -1.47250491e-02 2.24410349e+02] [-5.83811894e-01 8.11814320e-01 1.10082669e-02 -1.04069505e+02] [ 1.83819042e-02 -3.38540486e-04 9.99830981e-01 4.76219369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.842755096 meters 0.021504529195631273 Centerline is valid? [True, True] Translation: X:224.46, Y:-104.11, Z:4.76 [[ 8.12685194e-01 5.82514443e-01 -1.48222824e-02 2.24457148e+02] [-5.82409047e-01 8.12820264e-01 1.10869434e-02 -1.04108576e+02] [ 1.85061561e-02 -3.77563371e-04 9.99828675e-01 4.76283401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.902755096 meters 0.021121336783382624 Centerline is valid? [True, True] Translation: X:224.51, Y:-104.14, Z:4.76 [[ 8.13867389e-01 5.80869724e-01 -1.44995450e-02 2.24507034e+02] [-5.80768508e-01 8.13996435e-01 1.08510289e-02 -1.04144694e+02] [ 1.81056121e-02 -4.10419408e-04 9.99835996e-01 4.76418732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.962755096 meters 0.021595792450140403 Centerline is valid? [True, True] Translation: X:224.56, Y:-104.18, Z:4.77 [[ 8.13853222e-01 5.80897028e-01 -1.41977237e-02 2.24556346e+02] [-5.80799887e-01 8.13976952e-01 1.06307436e-02 -1.04181568e+02] [ 1.77319872e-02 -4.05828574e-04 9.99842694e-01 4.76513478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.022755096 meters 0.02175232684093095 Centerline is valid? [True, True] Translation: X:224.61, Y:-104.22, Z:4.77 [[ 8.13368471e-01 5.81578143e-01 -1.40923685e-02 2.24606588e+02] [-5.81482427e-01 8.13490448e-01 1.05583153e-02 -1.04218797e+02] [ 1.76044925e-02 -3.93336148e-04 9.99844952e-01 4.76665367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.082755096 meters 0.021806793011065053 Centerline is valid? [True, True] Translation: X:224.66, Y:-104.26, Z:4.77 [[ 8.12972249e-01 5.82131105e-01 -1.41244090e-02 2.24657444e+02] [-5.82034928e-01 8.13094845e-01 1.05884876e-02 -1.04255356e+02] [ 1.76483722e-02 -3.87247169e-04 9.99844180e-01 4.76833024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.142755096 meters 0.021265444146479084 Centerline is valid? [True, True] Translation: X:224.71, Y:-104.29, Z:4.77 [[ 8.12897706e-01 5.82214136e-01 -1.49672643e-02 2.24708735e+02] [-5.82106107e-01 8.13035381e-01 1.12227221e-02 -1.04292154e+02] [ 1.87029429e-02 -4.10389095e-04 9.99825000e-01 4.76841018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20275509599998 meters 0.02162150509822823 Centerline is valid? [True, True] Translation: X:224.76, Y:-104.33, Z:4.77 [[ 8.12858445e-01 5.82251943e-01 -1.56148360e-02 2.24758764e+02] [-5.82134211e-01 8.13008294e-01 1.17163644e-02 -1.04330573e+02] [ 1.95168671e-02 -4.33815523e-04 9.99809434e-01 4.76935293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26275509599998 meters 0.021752385392541974 Centerline is valid? [True, True] Translation: X:224.81, Y:-104.37, Z:4.77 [[ 8.11686410e-01 5.83866654e-01 -1.62758446e-02 2.24808890e+02] [-5.83738900e-01 8.11849466e-01 1.22204928e-02 -1.04365109e+02] [ 2.03486740e-02 -4.18364256e-04 9.99792857e-01 4.77005571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32275509599998 meters 0.020515840354647593 Centerline is valid? [True, True] Translation: X:224.86, Y:-104.40, Z:4.77 [[ 8.10131975e-01 5.85983415e-01 -1.75960286e-02 2.24861455e+02] [-5.85834427e-01 8.10322946e-01 1.32191763e-02 -1.04398677e+02] [ 2.20046838e-02 -4.00918083e-04 9.99757787e-01 4.77009319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38275509599998 meters 0.020757573830708233 Centerline is valid? [True, True] Translation: X:224.91, Y:-104.44, Z:4.77 [[ 8.09590106e-01 5.86655031e-01 -1.99933529e-02 2.24909143e+02] [-5.86462699e-01 8.09836823e-01 1.50273983e-02 -1.04435631e+02] [ 2.50072522e-02 -4.40677331e-04 9.99687173e-01 4.76903224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44275509599998 meters 0.02156155375546415 Centerline is valid? [True, True] Translation: X:224.96, Y:-104.47, Z:4.77 [[ 8.10204623e-01 5.85747979e-01 -2.16280798e-02 2.24956402e+02] [-5.85522608e-01 8.10493090e-01 1.62550401e-02 -1.04470018e+02] [ 2.70507661e-02 -5.06178953e-04 9.99633933e-01 4.76817730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.502755096 meters 0.02199472846792841 Centerline is valid? [True, True] Translation: X:225.00, Y:-104.51, Z:4.77 [[ 8.10882486e-01 5.84820713e-01 -2.13149728e-02 2.25003198e+02] [-5.84601582e-01 8.11162411e-01 1.60166679e-02 -1.04506179e+02] [ 2.66567838e-02 -5.26868672e-04 9.99644506e-01 4.76999275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.562755096 meters 0.022660396868688978 Centerline is valid? [True, True] Translation: X:225.05, Y:-104.54, Z:4.77 [[ 8.12031650e-01 5.83224196e-01 -2.13104664e-02 2.25049433e+02] [-5.83004665e-01 8.12311026e-01 1.60111459e-02 -1.04543457e+02] [ 2.66488146e-02 -5.77455923e-04 9.99644690e-01 4.77241703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.622755096 meters 0.023290460102378042 Centerline is valid? [True, True] Translation: X:225.09, Y:-104.58, Z:4.77 [[ 8.12487302e-01 5.82574276e-01 -2.17162815e-02 2.25094933e+02] [-5.82346117e-01 8.12777240e-01 1.63143476e-02 -1.04580562e+02] [ 2.71548186e-02 -6.08808033e-04 9.99631055e-01 4.77389774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.682755096 meters 0.022791970673006614 Centerline is valid? [True, True] Translation: X:225.14, Y:-104.62, Z:4.78 [[ 8.12882832e-01 5.82009872e-01 -2.20456401e-02 2.25144931e+02] [-5.81774496e-01 8.13181469e-01 1.65630622e-02 -1.04618070e+02] [ 2.75669717e-02 -6.38237814e-04 9.99619755e-01 4.77611426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.742755096 meters 0.023315547163896375 Centerline is valid? [True, True] Translation: X:225.19, Y:-104.66, Z:4.78 [[ 8.12774903e-01 5.82172759e-01 -2.17218024e-02 2.25192602e+02] [-5.81944051e-01 8.13064869e-01 1.63291269e-02 -1.04657506e+02] [ 2.71676072e-02 -6.31030871e-04 9.99630693e-01 4.77828891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.802755096 meters 0.022915213500397887 Centerline is valid? [True, True] Translation: X:225.24, Y:-104.70, Z:4.78 [[ 8.12122330e-01 5.83086331e-01 -2.16252634e-02 2.25240723e+02] [-5.82859717e-01 8.12409973e-01 1.62661038e-02 -1.04696123e+02] [ 2.70531224e-02 -6.05571239e-04 9.99633814e-01 4.78073888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.862755096 meters 0.022884175264440733 Centerline is valid? [True, True] Translation: X:225.29, Y:-104.73, Z:4.78 [[ 8.11534468e-01 5.83908575e-01 -2.15077426e-02 2.25288852e+02] [-5.83684527e-01 8.11819216e-01 1.61843665e-02 -1.04733713e+02] [ 2.69105891e-02 -5.80434690e-04 9.99637676e-01 4.78174937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92275509599997 meters 0.0207629079120003 Centerline is valid? [True, True] Translation: X:225.34, Y:-104.77, Z:4.78 [[ 8.09277256e-01 5.87037948e-01 -2.13722022e-02 2.25340722e+02] [-5.86817703e-01 8.09559276e-01 1.60860947e-02 -1.04767878e+02] [ 2.67452126e-02 -4.76523984e-04 9.99642169e-01 4.78448870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98275509599998 meters 0.019855761550263164 Centerline is valid? [True, True] Translation: X:225.39, Y:-104.80, Z:4.79 [[ 8.06949129e-01 5.90230193e-01 -2.14807535e-02 2.25391814e+02] [-5.90008579e-01 8.07234894e-01 1.61772146e-02 -1.04803753e+02] [ 2.68882943e-02 -3.80360412e-04 9.99638372e-01 4.78536476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04275509599998 meters 0.02088529296412974 Centerline is valid? [True, True] Translation: X:225.44, Y:-104.84, Z:4.78 [[ 8.06330717e-01 5.91048116e-01 -2.22013374e-02 2.25440701e+02] [-5.90811418e-01 8.06636217e-01 1.67296811e-02 -1.04842137e+02] [ 2.77964493e-02 -3.72852109e-04 9.99613535e-01 4.78456774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10275509599998 meters 0.01984262204590786 Centerline is valid? [True, True] Translation: X:225.49, Y:-104.88, Z:4.79 [[ 8.06258838e-01 5.91139665e-01 -2.23737303e-02 2.25488159e+02] [-5.90899151e-01 8.06569126e-01 1.68653175e-02 -1.04876705e+02] [ 2.80157183e-02 -3.77193049e-04 9.99607412e-01 4.78578192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16275509599998 meters 0.020492682261512712 Centerline is valid? [True, True] Translation: X:225.54, Y:-104.91, Z:4.79 [[ 8.07780855e-01 5.89105800e-01 -2.10819179e-02 2.25538036e+02] [-5.88891592e-01 8.08055802e-01 1.58906634e-02 -1.04912915e+02] [ 2.63966480e-02 -4.21209448e-04 9.99651459e-01 4.78815414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.222755096 meters 0.020991799805584865 Centerline is valid? [True, True] Translation: X:225.59, Y:-104.95, Z:4.79 [[ 8.09271677e-01 5.87092693e-01 -2.00380328e-02 2.25587875e+02] [-5.86898482e-01 8.09519581e-01 1.51069377e-02 -1.04949823e+02] [ 2.50903527e-02 -4.65325787e-04 9.99685079e-01 4.79074503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.282755096 meters 0.02275014595161949 Centerline is valid? [True, True] Translation: X:225.64, Y:-104.99, Z:4.79 [[ 8.12172008e-01 5.83114964e-01 -1.88034195e-02 2.25635766e+02] [-5.82942700e-01 8.12389455e-01 1.41838445e-02 -1.04988863e+02] [ 2.35465116e-02 -5.58405312e-04 9.99722587e-01 4.79375951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.342755096 meters 0.024767372862106157 Centerline is valid? [True, True] Translation: X:225.68, Y:-105.03, Z:4.79 [[ 8.15779152e-01 5.78064521e-01 -1.85952714e-02 2.25683968e+02] [-5.77894592e-01 8.15990758e-01 1.40329312e-02 -1.05025952e+02] [ 2.32855092e-02 -7.01665945e-04 9.99728610e-01 4.79484478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.402755096 meters 0.02754778832933892 Centerline is valid? [True, True] Translation: X:225.73, Y:-105.06, Z:4.80 [[ 8.18612611e-01 5.74050575e-01 -1.84209490e-02 2.25730515e+02] [-5.73882789e-01 8.18819445e-01 1.39018464e-02 -1.05063779e+02] [ 2.30637942e-02 -8.08761199e-04 9.99733668e-01 4.79549844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.462755096 meters 0.029696616435881954 Centerline is valid? [True, True] Translation: X:225.78, Y:-105.10, Z:4.80 [[ 8.19874179e-01 5.72246641e-01 -1.84421500e-02 2.25777745e+02] [-5.72077980e-01 8.20081118e-01 1.39192625e-02 -1.05102607e+02] [ 2.30893101e-02 -8.61695996e-04 9.99733035e-01 4.79646234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.522755096 meters 0.03097337232892403 Centerline is valid? [True, True] Translation: X:225.83, Y:-105.14, Z:4.80 [[ 8.20728486e-01 5.71037449e-01 -1.79160214e-02 2.25827338e+02] [-5.70877830e-01 8.20923544e-01 1.35291916e-02 -1.05139772e+02] [ 2.24333588e-02 -8.75933504e-04 9.99747957e-01 4.79773610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.582755096 meters 0.030916285390557206 Centerline is valid? [True, True] Translation: X:225.88, Y:-105.18, Z:4.80 [[ 8.20218251e-01 5.71800646e-01 -1.69127972e-02 2.25878224e+02] [-5.71658423e-01 8.20392199e-01 1.27783913e-02 -1.05175975e+02] [ 2.11818193e-02 -8.12726809e-04 9.99775310e-01 4.79925815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.642755096 meters 0.02844347523831559 Centerline is valid? [True, True] Translation: X:225.93, Y:-105.21, Z:4.80 [[ 8.19013282e-01 5.73545661e-01 -1.62054914e-02 2.25930659e+02] [-5.73415293e-01 8.19173258e-01 1.22505309e-02 -1.05209873e+02] [ 2.03013440e-02 -7.40870864e-04 9.99793632e-01 4.80108013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70275509599998 meters 0.027084841540009688 Centerline is valid? [True, True] Translation: X:225.98, Y:-105.24, Z:4.80 [[ 8.17611850e-01 5.75547442e-01 -1.60001517e-02 2.25981968e+02] [-5.75420602e-01 8.17768102e-01 1.21021523e-02 -1.05244798e+02] [ 2.00497765e-02 -6.88046208e-04 9.99798746e-01 4.80217443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76275509599998 meters 0.0251711147162012 Centerline is valid? [True, True] Translation: X:226.03, Y:-105.28, Z:4.80 [[ 8.15716077e-01 5.78238340e-01 -1.57385956e-02 2.26034226e+02] [-5.78115984e-01 8.15867662e-01 1.19107949e-02 -1.05278351e+02] [ 1.97278894e-02 -6.17093173e-04 9.99805196e-01 4.80266372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82275509599998 meters 0.024316188640948217 Centerline is valid? [True, True] Translation: X:226.09, Y:-105.31, Z:4.80 [[ 8.13317915e-01 5.81597601e-01 -1.60686340e-02 2.26085340e+02] [-5.81470682e-01 8.13476447e-01 1.21620572e-02 -1.05311057e+02] [ 2.01448786e-02 -5.48179399e-04 9.99796921e-01 4.80296275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88275509599998 meters 0.02327987478887153 Centerline is valid? [True, True] Translation: X:226.14, Y:-105.34, Z:4.80 [[ 8.11873764e-01 5.83616876e-01 -1.58850195e-02 2.26136304e+02] [-5.83493216e-01 8.12029001e-01 1.20236127e-02 -1.05344916e+02] [ 1.99162798e-02 -4.92854583e-04 9.99801530e-01 4.80365160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94275509599998 meters 0.0229697830369794 Centerline is valid? [True, True] Translation: X:226.19, Y:-105.38, Z:4.81 [[ 8.11504832e-01 5.84126100e-01 -1.60189770e-02 2.26187483e+02] [-5.84000414e-01 8.11662777e-01 1.21265171e-02 -1.05381863e+02] [ 2.00854225e-02 -4.85637994e-04 9.99798150e-01 4.80509582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.002755096 meters 0.022902344592522578 Centerline is valid? [True, True] Translation: X:226.24, Y:-105.42, Z:4.81 [[ 8.11828900e-01 5.83691198e-01 -1.54409450e-02 2.26236850e+02] [-5.83574197e-01 8.11975585e-01 1.16963938e-02 -1.05418917e+02] [ 1.93647525e-02 -4.84533442e-04 9.99812368e-01 4.80677239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.062755096 meters 0.023484085820904787 Centerline is valid? [True, True] Translation: X:226.29, Y:-105.46, Z:4.81 [[ 8.13242143e-01 5.81730838e-01 -1.50482479e-02 2.26286552e+02] [-5.81619254e-01 8.13381189e-01 1.14054383e-02 -1.05456693e+02] [ 1.88748569e-02 -5.23032325e-04 9.99821717e-01 4.80854005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.122755096 meters 0.02552152473543485 Centerline is valid? [True, True] Translation: X:226.33, Y:-105.49, Z:4.81 [[ 8.14973598e-01 5.79296675e-01 -1.52773368e-02 2.26334454e+02] [-5.79181107e-01 8.15116562e-01 1.15860146e-02 -1.05494893e+02] [ 1.91645499e-02 -5.93951188e-04 9.99816167e-01 4.80930062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.182755096 meters 0.026524809845916517 Centerline is valid? [True, True] Translation: X:226.38, Y:-105.53, Z:4.81 [[ 8.16835002e-01 5.76643613e-01 -1.62087510e-02 2.26383027e+02] [-5.76512857e-01 8.16995502e-01 1.22993909e-02 -1.05532982e+02] [ 2.03348419e-02 -7.02019678e-04 9.99792979e-01 4.80954782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.242755096 meters 0.0273976579259471 Centerline is valid? [True, True] Translation: X:226.43, Y:-105.57, Z:4.81 [[ 8.17612602e-01 5.75506385e-01 -1.73791334e-02 2.26431700e+02] [-5.75355637e-01 8.17796905e-01 1.31952087e-02 -1.05571158e+02] [ 2.18065283e-02 -7.89386504e-04 9.99761898e-01 4.80987360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.302755096 meters 0.02711725207875255 Centerline is valid? [True, True] Translation: X:226.48, Y:-105.61, Z:4.81 [[ 8.17154368e-01 5.76137479e-01 -1.80095650e-02 2.26482247e+02] [-5.75975561e-01 8.17352405e-01 1.36820824e-02 -1.05607380e+02] [ 2.26029218e-02 -8.07304084e-04 9.99744195e-01 4.81002741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.362755096 meters 0.026915170118520786 Centerline is valid? [True, True] Translation: X:226.53, Y:-105.64, Z:4.81 [[ 8.15858792e-01 5.77957191e-01 -1.84368579e-02 2.26531242e+02] [-5.77787784e-01 8.16066710e-01 1.40143423e-02 -1.05643278e+02] [ 2.31453958e-02 -7.81133121e-04 9.99731804e-01 4.81108031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42275509599997 meters 0.02651577828974269 Centerline is valid? [True, True] Translation: X:226.58, Y:-105.68, Z:4.81 [[ 8.15029310e-01 5.79152155e-01 -1.76069845e-02 2.26579356e+02] [-5.78997856e-01 8.15219154e-01 1.33870883e-02 -1.05679768e+02] [ 2.21067120e-02 -7.16463029e-04 9.99755360e-01 4.81311385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48275509599998 meters 0.026294729785756258 Centerline is valid? [True, True] Translation: X:226.63, Y:-105.71, Z:4.82 [[ 8.14413864e-01 5.80049319e-01 -1.65180076e-02 2.26625549e+02] [-5.79913709e-01 8.14581098e-01 1.25588524e-02 -1.05714707e+02] [ 2.07400106e-02 -6.49084518e-04 9.99784692e-01 4.81640145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54275509599998 meters 0.0267631083868193 Centerline is valid? [True, True] Translation: X:226.67, Y:-105.75, Z:4.82 [[ 8.14194154e-01 5.80381313e-01 -1.56655914e-02 2.26671097e+02] [-5.80259445e-01 8.14344623e-01 1.19084840e-02 -1.05750533e+02] [ 1.96686517e-02 -6.05710715e-04 9.99806370e-01 4.81925385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60275509599998 meters 0.026768127585682387 Centerline is valid? [True, True] Translation: X:226.72, Y:-105.79, Z:4.82 [[ 8.13987648e-01 5.80670813e-01 -1.56689544e-02 2.26717456e+02] [-5.80548991e-01 8.14138226e-01 1.19087363e-02 -1.05786190e+02] [ 1.96717504e-02 -5.96968571e-04 9.99806314e-01 4.82075909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66275509599998 meters 0.026816279475128563 Centerline is valid? [True, True] Translation: X:226.76, Y:-105.82, Z:4.82 [[ 8.13752183e-01 5.80995323e-01 -1.58688246e-02 2.26764017e+02] [-5.80870473e-01 8.13906678e-01 1.20587499e-02 -1.05822245e+02] [ 1.99218196e-02 -5.95102451e-04 9.99801364e-01 4.82157633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.722755096 meters 0.024849321360671903 Centerline is valid? [True, True] Translation: X:226.81, Y:-105.86, Z:4.82 [[ 8.13987491e-01 5.80638082e-01 -1.68458441e-02 2.26814199e+02] [-5.80497326e-01 8.14161537e-01 1.28002299e-02 -1.05858296e+02] [ 2.11475393e-02 -6.40259581e-04 9.99776161e-01 4.82205539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.782755096 meters 0.029388890506587332 Centerline is valid? [True, True] Translation: X:226.86, Y:-105.90, Z:4.82 [[ 8.14524933e-01 5.79879224e-01 -1.70064334e-02 2.26857688e+02] [-5.79735447e-01 8.14702175e-01 1.29297157e-02 -1.05902010e+02] [ 2.13528517e-02 -6.72343564e-04 9.99771776e-01 4.82272894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.842755096 meters 0.02576120256508745 Centerline is valid? [True, True] Translation: X:226.91, Y:-105.94, Z:4.82 [[ 8.15654538e-01 5.78264260e-01 -1.78359210e-02 2.26909603e+02] [-5.78105558e-01 8.15849174e-01 1.35679330e-02 -1.05936658e+02] [ 2.23972722e-02 -7.55701005e-04 9.99748864e-01 4.82425901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.902755096 meters 0.02728323392529833 Centerline is valid? [True, True] Translation: X:226.96, Y:-105.98, Z:4.83 [[ 8.17118494e-01 5.76197212e-01 -1.77239924e-02 2.26956601e+02] [-5.76039856e-01 8.17310291e-01 1.34897319e-02 -1.05977654e+02] [ 2.22587473e-02 -8.12983384e-04 9.99751913e-01 4.82623670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.962755096 meters 0.02847417513159407 Centerline is valid? [True, True] Translation: X:227.00, Y:-106.02, Z:4.83 [[ 8.17242789e-01 5.75992758e-01 -1.86163042e-02 2.27003202e+02] [-5.75819036e-01 8.17454341e-01 1.41717384e-02 -1.06017573e+02] [ 2.33807973e-02 -8.62128716e-04 9.99726260e-01 4.82688324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.022755096 meters 0.02640708333252547 Centerline is valid? [True, True] Translation: X:227.05, Y:-106.05, Z:4.83 [[ 8.16176733e-01 5.77459725e-01 -1.98949069e-02 2.27053744e+02] [-5.77261600e-01 8.16418697e-01 1.51510989e-02 -1.06053133e+02] [ 2.49917233e-02 -8.81408605e-04 9.99687270e-01 4.82727745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.082755096 meters 0.024674968416844998 Centerline is valid? [True, True] Translation: X:227.10, Y:-106.09, Z:4.83 [[ 8.13866684e-01 5.80678142e-01 -2.08306429e-02 2.27103571e+02] [-5.80461793e-01 8.14132798e-01 1.58711647e-02 -1.06089555e+02] [ 2.61749481e-02 -8.25619879e-04 9.99657036e-01 4.82789420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.142755096 meters 0.024143606912509434 Centerline is valid? [True, True] Translation: X:227.15, Y:-106.13, Z:4.83 [[ 8.11435899e-01 5.84070805e-01 -2.08104767e-02 2.27151868e+02] [-5.83855938e-01 8.11702397e-01 1.58575850e-02 -1.06126311e+02] [ 2.61538662e-02 -7.17093340e-04 9.99657672e-01 4.82853303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20275509599998 meters 0.021506424871738223 Centerline is valid? [True, True] Translation: X:227.20, Y:-106.16, Z:4.83 [[ 8.09500292e-01 5.86752968e-01 -2.07420563e-02 2.27202231e+02] [-5.86540296e-01 8.09765742e-01 1.58089961e-02 -1.06162067e+02] [ 2.60721819e-02 -6.31335095e-04 9.99659864e-01 4.83148571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26275509599998 meters 0.02026778107169525 Centerline is valid? [True, True] Translation: X:227.25, Y:-106.20, Z:4.83 [[ 8.07786123e-01 5.89125082e-01 -2.03277393e-02 2.27251244e+02] [-5.88921344e-01 8.08041666e-01 1.55021054e-02 -1.06200146e+02] [ 2.55583394e-02 -5.50946086e-04 9.99673180e-01 4.83326937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32275509599998 meters 0.020263538717121988 Centerline is valid? [True, True] Translation: X:227.30, Y:-106.24, Z:4.83 [[ 8.07475757e-01 5.89554920e-01 -2.01964854e-02 2.27299568e+02] [-5.89353705e-01 8.07728112e-01 1.54112897e-02 -1.06241190e+02] [ 2.53990707e-02 -5.41369320e-04 9.99677245e-01 4.83485000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38275509599998 meters 0.02115417654022671 Centerline is valid? [True, True] Translation: X:227.35, Y:-106.28, Z:4.84 [[ 8.08332479e-01 5.88403299e-01 -1.94977275e-02 2.27345900e+02] [-5.88215205e-01 8.08567399e-01 1.48873829e-02 -1.06282814e+02] [ 2.45250120e-02 -5.65095341e-04 9.99699057e-01 4.83711834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44275509599998 meters 0.021611167335487895 Centerline is valid? [True, True] Translation: X:227.39, Y:-106.32, Z:4.84 [[ 8.09231767e-01 5.87185655e-01 -1.88932429e-02 2.27393465e+02] [-5.87008521e-01 8.09452073e-01 1.44338809e-02 -1.06322944e+02] [ 2.37685424e-02 -5.89860343e-04 9.99717314e-01 4.83883879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.502755096 meters 0.023132124113361362 Centerline is valid? [True, True] Translation: X:227.44, Y:-106.36, Z:4.84 [[ 8.10751358e-01 5.85081132e-01 -1.90342783e-02 2.27439645e+02] [-5.84900562e-01 8.10974493e-01 1.45500234e-02 -1.06364633e+02] [ 2.39492583e-02 -6.63291119e-04 9.99712955e-01 4.83925165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.562755096 meters 0.02348143775897107 Centerline is valid? [True, True] Translation: X:227.49, Y:-106.40, Z:4.84 [[ 8.10937403e-01 5.84803865e-01 -1.96205974e-02 2.27486939e+02] [-5.84611702e-01 8.11174426e-01 1.50069404e-02 -1.06404646e+02] [ 2.46918436e-02 -6.99258505e-04 9.99694865e-01 4.83917572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.622755096 meters 0.02258755986674276 Centerline is valid? [True, True] Translation: X:227.54, Y:-106.44, Z:4.84 [[ 8.10502008e-01 5.85399710e-01 -1.98412222e-02 2.27536529e+02] [-5.85203159e-01 8.10744531e-01 1.51844354e-02 -1.06441627e+02] [ 2.49751264e-02 -6.95869478e-04 9.99687831e-01 4.84018757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.682755096 meters 0.022956134861143347 Centerline is valid? [True, True] Translation: X:227.58, Y:-106.48, Z:4.84 [[ 8.08653466e-01 5.87915856e-01 -2.08451062e-02 2.27583925e+02] [-5.87699496e-01 8.08921823e-01 1.59620758e-02 -1.06480090e+02] [ 2.62464188e-02 -6.57129529e-04 9.99655287e-01 4.83875748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.742755096 meters 0.02229829826512808 Centerline is valid? [True, True] Translation: X:227.63, Y:-106.52, Z:4.84 [[ 8.06812149e-01 5.90406062e-01 -2.17907645e-02 2.27629740e+02] [-5.90170384e-01 8.07106135e-01 1.66914550e-02 -1.06515051e+02] [ 2.74421959e-02 -6.06604834e-04 9.99623208e-01 4.83816432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.802755096 meters 0.0191677923311667 Centerline is valid? [True, True] Translation: X:227.68, Y:-106.55, Z:4.84 [[ 8.03856898e-01 5.94407508e-01 -2.22216599e-02 2.27679146e+02] [-5.94164012e-01 8.04163843e-01 1.70188363e-02 -1.06548647e+02] [ 2.79859795e-02 -4.77398402e-04 9.99608202e-01 4.83965290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.862755096 meters 0.018894332749270357 Centerline is valid? [True, True] Translation: X:227.73, Y:-106.58, Z:4.84 [[ 8.01614726e-01 5.97426555e-01 -2.22562940e-02 2.27726055e+02] [-5.97183509e-01 8.01923546e-01 1.70435736e-02 -1.06583477e+02] [ 2.80301297e-02 -3.71287826e-04 9.99607010e-01 4.83949962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92275509599997 meters 0.01720290992749928 Centerline is valid? [True, True] Translation: X:227.77, Y:-106.62, Z:4.84 [[ 8.00862061e-01 5.98456638e-01 -2.16705130e-02 2.27773506e+02] [-5.98226654e-01 8.01155133e-01 1.65928503e-02 -1.06619207e+02] [ 2.72915441e-02 -3.24705828e-04 9.99627464e-01 4.84252600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98275509599998 meters 0.016728594803317533 Centerline is valid? [True, True] Translation: X:227.82, Y:-106.66, Z:4.85 [[ 8.00631160e-01 5.98793573e-01 -2.08806542e-02 2.27821922e+02] [-5.98580109e-01 8.00903343e-01 1.59902686e-02 -1.06659228e+02] [ 2.62982558e-02 -3.03563085e-04 9.99654095e-01 4.84566580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04275509599998 meters 0.017129592715828108 Centerline is valid? [True, True] Translation: X:227.87, Y:-106.70, Z:4.85 [[ 8.01190241e-01 5.98076515e-01 -1.99669728e-02 2.27869522e+02] [-5.97880858e-01 8.01438943e-01 1.53003292e-02 -1.06700038e+02] [ 2.51530771e-02 -3.20603607e-04 9.99683560e-01 4.84860660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10275509599998 meters 0.019921709185475516 Centerline is valid? [True, True] Translation: X:227.92, Y:-106.74, Z:4.85 [[ 8.02133588e-01 5.96785283e-01 -2.07130920e-02 2.27916334e+02] [-5.96574033e-01 8.02400884e-01 1.58821931e-02 -1.06740355e+02] [ 2.60984624e-02 -3.82747674e-04 9.99659304e-01 4.84735740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16275509599998 meters 0.018162250444840294 Centerline is valid? [True, True] Translation: X:227.96, Y:-106.78, Z:4.85 [[ 8.02866145e-01 5.95824436e-01 -1.99798710e-02 2.27963671e+02] [-5.95627381e-01 8.03114610e-01 1.53279620e-02 -1.06778865e+02] [ 2.51789006e-02 -4.05743546e-04 9.99682879e-01 4.85058089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.222755096 meters 0.018296383450699463 Centerline is valid? [True, True] Translation: X:228.01, Y:-106.82, Z:4.85 [[ 8.02590849e-01 5.96205342e-01 -1.96753407e-02 2.28013002e+02] [-5.96014162e-01 8.02831884e-01 1.51024742e-02 -1.06816093e+02] [ 2.48001666e-02 -3.94325918e-04 9.99692351e-01 4.85228870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.282755096 meters 0.01964459189685138 Centerline is valid? [True, True] Translation: X:228.06, Y:-106.85, Z:4.85 [[ 8.02097209e-01 5.96832161e-01 -2.07710925e-02 2.28063716e+02] [-5.96619035e-01 8.02366006e-01 1.59536626e-02 -1.06852978e+02] [ 2.61876775e-02 -4.03959085e-04 9.99656962e-01 4.85104031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.342755096 meters 0.018374559879003032 Centerline is valid? [True, True] Translation: X:228.11, Y:-106.89, Z:4.85 [[ 8.02006362e-01 5.96950135e-01 -2.08885630e-02 2.28110321e+02] [-5.96734453e-01 8.02278237e-01 1.60506242e-02 -1.06888991e+02] [ 2.63398618e-02 -4.07777544e-04 9.99652962e-01 4.85325315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.402755096 meters 0.019062625213001592 Centerline is valid? [True, True] Translation: X:228.16, Y:-106.92, Z:4.85 [[ 8.02377013e-01 5.96418484e-01 -2.18201985e-02 2.28156130e+02] [-5.96183006e-01 8.02673530e-01 1.67638480e-02 -1.06923533e+02] [ 2.75127646e-02 -4.42094690e-04 9.99621354e-01 4.85196995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.462755096 meters 0.020110858198639062 Centerline is valid? [True, True] Translation: X:228.20, Y:-106.96, Z:4.85 [[ 8.03490329e-01 5.94914368e-01 -2.19131385e-02 2.28202807e+02] [-5.94676421e-01 8.03788935e-01 1.68315999e-02 -1.06958520e+02] [ 2.76268989e-02 -4.92800956e-04 9.99618183e-01 4.85278276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.522755096 meters 0.020775649521934673 Centerline is valid? [True, True] Translation: X:228.25, Y:-106.99, Z:4.85 [[ 8.04430575e-01 5.93643342e-01 -2.18868045e-02 2.28253340e+02] [-5.93405469e-01 8.04728087e-01 1.68123656e-02 -1.06993976e+02] [ 2.75934752e-02 -5.36631462e-04 9.99619084e-01 4.85400433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.582755096 meters 0.022106026263753846 Centerline is valid? [True, True] Translation: X:228.30, Y:-107.03, Z:4.86 [[ 8.05730718e-01 5.91930163e-01 -2.04130665e-02 2.28300606e+02] [-5.91722486e-01 8.05989061e-01 1.56886180e-02 -1.07033269e+02] [ 2.57392745e-02 -5.61931027e-04 9.99668532e-01 4.85697892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.642755096 meters 0.02107830626212857 Centerline is valid? [True, True] Translation: X:228.35, Y:-107.07, Z:4.86 [[ 8.06599470e-01 5.90756085e-01 -2.01132721e-02 2.28352379e+02] [-5.90553892e-01 8.06849981e-01 1.54663674e-02 -1.07067976e+02] [ 2.53652439e-02 -5.97192666e-04 9.99678072e-01 4.85898139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70275509599998 meters 0.02190129937557762 Centerline is valid? [True, True] Translation: X:228.40, Y:-107.10, Z:4.86 [[ 8.06962915e-01 5.90269968e-01 -1.98045164e-02 2.28402620e+02] [-5.90073578e-01 8.07205669e-01 1.52374569e-02 -1.07103962e+02] [ 2.49805311e-02 -6.09940774e-04 9.99687752e-01 4.85959364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76275509599998 meters 0.025272689092753674 Centerline is valid? [True, True] Translation: X:228.45, Y:-107.14, Z:4.86 [[ 8.07452171e-01 5.89573385e-01 -2.05964783e-02 2.28449519e+02] [-5.89360585e-01 8.07714545e-01 1.58529448e-02 -1.07139396e+02] [ 2.59825494e-02 -6.61742226e-04 9.99662178e-01 4.85829941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82275509599998 meters 0.02137706341175119 Centerline is valid? [True, True] Translation: X:228.50, Y:-107.17, Z:4.86 [[ 8.07034748e-01 5.90217438e-01 -1.83926939e-02 2.28501615e+02] [-5.90047899e-01 8.07244106e-01 1.41573188e-02 -1.07173501e+02] [ 2.32032902e-02 -5.72877835e-04 9.99730603e-01 4.86379537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88275509599998 meters 0.022139193430861688 Centerline is valid? [True, True] Translation: X:228.55, Y:-107.21, Z:4.87 [[ 8.07176653e-01 5.90026993e-01 -1.82756226e-02 2.28552008e+02] [-5.89859367e-01 8.07383310e-01 1.40754200e-02 -1.07211720e+02] [ 2.30603104e-02 -5.81303235e-04 9.99733907e-01 4.86550463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94275509599998 meters 0.023427368106705232 Centerline is valid? [True, True] Translation: X:228.60, Y:-107.25, Z:4.86 [[ 8.07297704e-01 5.89824719e-01 -1.94220906e-02 2.28603346e+02] [-5.89635098e-01 8.07531053e-01 1.49682914e-02 -1.07246900e+02] [ 2.45126095e-02 -6.31921017e-04 9.99699321e-01 4.86458392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.002755096 meters 0.021932732622692255 Centerline is valid? [True, True] Translation: X:228.65, Y:-107.28, Z:4.87 [[ 8.07013014e-01 5.90238547e-01 -1.86668767e-02 2.28652802e+02] [-5.90063344e-01 8.07228652e-01 1.43928079e-02 -1.07283458e+02] [ 2.35636277e-02 -6.00543603e-04 9.99722159e-01 4.86693660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.062755096 meters 0.020928298551158936 Centerline is valid? [True, True] Translation: X:228.70, Y:-107.32, Z:4.87 [[ 8.05940720e-01 5.91673189e-01 -1.95548673e-02 2.28703475e+02] [-5.91481263e-01 8.06177705e-01 1.50805714e-02 -1.07319350e+02] [ 2.46874678e-02 -5.87708989e-04 9.99695045e-01 4.86740111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.122755096 meters 0.021794273056309228 Centerline is valid? [True, True] Translation: X:228.75, Y:-107.36, Z:4.87 [[ 8.04236601e-01 5.93945431e-01 -2.07922021e-02 2.28749695e+02] [-5.93729025e-01 8.04505137e-01 1.60414553e-02 -1.07355307e+02] [ 2.62551825e-02 -5.56191560e-04 9.99655119e-01 4.86615187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.182755096 meters 0.02201590256229774 Centerline is valid? [True, True] Translation: X:228.80, Y:-107.39, Z:4.87 [[ 8.02673244e-01 5.96017186e-01 -2.18901426e-02 2.28800007e+02] [-5.95778132e-01 8.02971513e-01 1.68868558e-02 -1.07386005e+02] [ 2.76420172e-02 -5.12959058e-04 9.99617755e-01 4.86555493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.242755096 meters 0.018492955945679485 Centerline is valid? [True, True] Translation: X:228.85, Y:-107.42, Z:4.87 [[ 8.01668387e-01 5.97416444e-01 -2.05277860e-02 2.28847814e+02] [-5.97206746e-01 8.01931047e-01 1.58334786e-02 -1.07420374e+02] [ 2.59210494e-02 -4.33866993e-04 9.99663899e-01 4.87046414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.302755096 meters 0.018406765753571742 Centerline is valid? [True, True] Translation: X:228.89, Y:-107.46, Z:4.87 [[ 8.01227901e-01 5.98041971e-01 -1.94846717e-02 2.28893369e+02] [-5.97853290e-01 8.01464689e-01 1.50264711e-02 -1.07456362e+02] [ 2.46027367e-02 -3.90652823e-04 9.99697231e-01 4.87274288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.362755096 meters 0.017885566128112908 Centerline is valid? [True, True] Translation: X:228.94, Y:-107.49, Z:4.88 [[ 8.01297683e-01 5.97981090e-01 -1.84564201e-02 2.28939329e+02] [-5.97811844e-01 8.01510125e-01 1.42309216e-02 -1.07492403e+02] [ 2.33028296e-02 -3.69737955e-04 9.99728384e-01 4.87529594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42275509599997 meters 0.017599781135709952 Centerline is valid? [True, True] Translation: X:228.99, Y:-107.53, Z:4.88 [[ 8.00970684e-01 5.98439028e-01 -1.77958860e-02 2.28986281e+02] [-5.98281842e-01 8.01168280e-01 1.37194761e-02 -1.07528485e+02] [ 2.24677693e-02 -3.41942747e-04 9.99747509e-01 4.87709769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48275509599998 meters 0.017516423797923047 Centerline is valid? [True, True] Translation: X:229.03, Y:-107.56, Z:4.88 [[ 8.00780775e-01 5.98712874e-01 -1.71185526e-02 2.29032882e+02] [-5.98567535e-01 8.00963664e-01 1.31952590e-02 -1.07564501e+02] [ 2.16115101e-02 -3.19899913e-04 9.99766393e-01 4.87842643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54275509599998 meters 0.020085945424971257 Centerline is valid? [True, True] Translation: X:229.08, Y:-107.60, Z:4.88 [[ 8.00855835e-01 5.98594733e-01 -1.77278799e-02 2.29078906e+02] [-5.98438882e-01 8.01051955e-01 1.36627141e-02 -1.07601539e+02] [ 2.23793816e-02 -3.32811701e-04 9.99749495e-01 4.87766063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60275509599998 meters 0.01685941619797748 Centerline is valid? [True, True] Translation: X:229.13, Y:-107.64, Z:4.88 [[ 8.00446849e-01 5.99178465e-01 -1.64319598e-02 2.29126583e+02] [-5.99044729e-01 8.00615440e-01 1.26621607e-02 -1.07637981e+02] [ 2.07425748e-02 -2.91907720e-04 9.99784807e-01 4.88119552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66275509599998 meters 0.017157604809085066 Centerline is valid? [True, True] Translation: X:229.17, Y:-107.68, Z:4.88 [[ 8.00848722e-01 5.98625089e-01 -1.70096197e-02 2.29174574e+02] [-5.98481658e-01 8.01029277e-01 1.31073256e-02 -1.07678250e+02] [ 2.14715773e-02 -3.17039546e-04 9.99769409e-01 4.88101003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.722755096 meters 0.018233785418417574 Centerline is valid? [True, True] Translation: X:229.22, Y:-107.72, Z:4.88 [[ 8.01390695e-01 5.97896146e-01 -1.71217167e-02 2.29219382e+02] [-5.97750508e-01 8.01573503e-01 1.32003814e-02 -1.07717843e+02] [ 2.16167715e-02 -3.44147972e-04 9.99766271e-01 4.88171479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.782755096 meters 0.018172904712008237 Centerline is valid? [True, True] Translation: X:229.26, Y:-107.76, Z:4.88 [[ 8.01646620e-01 5.97554387e-01 -1.70719588e-02 2.29264934e+02] [-5.97409513e-01 8.01828305e-01 1.31621830e-02 -1.07755686e+02] [ 2.15539000e-02 -3.52468883e-04 9.99767626e-01 4.88350972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.842755096 meters 0.018233530280525375 Centerline is valid? [True, True] Translation: X:229.31, Y:-107.79, Z:4.89 [[ 8.01205941e-01 5.98163523e-01 -1.64146438e-02 2.29310085e+02] [-5.98029760e-01 8.01374006e-01 1.26534281e-02 -1.07791805e+02] [ 2.07230880e-02 -3.21556277e-04 9.99785202e-01 4.88505337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.902755096 meters 0.017148528007345946 Centerline is valid? [True, True] Translation: X:229.36, Y:-107.83, Z:4.89 [[ 8.00465148e-01 5.99169044e-01 -1.58746201e-02 2.29357011e+02] [-5.99044182e-01 8.00622493e-01 1.22348699e-02 -1.07826757e+02] [ 2.00403332e-02 -2.83988155e-04 9.99799132e-01 4.88662572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.962755096 meters 0.016663426074329885 Centerline is valid? [True, True] Translation: X:229.40, Y:-107.86, Z:4.89 [[ 7.99887061e-01 5.99937434e-01 -1.59926721e-02 2.29404755e+02] [-5.99810898e-01 8.00046877e-01 1.23240340e-02 -1.07863955e+02] [ 2.01885367e-02 -2.65256265e-04 9.99796156e-01 4.88759582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.022755096 meters 0.01665870495055448 Centerline is valid? [True, True] Translation: X:229.45, Y:-107.90, Z:4.89 [[ 7.99592804e-01 6.00324599e-01 -1.61778677e-02 2.29451964e+02] [-6.00195196e-01 7.99756406e-01 1.24666594e-02 -1.07900932e+02] [ 2.04223956e-02 -2.58372718e-04 9.99791408e-01 4.88857149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.082755096 meters 0.016764033691970364 Centerline is valid? [True, True] Translation: X:229.50, Y:-107.94, Z:4.89 [[ 7.99665702e-01 6.00226988e-01 -1.61965698e-02 2.29497633e+02] [-6.00097287e-01 7.99829667e-01 1.24799846e-02 -1.07937544e+02] [ 2.04453206e-02 -2.60298096e-04 9.99790939e-01 4.88989463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.142755096 meters 0.017495829116406878 Centerline is valid? [True, True] Translation: X:229.54, Y:-107.98, Z:4.89 [[ 8.00716192e-01 5.98832762e-01 -1.59029149e-02 2.29542211e+02] [-5.98707486e-01 8.00874047e-01 1.22517981e-02 -1.07976345e+02] [ 2.00730099e-02 -2.89018921e-04 9.99798475e-01 4.89191325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20275509599998 meters 0.01792185330784862 Centerline is valid? [True, True] Translation: X:229.59, Y:-108.02, Z:4.89 [[ 8.01786362e-01 5.97407487e-01 -1.55860228e-02 2.29590351e+02] [-5.97286912e-01 8.01937775e-01 1.20062661e-02 -1.08015831e+02] [ 1.96716537e-02 -3.17133007e-04 9.99806444e-01 4.89358992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26275509599998 meters 0.019260813907616 Centerline is valid? [True, True] Translation: X:229.64, Y:-108.06, Z:4.89 [[ 8.03658524e-01 5.94879450e-01 -1.58561199e-02 2.29637337e+02] [-5.94754026e-01 8.03814833e-01 1.22213657e-02 -1.08056940e+02] [ 2.00156237e-02 -3.91313554e-04 9.99799591e-01 4.89436559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32275509599998 meters 0.01918662067416961 Centerline is valid? [True, True] Translation: X:229.69, Y:-108.10, Z:4.90 [[ 8.03810553e-01 5.94659559e-01 -1.63891615e-02 2.29686717e+02] [-5.94525358e-01 8.03977510e-01 1.26397237e-02 -1.08096162e+02] [ 2.06928497e-02 -4.16171167e-04 9.99785793e-01 4.89528189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38275509599998 meters 0.01867475072778616 Centerline is valid? [True, True] Translation: X:229.74, Y:-108.13, Z:4.90 [[ 8.02803475e-01 5.95990916e-01 -1.73611539e-02 2.29736223e+02] [-5.95840433e-01 8.02991070e-01 1.33984766e-02 -1.08133748e+02] [ 2.19262219e-02 -4.11866150e-04 9.99759507e-01 4.89557652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44275509599998 meters 0.018083902627536792 Centerline is valid? [True, True] Translation: X:229.79, Y:-108.17, Z:4.90 [[ 8.01272979e-01 5.98021695e-01 -1.82117001e-02 2.29785845e+02] [-5.97856434e-01 8.01479824e-01 1.40633299e-02 -1.08171044e+02] [ 2.30064865e-02 -3.80584176e-04 9.99735243e-01 4.89519835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.502755096 meters 0.017320255204661114 Centerline is valid? [True, True] Translation: X:229.84, Y:-108.21, Z:4.90 [[ 7.99803012e-01 5.99974600e-01 -1.85909295e-02 2.29835640e+02] [-5.99802712e-01 8.00018978e-01 1.43645679e-02 -1.08208612e+02] [ 2.34914723e-02 -3.37934716e-04 9.99723980e-01 4.89664178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.562755096 meters 0.017684914465021188 Centerline is valid? [True, True] Translation: X:229.88, Y:-108.25, Z:4.90 [[ 7.99116667e-01 6.00887143e-01 -1.86331513e-02 2.29884505e+02] [-6.00714525e-01 7.99333810e-01 1.44055441e-02 -1.08247359e+02] [ 2.35502141e-02 -3.18505723e-04 9.99722605e-01 4.89770780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.622755096 meters 0.017572184496225305 Centerline is valid? [True, True] Translation: X:229.93, Y:-108.29, Z:4.90 [[ 7.98707450e-01 6.01447207e-01 -1.81015773e-02 2.29933797e+02] [-6.01284258e-01 7.98912490e-01 1.40026439e-02 -1.08286973e+02] [ 2.28834272e-02 -2.99822531e-04 9.99738095e-01 4.90020797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.682755096 meters 0.01740006407104704 Centerline is valid? [True, True] Translation: X:229.98, Y:-108.33, Z:4.90 [[ 7.98681103e-01 6.01479947e-01 -1.81760855e-02 2.29981858e+02] [-6.01315444e-01 7.98887839e-01 1.40697364e-02 -1.08327595e+02] [ 2.29833180e-02 -3.07671623e-04 9.99735801e-01 4.90237720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.742755096 meters 0.018084964630863457 Centerline is valid? [True, True] Translation: X:230.03, Y:-108.37, Z:4.90 [[ 7.98909115e-01 6.01175588e-01 -1.82246592e-02 2.30028945e+02] [-6.01009911e-01 7.99116892e-01 1.41166835e-02 -1.08367804e+02] [ 2.30502385e-02 -3.24746382e-04 9.99734255e-01 4.90376958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.802755096 meters 0.01878592519354351 Centerline is valid? [True, True] Translation: X:230.08, Y:-108.41, Z:4.90 [[ 8.00235199e-01 5.99390762e-01 -1.88239367e-02 2.30075864e+02] [-5.99213297e-01 8.00456468e-01 1.45899845e-02 -1.08408414e+02] [ 2.38128439e-02 -3.95866008e-04 9.99716356e-01 4.90462895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.862755096 meters 0.02241816190954544 Centerline is valid? [True, True] Translation: X:230.12, Y:-108.45, Z:4.90 [[ 8.02735941e-01 5.95989055e-01 -2.02991588e-02 2.30121132e+02] [-5.95781388e-01 8.02992374e-01 1.57411952e-02 -1.08451406e+02] [ 2.56816498e-02 -5.42162191e-04 9.99670025e-01 4.90320857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92275509599997 meters 0.022160125106726096 Centerline is valid? [True, True] Translation: X:230.17, Y:-108.49, Z:4.91 [[ 8.04932039e-01 5.93002679e-01 -2.07902817e-02 2.30167000e+02] [-5.92783771e-01 8.05200220e-01 1.61247475e-02 -1.08493776e+02] [ 2.63023578e-02 -6.55184324e-04 9.99653818e-01 4.90631496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98275509599998 meters 0.025030594657520402 Centerline is valid? [True, True] Translation: X:230.21, Y:-108.53, Z:4.91 [[ 8.06517348e-01 5.90843748e-01 -2.08190557e-02 2.30213672e+02] [-5.90623399e-01 8.06785679e-01 1.61514368e-02 -1.08534248e+02] [ 2.63394914e-02 -7.30192510e-04 9.99652789e-01 4.90554756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.042755096 meters 0.0243889004853952 Centerline is valid? [True, True] Translation: X:230.26, Y:-108.57, Z:4.91 [[ 8.07064439e-01 5.90099372e-01 -2.07297594e-02 2.30261026e+02] [-5.89880437e-01 8.07330264e-01 1.60908120e-02 -1.08574255e+02] [ 2.62309402e-02 -7.58242630e-04 9.99655622e-01 4.90923030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.102755096 meters 0.023445504224514732 Centerline is valid? [True, True] Translation: X:230.31, Y:-108.61, Z:4.91 [[ 8.05875352e-01 5.91683258e-01 -2.18137369e-02 2.30310622e+02] [-5.91441126e-01 8.06170179e-01 1.69421832e-02 -1.08611391e+02] [ 2.76099904e-02 -7.51746713e-04 9.99618489e-01 4.91056128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.162755096 meters 0.02570202784731853 Centerline is valid? [True, True] Translation: X:230.36, Y:-108.65, Z:4.91 [[ 8.04244637e-01 5.93869510e-01 -2.25736265e-02 2.30357840e+02] [-5.93610785e-01 8.04561062e-01 1.75423196e-02 -1.08649715e+02] [ 2.85797097e-02 -7.08368299e-04 9.99591266e-01 4.90899130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.222755096 meters 0.021591523167812588 Centerline is valid? [True, True] Translation: X:230.41, Y:-108.68, Z:4.91 [[ 8.00534702e-01 5.98820271e-01 -2.36320646e-02 2.30410629e+02] [-5.98538675e-01 8.00883242e-01 1.83708322e-02 -1.08679972e+02] [ 2.99273513e-02 -5.61784000e-04 9.99551919e-01 4.91036554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.282755096 meters 0.021273911739901608 Centerline is valid? [True, True] Translation: X:230.46, Y:-108.71, Z:4.91 [[ 7.97459037e-01 6.02899596e-01 -2.38989802e-02 2.30460671e+02] [-6.02613463e-01 7.97816963e-01 1.85770770e-02 -1.08712179e+02] [ 3.02671240e-02 -4.12610718e-04 9.99541760e-01 4.91083190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.342755096 meters 0.01979265674596331 Centerline is valid? [True, True] Translation: X:230.51, Y:-108.74, Z:4.91 [[ 7.94916212e-01 6.06289274e-01 -2.28370831e-02 2.30511252e+02] [-6.06029459e-01 7.95244141e-01 1.77496662e-02 -1.08743609e+02] [ 2.89224888e-02 -2.69552317e-04 9.99581621e-01 4.91476881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.402755096 meters 0.016674569399999506 Centerline is valid? [True, True] Translation: X:230.56, Y:-108.78, Z:4.92 [[ 7.92898721e-01 6.08932319e-01 -2.26506051e-02 2.30562934e+02] [-6.08677743e-01 7.93222164e-01 1.76069527e-02 -1.08778338e+02] [ 2.86884045e-02 -1.73611126e-04 9.99588388e-01 4.91999138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.462755096 meters 0.016695296293443927 Centerline is valid? [True, True] Translation: X:230.61, Y:-108.82, Z:4.92 [[ 7.92704785e-01 6.09179894e-01 -2.27811372e-02 2.30612340e+02] [-6.08922166e-01 7.93032046e-01 1.77191792e-02 -1.08816878e+02] [ 2.88603395e-02 -1.74138772e-04 9.99583438e-01 4.92153251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.522755096 meters 0.01692687849098004 Centerline is valid? [True, True] Translation: X:230.66, Y:-108.86, Z:4.92 [[ 7.93840993e-01 6.07714295e-01 -2.23564903e-02 2.30660953e+02] [-6.07465186e-01 7.94155704e-01 1.74001847e-02 -1.08856856e+02] [ 2.83288753e-02 -2.32190331e-04 9.99598630e-01 4.92383802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.582755096 meters 0.0177264312223284 Centerline is valid? [True, True] Translation: X:230.71, Y:-108.90, Z:4.93 [[ 7.96483131e-01 6.04245936e-01 -2.23935597e-02 2.30708479e+02] [-6.03994312e-01 7.96797789e-01 1.74400478e-02 -1.08897129e+02] [ 2.83812169e-02 -3.65121132e-04 9.99597105e-01 4.92539206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64275509600003 meters 0.019350060222340763 Centerline is valid? [True, True] Translation: X:230.75, Y:-108.94, Z:4.93 [[ 7.98736958e-01 6.01237218e-01 -2.30885185e-02 2.30754333e+02] [-6.00968213e-01 7.99070437e-01 1.79900829e-02 -1.08937571e+02] [ 2.92656600e-02 -4.93878381e-04 9.99571547e-01 4.92554720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70275509600003 meters 0.02127104981376733 Centerline is valid? [True, True] Translation: X:230.80, Y:-108.98, Z:4.93 [[ 8.02666733e-01 5.95952006e-01 -2.38185311e-02 2.30799837e+02] [-5.95663265e-01 8.03019738e-01 1.85627037e-02 -1.08977834e+02] [ 3.01892311e-02 -7.11840678e-04 9.99543948e-01 4.92688541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76275509600003 meters 0.025256456868088528 Centerline is valid? [True, True] Translation: X:230.85, Y:-109.02, Z:4.93 [[ 8.06424324e-01 5.90852959e-01 -2.39288837e-02 2.30845528e+02] [-5.90559252e-01 8.06778753e-01 1.86497701e-02 -1.09018804e+02] [ 3.03245868e-02 -9.08204562e-04 9.99539691e-01 4.92591736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82275509600004 meters 0.02669872882929929 Centerline is valid? [True, True] Translation: X:230.89, Y:-109.06, Z:4.93 [[ 8.08125518e-01 5.88527757e-01 -2.38374977e-02 2.30891373e+02] [-5.88235232e-01 8.08476403e-01 1.85800535e-02 -1.09058504e+02] [ 3.02069316e-02 -9.92959359e-04 9.99543173e-01 4.92802123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88275509600004 meters 0.027831968105984744 Centerline is valid? [True, True] Translation: X:230.94, Y:-109.10, Z:4.93 [[ 8.10196062e-01 5.85684422e-01 -2.35817585e-02 2.30939987e+02] [-5.85396876e-01 8.10538446e-01 1.83827500e-02 -1.09096876e+02] [ 2.98804122e-02 -1.08894390e-03 9.99552888e-01 4.92957939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94275509600004 meters 0.02800072700684074 Centerline is valid? [True, True] Translation: X:230.99, Y:-109.13, Z:4.93 [[ 8.09727899e-01 5.86363056e-01 -2.27836742e-02 2.30989729e+02] [-5.86094764e-01 8.10047715e-01 1.77658969e-02 -1.09134649e+02] [ 2.88731288e-02 -1.03215022e-03 9.99582551e-01 4.93174277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00275509600004 meters 0.02764486020197879 Centerline is valid? [True, True] Translation: X:231.04, Y:-109.17, Z:4.93 [[ 8.07749366e-01 5.89065718e-01 -2.32925059e-02 2.31042334e+02] [-5.88786120e-01 8.08084555e-01 1.81729671e-02 -1.09168358e+02] [ 2.95273862e-02 -9.64898487e-04 9.99563506e-01 4.93117045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.062755096 meters 0.022897000189592877 Centerline is valid? [True, True] Translation: X:231.09, Y:-109.20, Z:4.94 [[ 8.04396037e-01 5.93673575e-01 -2.23316444e-02 2.31093683e+02] [-5.93418162e-01 8.04705596e-01 1.74295329e-02 -1.09200948e+02] [ 2.83178523e-02 -7.68243780e-04 9.99598674e-01 4.93539312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.122755096 meters 0.022389759375426747 Centerline is valid? [True, True] Translation: X:231.14, Y:-109.24, Z:4.94 [[ 8.01866288e-01 5.97072679e-01 -2.26863682e-02 2.31144972e+02] [-5.96810339e-01 8.02186872e-01 1.77099231e-02 -1.09236318e+02] [ 2.87728180e-02 -6.61531243e-04 9.99585758e-01 4.93561888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.182755096 meters 0.01853095467314546 Centerline is valid? [True, True] Translation: X:231.20, Y:-109.27, Z:4.94 [[ 7.98075850e-01 6.02183731e-01 -2.12059230e-02 2.31196723e+02] [-6.01956138e-01 7.98357408e-01 1.65607139e-02 -1.09269470e+02] [ 2.69024982e-02 -4.51670349e-04 9.99637960e-01 4.93974308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.242755096 meters 0.01703386327521653 Centerline is valid? [True, True] Translation: X:231.25, Y:-109.30, Z:4.94 [[ 7.94868677e-01 6.06446552e-01 -2.01585238e-02 2.31245652e+02] [-6.06242249e-01 7.95124201e-01 1.57429606e-02 -1.09301330e+02] [ 2.55757943e-02 -2.92637462e-04 9.99672843e-01 4.94168137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.302755096 meters 0.016253033114932373 Centerline is valid? [True, True] Translation: X:231.29, Y:-109.34, Z:4.94 [[ 7.93328249e-01 6.08460352e-01 -2.01566287e-02 2.31293471e+02] [-6.08256801e-01 7.93584242e-01 1.57389633e-02 -1.09335370e+02] [ 2.55725180e-02 -2.25757726e-04 9.99672944e-01 4.94248948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.362755096 meters 0.01575274754886491 Centerline is valid? [True, True] Translation: X:231.34, Y:-109.37, Z:4.94 [[ 7.92203774e-01 6.09931357e-01 -1.99228485e-02 2.31340964e+02] [-6.09733024e-01 7.92454232e-01 1.55541128e-02 -1.09370924e+02] [ 2.52748867e-02 -1.74408256e-04 9.99680524e-01 4.94352023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.422755096 meters 0.016165441704188734 Centerline is valid? [True, True] Translation: X:231.39, Y:-109.41, Z:4.94 [[ 7.93152970e-01 6.08697159e-01 -1.99031022e-02 2.31385812e+02] [-6.08498886e-01 7.93402624e-01 1.55365008e-02 -1.09408020e+02] [ 2.52481974e-02 -2.11806274e-04 9.99681191e-01 4.94402611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.482755096 meters 0.017060491519873752 Centerline is valid? [True, True] Translation: X:231.43, Y:-109.45, Z:4.94 [[ 7.95407026e-01 6.05744116e-01 -2.00431698e-02 2.31431003e+02] [-6.05542164e-01 7.95659458e-01 1.56433787e-02 -1.09447758e+02] [ 2.54234222e-02 -3.05868946e-04 9.99676726e-01 4.94488173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.542755096 meters 0.01904470434765608 Centerline is valid? [True, True] Translation: X:231.48, Y:-109.49, Z:4.95 [[ 7.98398241e-01 6.01787382e-01 -2.03026077e-02 2.31475347e+02] [-6.01578896e-01 7.98656218e-01 1.58453989e-02 -1.09489832e+02] [ 2.57503650e-02 -4.37318324e-04 9.99668309e-01 4.94513962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.602755096 meters 0.020915617532966255 Centerline is valid? [True, True] Translation: X:231.52, Y:-109.53, Z:4.95 [[ 8.00675985e-01 5.98753545e-01 -2.03017024e-02 2.31520199e+02] [-5.98544100e-01 8.00933147e-01 1.58446924e-02 -1.09530878e+02] [ 2.57473721e-02 -5.35000498e-04 9.99668338e-01 4.94558058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.662755096 meters 0.02233029517421213 Centerline is valid? [True, True] Translation: X:231.57, Y:-109.57, Z:4.95 [[ 8.03896109e-01 5.94415530e-01 -2.05237259e-02 2.31565629e+02] [-5.94200050e-01 8.04157766e-01 1.60183427e-02 -1.09572328e+02] [ 2.60258652e-02 -6.81884404e-04 9.99661037e-01 4.94728477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.722755096 meters 0.024258710078244483 Centerline is valid? [True, True] Translation: X:231.61, Y:-109.61, Z:4.95 [[ 8.06443293e-01 5.90967342e-01 -2.01696647e-02 2.31611589e+02] [-5.90758113e-01 8.06695104e-01 1.57436174e-02 -1.09614309e+02] [ 2.55747335e-02 -7.80941595e-04 9.99672608e-01 4.94898574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.782755096 meters 0.0289175305697611 Centerline is valid? [True, True] Translation: X:231.65, Y:-109.66, Z:4.95 [[ 8.07508783e-01 5.89534795e-01 -1.94497205e-02 2.31654399e+02] [-5.89339752e-01 8.07742587e-01 1.51844994e-02 -1.09657938e+02] [ 2.46621583e-02 -7.99123228e-04 9.99695523e-01 4.95009695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.842755096 meters 0.026605503984819815 Centerline is valid? [True, True] Translation: X:231.71, Y:-109.69, Z:4.95 [[ 8.07179699e-01 5.89994248e-01 -1.91760433e-02 2.31705351e+02] [-5.89804663e-01 8.07407073e-01 1.49759010e-02 -1.09694097e+02] [ 2.43185685e-02 -7.78123480e-04 9.99703957e-01 4.95252775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.902755096 meters 0.024122298445798603 Centerline is valid? [True, True] Translation: X:231.76, Y:-109.73, Z:4.95 [[ 8.05710476e-01 5.92002502e-01 -1.90700702e-02 2.31757250e+02] [-5.91815401e-01 8.05935804e-01 1.49000211e-02 -1.09729199e+02] [ 2.41901021e-02 -7.19141817e-04 9.99707118e-01 4.95447915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.962755096 meters 0.0238588277362331 Centerline is valid? [True, True] Translation: X:231.81, Y:-109.76, Z:4.96 [[ 8.03072463e-01 5.95578838e-01 -1.89859523e-02 2.31806347e+02] [-5.95394318e-01 8.03296629e-01 1.48368620e-02 -1.09764851e+02] [ 2.40878725e-02 -6.10947172e-04 9.99709658e-01 4.95528112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.022755096 meters 0.01970417695417896 Centerline is valid? [True, True] Translation: X:231.86, Y:-109.80, Z:4.96 [[ 8.00533229e-01 5.99008010e-01 -1.83290512e-02 2.31859538e+02] [-5.98836908e-01 8.00742882e-01 1.43246321e-02 -1.09796468e+02] [ 2.32574267e-02 -4.91231596e-04 9.99729389e-01 4.95820316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.082755096 meters 0.01885026003657664 Centerline is valid? [True, True] Translation: X:231.91, Y:-109.83, Z:4.96 [[ 7.99347641e-01 6.00606295e-01 -1.77602803e-02 2.31909942e+02] [-6.00445991e-01 7.99544802e-01 1.38824195e-02 -1.09833121e+02] [ 2.25380084e-02 -4.32790154e-04 9.99745893e-01 4.96001360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14275509600003 meters 0.01818914090661498 Centerline is valid? [True, True] Translation: X:231.96, Y:-109.87, Z:4.96 [[ 7.98662239e-01 6.01537208e-01 -1.70767557e-02 2.31959544e+02] [-6.01389057e-01 7.98844685e-01 1.33555985e-02 -1.09869966e+02] [ 2.16755649e-02 -3.96838188e-04 9.99764979e-01 4.96186524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20275509600003 meters 0.01915819038561686 Centerline is valid? [True, True] Translation: X:232.01, Y:-109.91, Z:4.96 [[ 7.98820690e-01 6.01338799e-01 -1.66479410e-02 2.32006569e+02] [-6.01197793e-01 7.98994049e-01 1.30278076e-02 -1.09910404e+02] [ 2.11357320e-02 -3.98176830e-04 9.99776536e-01 4.96250549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26275509600003 meters 0.019311710219259325 Centerline is valid? [True, True] Translation: X:232.05, Y:-109.95, Z:4.96 [[ 7.99576790e-01 6.00324670e-01 -1.69483818e-02 2.32054372e+02] [-6.00178123e-01 7.99756274e-01 1.32711592e-02 -1.09949384e+02] [ 2.15215789e-02 -4.39262889e-04 9.99768287e-01 4.96266660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32275509600004 meters 0.01938413415537183 Centerline is valid? [True, True] Translation: X:232.10, Y:-109.99, Z:4.96 [[ 7.99528093e-01 6.00374155e-01 -1.74843575e-02 2.32103547e+02] [-6.00218029e-01 7.99719116e-01 1.36986790e-02 -1.09988998e+02] [ 2.22069078e-02 -4.58052134e-04 9.99753291e-01 4.96383628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38275509600004 meters 0.02018668532836026 Centerline is valid? [True, True] Translation: X:232.15, Y:-110.03, Z:4.96 [[ 7.99679004e-01 6.00156128e-01 -1.80585842e-02 2.32149761e+02] [-5.99989308e-01 7.99882732e-01 1.41578713e-02 -1.10028972e+02] [ 2.29416829e-02 -4.86794978e-04 9.99736686e-01 4.96388954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44275509600004 meters 0.01938645579540357 Centerline is valid? [True, True] Translation: X:232.20, Y:-110.07, Z:4.96 [[ 7.98571971e-01 6.01618659e-01 -1.83792467e-02 2.32199280e+02] [-6.01446064e-01 7.98783311e-01 1.44171271e-02 -1.10067019e+02] [ 2.33546482e-02 -4.58988028e-04 9.99727138e-01 4.96467906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50275509600004 meters 0.018217775628851216 Centerline is valid? [True, True] Translation: X:232.25, Y:-110.10, Z:4.96 [[ 7.96536002e-01 6.04277167e-01 -1.94808470e-02 2.32249636e+02] [-6.04083825e-01 7.96774081e-01 1.52903936e-02 -1.10103945e+02] [ 2.47614696e-02 -4.11284410e-04 9.99693303e-01 4.96447255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.562755096 meters 0.017425500935799688 Centerline is valid? [True, True] Translation: X:232.30, Y:-110.14, Z:4.96 [[ 7.94948905e-01 6.06340671e-01 -2.01799126e-02 2.32299691e+02] [-6.06133664e-01 7.95204915e-01 1.58468863e-02 -1.10141599e+02] [ 2.56557774e-02 -3.65740561e-04 9.99670769e-01 4.96453474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.622755096 meters 0.016779362824463153 Centerline is valid? [True, True] Translation: X:232.35, Y:-110.18, Z:4.97 [[ 7.92775000e-01 6.09180981e-01 -2.01576816e-02 2.32348102e+02] [-6.08975248e-01 7.93031182e-01 1.58332524e-02 -1.10178848e+02] [ 2.56309863e-02 -2.76677484e-04 9.99671434e-01 4.96535423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.682755096 meters 0.01572982300394225 Centerline is valid? [True, True] Translation: X:232.40, Y:-110.22, Z:4.97 [[ 7.90463281e-01 6.12193264e-01 -1.96776148e-02 2.32398628e+02] [-6.11997995e-01 7.90708148e-01 1.54621741e-02 -1.10215166e+02] [ 2.50250892e-02 -1.79620058e-04 9.99686807e-01 4.96800308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.742755096 meters 0.015538080126845981 Centerline is valid? [True, True] Translation: X:232.45, Y:-110.25, Z:4.97 [[ 7.89105344e-01 6.13947348e-01 -1.95297301e-02 2.32447032e+02] [-6.13755324e-01 7.89346969e-01 1.53546472e-02 -1.10253117e+02] [ 2.48426782e-02 -1.29958332e-04 9.99691365e-01 4.96978559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.802755096 meters 0.0155298681608425 Centerline is valid? [True, True] Translation: X:232.49, Y:-110.29, Z:4.97 [[ 7.89265723e-01 6.13743602e-01 -1.94527501e-02 2.32494102e+02] [-6.13552869e-01 7.89505396e-01 1.53005135e-02 -1.10292708e+02] [ 2.47486434e-02 -1.40880214e-04 9.99693695e-01 4.97113943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.862755096 meters 0.01574561698957927 Centerline is valid? [True, True] Translation: X:232.54, Y:-110.33, Z:4.97 [[ 7.89741403e-01 6.13125689e-01 -1.96317669e-02 2.32542102e+02] [-6.12931149e-01 7.89985356e-01 1.54448527e-02 -1.10333117e+02] [ 2.49784443e-02 -1.64518187e-04 9.99687976e-01 4.97268500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.922755096 meters 0.017870695321422422 Centerline is valid? [True, True] Translation: X:232.59, Y:-110.37, Z:4.97 [[ 7.91563176e-01 6.10776496e-01 -1.94887166e-02 2.32587431e+02] [-6.10583831e-01 7.91803013e-01 1.53419080e-02 -1.10374847e+02] [ 2.48017013e-02 -2.44594148e-04 9.99692361e-01 4.97217246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.982755096 meters 0.018131029504348604 Centerline is valid? [True, True] Translation: X:232.63, Y:-110.42, Z:4.97 [[ 7.93979226e-01 6.07646125e-01 -1.90571733e-02 2.32630613e+02] [-6.07460857e-01 7.94207826e-01 1.50078729e-02 -1.10416110e+02] [ 2.42548320e-02 -3.39452466e-04 9.99705751e-01 4.97452185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.042755096 meters 0.021435286300014844 Centerline is valid? [True, True] Translation: X:232.68, Y:-110.46, Z:4.97 [[ 7.97368560e-01 6.03181918e-01 -1.93637180e-02 2.32676204e+02] [-6.02989327e-01 7.97603498e-01 1.52489694e-02 -1.10459022e+02] [ 2.46424718e-02 -4.82933534e-04 9.99696212e-01 4.97392271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.102755096 meters 0.022036778064105395 Centerline is valid? [True, True] Translation: X:232.72, Y:-110.50, Z:4.98 [[ 7.98979450e-01 6.01059626e-01 -1.89516292e-02 2.32722973e+02] [-6.00874461e-01 7.99204001e-01 1.49280537e-02 -1.10500375e+02] [ 2.41188682e-02 -5.39658180e-04 9.99708952e-01 4.97624012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.162755096 meters 0.02399250721497737 Centerline is valid? [True, True] Translation: X:232.77, Y:-110.54, Z:4.98 [[ 8.01206774e-01 5.98082179e-01 -1.91157671e-02 2.32768263e+02] [-5.97892748e-01 8.01434524e-01 1.50653873e-02 -1.10542319e+02] [ 2.43303753e-02 -6.41311883e-04 9.99703767e-01 4.97762011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.222755096 meters 0.02620813650803107 Centerline is valid? [True, True] Translation: X:232.81, Y:-110.58, Z:4.98 [[ 8.02638890e-01 5.96152557e-01 -1.93116840e-02 2.32813996e+02] [-5.95958498e-01 8.02870862e-01 1.52265559e-02 -1.10582376e+02] [ 2.45821387e-02 -7.12463758e-04 9.99697560e-01 4.97846395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.282755096 meters 0.022885446728025522 Centerline is valid? [True, True] Translation: X:232.87, Y:-110.62, Z:4.98 [[ 8.01970726e-01 5.97079787e-01 -1.84032949e-02 2.32865856e+02] [-5.96903694e-01 8.02181586e-01 1.45149086e-02 -1.10616584e+02] [ 2.34293429e-02 -6.55537121e-04 9.99725280e-01 4.98208721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.342755096 meters 0.02370050734915573 Centerline is valid? [True, True] Translation: X:232.92, Y:-110.65, Z:4.98 [[ 8.00876753e-01 5.98545399e-01 -1.84345082e-02 2.32916858e+02] [-5.98368899e-01 8.01088647e-01 1.45478562e-02 -1.10652159e+02] [ 2.34752276e-02 -6.20403492e-04 9.99724226e-01 4.98094394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.402755096 meters 0.022444195412717118 Centerline is valid? [True, True] Translation: X:232.97, Y:-110.69, Z:4.98 [[ 7.97959788e-01 6.02478149e-01 -1.67408813e-02 2.32965946e+02] [-6.02333323e-01 7.98135243e-01 1.32175237e-02 -1.10686978e+02] [ 2.13247566e-02 -4.63461771e-04 9.99772494e-01 4.98318662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.462755096 meters 0.018522628574759167 Centerline is valid? [True, True] Translation: X:233.02, Y:-110.72, Z:4.99 [[ 7.94581596e-01 6.06974057e-01 -1.49191631e-02 2.33016355e+02] [-6.06859819e-01 7.94721587e-01 1.17796331e-02 -1.10719315e+02] [ 1.90065127e-02 -3.06039007e-04 9.99819313e-01 4.98874200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.522755096 meters 0.016408647457514424 Centerline is valid? [True, True] Translation: X:233.07, Y:-110.75, Z:4.99 [[ 7.91449579e-01 6.11086324e-01 -1.34561643e-02 2.33070031e+02] [-6.10994001e-01 7.91563939e-01 1.06235679e-02 -1.10751818e+02] [ 1.71433315e-02 -1.86382691e-04 9.99853025e-01 4.99084882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.582755096 meters 0.01727766221773906 Centerline is valid? [True, True] Translation: X:233.12, Y:-110.79, Z:4.99 [[ 7.89612638e-01 6.13466096e-01 -1.30855608e-02 2.33120777e+02] [-6.13379020e-01 7.89721046e-01 1.03366957e-02 -1.10787794e+02] [ 1.66751551e-02 -1.35577126e-04 9.99860951e-01 4.99045392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64275509600003 meters 0.01835465329154788 Centerline is valid? [True, True] Translation: X:233.17, Y:-110.83, Z:4.99 [[ 7.89724036e-01 6.13337000e-01 -1.23964481e-02 2.33169702e+02] [-6.13258751e-01 7.89821313e-01 9.79789812e-03 -1.10826024e+02] [ 1.58003924e-02 -1.35405362e-04 9.99875157e-01 4.99080916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70275509600003 meters 0.018909050867765995 Centerline is valid? [True, True] Translation: X:233.22, Y:-110.86, Z:4.99 [[ 7.90493371e-01 6.12354336e-01 -1.19330298e-02 2.33216703e+02] [-6.12281645e-01 7.90583420e-01 9.43627338e-03 -1.10863428e+02] [ 1.52123984e-02 -1.52936455e-04 9.99884273e-01 4.99193944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76275509600003 meters 0.01695968211212099 Centerline is valid? [True, True] Translation: X:233.26, Y:-110.90, Z:4.99 [[ 7.92404137e-01 6.09882620e-01 -1.17844544e-02 2.33264146e+02] [-6.09811471e-01 7.92491735e-01 9.31771199e-03 -1.10902512e+02] [ 1.50217933e-02 -1.97098056e-04 9.99887147e-01 4.99487294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82275509600004 meters 0.01818728379660055 Centerline is valid? [True, True] Translation: X:233.31, Y:-110.94, Z:4.99 [[ 7.94320104e-01 6.07371950e-01 -1.24453763e-02 2.33308692e+02] [-6.07292268e-01 7.94417552e-01 9.84144984e-03 -1.10941136e+02] [ 1.58642459e-02 -2.59280670e-04 9.99874121e-01 4.99435669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88275509600004 meters 0.02010653997631508 Centerline is valid? [True, True] Translation: X:233.35, Y:-110.98, Z:4.99 [[ 7.96679443e-01 6.04277047e-01 -1.22929005e-02 2.33354210e+02] [-6.04198955e-01 7.96774215e-01 9.71968967e-03 -1.10980103e+02] [ 1.56680515e-02 -3.16119291e-04 9.99877199e-01 4.99479350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94275509600004 meters 0.01973546681477123 Centerline is valid? [True, True] Translation: X:233.40, Y:-111.02, Z:4.99 [[ 7.99112333e-01 6.01058061e-01 -1.21937123e-02 2.33404549e+02] [-6.00980867e-01 7.99205272e-01 9.64007119e-03 -1.11017232e+02] [ 1.55395217e-02 -3.75311979e-04 9.99879184e-01 4.99458319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00275509600004 meters 0.025603794820875637 Centerline is valid? [True, True] Translation: X:233.45, Y:-111.06, Z:5.00 [[ 8.01427973e-01 5.97948850e-01 -1.30528294e-02 2.33446835e+02] [-5.97859952e-01 8.01534125e-01 1.03210078e-02 -1.11062395e+02] [ 1.66337230e-02 -4.67780384e-04 9.99861541e-01 4.99505291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.062755096 meters 0.022843931048661826 Centerline is valid? [True, True] Translation: X:233.50, Y:-111.10, Z:5.00 [[ 8.02449447e-01 5.96578017e-01 -1.30213240e-02 2.33498702e+02] [-5.96489327e-01 8.02554934e-01 1.02985977e-02 -1.11097595e+02] [ 1.65942448e-02 -4.97023238e-04 9.99862183e-01 4.99534500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.122755096 meters 0.024824254319394022 Centerline is valid? [True, True] Translation: X:233.55, Y:-111.14, Z:5.00 [[ 8.03426353e-01 5.95273151e-01 -1.24888780e-02 2.33545337e+02] [-5.95191321e-01 8.03523254e-01 9.88295549e-03 -1.11136997e+02] [ 1.59181619e-02 -5.06955089e-04 9.99873170e-01 4.99655716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.182755096 meters 0.0242574748400458 Centerline is valid? [True, True] Translation: X:233.59, Y:-111.17, Z:5.00 [[ 8.03948679e-01 5.94589285e-01 -1.14062727e-02 2.33594069e+02] [-5.94520900e-01 8.04029448e-01 9.03031158e-03 -1.11174861e+02] [ 1.45403057e-02 -4.78639537e-04 9.99894170e-01 4.99879876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.242755096 meters 0.025325162142915896 Centerline is valid? [True, True] Translation: X:233.64, Y:-111.21, Z:5.00 [[ 8.03795071e-01 5.94800194e-01 -1.12344520e-02 2.33641043e+02] [-5.94733804e-01 8.03873440e-01 8.89917205e-03 -1.11214852e+02] [ 1.43243068e-02 -4.71602280e-04 9.99897291e-01 5.00052752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.302755096 meters 0.02419819018035779 Centerline is valid? [True, True] Translation: X:233.69, Y:-111.25, Z:5.00 [[ 8.03503548e-01 5.95201672e-01 -1.08175227e-02 2.33691289e+02] [-5.95140090e-01 8.03576236e-01 8.57364074e-03 -1.11252036e+02] [ 1.37957495e-02 -4.51009338e-04 9.99904732e-01 5.00109078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.362755096 meters 0.02330371853688786 Centerline is valid? [True, True] Translation: X:233.74, Y:-111.29, Z:5.00 [[ 8.02378696e-01 5.96726774e-01 -1.02754441e-02 2.33741047e+02] [-5.96671265e-01 8.02444385e-01 8.14928194e-03 -1.11288644e+02] [ 1.31083671e-02 -4.07748000e-04 9.99913999e-01 5.00137537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.422755096 meters 0.023336206588969222 Centerline is valid? [True, True] Translation: X:233.79, Y:-111.33, Z:5.00 [[ 8.01265967e-01 5.98225662e-01 -9.94520932e-03 2.33788900e+02] [-5.98173722e-01 8.01327597e-01 7.89185350e-03 -1.11326349e+02] [ 1.26904800e-02 -3.74510748e-04 9.99919402e-01 5.00200842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.482755096 meters 0.022297627100630945 Centerline is valid? [True, True] Translation: X:233.84, Y:-111.36, Z:5.00 [[ 7.99942002e-01 5.99989608e-01 -1.02598201e-02 2.33839057e+02] [-5.99934418e-01 8.00007712e-01 8.14581206e-03 -1.11363523e+02] [ 1.30953378e-02 -3.60957990e-04 9.99914187e-01 5.00203033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.542755096 meters 0.02074705943705728 Centerline is valid? [True, True] Translation: X:233.89, Y:-111.40, Z:5.00 [[ 7.99061091e-01 6.01159251e-01 -1.04368177e-02 2.33889678e+02] [-6.01102178e-01 7.99129171e-01 8.29100610e-03 -1.11399980e+02] [ 1.33245805e-02 -3.51426522e-04 9.99911162e-01 5.00175540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.602755096 meters 0.020129166461739116 Centerline is valid? [True, True] Translation: X:233.94, Y:-111.44, Z:5.00 [[ 7.98301595e-01 6.02168967e-01 -1.03488517e-02 2.33938903e+02] [-6.02112874e-01 7.98368601e-01 8.22579397e-03 -1.11438439e+02] [ 1.32155161e-02 -3.35487581e-04 9.99912615e-01 5.00137122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.662755096 meters 0.02004122977247693 Centerline is valid? [True, True] Translation: X:233.99, Y:-111.48, Z:5.00 [[ 7.98144825e-01 6.02375638e-01 -1.04129259e-02 2.33986793e+02] [-6.02318805e-01 7.98212677e-01 8.28127213e-03 -1.11478567e+02] [ 1.33001660e-02 -3.37753407e-04 9.99911492e-01 5.00212322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.722755096 meters 0.02005327753968673 Centerline is valid? [True, True] Translation: X:234.04, Y:-111.52, Z:5.00 [[ 7.97877939e-01 6.02725619e-01 -1.06123958e-02 2.34035438e+02] [-6.02666541e-01 7.97948438e-01 8.44569095e-03 -1.11519284e+02] [ 1.35585790e-02 -3.42894605e-04 9.99908019e-01 5.00227805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.782755096 meters 0.020036616047696028 Centerline is valid? [True, True] Translation: X:234.08, Y:-111.56, Z:5.00 [[ 7.97615933e-01 6.03068494e-01 -1.08265450e-02 2.34083485e+02] [-6.03006958e-01 7.97689332e-01 8.62198607e-03 -1.11560154e+02] [ 1.38358676e-02 -3.48551521e-04 9.99904219e-01 5.00254466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.842755096 meters 0.020756423918434783 Centerline is valid? [True, True] Translation: X:234.13, Y:-111.60, Z:5.00 [[ 7.97270829e-01 6.03535971e-01 -1.01762827e-02 2.34129547e+02] [-6.03481577e-01 7.97335705e-01 8.10919863e-03 -1.11602040e+02] [ 1.30081066e-02 -3.24028397e-04 9.99915339e-01 5.00391394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.902755096 meters 0.020278288240197742 Centerline is valid? [True, True] Translation: X:234.18, Y:-111.64, Z:5.00 [[ 7.97065440e-01 6.03810379e-01 -9.98548658e-03 2.34177659e+02] [-6.03757970e-01 7.97127923e-01 7.96170111e-03 -1.11643433e+02] [ 1.27670679e-02 -3.17179700e-04 9.99918447e-01 5.00403094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.962755096 meters 0.021243233219374692 Centerline is valid? [True, True] Translation: X:234.22, Y:-111.69, Z:5.01 [[ 7.97654633e-01 6.03034162e-01 -9.84301336e-03 2.34222032e+02] [-6.02983099e-01 7.97715294e-01 7.85441208e-03 -1.11686679e+02] [ 1.25884011e-02 -3.29937487e-04 9.99920709e-01 5.00520406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.022755096 meters 0.02195525574614234 Centerline is valid? [True, True] Translation: X:234.27, Y:-111.73, Z:5.01 [[ 7.98157960e-01 6.02366553e-01 -9.91997812e-03 2.34267735e+02] [-6.02314616e-01 7.98219529e-01 7.91748772e-03 -1.11728100e+02] [ 1.26875501e-02 -3.44458040e-04 9.99919450e-01 5.00657987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.082755096 meters 0.022052396821606576 Centerline is valid? [True, True] Translation: X:234.31, Y:-111.77, Z:5.01 [[ 7.99035349e-01 6.01201712e-01 -9.95050876e-03 2.34314492e+02] [-6.01149315e-01 7.99097220e-01 7.94576680e-03 -1.11768441e+02] [ 1.27284325e-02 -3.67207027e-04 9.99918923e-01 5.00706289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14275509600003 meters 0.022447045393244686 Centerline is valid? [True, True] Translation: X:234.36, Y:-111.81, Z:5.01 [[ 7.99980931e-01 5.99951943e-01 -9.39020743e-03 2.34360996e+02] [-5.99905148e-01 8.00035955e-01 7.50219985e-03 -1.11809546e+02] [ 1.20134630e-02 -3.68383035e-04 9.99927768e-01 5.00826656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20275509600003 meters 0.022730936578576538 Centerline is valid? [True, True] Translation: X:234.41, Y:-111.85, Z:5.01 [[ 8.00097826e-01 5.99803695e-01 -8.88792203e-03 2.34408768e+02] [-5.99761721e-01 8.00147113e-01 7.10463297e-03 -1.11849256e+02] [ 1.13730303e-02 -3.53765981e-04 9.99935262e-01 5.00984706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26275509600003 meters 0.02461608203060649 Centerline is valid? [True, True] Translation: X:234.45, Y:-111.89, Z:5.01 [[ 7.99233072e-01 6.00942861e-01 -9.70437947e-03 2.34454539e+02] [-6.00892839e-01 7.99291899e-01 7.76254830e-03 -1.11889199e+02] [ 1.24214799e-02 -3.72793202e-04 9.99922781e-01 5.01072853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32275509600004 meters 0.022141448509025656 Centerline is valid? [True, True] Translation: X:234.51, Y:-111.92, Z:5.01 [[ 7.97308534e-01 6.03487331e-01 -1.01065516e-02 2.34505234e+02] [-6.03433224e-01 7.97372509e-01 8.08864130e-03 -1.11924931e+02] [ 1.29400789e-02 -3.50513746e-04 9.99916212e-01 5.01051390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38275509600004 meters 0.020771808523442188 Centerline is valid? [True, True] Translation: X:234.56, Y:-111.96, Z:5.01 [[ 7.95645303e-01 6.05669844e-01 -1.06109479e-02 2.34555429e+02] [-6.05610326e-01 7.95715984e-01 8.49734473e-03 -1.11961719e+02] [ 1.35898863e-02 -3.34772771e-04 9.99907597e-01 5.01031417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44275509600004 meters 0.021341812530744204 Centerline is valid? [True, True] Translation: X:234.60, Y:-112.00, Z:5.01 [[ 7.95377573e-01 6.06014226e-01 -1.10124975e-02 2.34604121e+02] [-6.05950079e-01 7.95453731e-01 8.82399246e-03 -1.12000581e+02] [ 1.41073972e-02 -3.45381960e-04 9.99900426e-01 5.01121590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50275509600004 meters 0.02162822045619055 Centerline is valid? [True, True] Translation: X:234.65, Y:-112.04, Z:5.01 [[ 7.96311494e-01 6.04792145e-01 -1.06988831e-02 2.34652192e+02] [-6.04731422e-01 7.96383282e-01 8.57766057e-03 -1.12039266e+02] [ 1.37081134e-02 -3.60538884e-04 9.99905974e-01 5.01264493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.562755096 meters 0.02214778687092717 Centerline is valid? [True, True] Translation: X:234.70, Y:-112.08, Z:5.01 [[ 7.97414062e-01 6.03352597e-01 -9.82124540e-03 2.34700224e+02] [-6.03301271e-01 7.97474461e-01 7.87783359e-03 -1.12078086e+02] [ 1.25853037e-02 -3.56725449e-04 9.99920738e-01 5.01446427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.622755096 meters 0.02308261727489086 Centerline is valid? [True, True] Translation: X:234.75, Y:-112.12, Z:5.02 [[ 7.98102203e-01 6.02444310e-01 -9.68130126e-03 2.34749116e+02] [-6.02394316e-01 7.98160834e-01 7.76989494e-03 -1.12116881e+02] [ 1.24081645e-02 -3.69209417e-04 9.99922948e-01 5.01542205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.682755096 meters 0.02442615784743686 Centerline is valid? [True, True] Translation: X:234.80, Y:-112.15, Z:5.02 [[ 8.00124086e-01 5.99760595e-01 -9.41672437e-03 2.34797500e+02] [-5.99713060e-01 8.00179396e-01 7.56173971e-03 -1.12154777e+02] [ 1.20703023e-02 -4.02997487e-04 9.99927070e-01 5.01593876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.742755096 meters 0.024768867180466468 Centerline is valid? [True, True] Translation: X:234.85, Y:-112.19, Z:5.02 [[ 8.00549953e-01 5.99194460e-01 -9.26134616e-03 2.34846501e+02] [-5.99148399e-01 8.00603418e-01 7.44060621e-03 -1.12193544e+02] [ 1.18730354e-02 -4.07656220e-04 9.99929430e-01 5.01718001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.802755096 meters 0.025349440762729835 Centerline is valid? [True, True] Translation: X:234.90, Y:-112.23, Z:5.02 [[ 7.99891037e-01 6.00064693e-01 -9.83325928e-03 2.34895532e+02] [-6.00012769e-01 7.99951365e-01 7.90517038e-03 -1.12229532e+02] [ 1.26097428e-02 -4.23193810e-04 9.99920404e-01 5.01777393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.862755096 meters 0.022510838434454863 Centerline is valid? [True, True] Translation: X:234.95, Y:-112.26, Z:5.02 [[ 7.98178473e-01 6.02327793e-01 -1.05997264e-02 2.34949411e+02] [-6.02267578e-01 7.98248740e-01 8.52721747e-03 -1.12262677e+02] [ 1.35973983e-02 -4.22369889e-04 9.99907462e-01 5.01708172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.922755096 meters 0.02368900349699753 Centerline is valid? [True, True] Translation: X:235.00, Y:-112.30, Z:5.02 [[ 7.96899065e-01 6.04001108e-01 -1.15991975e-02 2.34997231e+02] [-6.03929150e-01 7.96983359e-01 9.33313487e-03 -1.12301019e+02] [ 1.48815912e-02 -4.32472960e-04 9.99889169e-01 5.01726447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.982755096 meters 0.02118025460453213 Centerline is valid? [True, True] Translation: X:235.05, Y:-112.34, Z:5.02 [[ 7.95181827e-01 6.06235316e-01 -1.28297772e-02 2.35049182e+02] [-6.06147512e-01 7.95285202e-01 1.03267635e-02 -1.12335261e+02] [ 1.64637807e-02 -4.34917121e-04 9.99864368e-01 5.01738771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.042755096 meters 0.021440399962157696 Centerline is valid? [True, True] Translation: X:235.10, Y:-112.37, Z:5.02 [[ 7.94786122e-01 6.06757260e-01 -1.26746894e-02 2.35099355e+02] [-6.06671541e-01 7.94887066e-01 1.02075446e-02 -1.12373885e+02] [ 1.62684485e-02 -4.23441388e-04 9.99867570e-01 5.01904069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.102755096 meters 0.02202988480946961 Centerline is valid? [True, True] Translation: X:235.15, Y:-112.41, Z:5.02 [[ 7.95160628e-01 6.06270379e-01 -1.24821002e-02 2.35147611e+02] [-6.06187081e-01 7.95258474e-01 1.00589267e-02 -1.12413176e+02] [ 1.60249252e-02 -4.31974564e-04 9.99871499e-01 5.02052888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.162755096 meters 0.02288302803403928 Centerline is valid? [True, True] Translation: X:235.20, Y:-112.45, Z:5.02 [[ 7.95691482e-01 6.05575331e-01 -1.23929216e-02 2.35195153e+02] [-6.05493047e-01 7.95787860e-01 9.99258534e-03 -1.12452521e+02] [ 1.59133997e-02 -4.47187198e-04 9.99873274e-01 5.02228836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.222755096 meters 0.02250761429107131 Centerline is valid? [True, True] Translation: X:235.24, Y:-112.49, Z:5.02 [[ 7.96671760e-01 6.04290197e-01 -1.21435445e-02 2.35244501e+02] [-6.04210952e-01 7.96764168e-01 9.79723754e-03 -1.12489402e+02] [ 1.55959157e-02 -4.67919881e-04 9.99878267e-01 5.02292359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.282755096 meters 0.023105600735634616 Centerline is valid? [True, True] Translation: X:235.29, Y:-112.53, Z:5.02 [[ 7.97365036e-01 6.03352068e-01 -1.32394170e-02 2.35292952e+02] [-6.03257690e-01 7.97474763e-01 1.06846504e-02 -1.12528110e+02] [ 1.70047068e-02 -5.32786547e-04 9.99855268e-01 5.02277595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.342755096 meters 0.02436959607623959 Centerline is valid? [True, True] Translation: X:235.34, Y:-112.57, Z:5.02 [[ 7.98036565e-01 6.02449681e-01 -1.38572698e-02 2.35340241e+02] [-6.02346031e-01 7.98156653e-01 1.11900068e-02 -1.12568561e+02] [ 1.78016880e-02 -5.83163099e-04 9.99841367e-01 5.02345341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.402755096 meters 0.02499628934752177 Centerline is valid? [True, True] Translation: X:235.39, Y:-112.61, Z:5.02 [[ 7.98460404e-01 6.01878716e-01 -1.42475835e-02 2.35388437e+02] [-6.01768932e-01 7.98587271e-01 1.15118849e-02 -1.12608113e+02] [ 1.83066973e-02 -6.18031221e-04 9.99832227e-01 5.02425988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.462755096 meters 0.023590233307331218 Centerline is valid? [True, True] Translation: X:235.44, Y:-112.64, Z:5.02 [[ 7.97951754e-01 6.02530508e-01 -1.51652699e-02 2.35438314e+02] [-6.02406099e-01 7.98095588e-01 1.22606950e-02 -1.12644777e+02] [ 1.94907778e-02 -6.47791955e-04 9.99809827e-01 5.02420701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.522755096 meters 0.024675411521828578 Centerline is valid? [True, True] Translation: X:235.49, Y:-112.68, Z:5.02 [[ 7.96269126e-01 6.04722659e-01 -1.63090609e-02 2.35485146e+02] [-6.04579062e-01 7.96435866e-01 1.31934844e-02 -1.12684287e+02] [ 2.09675200e-02 -6.45447552e-04 9.99779949e-01 5.02379012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.582755096 meters 0.020828698883971847 Centerline is valid? [True, True] Translation: X:235.54, Y:-112.72, Z:5.02 [[ 7.93428699e-01 6.08424200e-01 -1.70555849e-02 2.35536618e+02] [-6.08267861e-01 7.93611781e-01 1.38040193e-02 -1.12718387e+02] [ 2.19342125e-02 -5.78140915e-04 9.99759249e-01 5.02461790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64275509600003 meters 0.020701394448704242 Centerline is valid? [True, True] Translation: X:235.58, Y:-112.76, Z:5.03 [[ 7.91137152e-01 6.11398823e-01 -1.71314193e-02 2.35583968e+02] [-6.11241760e-01 7.91322456e-01 1.38665375e-02 -1.12756488e+02] [ 2.20344615e-02 -4.98894082e-04 9.99757087e-01 5.02542733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70275509600003 meters 0.0170685051284659 Centerline is valid? [True, True] Translation: X:235.63, Y:-112.79, Z:5.03 [[ 7.87134996e-01 6.16538368e-01 -1.72898592e-02 2.35633805e+02] [-6.16379601e-01 7.87324781e-01 1.39955567e-02 -1.12789818e+02] [ 2.22415323e-02 -3.59275906e-04 9.99752562e-01 5.02763908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76275509600003 meters 0.016202801660875756 Centerline is valid? [True, True] Translation: X:235.68, Y:-112.83, Z:5.03 [[ 7.85950765e-01 6.18045517e-01 -1.73532293e-02 2.35680583e+02] [-6.17885976e-01 7.86142251e-01 1.40457236e-02 -1.12826164e+02] [ 2.23230033e-02 -3.16930208e-04 9.99750760e-01 5.02865867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82275509600004 meters 0.016595255634959092 Centerline is valid? [True, True] Translation: X:235.72, Y:-112.86, Z:5.03 [[ 7.85688673e-01 6.18377762e-01 -1.73854426e-02 2.35724722e+02] [-6.18217741e-01 7.85880939e-01 1.40703801e-02 -1.12864140e+02] [ 2.23636981e-02 -3.06949266e-04 9.99749854e-01 5.02919046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88275509600004 meters 0.017674364274083636 Centerline is valid? [True, True] Translation: X:235.77, Y:-112.90, Z:5.03 [[ 7.87020798e-01 6.16706198e-01 -1.64842110e-02 2.35766732e+02] [-6.16562028e-01 7.87193340e-01 1.33383368e-02 -1.12904089e+02] [ 2.12020961e-02 -3.34009859e-04 9.99775155e-01 5.03182219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94275509600004 meters 0.017870267837250944 Centerline is valid? [True, True] Translation: X:235.81, Y:-112.95, Z:5.03 [[ 7.88815369e-01 6.14421462e-01 -1.60181590e-02 2.35813353e+02] [-6.14284909e-01 7.88977896e-01 1.29587510e-02 -1.12945487e+02] [ 2.06001081e-02 -3.82348651e-04 9.99787722e-01 5.03448308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00275509600004 meters 0.018693808897183042 Centerline is valid? [True, True] Translation: X:235.86, Y:-112.99, Z:5.04 [[ 7.90439274e-01 6.12337532e-01 -1.57639533e-02 2.35859697e+02] [-6.12204721e-01 7.90596331e-01 1.27601733e-02 -1.12987003e+02] [ 2.02764567e-02 -4.35375467e-04 9.99794317e-01 5.03578592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.062755096 meters 0.021760007342470356 Centerline is valid? [True, True] Translation: X:235.90, Y:-113.03, Z:5.04 [[ 7.91375824e-01 6.11127477e-01 -1.57325402e-02 2.35903633e+02] [-6.10994810e-01 7.91532049e-01 1.27419628e-02 -1.13030459e+02] [ 2.02397733e-02 -4.71180885e-04 9.99795044e-01 5.03665645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.122755096 meters 0.021467756910279075 Centerline is valid? [True, True] Translation: X:235.95, Y:-113.07, Z:5.04 [[ 7.92814606e-01 6.09208055e-01 -1.76222912e-02 2.35950984e+02] [-6.09040936e-01 7.93010213e-01 1.42807590e-02 -1.13071243e+02] [ 2.26746103e-02 -5.89297605e-04 9.99742724e-01 5.03513104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.182755096 meters 0.020691008490944598 Centerline is valid? [True, True] Translation: X:236.00, Y:-113.11, Z:5.03 [[ 7.92817570e-01 6.09151801e-01 -1.93490235e-02 2.35999529e+02] [-6.08950069e-01 7.93053373e-01 1.56895167e-02 -1.13109330e+02] [ 2.49021058e-02 -6.56335324e-04 9.99689679e-01 5.03450562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.242755096 meters 0.022894026269889733 Centerline is valid? [True, True] Translation: X:236.04, Y:-113.15, Z:5.03 [[ 7.91871077e-01 6.10329832e-01 -2.09211245e-02 2.36044201e+02] [-6.10094119e-01 7.92147106e-01 1.69743535e-02 -1.13150619e+02] [ 2.69325625e-02 -6.77644584e-04 9.99637023e-01 5.03247371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.302755096 meters 0.02063617475578239 Centerline is valid? [True, True] Translation: X:236.09, Y:-113.19, Z:5.03 [[ 7.90695378e-01 6.11856894e-01 -2.07836701e-02 2.36093264e+02] [-6.11624620e-01 7.90968235e-01 1.68693668e-02 -1.13187975e+02] [ 2.67608612e-02 -6.26726076e-04 9.99641668e-01 5.03431997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.362755096 meters 0.01936381873193783 Centerline is valid? [True, True] Translation: X:236.14, Y:-113.23, Z:5.04 [[ 7.89280354e-01 6.13716394e-01 -1.97157407e-02 2.36141725e+02] [-6.13507877e-01 7.89526376e-01 1.60058081e-02 -1.13226145e+02] [ 2.53891241e-02 -5.37307665e-04 9.99677500e-01 5.03729067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.422755096 meters 0.018469718797934635 Centerline is valid? [True, True] Translation: X:236.19, Y:-113.26, Z:5.04 [[ 7.87714297e-01 6.15764711e-01 -1.84392557e-02 2.36187029e+02] [-6.15582745e-01 7.87929960e-01 1.49753705e-02 -1.13264014e+02] [ 2.37501467e-02 -4.45425778e-04 9.99717826e-01 5.04028969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.482755096 meters 0.0171999497437297 Centerline is valid? [True, True] Translation: X:236.24, Y:-113.30, Z:5.04 [[ 7.86561157e-01 6.17248302e-01 -1.80576695e-02 2.36235216e+02] [-6.17074196e-01 7.86768314e-01 1.46648000e-02 -1.13301666e+02] [ 2.32590251e-02 -3.91840141e-04 9.99729395e-01 5.04233253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.542755096 meters 0.016285477208669394 Centerline is valid? [True, True] Translation: X:236.28, Y:-113.34, Z:5.04 [[ 7.84367472e-01 6.20051921e-01 -1.74150637e-02 2.36280792e+02] [-6.19890667e-01 7.84560722e-01 1.41433641e-02 -1.13337440e+02] [ 2.24327950e-02 -2.98159247e-04 9.99748309e-01 5.04405607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.602755096 meters 0.015316704487515381 Centerline is valid? [True, True] Translation: X:236.33, Y:-113.37, Z:5.05 [[ 7.82710494e-01 6.22144233e-01 -1.73446241e-02 2.36326977e+02] [-6.21984853e-01 7.82902611e-01 1.40834502e-02 -1.13372842e+02] [ 2.23410888e-02 -2.35170758e-04 9.99750379e-01 5.04530019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.662755096 meters 0.015722805832304686 Centerline is valid? [True, True] Translation: X:236.37, Y:-113.41, Z:5.05 [[ 7.82977710e-01 6.21786854e-01 -1.80835473e-02 2.36370148e+02] [-6.21613574e-01 7.83186468e-01 1.46806288e-02 -1.13410796e+02] [ 2.32910116e-02 -2.53626666e-04 9.99728695e-01 5.04505120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.722755096 meters 0.01688445931381344 Centerline is valid? [True, True] Translation: X:236.41, Y:-113.45, Z:5.04 [[ 7.84435438e-01 6.19917822e-01 -1.90509192e-02 2.36413773e+02] [-6.19725053e-01 7.84666675e-01 1.54618357e-02 -1.13451055e+02] [ 2.45336889e-02 -3.22479943e-04 9.99698952e-01 5.04483572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.782755096 meters 0.015864717858902654 Centerline is valid? [True, True] Translation: X:236.46, Y:-113.49, Z:5.05 [[ 7.84872600e-01 6.19368887e-01 -1.88993153e-02 2.36462553e+02] [-6.19179158e-01 7.85100039e-01 1.53329305e-02 -1.13487167e+02] [ 2.43345933e-02 -3.32334872e-04 9.99703815e-01 5.04688633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.842755096 meters 0.01588767247777034 Centerline is valid? [True, True] Translation: X:236.51, Y:-113.52, Z:5.05 [[ 7.84893045e-01 6.19319978e-01 -1.96385671e-02 2.36511099e+02] [-6.19115098e-01 7.85138615e-01 1.59326822e-02 -1.13523873e+02] [ 2.52864257e-02 -3.46918034e-04 9.99680187e-01 5.04745124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.902755096 meters 0.01616552452048363 Centerline is valid? [True, True] Translation: X:236.56, Y:-113.56, Z:5.05 [[ 7.84837200e-01 6.19370637e-01 -2.02628593e-02 2.36556327e+02] [-6.19152563e-01 7.85098648e-01 1.64382545e-02 -1.13559555e+02] [ 2.60897156e-02 -3.55552398e-04 9.99659542e-01 5.04765746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.962755096 meters 0.017599617412883413 Centerline is valid? [True, True] Translation: X:236.60, Y:-113.60, Z:5.05 [[ 7.85482504e-01 6.18517631e-01 -2.12879210e-02 2.36601344e+02] [-6.18276712e-01 7.85770819e-01 1.72663844e-02 -1.13596237e+02] [ 2.74069903e-02 -4.00617066e-04 9.99624278e-01 5.04639377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.022755096 meters 0.01636720428710767 Centerline is valid? [True, True] Translation: X:236.65, Y:-113.63, Z:5.05 [[ 7.85944488e-01 6.17917096e-01 -2.16731192e-02 2.36651757e+02] [-6.17667119e-01 7.86243142e-01 1.75798669e-02 -1.13632547e+02] [ 2.79032416e-02 -4.30026386e-04 9.99610536e-01 5.04868996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.082755096 meters 0.016897909972633365 Centerline is valid? [True, True] Translation: X:236.70, Y:-113.67, Z:5.05 [[ 7.86929144e-01 6.16675098e-01 -2.13153994e-02 2.36699682e+02] [-6.16432583e-01 7.87217631e-01 1.72994751e-02 -1.13671527e+02] [ 2.74480137e-02 -4.73954397e-04 9.99623120e-01 5.05048111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14275509600003 meters 0.01766575738739165 Centerline is valid? [True, True] Translation: X:236.75, Y:-113.71, Z:5.05 [[ 7.88538343e-01 6.14646454e-01 -2.04210336e-02 2.36747181e+02] [-6.14422942e-01 7.88802546e-01 1.65828741e-02 -1.13710910e+02] [ 2.63007680e-02 -5.29080505e-04 9.99653935e-01 5.05444701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20275509600003 meters 0.019229192462558192 Centerline is valid? [True, True] Translation: X:236.79, Y:-113.75, Z:5.06 [[ 7.89377650e-01 6.13582772e-01 -1.99776872e-02 2.36793263e+02] [-6.13368287e-01 7.89630210e-01 1.62319445e-02 -1.13751237e+02] [ 2.57346268e-02 -5.59454437e-04 9.99668653e-01 5.05661409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26275509600003 meters 0.019064159498006838 Centerline is valid? [True, True] Translation: X:236.84, Y:-113.79, Z:5.06 [[ 7.90479032e-01 6.12195996e-01 -1.89463283e-02 2.36842315e+02] [-6.12002493e-01 7.90705841e-01 1.54020169e-02 -1.13789800e+02] [ 2.44100255e-02 -5.79771240e-04 9.99701863e-01 5.06014315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32275509600004 meters 0.02039104393999059 Centerline is valid? [True, True] Translation: X:236.89, Y:-113.83, Z:5.06 [[ 7.91134182e-01 6.11342175e-01 -1.91690483e-02 2.36889421e+02] [-6.11143622e-01 7.91366136e-01 1.55920652e-02 -1.13829405e+02] [ 2.47018227e-02 -6.20374180e-04 9.99694671e-01 5.06156897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38275509600004 meters 0.020895568269560554 Centerline is valid? [True, True] Translation: X:236.94, Y:-113.87, Z:5.06 [[ 7.90662395e-01 6.11933284e-01 -1.97644494e-02 2.36937272e+02] [-6.11722188e-01 7.90909137e-01 1.60841825e-02 -1.13867793e+02] [ 2.54743303e-02 -6.26806001e-04 9.99675280e-01 5.06241167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44275509600004 meters 0.02054560849074737 Centerline is valid? [True, True] Translation: X:236.99, Y:-113.91, Z:5.06 [[ 7.90347790e-01 6.12319487e-01 -2.03768678e-02 2.36986667e+02] [-6.12095061e-01 7.90610168e-01 1.65890851e-02 -1.13905779e+02] [ 2.62679789e-02 -6.38566596e-04 9.99654733e-01 5.06338444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50275509600004 meters 0.02069655125103212 Centerline is valid? [True, True] Translation: X:237.03, Y:-113.95, Z:5.06 [[ 7.90387690e-01 6.12238326e-01 -2.12492790e-02 2.37034696e+02] [-6.11993965e-01 7.90672989e-01 1.73093126e-02 -1.13945352e+02] [ 2.73986555e-02 -6.76637118e-04 9.99624357e-01 5.06410784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.562755096 meters 0.0227106672700181 Centerline is valid? [True, True] Translation: X:237.08, Y:-113.99, Z:5.06 [[ 7.92500557e-01 6.09476689e-01 -2.19324512e-02 2.37080901e+02] [-6.09215080e-01 7.92803582e-01 1.78735943e-02 -1.13987133e+02] [ 2.82816650e-02 -8.03253432e-04 9.99599671e-01 5.06459096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.622755096 meters 0.024049315215410046 Centerline is valid? [True, True] Translation: X:237.13, Y:-114.03, Z:5.07 [[ 7.93428931e-01 6.08275545e-01 -2.17115888e-02 2.37127590e+02] [-6.08018587e-01 7.93725490e-01 1.76987218e-02 -1.14028683e+02] [ 2.79987411e-02 -8.41628369e-04 9.99607604e-01 5.06634859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.682755096 meters 0.025273884579407685 Centerline is valid? [True, True] Translation: X:237.17, Y:-114.07, Z:5.07 [[ 7.94109950e-01 6.07408193e-01 -2.10873076e-02 2.37171714e+02] [-6.07165340e-01 7.94389427e-01 1.71956066e-02 -1.14067978e+02] [ 2.71962865e-02 -8.51719983e-04 9.99629750e-01 5.06827770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.742755096 meters 0.024552583288264887 Centerline is valid? [True, True] Translation: X:237.22, Y:-114.10, Z:5.07 [[ 7.92581397e-01 6.09410567e-01 -2.08204002e-02 2.37216953e+02] [-6.09174568e-01 7.92854441e-01 1.69758766e-02 -1.14103477e+02] [ 2.68528254e-02 -7.71505669e-04 9.99639100e-01 5.07025431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.802755096 meters 0.019859644590558688 Centerline is valid? [True, True] Translation: X:237.27, Y:-114.14, Z:5.07 [[ 7.89183841e-01 6.13810824e-01 -2.06188728e-02 2.37269557e+02] [-6.13580908e-01 7.89452908e-01 1.68099590e-02 -1.14136353e+02] [ 2.65957639e-02 -6.14801350e-04 9.99646081e-01 5.07274103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.862755096 meters 0.01909378402293986 Centerline is valid? [True, True] Translation: X:237.32, Y:-114.17, Z:5.07 [[ 7.84568649e-01 6.19669567e-01 -2.14863413e-02 2.37320311e+02] [-6.19422035e-01 7.84862687e-01 1.75186777e-02 -1.14169702e+02] [ 2.77196190e-02 -4.35492019e-04 9.99615643e-01 5.07173260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.922755096 meters 0.015552750691377227 Centerline is valid? [True, True] Translation: X:237.37, Y:-114.20, Z:5.08 [[ 7.81707073e-01 6.23303353e-01 -2.06635611e-02 2.37370384e+02] [-6.23075678e-01 7.81980079e-01 1.68480410e-02 -1.14204508e+02] [ 2.66599335e-02 -2.95270491e-04 9.99644517e-01 5.07554126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.982755096 meters 0.016292149277546835 Centerline is valid? [True, True] Translation: X:237.42, Y:-114.24, Z:5.08 [[ 7.78452036e-01 6.27352689e-01 -2.10007567e-02 2.37419193e+02] [-6.27118987e-01 7.78735243e-01 1.71230232e-02 -1.14238524e+02] [ 2.70962040e-02 -1.59478967e-04 9.99632818e-01 5.07554966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.042755096 meters 0.014312010338256298 Centerline is valid? [True, True] Translation: X:237.47, Y:-114.27, Z:5.08 [[ 7.76949690e-01 6.29240572e-01 -2.01365760e-02 2.37465999e+02] [-6.29026393e-01 7.77210586e-01 1.64165262e-02 -1.14272580e+02] [ 2.59803044e-02 -8.83771850e-05 9.99662451e-01 5.07781030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.102755096 meters 0.014259396144303235 Centerline is valid? [True, True] Translation: X:237.51, Y:-114.31, Z:5.08 [[ 7.77244257e-01 6.28893674e-01 -1.95987616e-02 2.37512074e+02] [-6.28690751e-01 7.77491310e-01 1.59750378e-02 -1.14308874e+02] [ 2.52844670e-02 -9.49462195e-05 9.99680292e-01 5.07951198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.162755096 meters 0.014729173545904271 Centerline is valid? [True, True] Translation: X:237.56, Y:-114.35, Z:5.08 [[ 7.78778900e-01 6.26972360e-01 -2.02258386e-02 2.37555739e+02] [-6.26755670e-01 7.79041484e-01 1.64832164e-02 -1.14346539e+02] [ 2.60912884e-02 -1.60122165e-04 9.99659552e-01 5.07936769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.222755096 meters 0.015834735562781872 Centerline is valid? [True, True] Translation: X:237.60, Y:-114.39, Z:5.08 [[ 7.81592395e-01 6.23406166e-01 -2.18650473e-02 2.37599302e+02] [-6.23151628e-01 7.81898116e-01 1.78153089e-02 -1.14385409e+02] [ 2.82024127e-02 -2.99070123e-04 9.99602188e-01 5.07826711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.282755096 meters 0.017878015208582634 Centerline is valid? [True, True] Translation: X:237.64, Y:-114.43, Z:5.08 [[ 7.84608621e-01 6.19578389e-01 -2.26259253e-02 2.37640985e+02] [-6.19304337e-01 7.84934659e-01 1.84314835e-02 -1.14426071e+02] [ 2.91796218e-02 -4.49167233e-04 9.99574083e-01 5.07761118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.342755096 meters 0.01864240908688327 Centerline is valid? [True, True] Translation: X:237.69, Y:-114.47, Z:5.08 [[ 7.86779697e-01 6.16819178e-01 -2.26232017e-02 2.37686764e+02] [-6.16544117e-01 7.87104694e-01 1.84269343e-02 -1.14466055e+02] [ 2.91729148e-02 -5.49735884e-04 9.99574229e-01 5.07947547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.402755096 meters 0.02168675504393311 Centerline is valid? [True, True] Translation: X:237.73, Y:-114.51, Z:5.08 [[ 7.89434687e-01 6.13417730e-01 -2.26177621e-02 2.37729033e+02] [-6.13141395e-01 7.89758338e-01 1.84227684e-02 -1.14509231e+02] [ 2.91634189e-02 -6.75686205e-04 9.99574429e-01 5.07991724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.462755096 meters 0.021819897771396972 Centerline is valid? [True, True] Translation: X:237.78, Y:-114.55, Z:5.08 [[ 7.90541759e-01 6.11976193e-01 -2.29971060e-02 2.37777040e+02] [-6.11689767e-01 7.90875834e-01 1.87361905e-02 -1.14548503e+02] [ 2.96539580e-02 -7.44646600e-04 9.99559947e-01 5.08191663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.522755096 meters 0.02124957506292645 Centerline is valid? [True, True] Translation: X:237.83, Y:-114.59, Z:5.08 [[ 7.90525636e-01 6.12015855e-01 -2.24902643e-02 2.37825087e+02] [-6.11741619e-01 7.90845151e-01 1.83340945e-02 -1.14589345e+02] [ 2.90070730e-02 -7.35341016e-04 9.99578936e-01 5.08435731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.582755096 meters 0.02321836684047826 Centerline is valid? [True, True] Translation: X:237.87, Y:-114.63, Z:5.08 [[ 7.89550731e-01 6.13278507e-01 -2.23408971e-02 2.37869933e+02] [-6.13008089e-01 7.89866439e-01 1.82233429e-02 -1.14630840e+02] [ 2.88223094e-02 -6.93103022e-04 9.99584311e-01 5.08436531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64275509600003 meters 0.020661443794477926 Centerline is valid? [True, True] Translation: X:237.92, Y:-114.67, Z:5.09 [[ 7.88709176e-01 6.14377006e-01 -2.18798901e-02 2.37920630e+02] [-6.14117790e-01 7.89012342e-01 1.78567688e-02 -1.14666843e+02] [ 2.82342915e-02 -6.46967667e-04 9.99601124e-01 5.08763258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70275509600003 meters 0.020491026985949595 Centerline is valid? [True, True] Translation: X:237.97, Y:-114.71, Z:5.09 [[ 7.87821938e-01 6.15518625e-01 -2.17581253e-02 2.37969528e+02] [-6.15262439e-01 7.88122103e-01 1.77674314e-02 -1.14705651e+02] [ 2.80842444e-02 -6.10614960e-04 9.99605373e-01 5.08998233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76275509600003 meters 0.020007974571408235 Centerline is valid? [True, True] Translation: X:238.02, Y:-114.74, Z:5.09 [[ 7.86909936e-01 6.16680291e-01 -2.18671077e-02 2.38019278e+02] [-6.16421692e-01 7.87213492e-01 1.78666070e-02 -1.14742355e+02] [ 2.82320666e-02 -5.80050991e-04 9.99601227e-01 5.09213961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82275509600004 meters 0.01961440465146946 Centerline is valid? [True, True] Translation: X:238.07, Y:-114.78, Z:5.09 [[ 7.86372514e-01 6.17390074e-01 -2.11604616e-02 2.38067479e+02] [-6.17147999e-01 7.86656979e-01 1.72957910e-02 -1.14779235e+02] [ 2.73242745e-02 -5.41798092e-04 9.99626475e-01 5.09424307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88275509600004 meters 0.020691467621998562 Centerline is valid? [True, True] Translation: X:238.12, Y:-114.82, Z:5.09 [[ 7.85986765e-01 6.17867028e-01 -2.15671152e-02 2.38116726e+02] [-6.17615631e-01 7.86282421e-01 1.76319999e-02 -1.14817774e+02] [ 2.78520749e-02 -5.38331106e-04 9.99611911e-01 5.09493392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94275509600004 meters 0.020392344594143432 Centerline is valid? [True, True] Translation: X:238.16, Y:-114.86, Z:5.10 [[ 7.86497829e-01 6.17223149e-01 -2.13716885e-02 2.38161862e+02] [-6.16975845e-01 7.86787944e-01 1.74796675e-02 -1.14856148e+02] [ 2.76038423e-02 -5.61904990e-04 9.99618783e-01 5.09644404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00275509600004 meters 0.02050891472486556 Centerline is valid? [True, True] Translation: X:238.21, Y:-114.90, Z:5.10 [[ 7.87366228e-01 6.16078608e-01 -2.23958057e-02 2.38210074e+02] [-6.15806473e-01 7.87684421e-01 1.83205132e-02 -1.14895259e+02] [ 2.89277035e-02 -6.33471231e-04 9.99581306e-01 5.09792621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.062755096 meters 0.021607743875105355 Centerline is valid? [True, True] Translation: X:238.25, Y:-114.93, Z:5.10 [[ 7.87952134e-01 6.15331854e-01 -2.23191237e-02 2.38254797e+02] [-6.15061081e-01 7.88267891e-01 1.82646821e-02 -1.14933872e+02] [ 2.88322893e-02 -6.64070886e-04 9.99584043e-01 5.09875891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.122755096 meters 0.021576474521238162 Centerline is valid? [True, True] Translation: X:238.30, Y:-114.97, Z:5.10 [[ 7.88734296e-01 6.14354097e-01 -2.16160449e-02 2.38301811e+02] [-6.14099742e-01 7.89030154e-01 1.76896219e-02 -1.14971159e+02] [ 2.79234029e-02 -6.78003845e-04 9.99609836e-01 5.10172550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.182755096 meters 0.022009671617557826 Centerline is valid? [True, True] Translation: X:238.35, Y:-115.01, Z:5.10 [[ 7.88930101e-01 6.14107372e-01 -2.14809454e-02 2.38348350e+02] [-6.13856109e-01 7.89222193e-01 1.75786036e-02 -1.15009019e+02] [ 2.77483889e-02 -6.82079953e-04 9.99614707e-01 5.10324879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.242755096 meters 0.020475623655151716 Centerline is valid? [True, True] Translation: X:238.40, Y:-115.05, Z:5.11 [[ 7.88041293e-01 6.15255810e-01 -2.12416752e-02 2.38398652e+02] [-6.15010467e-01 7.88327269e-01 1.73851143e-02 -1.15045522e+02] [ 2.74416844e-02 -6.36335388e-04 9.99623204e-01 5.10525490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.302755096 meters 0.020690822951849795 Centerline is valid? [True, True] Translation: X:238.45, Y:-115.08, Z:5.11 [[ 7.86954412e-01 6.16657011e-01 -2.09017805e-02 2.38446334e+02] [-6.16419737e-01 7.87231725e-01 1.71148531e-02 -1.15082805e+02] [ 2.70085389e-02 -5.84339136e-04 9.99635032e-01 5.10567746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.362755096 meters 0.022430248553488005 Centerline is valid? [True, True] Translation: X:238.49, Y:-115.12, Z:5.11 [[ 7.86876067e-01 6.16755891e-01 -2.09338332e-02 2.38492060e+02] [-6.16517876e-01 7.87154261e-01 1.71428701e-02 -1.15119410e+02] [ 2.70511221e-02 -5.83231785e-04 9.99633881e-01 5.10532125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.422755096 meters 0.021518510394693373 Centerline is valid? [True, True] Translation: X:238.54, Y:-115.16, Z:5.11 [[ 7.87012304e-01 6.16586349e-01 -2.08064378e-02 2.38536596e+02] [-6.16351261e-01 7.87287072e-01 1.70349114e-02 -1.15155359e+02] [ 2.68841333e-02 -5.82610676e-04 9.99638387e-01 5.10738083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.482755096 meters 0.021172391258424756 Centerline is valid? [True, True] Translation: X:238.58, Y:-115.19, Z:5.11 [[ 7.88341770e-01 6.14914854e-01 -1.99242686e-02 2.38584277e+02] [-6.14698856e-01 7.88593273e-01 1.63084637e-02 -1.15191679e+02] [ 2.57404608e-02 -6.09218015e-04 9.99668474e-01 5.10988802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.542755096 meters 0.02108267071514823 Centerline is valid? [True, True] Translation: X:238.63, Y:-115.23, Z:5.11 [[ 7.88992551e-01 6.14094488e-01 -1.94605742e-02 2.38633543e+02] [-6.13888142e-01 7.89232268e-01 1.59303854e-02 -1.15229159e+02] [ 2.51416750e-02 -6.22339734e-04 9.99683704e-01 5.11109705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.602755096 meters 0.02138709185393703 Centerline is valid? [True, True] Translation: X:238.68, Y:-115.27, Z:5.11 [[ 7.89600404e-01 6.13315182e-01 -1.93827290e-02 2.38682293e+02] [-6.13110017e-01 7.89837998e-01 1.58758875e-02 -1.15268306e+02] [ 2.50461387e-02 -6.51861911e-04 9.99686084e-01 5.11200212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.662755096 meters 0.02260601756677254 Centerline is valid? [True, True] Translation: X:238.73, Y:-115.31, Z:5.11 [[ 7.90239611e-01 6.12485377e-01 -1.95709254e-02 2.38728533e+02] [-6.12275719e-01 7.90481615e-01 1.60393010e-02 -1.15308176e+02] [ 2.52942940e-02 -6.92088557e-04 9.99679809e-01 5.11290547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.722755096 meters 0.023255319863785963 Centerline is valid? [True, True] Translation: X:238.78, Y:-115.35, Z:5.11 [[ 7.90659754e-01 6.11945947e-01 -1.94759350e-02 2.38775736e+02] [-6.11737990e-01 7.90899268e-01 1.59680536e-02 -1.15347600e+02] [ 2.51750884e-02 -7.11127983e-04 9.99682804e-01 5.11371325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.782755096 meters 0.026025869115214387 Centerline is valid? [True, True] Translation: X:238.82, Y:-115.39, Z:5.11 [[ 7.91129267e-01 6.11321984e-01 -1.99978849e-02 2.38820786e+02] [-6.11102524e-01 7.91381620e-01 1.63962350e-02 -1.15385264e+02] [ 2.58493375e-02 -7.50783442e-04 9.99665568e-01 5.11206093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.842755096 meters 0.023622113182732073 Centerline is valid? [True, True] Translation: X:238.87, Y:-115.42, Z:5.12 [[ 7.90639550e-01 6.11972115e-01 -1.94738952e-02 2.38866338e+02] [-6.11764268e-01 7.90879023e-01 1.59640939e-02 -1.15422143e+02] [ 2.51710755e-02 -7.08410731e-04 9.99682907e-01 5.11543603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.902755096 meters 0.022057510709174926 Centerline is valid? [True, True] Translation: X:238.91, Y:-115.46, Z:5.12 [[ 7.89097873e-01 6.13922050e-01 -2.05976632e-02 2.38914641e+02] [-6.13690238e-01 7.89366361e-01 1.68831399e-02 -1.15457986e+02] [ 2.66240343e-02 -6.81864960e-04 9.99645285e-01 5.11543772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.962755096 meters 0.02239343585765446 Centerline is valid? [True, True] Translation: X:238.96, Y:-115.50, Z:5.12 [[ 7.87774931e-01 6.15609253e-01 -2.08783444e-02 2.38958887e+02] [-6.15371711e-01 7.88051298e-01 1.71116722e-02 -1.15495013e+02] [ 2.69873101e-02 -6.32203867e-04 9.99635576e-01 5.11567632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.022755096 meters 0.022427258884953886 Centerline is valid? [True, True] Translation: X:239.00, Y:-115.53, Z:5.12 [[ 7.87298493e-01 6.16225150e-01 -2.06796245e-02 2.39003551e+02] [-6.15992404e-01 7.87569807e-01 1.69457113e-02 -1.15533322e+02] [ 2.67290214e-02 -6.02841313e-04 9.99642534e-01 5.11768114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.082755096 meters 0.020621147379296906 Centerline is valid? [True, True] Translation: X:239.05, Y:-115.57, Z:5.12 [[ 7.87508344e-01 6.15955028e-01 -2.07367420e-02 2.39051326e+02] [-6.15720960e-01 7.87781080e-01 1.69903086e-02 -1.15569660e+02] [ 2.68012790e-02 -6.11963075e-04 9.99640594e-01 5.11995436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14275509600003 meters 0.0205201157416756 Centerline is valid? [True, True] Translation: X:239.10, Y:-115.61, Z:5.12 [[ 7.87905245e-01 6.15457666e-01 -2.04251602e-02 2.39098366e+02] [-6.15230427e-01 7.88169702e-01 1.67344750e-02 -1.15609063e+02] [ 2.63978533e-02 -6.19000602e-04 9.99651324e-01 5.12140307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20275509600003 meters 0.0220602167381651 Centerline is valid? [True, True] Translation: X:239.14, Y:-115.65, Z:5.12 [[ 7.88734027e-01 6.14378431e-01 -2.09231350e-02 2.39141654e+02] [-6.14139581e-01 7.89011212e-01 1.71430349e-02 -1.15649281e+02] [ 2.70408990e-02 -6.71569636e-04 9.99634102e-01 5.12231021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26275509600003 meters 0.025729772963332363 Centerline is valid? [True, True] Translation: X:239.18, Y:-115.69, Z:5.12 [[ 7.89194966e-01 6.13770641e-01 -2.13753316e-02 2.39183266e+02] [-6.13521187e-01 7.89484073e-01 1.75114550e-02 -1.15689715e+02] [ 2.76235009e-02 -7.05733361e-04 9.99618149e-01 5.12131011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32275509600004 meters 0.02137648057367423 Centerline is valid? [True, True] Translation: X:239.24, Y:-115.73, Z:5.13 [[ 7.89203949e-01 6.13760223e-01 -2.13428199e-02 2.39235432e+02] [-6.13511483e-01 7.89492172e-01 1.74863082e-02 -1.15725430e+02] [ 2.75823896e-02 -7.06198455e-04 9.99619284e-01 5.12643294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38275509600004 meters 0.020582697533601257 Centerline is valid? [True, True] Translation: X:239.28, Y:-115.76, Z:5.13 [[ 7.88980800e-01 6.14084674e-01 -2.02314389e-02 2.39284357e+02] [-6.13861006e-01 7.89239868e-01 1.65860324e-02 -1.15763149e+02] [ 2.61526865e-02 -6.66769724e-04 9.99657738e-01 5.12966861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44275509600004 meters 0.023231271281532344 Centerline is valid? [True, True] Translation: X:239.33, Y:-115.80, Z:5.13 [[ 7.88076730e-01 6.15267761e-01 -1.95102586e-02 2.39332088e+02] [-6.15059891e-01 7.88317961e-01 1.60038338e-02 -1.15801918e+02] [ 2.52269302e-02 -6.12271496e-04 9.99681563e-01 5.12882104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50275509600004 meters 0.020888858134620988 Centerline is valid? [True, True] Translation: X:239.38, Y:-115.84, Z:5.13 [[ 7.86194596e-01 6.17664035e-01 -1.97280726e-02 2.39380762e+02] [-6.17452094e-01 7.86441887e-01 1.61885734e-02 -1.15837197e+02] [ 2.55140822e-02 -5.46229218e-04 9.99674314e-01 5.13058758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.562755096 meters 0.018416389234900993 Centerline is valid? [True, True] Translation: X:239.43, Y:-115.87, Z:5.13 [[ 7.84453497e-01 6.19858506e-01 -2.02025530e-02 2.39428387e+02] [-6.19637017e-01 7.84713449e-01 1.65761612e-02 -1.15872245e+02] [ 2.61280895e-02 -4.84977972e-04 9.99658486e-01 5.13358384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.622755096 meters 0.017240985862633215 Centerline is valid? [True, True] Translation: X:239.48, Y:-115.91, Z:5.14 [[ 7.81963228e-01 6.23004623e-01 -1.99687306e-02 2.39476304e+02] [-6.22789323e-01 7.82218065e-01 1.63816654e-02 -1.15906151e+02] [ 2.58257551e-02 -3.73547711e-04 9.99666390e-01 5.13569427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.682755096 meters 0.016003686161639018 Centerline is valid? [True, True] Translation: X:239.52, Y:-115.94, Z:5.14 [[ 7.79816045e-01 6.25714708e-01 -1.91843763e-02 2.39524906e+02] [-6.25516870e-01 7.80051941e-01 1.57357372e-02 -1.15939437e+02] [ 2.48108921e-02 -2.70829328e-04 9.99692126e-01 5.13795763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.742755096 meters 0.018966776872728547 Centerline is valid? [True, True] Translation: X:239.57, Y:-115.98, Z:5.14 [[ 7.79636827e-01 6.25935922e-01 -1.92520226e-02 2.39569202e+02] [-6.25736841e-01 7.79874447e-01 1.57877401e-02 -1.15975272e+02] [ 2.48962741e-02 -2.62003795e-04 9.99690005e-01 5.13653195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.802755096 meters 0.01618119607874861 Centerline is valid? [True, True] Translation: X:239.61, Y:-116.01, Z:5.14 [[ 7.80069242e-01 6.25405858e-01 -1.89602354e-02 2.39614746e+02] [-6.25212736e-01 7.80299583e-01 1.55433396e-02 -1.16011961e+02] [ 2.45155595e-02 -2.70700461e-04 9.99699412e-01 5.14024798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.862755096 meters 0.01707528349359408 Centerline is valid? [True, True] Translation: X:239.66, Y:-116.05, Z:5.14 [[ 7.81405328e-01 6.23750289e-01 -1.84740421e-02 2.39658076e+02] [-6.23566543e-01 7.81623618e-01 1.51422374e-02 -1.16050501e+02] [ 2.38847226e-02 -3.12430415e-04 9.99714671e-01 5.14191185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.922755096 meters 0.01836598207385397 Centerline is valid? [True, True] Translation: X:239.70, Y:-116.09, Z:5.14 [[ 7.83983202e-01 6.20512668e-01 -1.82857046e-02 2.39701026e+02] [-6.20331837e-01 7.84196318e-01 1.49849189e-02 -1.16090249e+02] [ 2.36379143e-02 -4.04719998e-04 9.99720504e-01 5.14312615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.982755096 meters 0.02089292005471396 Centerline is valid? [True, True] Translation: X:239.74, Y:-116.13, Z:5.14 [[ 7.87089727e-01 6.16547233e-01 -1.89544400e-02 2.39743583e+02] [-6.16351844e-01 7.87317735e-01 1.55302403e-02 -1.16132291e+02] [ 2.44982935e-02 -5.41088608e-04 9.99699725e-01 5.14300376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.042755096 meters 0.025069905173664565 Centerline is valid? [True, True] Translation: X:239.79, Y:-116.17, Z:5.14 [[ 7.90397884e-01 6.12272850e-01 -1.98277910e-02 2.39786419e+02] [-6.12057726e-01 7.90646230e-01 1.62443308e-02 -1.16173175e+02] [ 2.56227310e-02 -7.03731996e-04 9.99671436e-01 5.14078591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.102755096 meters 0.028882017217929365 Centerline is valid? [True, True] Translation: X:239.83, Y:-116.21, Z:5.14 [[ 7.92442972e-01 6.09631435e-01 -1.95869650e-02 2.39827644e+02] [-6.09420750e-01 7.92684621e-01 1.60449796e-02 -1.16214934e+02] [ 2.53078098e-02 -7.78028415e-04 9.99679403e-01 5.14070480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.162755096 meters 0.024551474660658174 Centerline is valid? [True, True] Translation: X:239.88, Y:-116.25, Z:5.15 [[ 7.94489596e-01 6.06942358e-01 -2.01805992e-02 2.39876780e+02] [-6.06717867e-01 7.94745358e-01 1.65301518e-02 -1.16252498e+02] [ 2.60712869e-02 -8.89103459e-04 9.99659691e-01 5.14512950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.222755096 meters 0.03111830013580227 Centerline is valid? [True, True] Translation: X:239.92, Y:-116.30, Z:5.14 [[ 7.95763623e-01 6.05290429e-01 -1.95896137e-02 2.39919700e+02] [-6.05078292e-01 7.96004179e-01 1.60501882e-02 -1.16296219e+02] [ 2.53084397e-02 -9.18905906e-04 9.99679268e-01 5.14281027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.282755096 meters 0.03214590093804406 Centerline is valid? [True, True] Translation: X:239.96, Y:-116.33, Z:5.14 [[ 7.95523361e-01 6.05604085e-01 -1.96538583e-02 2.39964040e+02] [-6.05390520e-01 7.95765577e-01 1.61079271e-02 -1.16334009e+02] [ 2.53948903e-02 -9.15972833e-04 9.99677078e-01 5.14361890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.342755096 meters 0.02593086746937966 Centerline is valid? [True, True] Translation: X:240.02, Y:-116.36, Z:5.15 [[ 7.93478940e-01 6.08285965e-01 -1.94770829e-02 2.40016764e+02] [-6.08077106e-01 7.93717526e-01 1.59599922e-02 -1.16364524e+02] [ 2.51675413e-02 -8.20349471e-04 9.99682911e-01 5.14637044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.402755096 meters 0.022563514840245203 Centerline is valid? [True, True] Translation: X:240.07, Y:-116.40, Z:5.15 [[ 7.89716737e-01 6.13173968e-01 -1.91091835e-02 2.40065957e+02] [-6.12974365e-01 7.89947631e-01 1.56578412e-02 -1.16399572e+02] [ 2.46962348e-02 -6.51819660e-04 9.99694789e-01 5.15032745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.462755096 meters 0.023668547338539632 Centerline is valid? [True, True] Translation: X:240.11, Y:-116.43, Z:5.15 [[ 7.87701163e-01 6.15769608e-01 -1.88326244e-02 2.40113967e+02] [-6.15576542e-01 7.87926060e-01 1.54287176e-02 -1.16434475e+02] [ 2.43392509e-02 -5.60297036e-04 9.99703600e-01 5.14850940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.522755096 meters 0.020853044022721638 Centerline is valid? [True, True] Translation: X:240.16, Y:-116.47, Z:5.15 [[ 7.84577291e-01 6.19762808e-01 -1.82355625e-02 2.40163234e+02] [-6.19582909e-01 7.84789070e-01 1.49376811e-02 -1.16467599e+02] [ 2.35688893e-02 -4.21322461e-04 9.99722126e-01 5.15055418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.582755096 meters 0.01828207497682984 Centerline is valid? [True, True] Translation: X:240.21, Y:-116.50, Z:5.15 [[ 7.82629940e-01 6.22253529e-01 -1.70564579e-02 2.40210395e+02] [-6.22096787e-01 7.82815714e-01 1.39694218e-02 -1.16501790e+02] [ 2.20445853e-02 -3.22120089e-04 9.99756937e-01 5.15435752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64275509600003 meters 0.0189872573001872 Centerline is valid? [True, True] Translation: X:240.26, Y:-116.54, Z:5.15 [[ 7.82646330e-01 6.22237906e-01 -1.68733872e-02 2.40255928e+02] [-6.22084591e-01 7.82828135e-01 1.38156510e-02 -1.16537988e+02] [ 2.18055840e-02 -3.16094369e-04 9.99762180e-01 5.15481128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70275509600003 meters 0.01843547844058248 Centerline is valid? [True, True] Translation: X:240.30, Y:-116.58, Z:5.16 [[ 7.84266568e-01 6.20199088e-01 -1.67045300e-02 2.40299208e+02] [-6.20048432e-01 7.84444362e-01 1.36742365e-02 -1.16575894e+02] [ 2.15845234e-02 -3.66628932e-04 9.99766960e-01 5.15822478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76275509600003 meters 0.019579894853445988 Centerline is valid? [True, True] Translation: X:240.34, Y:-116.62, Z:5.16 [[ 7.85650473e-01 6.18444483e-01 -1.67259140e-02 2.40343418e+02] [-6.18293100e-01 7.85828385e-01 1.36891385e-02 -1.16615054e+02] [ 2.16096701e-02 -4.13360940e-04 9.99766398e-01 5.15932576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82275509600004 meters 0.02166410992688203 Centerline is valid? [True, True] Translation: X:240.39, Y:-116.65, Z:5.16 [[ 7.87788320e-01 6.15720808e-01 -1.66568047e-02 2.40385553e+02] [-6.15570110e-01 7.87964245e-01 1.36304246e-02 -1.16654913e+02] [ 2.15175026e-02 -4.84458180e-04 9.99768354e-01 5.15941327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88275509600004 meters 0.02249539061155427 Centerline is valid? [True, True] Translation: X:240.43, Y:-116.69, Z:5.16 [[ 7.89956613e-01 6.12939536e-01 -1.65431316e-02 2.40430415e+02] [-6.12790330e-01 7.90129621e-01 1.35349140e-02 -1.16693196e+02] [ 2.13673022e-02 -5.54523776e-04 9.99771539e-01 5.16025496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94275509600004 meters 0.02434959273993118 Centerline is valid? [True, True] Translation: X:240.48, Y:-116.73, Z:5.16 [[ 7.91303975e-01 6.11184315e-01 -1.70807524e-02 2.40478709e+02] [-6.11024860e-01 7.91488059e-01 1.39740327e-02 -1.16731713e+02] [ 2.20599211e-02 -6.20943301e-04 9.99756457e-01 5.15818554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00275509600004 meters 0.027922526267111045 Centerline is valid? [True, True] Translation: X:240.52, Y:-116.77, Z:5.16 [[ 7.91517693e-01 6.10902483e-01 -1.72597289e-02 2.40521271e+02] [-6.10739461e-01 7.91705593e-01 1.41267284e-02 -1.16773600e+02] [ 2.22946773e-02 -6.40357928e-04 9.99751238e-01 5.15830154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.062755096 meters 0.022388291992877094 Centerline is valid? [True, True] Translation: X:240.57, Y:-116.81, Z:5.16 [[ 7.90723388e-01 6.11955049e-01 -1.63566847e-02 2.40571220e+02] [-6.11808882e-01 7.90892334e-01 1.33869020e-02 -1.16805559e+02] [ 2.11285588e-02 -5.78171561e-04 9.99776600e-01 5.16317158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.122755096 meters 0.021674944408577795 Centerline is valid? [True, True] Translation: X:240.62, Y:-116.84, Z:5.17 [[ 7.89276099e-01 6.13855648e-01 -1.49827438e-02 2.40617268e+02] [-6.13733383e-01 7.89418147e-01 1.22606188e-02 -1.16841286e+02] [ 1.93538999e-02 -4.81603402e-04 9.99812580e-01 5.16616078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.182755096 meters 0.020789993643268098 Centerline is valid? [True, True] Translation: X:240.67, Y:-116.88, Z:5.17 [[ 7.87426774e-01 6.16256878e-01 -1.36578250e-02 2.40665429e+02] [-6.16155671e-01 7.87545118e-01 1.11747988e-02 -1.16875957e+02] [ 1.76427000e-02 -3.83989498e-04 9.99844282e-01 5.16766797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.242755096 meters 0.019095992586604008 Centerline is valid? [True, True] Translation: X:240.71, Y:-116.91, Z:5.17 [[ 7.85381211e-01 6.18885403e-01 -1.25384026e-02 2.40712876e+02] [-6.18800458e-01 7.85481234e-01 1.02578500e-02 -1.16910770e+02] [ 1.61971136e-02 -2.97553362e-04 9.99868774e-01 5.17128147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.302755096 meters 0.018817366376862578 Centerline is valid? [True, True] Translation: X:240.76, Y:-116.95, Z:5.17 [[ 7.84351377e-01 6.20194728e-01 -1.23051197e-02 2.40759712e+02] [-6.20113100e-01 7.84447850e-01 1.00654696e-02 -1.16946366e+02] [ 1.58952759e-02 -2.64299055e-04 9.99873627e-01 5.17204170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.362755096 meters 0.019048847031282793 Centerline is valid? [True, True] Translation: X:240.80, Y:-116.98, Z:5.17 [[ 7.84386589e-01 6.20150315e-01 -1.22990173e-02 2.40803986e+02] [-6.20068780e-01 7.84482961e-01 1.00593891e-02 -1.16982545e+02] [ 1.58867028e-02 -2.64213208e-04 9.99873763e-01 5.17252988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.422755096 meters 0.01876073806148501 Centerline is valid? [True, True] Translation: X:240.85, Y:-117.02, Z:5.17 [[ 7.85849817e-01 6.18287029e-01 -1.26970638e-02 2.40850230e+02] [-6.18199966e-01 7.85952324e-01 1.03801114e-02 -1.17019291e+02] [ 1.63971750e-02 -3.07884221e-04 9.99865510e-01 5.17127605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.482755096 meters 0.02211245342048254 Centerline is valid? [True, True] Translation: X:240.89, Y:-117.06, Z:5.17 [[ 7.87633784e-01 6.16001926e-01 -1.32154777e-02 2.40891640e+02] [-6.15907317e-01 7.87744560e-01 1.08021165e-02 -1.17060321e+02] [ 1.70645453e-02 -3.68602498e-04 9.99854322e-01 5.17158407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.542755096 meters 0.022025641199602985 Centerline is valid? [True, True] Translation: X:240.94, Y:-117.10, Z:5.17 [[ 7.90488298e-01 6.12341605e-01 -1.28844185e-02 2.40935884e+02] [-6.12251227e-01 7.90593176e-01 1.05293097e-02 -1.17100018e+02] [ 1.66338677e-02 -4.34795059e-04 9.99861553e-01 5.17313775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.602755096 meters 0.026523341749379967 Centerline is valid? [True, True] Translation: X:240.98, Y:-117.14, Z:5.17 [[ 7.94109515e-01 6.07609807e-01 -1.41563348e-02 2.40976494e+02] [-6.07499966e-01 7.94235469e-01 1.15677264e-02 -1.17142652e+02] [ 1.82721272e-02 -5.86068728e-04 9.99832879e-01 5.17135630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.662755096 meters 0.02841109797779336 Centerline is valid? [True, True] Translation: X:241.02, Y:-117.19, Z:5.17 [[ 7.96511913e-01 6.04461088e-01 -1.39844857e-02 2.41018212e+02] [-6.04353433e-01 7.96634403e-01 1.14261456e-02 -1.17185636e+02] [ 1.80471828e-02 -6.49489167e-04 9.99836925e-01 5.17356406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.722755096 meters 0.027918652176100123 Centerline is valid? [True, True] Translation: X:241.06, Y:-117.22, Z:5.17 [[ 7.97184158e-01 6.03575912e-01 -1.39117827e-02 2.41064557e+02] [-6.03469255e-01 7.97305259e-01 1.13658428e-02 -1.17224880e+02] [ 1.79520864e-02 -6.65336735e-04 9.99838627e-01 5.17479445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.782755096 meters 0.02805025225355079 Centerline is valid? [True, True] Translation: X:241.11, Y:-117.26, Z:5.18 [[ 7.96860167e-01 6.04001264e-01 -1.40124072e-02 2.41109464e+02] [-6.03893123e-01 7.96983085e-01 1.14480792e-02 -1.17263631e+02] [ 1.80823058e-02 -6.60521963e-04 9.99836284e-01 5.17555647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.842755096 meters 0.027048807512145483 Centerline is valid? [True, True] Translation: X:241.15, Y:-117.30, Z:5.18 [[ 7.94722896e-01 6.06804072e-01 -1.42946171e-02 2.41154737e+02] [-6.06692000e-01 7.94851211e-01 1.16777209e-02 -1.17300618e+02] [ 1.84481823e-02 -6.08122309e-04 9.99829633e-01 5.17684535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.902755096 meters 0.025429904028578438 Centerline is valid? [True, True] Translation: X:241.20, Y:-117.34, Z:5.18 [[ 7.92047503e-01 6.10279085e-01 -1.48388569e-02 2.41203679e+02] [-6.10158944e-01 7.92186304e-01 1.21211971e-02 -1.17335596e+02] [ 1.91524523e-02 -5.46502661e-04 9.99816426e-01 5.17696065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.962755096 meters 0.02080150253881553 Centerline is valid? [True, True] Translation: X:241.25, Y:-117.37, Z:5.18 [[ 7.89745724e-01 6.13265833e-01 -1.43774258e-02 2.41253843e+02] [-6.13153565e-01 7.89876451e-01 1.17429977e-02 -1.17370561e+02] [ 1.85579693e-02 -4.58412352e-04 9.99827681e-01 5.18043828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.022755096 meters 0.020633946086714757 Centerline is valid? [True, True] Translation: X:241.30, Y:-117.41, Z:5.18 [[ 7.89225018e-01 6.13924496e-01 -1.48520578e-02 2.41300671e+02] [-6.13804799e-01 7.89364620e-01 1.21311825e-02 -1.17409930e+02] [ 1.91713191e-02 -4.57968345e-04 9.99816108e-01 5.18129056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.082755096 meters 0.021423991113900066 Centerline is valid? [True, True] Translation: X:241.34, Y:-117.45, Z:5.18 [[ 7.90150276e-01 6.12739406e-01 -1.45932098e-02 2.41344814e+02] [-6.12623625e-01 7.90284880e-01 1.19206781e-02 -1.17449477e+02] [ 1.88370623e-02 -4.78982007e-04 9.99822452e-01 5.18294683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14275509600003 meters 0.02176122080750192 Centerline is valid? [True, True] Translation: X:241.39, Y:-117.49, Z:5.18 [[ 7.91025949e-01 6.11618277e-01 -1.41785498e-02 2.41391916e+02] [-6.11508827e-01 7.91152857e-01 1.15806711e-02 -1.17490029e+02] [ 1.83003503e-02 -4.90302957e-04 9.99832414e-01 5.18411648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20275509600003 meters 0.023344346195943895 Centerline is valid? [True, True] Translation: X:241.44, Y:-117.53, Z:5.18 [[ 7.91683857e-01 6.10762886e-01 -1.43306246e-02 2.41435930e+02] [-6.10650811e-01 7.91813378e-01 1.17116083e-02 -1.17531669e+02] [ 1.85001960e-02 -5.20883663e-04 9.99828721e-01 5.18474337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26275509600003 meters 0.02298262649420589 Centerline is valid? [True, True] Translation: X:241.48, Y:-117.57, Z:5.18 [[ 7.91129980e-01 6.11450157e-01 -1.55582563e-02 2.41481407e+02] [-6.11318181e-01 7.91282759e-01 1.27152457e-02 -1.17569261e+02] [ 2.00857189e-02 -5.48367175e-04 9.99798111e-01 5.18475287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32275509600004 meters 0.02267056259308963 Centerline is valid? [True, True] Translation: X:241.53, Y:-117.61, Z:5.18 [[ 7.90434328e-01 6.12320202e-01 -1.66596163e-02 2.41527220e+02] [-6.12169118e-01 7.90609673e-01 1.36131031e-02 -1.17606613e+02] [ 2.15068318e-02 -5.61761417e-04 9.99768544e-01 5.18450036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38275509600004 meters 0.02218182358471999 Centerline is valid? [True, True] Translation: X:241.57, Y:-117.64, Z:5.18 [[ 7.89157511e-01 6.13925986e-01 -1.80362400e-02 2.41571426e+02] [-6.13749375e-01 7.89363396e-01 1.47354715e-02 -1.17644169e+02] [ 2.32836365e-02 -5.58877000e-04 9.99728743e-01 5.18396087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44275509600004 meters 0.021544220393055636 Centerline is valid? [True, True] Translation: X:241.62, Y:-117.68, Z:5.19 [[ 7.88534615e-01 6.14719283e-01 -1.82582534e-02 2.41616433e+02] [-6.14538572e-01 7.88745784e-01 1.49141335e-02 -1.17682242e+02] [ 2.35691258e-02 -5.39909509e-04 9.99722064e-01 5.18500046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50275509600004 meters 0.0223956504842339 Centerline is valid? [True, True] Translation: X:241.66, Y:-117.72, Z:5.19 [[ 7.88866097e-01 6.14279518e-01 -1.87337937e-02 2.41658786e+02] [-6.14089206e-01 7.89088306e-01 1.53000946e-02 -1.17722099e+02] [ 2.41811522e-02 -5.65505416e-04 9.99707433e-01 5.18623044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.562755096 meters 0.023726776057200114 Centerline is valid? [True, True] Translation: X:241.70, Y:-117.76, Z:5.19 [[ 7.89969934e-01 6.12874479e-01 -1.82311862e-02 2.41700443e+02] [-6.12693930e-01 7.90180058e-01 1.48870278e-02 -1.17763469e+02] [ 2.35297992e-02 -5.90167310e-04 9.99722962e-01 5.18838241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.622755096 meters 0.025114500019937504 Centerline is valid? [True, True] Translation: X:241.74, Y:-117.80, Z:5.19 [[ 7.90731418e-01 6.11893457e-01 -1.81720315e-02 2.41741981e+02] [-6.11713881e-01 7.90939959e-01 1.48360646e-02 -1.17803322e+02] [ 2.34510767e-02 -6.15258476e-04 9.99724796e-01 5.18998170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.682755096 meters 0.02530029136149874 Centerline is valid? [True, True] Translation: X:241.79, Y:-117.84, Z:5.19 [[ 7.90741543e-01 6.11872798e-01 -1.84252810e-02 2.41785728e+02] [-6.11688281e-01 7.90955936e-01 1.50383974e-02 -1.17841295e+02] [ 2.37751717e-02 -6.20957107e-04 9.99717138e-01 5.19058253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.742755096 meters 0.02088759624481528 Centerline is valid? [True, True] Translation: X:241.84, Y:-117.88, Z:5.19 [[ 7.90196301e-01 6.12568322e-01 -1.87044471e-02 2.41836563e+02] [-6.12378379e-01 7.90417409e-01 1.52656755e-02 -1.17876966e+02] [ 2.41355898e-02 -6.08681324e-04 9.99708509e-01 5.19292227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.802755096 meters 0.021415874003456233 Centerline is valid? [True, True] Translation: X:241.88, Y:-117.92, Z:5.19 [[ 7.89797251e-01 6.13078219e-01 -1.88520591e-02 2.41882202e+02] [-6.12885220e-01 7.90021983e-01 1.53939442e-02 -1.17918041e+02] [ 2.43312330e-02 -6.03946447e-04 9.99703769e-01 5.19381214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.862755096 meters 0.02030080265997439 Centerline is valid? [True, True] Translation: X:241.93, Y:-117.96, Z:5.20 [[ 7.89707874e-01 6.13208530e-01 -1.83513774e-02 2.41930685e+02] [-6.13025549e-01 7.89920852e-01 1.49907707e-02 -1.17958433e+02] [ 2.36886041e-02 -5.88466447e-04 9.99719212e-01 5.19604829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.922755096 meters 0.01978572319859838 Centerline is valid? [True, True] Translation: X:241.98, Y:-118.00, Z:5.20 [[ 7.89511037e-01 6.13471838e-01 -1.80173679e-02 2.41978888e+02] [-6.13295307e-01 7.89716386e-01 1.47274054e-02 -1.17999518e+02] [ 2.32634592e-02 -5.77481917e-04 9.99729202e-01 5.19817507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.982755096 meters 0.020711479992539424 Centerline is valid? [True, True] Translation: X:242.02, Y:-118.04, Z:5.20 [[ 7.88961097e-01 6.14177491e-01 -1.80664505e-02 2.42023985e+02] [-6.13999962e-01 7.89167720e-01 1.47769019e-02 -1.18040536e+02] [ 2.33331001e-02 -5.65600856e-04 9.99727586e-01 5.19878713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.042755096 meters 0.018655498557590373 Centerline is valid? [True, True] Translation: X:242.07, Y:-118.08, Z:5.20 [[ 7.87264228e-01 6.16334298e-01 -1.86297747e-02 2.42073394e+02] [-6.16145924e-01 7.87484450e-01 1.52460202e-02 -1.18078735e+02] [ 2.40673031e-02 -5.23986554e-04 9.99710203e-01 5.19953371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.102755096 meters 0.01747816643836442 Centerline is valid? [True, True] Translation: X:242.12, Y:-118.12, Z:5.20 [[ 7.85146697e-01 6.19005306e-01 -1.94189440e-02 2.42122090e+02] [-6.18801250e-01 7.85386664e-01 1.58997010e-02 -1.18118048e+02] [ 2.50933789e-02 -4.67130875e-04 9.99685002e-01 5.20010948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.162755096 meters 0.01698550685939327 Centerline is valid? [True, True] Translation: X:242.17, Y:-118.16, Z:5.20 [[ 7.83939916e-01 6.20538929e-01 -1.92261802e-02 2.42168621e+02] [-6.20339255e-01 7.84175531e-01 1.57462819e-02 -1.18157770e+02] [ 2.48478810e-02 -4.17384557e-04 9.99691157e-01 5.20088330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.222755096 meters 0.016882890156661324 Centerline is valid? [True, True] Translation: X:242.22, Y:-118.20, Z:5.20 [[ 7.83531541e-01 6.21075423e-01 -1.85376255e-02 2.42215115e+02] [-6.20889761e-01 7.83750703e-01 1.51901103e-02 -1.18198907e+02] [ 2.39630811e-02 -3.92108640e-04 9.99712767e-01 5.20230487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.282755096 meters 0.01721676316904036 Centerline is valid? [True, True] Translation: X:242.26, Y:-118.24, Z:5.20 [[ 7.83757326e-01 6.20802365e-01 -1.81349651e-02 2.42260843e+02] [-6.20624460e-01 7.83967006e-01 1.48665191e-02 -1.18238819e+02] [ 2.34463845e-02 -3.96740334e-04 9.99725017e-01 5.20339716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.342755096 meters 0.018013827385631346 Centerline is valid? [True, True] Translation: X:242.30, Y:-118.28, Z:5.20 [[ 7.84562164e-01 6.19788098e-01 -1.80256657e-02 2.42304272e+02] [-6.19612071e-01 7.84769096e-01 1.47765815e-02 -1.18277908e+02] [ 2.33043347e-02 -4.24226702e-04 9.99728327e-01 5.20401520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.402755096 meters 0.019052512862258734 Centerline is valid? [True, True] Translation: X:242.35, Y:-118.32, Z:5.21 [[ 7.85537902e-01 6.18574875e-01 -1.71851436e-02 2.42347397e+02] [-6.18414631e-01 7.85725736e-01 1.40858550e-02 -1.18316141e+02] [ 2.22159656e-02 -4.37428737e-04 9.99753099e-01 5.20530332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.462755096 meters 0.01821152259553828 Centerline is valid? [True, True] Translation: X:242.40, Y:-118.35, Z:5.21 [[ 7.85612352e-01 6.18496355e-01 -1.65979048e-02 2.42397587e+02] [-6.18346881e-01 7.85787553e-01 1.36035108e-02 -1.18353841e+02] [ 2.14561488e-02 -4.23823509e-04 9.99769701e-01 5.20747478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.522755096 meters 0.0175834997054743 Centerline is valid? [True, True] Translation: X:242.45, Y:-118.39, Z:5.21 [[ 7.86020578e-01 6.17976978e-01 -1.66164151e-02 2.42447090e+02] [-6.17826874e-01 7.86196067e-01 1.36271164e-02 -1.18391755e+02] [ 2.14850045e-02 -4.45126143e-04 9.99769072e-01 5.20815262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.582755096 meters 0.018468077032341195 Centerline is valid? [True, True] Translation: X:242.49, Y:-118.43, Z:5.21 [[ 7.86229384e-01 6.17693091e-01 -1.72800412e-02 2.42493660e+02] [-6.17530501e-01 7.86419110e-01 1.41796721e-02 -1.18430671e+02] [ 2.23480402e-02 -4.77522335e-04 9.99750137e-01 5.20772418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64275509600003 meters 0.01890573938872138 Centerline is valid? [True, True] Translation: X:242.54, Y:-118.47, Z:5.21 [[ 7.86238066e-01 6.17677279e-01 -1.74494322e-02 2.42542963e+02] [-6.17511304e-01 7.86431523e-01 1.43265234e-02 -1.18469793e+02] [ 2.25719516e-02 -4.88836436e-04 9.99745102e-01 5.20829633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70275509600003 meters 0.019714748169669026 Centerline is valid? [True, True] Translation: X:242.59, Y:-118.51, Z:5.21 [[ 7.86000561e-01 6.17977331e-01 -1.75253235e-02 2.42590395e+02] [-6.17809778e-01 7.86195764e-01 1.43978668e-02 -1.18509923e+02] [ 2.26758904e-02 -4.89415197e-04 9.99742749e-01 5.20868167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76275509600003 meters 0.01886871299319618 Centerline is valid? [True, True] Translation: X:242.64, Y:-118.55, Z:5.21 [[ 7.85508062e-01 6.18590764e-01 -1.79597008e-02 2.42640314e+02] [-6.18414754e-01 7.85713196e-01 1.47636848e-02 -1.18548580e+02] [ 2.32438529e-02 -4.90449497e-04 9.99729705e-01 5.20958276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82275509600004 meters 0.017561126181918983 Centerline is valid? [True, True] Translation: X:242.69, Y:-118.59, Z:5.21 [[ 7.84258284e-01 6.20188269e-01 -1.74772590e-02 2.42688878e+02] [-6.20021786e-01 7.84452879e-01 1.43758835e-02 -1.18587152e+02] [ 2.26258405e-02 -4.38124382e-04 9.99743907e-01 5.21121269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88275509600004 meters 0.017369347116319978 Centerline is valid? [True, True] Translation: X:242.74, Y:-118.63, Z:5.21 [[ 7.83166037e-01 6.21591303e-01 -1.65894844e-02 2.42736458e+02] [-6.21441464e-01 7.83341627e-01 1.36528999e-02 -1.18625202e+02] [ 2.14817576e-02 -3.83093998e-04 9.99769167e-01 5.21211710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94275509600004 meters 0.016135113039603223 Centerline is valid? [True, True] Translation: X:242.79, Y:-118.66, Z:5.21 [[ 7.82454854e-01 6.22495294e-01 -1.62483976e-02 2.42785148e+02] [-6.22351604e-01 7.82623461e-01 1.33790373e-02 -1.18663210e+02] [ 2.10447649e-02 -3.56276350e-04 9.99778471e-01 5.21322557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00275509600004 meters 0.01649037050027689 Centerline is valid? [True, True] Translation: X:242.83, Y:-118.70, Z:5.21 [[ 7.82498823e-01 6.22451550e-01 -1.58006358e-02 2.42831812e+02] [-6.22315510e-01 7.82658254e-01 1.30178046e-02 -1.18704792e+02] [ 2.04694507e-02 -3.53436009e-04 9.99790416e-01 5.21428231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.062755096 meters 0.01694451531863244 Centerline is valid? [True, True] Translation: X:242.88, Y:-118.75, Z:5.22 [[ 7.82390824e-01 6.22592478e-01 -1.55950100e-02 2.42878037e+02] [-6.22459817e-01 7.82546154e-01 1.28566527e-02 -1.18745810e+02] [ 2.02082704e-02 -3.51660038e-04 9.99795730e-01 5.21515770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.122755096 meters 0.016679641169502015 Centerline is valid? [True, True] Translation: X:242.93, Y:-118.79, Z:5.22 [[ 7.82035329e-01 6.23056266e-01 -1.48873492e-02 2.42927009e+02] [-6.22935320e-01 7.82176949e-01 1.22803465e-02 -1.18786020e+02] [ 1.92958882e-02 -3.29809137e-04 9.99813763e-01 5.21651698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.182755096 meters 0.017259464976131816 Centerline is valid? [True, True] Translation: X:242.97, Y:-118.83, Z:5.22 [[ 7.82236388e-01 6.22801609e-01 -1.49796512e-02 2.42973661e+02] [-6.22678954e-01 7.82379727e-01 1.23645634e-02 -1.18826583e+02] [ 1.94204454e-02 -3.44497903e-04 9.99811346e-01 5.21656707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.242755096 meters 0.017974565318501428 Centerline is valid? [True, True] Translation: X:243.02, Y:-118.87, Z:5.22 [[ 7.82836575e-01 6.22051504e-01 -1.47926727e-02 2.43020998e+02] [-6.21931620e-01 7.82976241e-01 1.22174540e-02 -1.18867357e+02] [ 1.91821969e-02 -3.64238917e-04 9.99815938e-01 5.21720402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.302755096 meters 0.01914204244637864 Centerline is valid? [True, True] Translation: X:243.07, Y:-118.91, Z:5.22 [[ 7.83636707e-01 6.21036854e-01 -1.50577879e-02 2.43066547e+02] [-6.20912312e-01 7.83781261e-01 1.24433072e-02 -1.18908345e+02] [ 1.95297643e-02 -4.01466318e-04 9.99809195e-01 5.21815889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.362755096 meters 0.01939062737617941 Centerline is valid? [True, True] Translation: X:243.12, Y:-118.95, Z:5.22 [[ 7.84252516e-01 6.20243941e-01 -1.56666648e-02 2.43115169e+02] [-6.20108878e-01 7.84408859e-01 1.29507311e-02 -1.18947681e+02] [ 2.03216832e-02 -4.41605484e-04 9.99793396e-01 5.21828168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.422755096 meters 0.019572127093811266 Centerline is valid? [True, True] Translation: X:243.16, Y:-118.99, Z:5.22 [[ 7.84300446e-01 6.20180531e-01 -1.57771633e-02 2.43163710e+02] [-6.20043392e-01 7.84458988e-01 1.30494342e-02 -1.18987055e+02] [ 2.04695426e-02 -4.52151243e-04 9.99790375e-01 5.21897084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.482755096 meters 0.019187980237199937 Centerline is valid? [True, True] Translation: X:243.21, Y:-119.03, Z:5.22 [[ 7.84290397e-01 6.20203957e-01 -1.53500650e-02 2.43212686e+02] [-6.20073991e-01 7.84440472e-01 1.27040305e-02 -1.19025841e+02] [ 1.99203022e-02 -4.45473095e-04 9.99801472e-01 5.22072493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.542755096 meters 0.020717672326926437 Centerline is valid? [True, True] Translation: X:243.26, Y:-119.07, Z:5.22 [[ 7.84010258e-01 6.20572765e-01 -1.47430727e-02 2.43259092e+02] [-6.20452796e-01 7.84148750e-01 1.22092387e-02 -1.19066345e+02] [ 1.91374831e-02 -4.24787744e-04 9.99816771e-01 5.22221460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.602755096 meters 0.018344658239992484 Centerline is valid? [True, True] Translation: X:243.31, Y:-119.10, Z:5.22 [[ 7.82520938e-01 6.22458911e-01 -1.43487157e-02 2.43310346e+02] [-6.22345462e-01 7.82652390e-01 1.18895394e-02 -1.19101211e+02] [ 1.86308063e-02 -3.73955445e-04 9.99826362e-01 5.22380820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.662755096 meters 0.01711197667548962 Centerline is valid? [True, True] Translation: X:243.36, Y:-119.14, Z:5.23 [[ 7.80999908e-01 6.24376683e-01 -1.38889178e-02 2.43360484e+02] [-6.24270576e-01 7.81123328e-01 1.15149537e-02 -1.19138738e+02] [ 1.80386263e-02 -3.22735087e-04 9.99837239e-01 5.22556949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.722755096 meters 0.016158120092225125 Centerline is valid? [True, True] Translation: X:243.41, Y:-119.17, Z:5.23 [[ 7.78406447e-01 6.27619139e-01 -1.33273699e-02 2.43410506e+02] [-6.27521881e-01 7.78520493e-01 1.10512573e-02 -1.19174881e+02] [ 1.73116112e-02 -2.39153681e-04 9.99850114e-01 5.22753674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.782755096 meters 0.015059779895298008 Centerline is valid? [True, True] Translation: X:243.46, Y:-119.21, Z:5.23 [[ 7.76161035e-01 6.30408984e-01 -1.25921127e-02 2.43459675e+02] [-6.30322422e-01 7.76263154e-01 1.04479678e-02 -1.19209765e+02] [ 1.63612859e-02 -1.72214535e-04 9.99866130e-01 5.22922631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.842755096 meters 0.014389876107061954 Centerline is valid? [True, True] Translation: X:243.51, Y:-119.25, Z:5.23 [[ 7.74235119e-01 6.32774749e-01 -1.24938981e-02 2.43509274e+02] [-6.32689863e-01 7.74335910e-01 1.03651230e-02 -1.19247147e+02] [ 1.62332620e-02 -1.20279556e-04 9.99868225e-01 5.23083681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.902755096 meters 0.014477506712075632 Centerline is valid? [True, True] Translation: X:243.56, Y:-119.29, Z:5.23 [[ 7.73446322e-01 6.33735938e-01 -1.26312171e-02 2.43557365e+02] [-6.33649202e-01 7.73549449e-01 1.04851675e-02 -1.19286438e+02] [ 1.64156985e-02 -1.05953620e-04 9.99865248e-01 5.23172245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.962755096 meters 0.014823337548299878 Centerline is valid? [True, True] Translation: X:243.60, Y:-119.33, Z:5.23 [[ 7.74135269e-01 6.32876682e-01 -1.34792961e-02 2.43602535e+02] [-6.32777649e-01 7.74252599e-01 1.11964220e-02 -1.19325760e+02] [ 1.75223344e-02 -1.38147817e-04 9.99846463e-01 5.23202624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.022755096 meters 0.015510201116156575 Centerline is valid? [True, True] Translation: X:243.65, Y:-119.37, Z:5.23 [[ 7.75987591e-01 6.30591592e-01 -1.40535419e-02 2.43648905e+02] [-6.30483577e-01 7.76114814e-01 1.16727838e-02 -1.19366923e+02] [ 1.82679214e-02 -1.97408038e-04 9.99833108e-01 5.23215265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.082755096 meters 0.017151083052652078 Centerline is valid? [True, True] Translation: X:243.69, Y:-119.41, Z:5.23 [[ 7.78708363e-01 6.27208228e-01 -1.49373239e-02 2.43693215e+02] [-6.27085432e-01 7.78851557e-01 1.24142272e-02 -1.19410046e+02] [ 1.94202634e-02 -3.00084340e-04 9.99811364e-01 5.23207803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14275509600003 meters 0.017934758158373074 Centerline is valid? [True, True] Translation: X:243.74, Y:-119.45, Z:5.23 [[ 7.80414510e-01 6.25072587e-01 -1.54095410e-02 2.43739377e+02] [-6.24941348e-01 7.80566540e-01 1.28135698e-02 -1.19451189e+02] [ 2.00375834e-02 -3.69836479e-04 9.99799159e-01 5.23322260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20275509600003 meters 0.018923867813449888 Centerline is valid? [True, True] Translation: X:243.79, Y:-119.49, Z:5.23 [[ 7.81926190e-01 6.23171609e-01 -1.57663744e-02 2.43786029e+02] [-6.23033676e-01 7.82085006e-01 1.31179613e-02 -1.19492254e+02] [ 2.05053860e-02 -4.34295315e-04 9.99789648e-01 5.23493444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26275509600003 meters 0.019001301380883427 Centerline is valid? [True, True] Translation: X:243.83, Y:-119.53, Z:5.24 [[ 7.81886128e-01 6.23218714e-01 -1.58908062e-02 2.43834119e+02] [-6.23078444e-01 7.82047466e-01 1.32292514e-02 -1.19532282e+02] [ 2.06720818e-02 -4.42549339e-04 9.99786212e-01 5.23656955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32275509600004 meters 0.018836582580068404 Centerline is valid? [True, True] Translation: X:243.88, Y:-119.57, Z:5.24 [[ 7.80794475e-01 6.24582287e-01 -1.60298040e-02 2.43882204e+02] [-6.24439659e-01 7.80958893e-01 1.33536366e-02 -1.19570605e+02] [ 2.08590629e-02 -4.16800384e-04 9.99782339e-01 5.23745420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38275509600004 meters 0.017720708217477125 Centerline is valid? [True, True] Translation: X:243.93, Y:-119.61, Z:5.24 [[ 7.79800650e-01 6.25828000e-01 -1.58196313e-02 2.43931378e+02] [-6.25689201e-01 7.79961004e-01 1.31854503e-02 -1.19608712e+02] [ 2.05905195e-02 -3.83850259e-04 9.99787919e-01 5.23883815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44275509600004 meters 0.01790873079463731 Centerline is valid? [True, True] Translation: X:243.98, Y:-119.65, Z:5.24 [[ 7.79243499e-01 6.26532912e-01 -1.53648506e-02 2.43978128e+02] [-6.26401977e-01 7.79394881e-01 1.28134155e-02 -1.19648031e+02] [ 2.00033124e-02 -3.60197998e-04 9.99799849e-01 5.24014045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50275509600004 meters 0.019141210625275448 Centerline is valid? [True, True] Translation: X:244.03, Y:-119.69, Z:5.24 [[ 7.78933477e-01 6.26918065e-01 -1.53745990e-02 2.44026595e+02] [-6.26786949e-01 7.79085114e-01 1.28259848e-02 -1.19687448e+02] [ 2.00189628e-02 -3.53990927e-04 9.99799538e-01 5.23998716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.562755096 meters 0.017845882874986483 Centerline is valid? [True, True] Translation: X:244.07, Y:-119.73, Z:5.24 [[ 7.78720466e-01 6.27196053e-01 -1.48170916e-02 2.44074410e+02] [-6.27074177e-01 7.78861345e-01 1.23685753e-02 -1.19727584e+02] [ 1.92979815e-02 -3.40247256e-04 9.99813719e-01 5.24291591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.622755096 meters 0.01838806205736803 Centerline is valid? [True, True] Translation: X:244.12, Y:-119.77, Z:5.24 [[ 7.79184398e-01 6.26619994e-01 -1.48005340e-02 2.44120664e+02] [-6.26498138e-01 7.79324870e-01 1.23624245e-02 -1.19767340e+02] [ 1.92809666e-02 -3.60101299e-04 9.99814040e-01 5.24412369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.682755096 meters 0.019418336932158515 Centerline is valid? [True, True] Translation: X:244.16, Y:-119.81, Z:5.25 [[ 7.80053141e-01 6.25535729e-01 -1.49046675e-02 2.44164999e+02] [-6.25411937e-01 7.80195424e-01 1.24502966e-02 -1.19805779e+02] [ 1.94166588e-02 -3.90335943e-04 9.99811403e-01 5.24505849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.742755096 meters 0.020278874388020122 Centerline is valid? [True, True] Translation: X:244.21, Y:-119.84, Z:5.25 [[ 7.80817371e-01 6.24577006e-01 -1.50929193e-02 2.44209614e+02] [-6.24449918e-01 7.80963116e-01 1.26060394e-02 -1.19843997e+02] [ 1.96604557e-02 -4.18242342e-04 9.99806627e-01 5.24536078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.802755096 meters 0.02149669885745677 Centerline is valid? [True, True] Translation: X:244.26, Y:-119.88, Z:5.24 [[ 7.81153138e-01 6.24163002e-01 -1.48432504e-02 2.44258708e+02] [-6.24040038e-01 7.81294036e-01 1.23959690e-02 -1.19882050e+02] [ 1.93340482e-02 -4.20367561e-04 9.99812991e-01 5.24477644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.862755096 meters 0.0194068268172974 Centerline is valid? [True, True] Translation: X:244.31, Y:-119.92, Z:5.25 [[ 7.80603703e-01 6.24856401e-01 -1.45717653e-02 2.44307625e+02] [-6.24737890e-01 7.80739596e-01 1.21758925e-02 -1.19920945e+02] [ 1.89849385e-02 -4.01012871e-04 9.99819689e-01 5.24828008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.922755096 meters 0.021277960072348376 Centerline is valid? [True, True] Translation: X:244.35, Y:-119.96, Z:5.25 [[ 7.80895488e-01 6.24487624e-01 -1.47460062e-02 2.44353217e+02] [-6.24366065e-01 7.81034590e-01 1.23282418e-02 -1.19959055e+02] [ 1.92159753e-02 -4.20162466e-04 9.99815268e-01 5.24874718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.982755096 meters 0.020836179266393234 Centerline is valid? [True, True] Translation: X:244.40, Y:-119.99, Z:5.25 [[ 7.81728614e-01 6.23440917e-01 -1.48928666e-02 2.44400637e+02] [-6.23316746e-01 7.81870335e-01 1.24504712e-02 -1.19993747e+02] [ 1.94064238e-02 -4.49916462e-04 9.99811576e-01 5.24976728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.042755096 meters 0.02136705637631197 Centerline is valid? [True, True] Translation: X:244.45, Y:-120.03, Z:5.25 [[ 7.83358286e-01 6.21396750e-01 -1.46926661e-02 2.44448588e+02] [-6.21275568e-01 7.83495907e-01 1.22813623e-02 -1.20032582e+02] [ 1.91432424e-02 -4.92512456e-04 9.99816630e-01 5.25164612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.102755096 meters 0.022052339343523047 Centerline is valid? [True, True] Translation: X:244.50, Y:-120.07, Z:5.25 [[ 7.84470762e-01 6.19999397e-01 -1.43656607e-02 2.44496807e+02] [-6.19883250e-01 7.84602116e-01 1.20114958e-02 -1.20072115e+02] [ 1.87184479e-02 -5.17634852e-04 9.99824661e-01 5.25362364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.162755096 meters 0.025449691530833814 Centerline is valid? [True, True] Translation: X:244.54, Y:-120.11, Z:5.26 [[ 7.85405814e-01 6.18832389e-01 -1.35713661e-02 2.44542604e+02] [-6.18728448e-01 7.85522886e-01 1.13535813e-02 -1.20112838e+02] [ 1.76865825e-02 -5.20178474e-04 9.99843445e-01 5.25585069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.222755096 meters 0.023283497123926786 Centerline is valid? [True, True] Translation: X:244.59, Y:-120.15, Z:5.26 [[ 7.85132326e-01 6.19186888e-01 -1.32222458e-02 2.44592939e+02] [-6.19088218e-01 7.85243494e-01 1.10649698e-02 -1.20147459e+02] [ 1.72339668e-02 -5.01728889e-04 9.99851358e-01 5.25727762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.282755096 meters 0.02369261802786425 Centerline is valid? [True, True] Translation: X:244.64, Y:-120.18, Z:5.26 [[ 7.83448085e-01 6.21337391e-01 -1.22042463e-02 2.44639809e+02] [-6.21253586e-01 7.83543024e-01 1.02133350e-02 -1.20182292e+02] [ 1.59084790e-02 -4.19685964e-04 9.99873364e-01 5.25970545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.342755096 meters 0.019267993099595898 Centerline is valid? [True, True] Translation: X:244.69, Y:-120.21, Z:5.26 [[ 7.80604785e-01 6.24914759e-01 -1.17351647e-02 2.44694231e+02] [-6.24837705e-01 7.80692919e-01 9.81880224e-03 -1.20212795e+02] [ 1.52974744e-02 -3.32030604e-04 9.99882932e-01 5.26067416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.402755096 meters 0.018172686006159806 Centerline is valid? [True, True] Translation: X:244.74, Y:-120.25, Z:5.26 [[ 7.78052690e-01 6.28091100e-01 -1.16439543e-02 2.44741931e+02] [-6.28015572e-01 7.78139767e-01 9.74392740e-03 -1.20245374e+02] [ 1.51806980e-02 -2.68704290e-04 9.99884730e-01 5.26192422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.462755096 meters 0.017508935247545675 Centerline is valid? [True, True] Translation: X:244.79, Y:-120.28, Z:5.26 [[ 7.76896970e-01 6.29522770e-01 -1.14969610e-02 2.44789947e+02] [-6.29449323e-01 7.76981998e-01 9.61890344e-03 -1.20280140e+02] [ 1.49882505e-02 -2.36142585e-04 9.99887642e-01 5.26280573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.522755096 meters 0.017255738152131522 Centerline is valid? [True, True] Translation: X:244.84, Y:-120.31, Z:5.26 [[ 7.75885044e-01 6.30762586e-01 -1.18726140e-02 2.44838370e+02] [-6.30684432e-01 7.75975845e-01 9.93150205e-03 -1.20314664e+02] [ 1.54772816e-02 -2.17831079e-04 9.99880196e-01 5.26286918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.582755096 meters 0.017674607781882262 Centerline is valid? [True, True] Translation: X:244.88, Y:-120.35, Z:5.26 [[ 7.76148522e-01 6.30432235e-01 -1.21930090e-02 2.44882911e+02] [-6.30349790e-01 7.76244256e-01 1.01978834e-02 -1.20350928e+02] [ 1.58938277e-02 -2.29211437e-04 9.99873659e-01 5.26375633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64275509600003 meters 0.01806841845708109 Centerline is valid? [True, True] Translation: X:244.93, Y:-120.39, Z:5.26 [[ 7.76704952e-01 6.29749408e-01 -1.20457720e-02 2.44927760e+02] [-6.29668893e-01 7.76798317e-01 1.00726983e-02 -1.20389403e+02] [ 1.57004112e-02 -2.38666744e-04 9.99876712e-01 5.26454250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70275509600003 meters 0.019286898253790197 Centerline is valid? [True, True] Translation: X:244.97, Y:-120.43, Z:5.27 [[ 7.78247527e-01 6.27854140e-01 -1.14002902e-02 2.44970649e+02] [-6.27781839e-01 7.78330978e-01 9.53164251e-03 -1.20427853e+02] [ 1.48576802e-02 -2.61082077e-04 9.99889584e-01 5.26542002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76275509600003 meters 0.020154276712202823 Centerline is valid? [True, True] Translation: X:245.02, Y:-120.46, Z:5.26 [[ 7.79010875e-01 6.26913787e-01 -1.10072841e-02 2.45016642e+02] [-6.26846316e-01 7.79088591e-01 9.20128736e-03 -1.20464473e+02] [ 1.43440633e-02 -2.68027451e-04 9.99897083e-01 5.26364665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82275509600004 meters 0.020014454841286156 Centerline is valid? [True, True] Translation: X:245.06, Y:-120.50, Z:5.26 [[ 7.80037135e-01 6.25633133e-01 -1.11915485e-02 2.45061258e+02] [-6.25563275e-01 7.80117360e-01 9.35376449e-03 -1.20503373e+02] [ 1.45827463e-02 -2.95261914e-04 9.99893623e-01 5.26482477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88275509600004 meters 0.020697784890438387 Centerline is valid? [True, True] Translation: X:245.10, Y:-120.54, Z:5.27 [[ 7.80843395e-01 6.24623089e-01 -1.13837166e-02 2.45103580e+02] [-6.24550726e-01 7.80926306e-01 9.51288462e-03 -1.20542697e+02] [ 1.48318111e-02 -3.18364661e-04 9.99889952e-01 5.26588302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94275509600004 meters 0.022420652482869903 Centerline is valid? [True, True] Translation: X:245.15, Y:-120.58, Z:5.27 [[ 7.81934889e-01 6.23247514e-01 -1.18476236e-02 2.45145189e+02] [-6.23169004e-01 7.82024558e-01 9.89866200e-03 -1.20582997e+02] [ 1.54344491e-02 -3.57037364e-04 9.99880818e-01 5.26698604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00275509600004 meters 0.02097295451220031 Centerline is valid? [True, True] Translation: X:245.19, Y:-120.62, Z:5.27 [[ 7.82323972e-01 6.22756739e-01 -1.19686111e-02 2.45191394e+02] [-6.22676609e-01 7.82415432e-01 9.99659076e-03 -1.20618808e+02] [ 1.55898703e-02 -3.67998405e-04 9.99878403e-01 5.26705334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.062755096 meters 0.021632433875328278 Centerline is valid? [True, True] Translation: X:245.23, Y:-120.66, Z:5.27 [[ 7.82733648e-01 6.22245608e-01 -1.17660412e-02 2.45234561e+02] [-6.22168132e-01 7.82821989e-01 9.82594456e-03 -1.20658173e+02] [ 1.53248666e-02 -3.70641561e-04 9.99882499e-01 5.26807397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.122755096 meters 0.022337612558438222 Centerline is valid? [True, True] Translation: X:245.28, Y:-120.70, Z:5.27 [[ 7.83257255e-01 6.21571236e-01 -1.25407829e-02 2.45276959e+02] [-6.21483170e-01 7.83357538e-01 1.04707746e-02 -1.20696894e+02] [ 1.63322492e-02 -4.07424655e-04 9.99866537e-01 5.26824791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.182755096 meters 0.02304030880932717 Centerline is valid? [True, True] Translation: X:245.32, Y:-120.74, Z:5.27 [[ 7.84223162e-01 6.20340977e-01 -1.30807219e-02 2.45320498e+02] [-6.20245039e-01 7.84332117e-01 1.09188388e-02 -1.20737146e+02] [ 1.70330335e-02 -4.49553411e-04 9.99854826e-01 5.26809444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.242755096 meters 0.023899885124574027 Centerline is valid? [True, True] Translation: X:245.36, Y:-120.78, Z:5.27 [[ 7.84300359e-01 6.20254371e-01 -1.25483839e-02 2.45361637e+02] [-6.20166091e-01 7.84400618e-01 1.04733035e-02 -1.20776266e+02] [ 1.63390724e-02 -4.32133479e-04 9.99866415e-01 5.26943838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.302755096 meters 0.021285316975681843 Centerline is valid? [True, True] Translation: X:245.41, Y:-120.81, Z:5.27 [[ 7.83790025e-01 6.20907584e-01 -1.21230701e-02 2.45410004e+02] [-6.20825339e-01 7.83883672e-01 1.01136860e-02 -1.20812765e+02] [ 1.57827411e-02 -4.00697127e-04 9.99875364e-01 5.27040660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.362755096 meters 0.020585212146733343 Centerline is valid? [True, True] Translation: X:245.45, Y:-120.85, Z:5.27 [[ 7.81811990e-01 6.23403941e-01 -1.17277061e-02 2.45454626e+02] [-6.23327248e-01 7.81899873e-01 9.78419558e-03 -1.20850189e+02] [ 1.52693980e-02 -3.39202627e-04 9.99883358e-01 5.27204367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.422755096 meters 0.018965262835814737 Centerline is valid? [True, True] Translation: X:245.50, Y:-120.89, Z:5.27 [[ 7.78948977e-01 6.26971467e-01 -1.20528302e-02 2.45500259e+02] [-6.26890913e-01 7.79042171e-01 1.00537816e-02 -1.20886658e+02] [ 1.56930972e-02 -2.75573145e-04 9.99876818e-01 5.27306759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.482755096 meters 0.018654540087055957 Centerline is valid? [True, True] Translation: X:245.55, Y:-120.92, Z:5.27 [[ 7.78165769e-01 6.27944215e-01 -1.20041405e-02 2.45545039e+02] [-6.27864451e-01 7.78258311e-01 1.00116295e-02 -1.20923986e+02] [ 1.56290670e-02 -2.53734297e-04 9.99877826e-01 5.27412617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.542755096 meters 0.016815657091494792 Centerline is valid? [True, True] Translation: X:245.59, Y:-120.96, Z:5.27 [[ 7.76102778e-01 6.30483800e-01 -1.24360839e-02 2.45591962e+02] [-6.30398543e-01 7.76202380e-01 1.03702625e-02 -1.20960072e+02] [ 1.61912004e-02 -2.08700371e-04 9.99868892e-01 5.27471038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.602755096 meters 0.016323182444042114 Centerline is valid? [True, True] Translation: X:245.64, Y:-121.00, Z:5.28 [[ 7.75223303e-01 6.31568093e-01 -1.22708299e-02 2.45637153e+02] [-6.31485249e-01 7.75320392e-01 1.02308542e-02 -1.20997767e+02] [ 1.59753057e-02 -1.82348570e-04 9.99872370e-01 5.27614593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.662755096 meters 0.016176408078142305 Centerline is valid? [True, True] Translation: X:245.68, Y:-121.04, Z:5.28 [[ 7.74429979e-01 6.32534032e-01 -1.26057843e-02 2.45680874e+02] [-6.32446758e-01 7.74532550e-01 1.05084575e-02 -1.21035577e+02] [ 1.64105472e-02 -1.65577047e-04 9.99865324e-01 5.27705395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.722755096 meters 0.015982698753490718 Centerline is valid? [True, True] Translation: X:245.72, Y:-121.07, Z:5.28 [[ 7.74711117e-01 6.32188496e-01 -1.26645770e-02 2.45724822e+02] [-6.32100394e-01 7.74814608e-01 1.05553561e-02 -1.21074293e+02] [ 1.64856740e-02 -1.72067591e-04 9.99864087e-01 5.27770293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.782755096 meters 0.016448041441999503 Centerline is valid? [True, True] Translation: X:245.77, Y:-121.11, Z:5.28 [[ 7.75824039e-01 6.30814779e-01 -1.30297705e-02 2.45767822e+02] [-6.30721360e-01 7.75933420e-01 1.08579076e-02 -1.21113936e+02] [ 1.69595630e-02 -2.05671137e-04 9.99856155e-01 5.27837000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.842755096 meters 0.017346639803952384 Centerline is valid? [True, True] Translation: X:245.81, Y:-121.16, Z:5.28 [[ 7.77489407e-01 6.28760555e-01 -1.30532197e-02 2.45810096e+02] [-6.28666539e-01 7.77598934e-01 1.08756970e-02 -1.21155341e+02] [ 1.69883790e-02 -2.49616796e-04 9.99855656e-01 5.27902456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.902755096 meters 0.018884388129996318 Centerline is valid? [True, True] Translation: X:245.85, Y:-121.20, Z:5.28 [[ 7.79536882e-01 6.26215520e-01 -1.32805483e-02 2.45850429e+02] [-6.26117860e-01 7.79649939e-01 1.10633459e-02 -1.21196793e+02] [ 1.72822176e-02 -3.09097647e-04 9.99850604e-01 5.28002318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.962755096 meters 0.021250790884812763 Centerline is valid? [True, True] Translation: X:245.89, Y:-121.24, Z:5.28 [[ 7.81139825e-01 6.24209538e-01 -1.35287177e-02 2.45891237e+02] [-6.24107933e-01 7.81256887e-01 1.12678332e-02 -1.21237434e+02] [ 1.76028928e-02 -3.58373178e-04 9.99844993e-01 5.27896226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.022755096 meters 0.022019577830481946 Centerline is valid? [True, True] Translation: X:245.93, Y:-121.28, Z:5.28 [[ 7.82906198e-01 6.21996406e-01 -1.33550186e-02 2.45932381e+02] [-6.21897105e-01 7.83019993e-01 1.11211763e-02 -1.21279368e+02] [ 1.73745782e-02 -4.01390398e-04 9.99848970e-01 5.28198639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.082755096 meters 0.020287996737153195 Centerline is valid? [True, True] Translation: X:245.98, Y:-121.32, Z:5.28 [[ 7.83783558e-01 6.20886098e-01 -1.35568136e-02 2.45980316e+02] [-6.20783646e-01 7.83900675e-01 1.12870312e-02 -1.21319324e+02] [ 1.76351561e-02 -4.30741245e-04 9.99844396e-01 5.28202340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14275509600003 meters 0.02098667996689568 Centerline is valid? [True, True] Translation: X:246.02, Y:-121.36, Z:5.28 [[ 7.83246471e-01 6.21564761e-01 -1.34986837e-02 2.46024159e+02] [-6.21463171e-01 7.83362670e-01 1.12451970e-02 -1.21362680e+02] [ 1.75639830e-02 -4.18826090e-04 9.99845654e-01 5.28269108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20275509600003 meters 0.02035565271762827 Centerline is valid? [True, True] Translation: X:246.07, Y:-121.40, Z:5.28 [[ 7.81595367e-01 6.23640291e-01 -1.34710905e-02 2.46071502e+02] [-6.23539319e-01 7.81711358e-01 1.12281511e-02 -1.21402709e+02] [ 1.75328319e-02 -3.76116314e-04 9.99846217e-01 5.28417221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26275509600003 meters 0.01732176669245625 Centerline is valid? [True, True] Translation: X:246.12, Y:-121.44, Z:5.29 [[ 7.76804968e-01 6.29616660e-01 -1.25260892e-02 2.46123007e+02] [-6.29530031e-01 7.76905920e-01 1.04465835e-02 -1.21435546e+02] [ 1.63089358e-02 -2.29408601e-04 9.99866974e-01 5.28550870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32275509600004 meters 0.015596661261592037 Centerline is valid? [True, True] Translation: X:246.17, Y:-121.47, Z:5.29 [[ 7.72353137e-01 6.35069535e-01 -1.25426644e-02 2.46171537e+02] [-6.34983387e-01 7.72454965e-01 1.04606386e-02 -1.21468944e+02] [ 1.63318763e-02 -1.14923461e-04 9.99866619e-01 5.28664205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38275509600004 meters 0.015140229754471312 Centerline is valid? [True, True] Translation: X:246.22, Y:-121.51, Z:5.29 [[ 7.70422433e-01 6.37416580e-01 -1.22220417e-02 2.46218300e+02] [-6.37335101e-01 7.70519370e-01 1.01916195e-02 -1.21505501e+02] [ 1.59136272e-02 -6.23161295e-05 9.99873368e-01 5.28814982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44275509600004 meters 0.015038991806559564 Centerline is valid? [True, True] Translation: X:246.27, Y:-121.54, Z:5.29 [[ 7.68854879e-01 6.39310171e-01 -1.20283154e-02 2.46265179e+02] [-6.39231502e-01 7.68948961e-01 1.00290632e-02 -1.21540292e+02] [ 1.56608427e-02 -2.20160982e-05 9.99877361e-01 5.28846169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50275509600004 meters 0.015040942222150147 Centerline is valid? [True, True] Translation: X:246.31, Y:-121.58, Z:5.29 [[ 7.68828846e-01 6.39341824e-01 -1.20098995e-02 2.46311258e+02] [-6.39263433e-01 7.68922643e-01 1.00115658e-02 -1.21578188e+02] [ 1.56354964e-02 -1.96909569e-05 9.99877758e-01 5.28864620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.562755096 meters 0.015251277949275025 Centerline is valid? [True, True] Translation: X:246.36, Y:-121.62, Z:5.29 [[ 7.69851228e-01 6.38113378e-01 -1.18491993e-02 2.46355238e+02] [-6.38036935e-01 7.69942410e-01 9.87698041e-03 -1.21617016e+02] [ 1.54258344e-02 -4.35787274e-05 9.99881014e-01 5.29020620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.622755096 meters 0.015526064729488167 Centerline is valid? [True, True] Translation: X:246.40, Y:-121.66, Z:5.29 [[ 7.71593809e-01 6.36021457e-01 -1.09407162e-02 2.46398283e+02] [-6.35956094e-01 7.71671368e-01 9.11849955e-03 -1.21655563e+02] [ 1.42421988e-02 -7.79626617e-05 9.99898572e-01 5.29243964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.682755096 meters 0.015864633119658664 Centerline is valid? [True, True] Translation: X:246.44, Y:-121.69, Z:5.29 [[ 7.72943068e-01 6.34374791e-01 -1.12976985e-02 2.46442487e+02] [-6.34304946e-01 7.73025622e-01 9.41399896e-03 -1.21693729e+02] [ 1.47054140e-02 -1.10299221e-04 9.99891863e-01 5.29262005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.742755096 meters 0.016578357293688544 Centerline is valid? [True, True] Translation: X:246.49, Y:-121.73, Z:5.29 [[ 7.75054120e-01 6.31780021e-01 -1.20463922e-02 2.46485286e+02] [-6.31700323e-01 7.75147712e-01 1.00362411e-02 -1.21733051e+02] [ 1.56784299e-02 -1.68920204e-04 9.99877072e-01 5.29226678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.802755096 meters 0.017100092446763773 Centerline is valid? [True, True] Translation: X:246.53, Y:-121.77, Z:5.29 [[ 7.76816466e-01 6.29595496e-01 -1.28720831e-02 2.46532212e+02] [-6.29504248e-01 7.76923073e-01 1.07210342e-02 -1.21773468e+02] [ 1.67505331e-02 -2.25244903e-04 9.99859675e-01 5.29224524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.862755096 meters 0.017576394965828097 Centerline is valid? [True, True] Translation: X:246.58, Y:-121.81, Z:5.29 [[ 7.78191462e-01 6.27887673e-01 -1.32332079e-02 2.46579368e+02] [-6.27790873e-01 7.78303922e-01 1.10284062e-02 -1.21813145e+02] [ 1.72240579e-02 -2.74524392e-04 9.99851617e-01 5.29243167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.922755096 meters 0.018221155826943274 Centerline is valid? [True, True] Translation: X:246.63, Y:-121.85, Z:5.29 [[ 7.78783488e-01 6.27143246e-01 -1.36977030e-02 2.46625847e+02] [-6.27039352e-01 7.78903881e-01 1.14190568e-02 -1.21854168e+02] [ 1.78305784e-02 -3.03974064e-04 9.99840976e-01 5.29384391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.982755096 meters 0.018504937770364167 Centerline is valid? [True, True] Translation: X:246.67, Y:-121.89, Z:5.30 [[ 7.79332869e-01 6.26452817e-01 -1.40408835e-02 2.46673340e+02] [-6.26343416e-01 7.79459272e-01 1.17118978e-02 -1.21894097e+02] [ 1.82812482e-02 -3.33051979e-04 9.99832829e-01 5.29507375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.042755096 meters 0.018802750628813095 Centerline is valid? [True, True] Translation: X:246.72, Y:-121.93, Z:5.30 [[ 7.79028136e-01 6.26845175e-01 -1.34272022e-02 2.46720424e+02] [-6.26745077e-01 7.79143779e-01 1.12062596e-02 -1.21932659e+02] [ 1.74863108e-02 -3.14558706e-04 9.99847053e-01 5.29678139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.102755096 meters 0.018103209478484327 Centerline is valid? [True, True] Translation: X:246.77, Y:-121.97, Z:5.30 [[ 7.78463021e-01 6.27554021e-01 -1.30872557e-02 2.46769396e+02] [-6.27458974e-01 7.78572967e-01 1.09256987e-02 -1.21970975e+02] [ 1.70458497e-02 -2.93536357e-04 9.99854666e-01 5.29848530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.162755096 meters 0.0180734046681574 Centerline is valid? [True, True] Translation: X:246.82, Y:-122.01, Z:5.30 [[ 7.77993518e-01 6.28126844e-01 -1.35186128e-02 2.46816923e+02] [-6.28025398e-01 7.78110905e-01 1.12924356e-02 -1.22010998e+02] [ 1.76120620e-02 -2.95409487e-04 9.99844852e-01 5.30002674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.222755096 meters 0.01771701416618188 Centerline is valid? [True, True] Translation: X:246.87, Y:-122.05, Z:5.30 [[ 7.77541078e-01 6.28697146e-01 -1.30295740e-02 2.46865345e+02] [-6.28602890e-01 7.77650193e-01 1.08896779e-02 -1.22051335e+02] [ 1.69787602e-02 -2.76744038e-04 9.99855812e-01 5.30204726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.282755096 meters 0.017999177899324002 Centerline is valid? [True, True] Translation: X:246.91, Y:-122.09, Z:5.30 [[ 7.77283953e-01 6.29010828e-01 -1.32300827e-02 2.46911387e+02] [-6.28913558e-01 7.77396489e-01 1.10650837e-02 -1.22089889e+02] [ 1.72450773e-02 -2.80133634e-04 9.99851253e-01 5.30333914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.342755096 meters 0.017457226713098052 Centerline is valid? [True, True] Translation: X:246.96, Y:-122.13, Z:5.30 [[ 7.76898599e-01 6.29478259e-01 -1.36267412e-02 2.46960894e+02] [-6.29375139e-01 7.77018046e-01 1.13969573e-02 -1.22128452e+02] [ 1.77623607e-02 -2.77948039e-04 9.99842198e-01 5.30336001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.402755096 meters 0.017533999862780505 Centerline is valid? [True, True] Translation: X:247.01, Y:-122.17, Z:5.30 [[ 7.76700548e-01 6.29717444e-01 -1.38635985e-02 2.47008544e+02] [-6.29610607e-01 7.76824215e-01 1.16027428e-02 -1.22168505e+02] [ 1.80760286e-02 -2.83188042e-04 9.99836575e-01 5.30425604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.462755096 meters 0.017779396704222853 Centerline is valid? [True, True] Translation: X:247.05, Y:-122.21, Z:5.31 [[ 7.76897174e-01 6.29468929e-01 -1.41296969e-02 2.47053718e+02] [-6.29357783e-01 7.77025596e-01 1.18323089e-02 -1.22207369e+02] [ 1.84272070e-02 -2.99852620e-04 9.99830160e-01 5.30507418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.522755096 meters 0.01865687078638256 Centerline is valid? [True, True] Translation: X:247.10, Y:-122.25, Z:5.31 [[ 7.78092157e-01 6.27997086e-01 -1.38656408e-02 2.47097518e+02] [-6.27889837e-01 7.78215621e-01 1.16103237e-02 -1.22245007e+02] [ 1.80817077e-02 -3.27806881e-04 9.99836459e-01 5.30653402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.582755096 meters 0.0188428463403576 Centerline is valid? [True, True] Translation: X:247.15, Y:-122.28, Z:5.31 [[ 7.79224861e-01 6.26596622e-01 -1.36121122e-02 2.47145331e+02] [-6.26493092e-01 7.79343666e-01 1.13954201e-02 -1.22284458e+02] [ 1.77488451e-02 -3.51700365e-04 9.99842415e-01 5.30845578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64275509600003 meters 0.020001332102018203 Centerline is valid? [True, True] Translation: X:247.19, Y:-122.33, Z:5.31 [[ 7.80732351e-01 6.24716867e-01 -1.36320282e-02 2.47191286e+02] [-6.24612632e-01 7.80851251e-01 1.14185713e-02 -1.22325465e+02] [ 1.77779604e-02 -4.00110984e-04 9.99841880e-01 5.30951074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70275509600003 meters 0.020936353045737995 Centerline is valid? [True, True] Translation: X:247.24, Y:-122.37, Z:5.31 [[ 7.81358462e-01 6.23918123e-01 -1.43223612e-02 2.47237688e+02] [-6.23802807e-01 7.81489589e-01 1.20033628e-02 -1.22366575e+02] [ 1.86818917e-02 -4.44599990e-04 9.99825379e-01 5.30993836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76275509600003 meters 0.021259054355975446 Centerline is valid? [True, True] Translation: X:247.29, Y:-122.41, Z:5.31 [[ 7.82158426e-01 6.22890623e-01 -1.53449719e-02 2.47285610e+02] [-6.22757900e-01 7.82308771e-01 1.28679773e-02 -1.22406499e+02] [ 2.00198485e-02 -5.08594360e-04 9.99799453e-01 5.30974941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82275509600004 meters 0.020978443810786212 Centerline is valid? [True, True] Translation: X:247.33, Y:-122.45, Z:5.31 [[ 7.82184215e-01 6.22844413e-01 -1.58962631e-02 2.47334090e+02] [-6.22701809e-01 7.82345545e-01 1.33380816e-02 -1.22445846e+02] [ 2.07439202e-02 -5.34205081e-04 9.99784679e-01 5.31010431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88275509600004 meters 0.02001401376232911 Centerline is valid? [True, True] Translation: X:247.38, Y:-122.48, Z:5.31 [[ 7.81186759e-01 6.24086465e-01 -1.62274830e-02 2.47382629e+02] [-6.23937944e-01 7.81355115e-01 1.36244791e-02 -1.22484396e+02] [ 2.11822799e-02 -5.18320262e-04 9.99775496e-01 5.31148031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94275509600004 meters 0.020138521752154057 Centerline is valid? [True, True] Translation: X:247.43, Y:-122.52, Z:5.31 [[ 7.79624949e-01 6.26044556e-01 -1.59107695e-02 2.47428650e+02] [-6.25902025e-01 7.79787151e-01 1.33661695e-02 -1.22524378e+02] [ 2.07748313e-02 -4.62016339e-04 9.99784073e-01 5.31348440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.002755096 meters 0.019458542669399465 Centerline is valid? [True, True] Translation: X:247.47, Y:-122.56, Z:5.32 [[ 7.78063275e-01 6.27999420e-01 -1.53058326e-02 2.47474847e+02] [-6.27867778e-01 7.78213704e-01 1.28640510e-02 -1.22561847e+02] [ 1.99898253e-02 -3.99006555e-04 9.99800104e-01 5.31530469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.062755096 meters 0.01861694780499469 Centerline is valid? [True, True] Translation: X:247.52, Y:-122.60, Z:5.32 [[ 7.76909100e-01 6.29423266e-01 -1.54467899e-02 2.47522899e+02] [-6.29289486e-01 7.77062558e-01 1.29816487e-02 -1.22600061e+02] [ 2.01740738e-02 -3.65058541e-04 9.99796416e-01 5.31680850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.122755096 meters 0.018014943548245173 Centerline is valid? [True, True] Translation: X:247.57, Y:-122.64, Z:5.32 [[ 7.75514579e-01 6.31126187e-01 -1.60272999e-02 2.47566954e+02] [-6.30982510e-01 7.75680105e-01 1.34702204e-02 -1.22636920e+02] [ 2.09334666e-02 -3.33406402e-04 9.99780815e-01 5.31719901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.182755096 meters 0.01792915882703107 Centerline is valid? [True, True] Translation: X:247.61, Y:-122.68, Z:5.32 [[ 7.75241465e-01 6.31454468e-01 -1.63072200e-02 2.47611252e+02] [-6.31305858e-01 7.75412888e-01 1.37028138e-02 -1.22675045e+02] [ 2.12975316e-02 -3.28145892e-04 9.99773128e-01 5.31821132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.242755096 meters 0.018664176698272025 Centerline is valid? [True, True] Translation: X:247.65, Y:-122.71, Z:5.32 [[ 7.75914512e-01 6.30599384e-01 -1.73518565e-02 2.47653417e+02] [-6.30430967e-01 7.76108420e-01 1.45779775e-02 -1.22714449e+02] [ 2.26597856e-02 -3.72116651e-04 9.99743165e-01 5.31806858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.302755096 meters 0.01976449555936596 Centerline is valid? [True, True] Translation: X:247.70, Y:-122.75, Z:5.32 [[ 7.76964407e-01 6.29278708e-01 -1.82925621e-02 2.47695669e+02] [-6.29091257e-01 7.77179595e-01 1.53644857e-02 -1.22754515e+02] [ 2.38851497e-02 -4.29967598e-04 9.99714617e-01 5.31839561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.362755096 meters 0.018704970505368054 Centerline is valid? [True, True] Translation: X:247.74, Y:-122.79, Z:5.32 [[ 7.76598479e-01 6.29745594e-01 -1.77563950e-02 2.47742944e+02] [-6.29569155e-01 7.76801343e-01 1.49115117e-02 -1.22789911e+02] [ 2.31836503e-02 -4.01378746e-04 9.99731142e-01 5.32013368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.422755096 meters 0.01775277562237341 Centerline is valid? [True, True] Translation: X:247.79, Y:-122.82, Z:5.32 [[ 7.75732358e-01 6.30808410e-01 -1.78901943e-02 2.47791505e+02] [-6.30629633e-01 7.75938537e-01 1.50217534e-02 -1.22824861e+02] [ 2.33575396e-02 -3.70773532e-04 9.99727107e-01 5.32086698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.482755096 meters 0.018473652895418944 Centerline is valid? [True, True] Translation: X:247.84, Y:-122.86, Z:5.32 [[ 7.75573040e-01 6.30975857e-01 -1.88660667e-02 2.47835221e+02] [-6.30777135e-01 7.75802372e-01 1.58393838e-02 -1.22862114e+02] [ 2.46306080e-02 -3.84315567e-04 9.99696547e-01 5.32050991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.542755096 meters 0.018020517275904376 Centerline is valid? [True, True] Translation: X:247.88, Y:-122.90, Z:5.32 [[ 7.76316331e-01 6.30033192e-01 -1.97770538e-02 2.47883789e+02] [-6.29814560e-01 7.76568084e-01 1.66021186e-02 -1.22900264e+02] [ 2.58181146e-02 -4.32619328e-04 9.99666563e-01 5.32092302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.602755096 meters 0.020133035320865533 Centerline is valid? [True, True] Translation: X:247.93, Y:-122.94, Z:5.32 [[ 7.78057419e-01 6.27851332e-01 -2.07209522e-02 2.47929425e+02] [-6.27610538e-01 7.78333106e-01 1.73950742e-02 -1.22938180e+02] [ 2.70493236e-02 -5.29678539e-04 9.99633960e-01 5.31966714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.662755096 meters 0.02031593997598119 Centerline is valid? [True, True] Translation: X:247.97, Y:-122.98, Z:5.32 [[ 7.79006107e-01 6.26682822e-01 -2.04481166e-02 2.47974381e+02] [-6.26447973e-01 7.79274230e-01 1.71642764e-02 -1.22975555e+02] [ 2.66912475e-02 -5.61394922e-04 9.99643568e-01 5.32228393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.722755096 meters 0.020455213916689582 Centerline is valid? [True, True] Translation: X:248.02, Y:-123.01, Z:5.32 [[ 7.78937096e-01 6.26780675e-01 -2.00745239e-02 2.48020008e+02] [-6.26554431e-01 7.79195539e-01 1.68480795e-02 -1.23013196e+02] [ 2.62020301e-02 -5.45812276e-04 9.99656519e-01 5.32481437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.782755096 meters 0.02007116484823825 Centerline is valid? [True, True] Translation: X:248.07, Y:-123.05, Z:5.33 [[ 7.78410590e-01 6.27450218e-01 -1.95749471e-02 2.48065653e+02] [-6.27235371e-01 7.78656514e-01 1.64262894e-02 -1.23049649e+02] [ 2.55488389e-02 -5.08298448e-04 9.99673446e-01 5.32668530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.842755096 meters 0.020132135283942126 Centerline is valid? [True, True] Translation: X:248.11, Y:-123.09, Z:5.33 [[ 7.77211584e-01 6.28949400e-01 -1.90999149e-02 2.48111072e+02] [-6.28745381e-01 7.77446110e-01 1.60247298e-02 -1.23085519e+02] [ 2.49278987e-02 -4.45622376e-04 9.99689152e-01 5.32846565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.902755096 meters 0.01766862266878622 Centerline is valid? [True, True] Translation: X:248.16, Y:-123.12, Z:5.33 [[ 7.76194624e-01 6.30223675e-01 -1.84397732e-02 2.48162104e+02] [-6.30033904e-01 7.76413529e-01 1.54697057e-02 -1.23121490e+02] [ 2.40662642e-02 -3.89820079e-04 9.99710290e-01 5.33250439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.962755096 meters 0.0177563298491896 Centerline is valid? [True, True] Translation: X:248.21, Y:-123.16, Z:5.33 [[ 7.75734227e-01 6.30800231e-01 -1.80963287e-02 2.48206928e+02] [-6.30617469e-01 7.75945186e-01 1.51880197e-02 -1.23159419e+02] [ 2.36223655e-02 -3.70005699e-04 9.99720885e-01 5.33437839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.022755096 meters 0.01727917487021747 Centerline is valid? [True, True] Translation: X:248.25, Y:-123.20, Z:5.34 [[ 7.75281792e-01 6.31362419e-01 -1.78784718e-02 2.48253862e+02] [-6.31184220e-01 7.75487831e-01 1.50034812e-02 -1.23196801e+02] [ 2.33371715e-02 -3.47316495e-04 9.99727591e-01 5.33537907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.082755096 meters 0.01736992445310109 Centerline is valid? [True, True] Translation: X:248.30, Y:-123.24, Z:5.34 [[ 7.75627232e-01 6.30933814e-01 -1.80255332e-02 2.48299105e+02] [-6.30752585e-01 7.75836575e-01 1.51256520e-02 -1.23235245e+02] [ 2.35281532e-02 -3.62215939e-04 9.99723109e-01 5.33583153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14275509600003 meters 0.018202187751029674 Centerline is valid? [True, True] Translation: X:248.34, Y:-123.28, Z:5.34 [[ 7.77441649e-01 6.28688813e-01 -1.82991365e-02 2.48344881e+02] [-6.28501394e-01 7.77656856e-01 1.53561953e-02 -1.23277949e+02] [ 2.38847172e-02 -4.37513038e-04 9.99714624e-01 5.33677817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20275509600003 meters 0.021498201284668065 Centerline is valid? [True, True] Translation: X:248.39, Y:-123.32, Z:5.34 [[ 7.79249340e-01 6.26442043e-01 -1.84616568e-02 2.48388419e+02] [-6.26250436e-01 7.79467830e-01 1.55013905e-02 -1.23321187e+02] [ 2.41009903e-02 -5.17827676e-04 9.99709395e-01 5.33602496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26275509600003 meters 0.021587701938152497 Centerline is valid? [True, True] Translation: X:248.43, Y:-123.36, Z:5.34 [[ 7.80937816e-01 6.24357211e-01 -1.77257119e-02 2.48430986e+02] [-6.24179911e-01 7.81138756e-01 1.48890413e-02 -1.23362007e+02] [ 2.31423208e-02 -5.63382092e-04 9.99732022e-01 5.33959428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32275509600004 meters 0.020969280534340506 Centerline is valid? [True, True] Translation: X:248.48, Y:-123.40, Z:5.34 [[ 7.81474225e-01 6.23685870e-01 -1.77192390e-02 2.48478436e+02] [-6.23508531e-01 7.81674866e-01 1.48833844e-02 -1.23401737e+02] [ 2.31332403e-02 -5.82884589e-04 9.99732221e-01 5.34049321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38275509600004 meters 0.021839648765907046 Centerline is valid? [True, True] Translation: X:248.52, Y:-123.44, Z:5.34 [[ 7.81398633e-01 6.23784907e-01 -1.75660588e-02 2.48523808e+02] [-6.23610459e-01 7.81595837e-01 1.47629207e-02 -1.23442366e+02] [ 2.29384456e-02 -5.81348069e-04 9.99736710e-01 5.34122101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44275509600004 meters 0.01968927666575543 Centerline is valid? [True, True] Translation: X:248.57, Y:-123.48, Z:5.34 [[ 7.79592461e-01 6.26036842e-01 -1.77050077e-02 2.48574111e+02] [-6.25860043e-01 7.79793304e-01 1.48865673e-02 -1.23479723e+02] [ 2.31257860e-02 -5.24598776e-04 9.99732426e-01 5.34235835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.502755096 meters 0.018000009068541836 Centerline is valid? [True, True] Translation: X:248.62, Y:-123.52, Z:5.34 [[ 7.76614063e-01 6.29729012e-01 -1.76626377e-02 2.48623630e+02] [-6.29553913e-01 7.76814777e-01 1.48550506e-02 -1.23516872e+02] [ 2.30752543e-02 -4.17058567e-04 9.99733644e-01 5.34314007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.562755096 meters 0.017471230444145665 Centerline is valid? [True, True] Translation: X:248.67, Y:-123.55, Z:5.34 [[ 7.74696647e-01 6.32098527e-01 -1.72208030e-02 2.48669263e+02] [-6.31932517e-01 7.74887949e-01 1.44900024e-02 -1.23554011e+02] [ 2.25033019e-02 -3.42970885e-04 9.99746710e-01 5.34414065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.622755096 meters 0.015999150055513577 Centerline is valid? [True, True] Translation: X:248.72, Y:-123.59, Z:5.35 [[ 7.72454585e-01 6.34873830e-01 -1.57839719e-02 2.48716425e+02] [-6.34734966e-01 7.72615792e-01 1.32800795e-02 -1.23589247e+02] [ 2.06261209e-02 -2.39619447e-04 9.99787230e-01 5.34690703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.682755096 meters 0.015664861649060353 Centerline is valid? [True, True] Translation: X:248.76, Y:-123.63, Z:5.35 [[ 7.71489065e-01 6.36072547e-01 -1.47084232e-02 2.48761534e+02] [-6.35952218e-01 7.71629236e-01 1.23732906e-02 -1.23626402e+02] [ 1.92197598e-02 -1.92004044e-04 9.99815265e-01 5.34872718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.742755096 meters 0.015560247212421689 Centerline is valid? [True, True] Translation: X:248.81, Y:-123.67, Z:5.35 [[ 7.71818325e-01 6.35677563e-01 -1.45089005e-02 2.48806794e+02] [-6.35560443e-01 7.71954660e-01 1.22035433e-02 -1.23666196e+02] [ 1.89577320e-02 -1.97635110e-04 9.99820267e-01 5.34979016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.802755096 meters 0.0164575022998799 Centerline is valid? [True, True] Translation: X:248.85, Y:-123.71, Z:5.35 [[ 7.73644291e-01 6.33454264e-01 -1.44985117e-02 2.48850202e+02] [-6.33336920e-01 7.73780093e-01 1.21948052e-02 -1.23708095e+02] [ 1.89435111e-02 -2.51998659e-04 9.99820524e-01 5.35108798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.862755096 meters 0.018015488832294143 Centerline is valid? [True, True] Translation: X:248.89, Y:-123.75, Z:5.35 [[ 7.75560320e-01 6.31098949e-01 -1.48427305e-02 2.48892785e+02] [-6.30975535e-01 7.75702273e-01 1.24842725e-02 -1.23748536e+02] [ 1.93923510e-02 -3.16906575e-04 9.99811900e-01 5.35134468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.922755096 meters 0.018259782989017228 Centerline is valid? [True, True] Translation: X:248.94, Y:-123.79, Z:5.35 [[ 7.76753432e-01 6.29624391e-01 -1.50742118e-02 2.48940143e+02] [-6.29496841e-01 7.76899606e-01 1.26779109e-02 -1.23789218e+02] [ 1.96934712e-02 -3.58442041e-04 9.99806001e-01 5.35229309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.982755096 meters 0.01988199512344046 Centerline is valid? [True, True] Translation: X:248.98, Y:-123.83, Z:5.35 [[ 7.78906598e-01 6.26949292e-01 -1.54627602e-02 2.48983866e+02] [-6.26814414e-01 7.79059939e-01 1.30115596e-02 -1.23830363e+02] [ 2.02040051e-02 -4.42508616e-04 9.99795780e-01 5.35263027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.042755096 meters 0.02087108190765968 Centerline is valid? [True, True] Translation: X:249.03, Y:-123.87, Z:5.35 [[ 7.80776089e-01 6.24596991e-01 -1.63492492e-02 2.49030291e+02] [-6.24445676e-01 7.80947063e-01 1.37580105e-02 -1.23871452e+02] [ 2.13611101e-02 -5.32707629e-04 9.99771684e-01 5.35233293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.102755096 meters 0.021405593382462507 Centerline is valid? [True, True] Translation: X:249.08, Y:-123.91, Z:5.35 [[ 7.81660177e-01 6.23477981e-01 -1.68099478e-02 2.49076931e+02] [-6.23317580e-01 7.81840690e-01 1.41537993e-02 -1.23911761e+02] [ 2.19672834e-02 -5.85525266e-04 9.99758519e-01 5.35244963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.162755096 meters 0.022424333976231645 Centerline is valid? [True, True] Translation: X:249.12, Y:-123.95, Z:5.35 [[ 7.82547801e-01 6.22377543e-01 -1.62829177e-02 2.49122965e+02] [-6.22226653e-01 7.82716954e-01 1.37171940e-02 -1.23953209e+02] [ 2.12821892e-02 -6.02694618e-04 9.99773327e-01 5.35353445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.222755096 meters 0.02266005748748127 Centerline is valid? [True, True] Translation: X:249.17, Y:-123.99, Z:5.36 [[ 7.82853181e-01 6.21991948e-01 -1.63374842e-02 2.49169915e+02] [-6.21839794e-01 7.83023391e-01 1.37710085e-02 -1.23993327e+02] [ 2.13580887e-02 -6.21380060e-04 9.99771697e-01 5.35560772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.282755096 meters 0.02239648623648432 Centerline is valid? [True, True] Translation: X:249.22, Y:-124.03, Z:5.36 [[ 7.82047665e-01 6.23000207e-01 -1.64982245e-02 2.49218237e+02] [-6.22845095e-01 7.82221436e-01 1.39144991e-02 -1.24032927e+02] [ 2.15740006e-02 -6.05963305e-04 9.99767071e-01 5.35723290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.342755096 meters 0.021525175578501494 Centerline is valid? [True, True] Translation: X:249.27, Y:-124.07, Z:5.36 [[ 7.80815724e-01 6.24543728e-01 -1.64905165e-02 2.49267095e+02] [-6.24388949e-01 7.80989634e-01 1.39151938e-02 -1.24072025e+02] [ 2.15695695e-02 -5.68705870e-04 9.99767188e-01 5.35873261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.402755096 meters 0.020206775325835518 Centerline is valid? [True, True] Translation: X:249.32, Y:-124.11, Z:5.36 [[ 7.78988954e-01 6.26838128e-01 -1.58167805e-02 2.49316441e+02] [-6.26696145e-01 7.79149360e-01 1.33497960e-02 -1.24109411e+02] [ 2.06917955e-02 -4.87028219e-04 9.99785783e-01 5.36045641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.462755096 meters 0.01965290868344105 Centerline is valid? [True, True] Translation: X:249.37, Y:-124.15, Z:5.36 [[ 7.77107644e-01 6.29201238e-01 -1.44745290e-02 2.49365287e+02] [-6.29082619e-01 7.77242335e-01 1.22234007e-02 -1.24147856e+02] [ 1.89411956e-02 -3.93223571e-04 9.99820522e-01 5.36301478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.522755096 meters 0.019791451211984216 Centerline is valid? [True, True] Translation: X:249.41, Y:-124.19, Z:5.36 [[ 7.76139735e-01 6.30415862e-01 -1.35259823e-02 2.49411784e+02] [-6.30312352e-01 7.76257510e-01 1.14287940e-02 -1.24185689e+02] [ 1.77045384e-02 -3.44747461e-04 9.99843203e-01 5.36465038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.582755096 meters 0.019436764951680036 Centerline is valid? [True, True] Translation: X:249.46, Y:-124.22, Z:5.37 [[ 7.75515109e-01 6.31187772e-01 -1.33533416e-02 2.49458811e+02] [-6.31087001e-01 7.75629997e-01 1.12829808e-02 -1.24223156e+02] [ 1.74789318e-02 -3.23001772e-04 9.99847180e-01 5.36571407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64275509600003 meters 0.018907977751676755 Centerline is valid? [True, True] Translation: X:249.50, Y:-124.26, Z:5.37 [[ 7.74100516e-01 6.32918030e-01 -1.35335664e-02 2.49504258e+02] [-6.32814799e-01 7.74218758e-01 1.14344051e-02 -1.24258396e+02] [ 1.77149821e-02 -2.87137750e-04 9.99843036e-01 5.36594741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70275509600003 meters 0.017908017307049547 Centerline is valid? [True, True] Translation: X:249.55, Y:-124.29, Z:5.37 [[ 7.72396031e-01 6.34976617e-01 -1.44591664e-02 2.49551527e+02] [-6.34859189e-01 7.72531314e-01 1.22138850e-02 -1.24293356e+02] [ 1.89256902e-02 -2.54421654e-04 9.99820861e-01 5.36585315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76275509600003 meters 0.01815213784364977 Centerline is valid? [True, True] Translation: X:249.60, Y:-124.33, Z:5.37 [[ 7.71738600e-01 6.35767117e-01 -1.48224899e-02 2.49595846e+02] [-6.35643899e-01 7.71880894e-01 1.25187055e-02 -1.24330752e+02] [ 1.94001780e-02 -2.39342990e-04 9.99811770e-01 5.36651384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82275509600004 meters 0.018352079654213684 Centerline is valid? [True, True] Translation: X:249.64, Y:-124.37, Z:5.37 [[ 7.72011050e-01 6.35438193e-01 -1.47391210e-02 2.49642275e+02] [-6.35316357e-01 7.72151697e-01 1.24452215e-02 -1.24367677e+02] [ 1.92890063e-02 -2.43843859e-04 9.99813920e-01 5.36629932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88275509600004 meters 0.01844435321444372 Centerline is valid? [True, True] Translation: X:249.69, Y:-124.41, Z:5.37 [[ 7.73496636e-01 6.33631182e-01 -1.46451100e-02 2.49686179e+02] [-6.33510590e-01 7.73635213e-01 1.23648182e-02 -1.24407127e+02] [ 1.91647072e-02 -2.86312989e-04 9.99816299e-01 5.36823422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94275509600004 meters 0.01959857285752254 Centerline is valid? [True, True] Translation: X:249.73, Y:-124.45, Z:5.37 [[ 7.74735654e-01 6.32122227e-01 -1.43581310e-02 2.49731712e+02] [-6.32006092e-01 7.74868627e-01 1.21206257e-02 -1.24447645e+02] [ 1.87873821e-02 -3.15854633e-04 9.99823452e-01 5.36820219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.002755096 meters 0.01973357611174228 Centerline is valid? [True, True] Translation: X:249.78, Y:-124.49, Z:5.37 [[ 7.76235748e-01 6.30276637e-01 -1.44715170e-02 2.49778129e+02] [-6.30158337e-01 7.76370549e-01 1.22164523e-02 -1.24489138e+02] [ 1.89350041e-02 -3.63499945e-04 9.99820651e-01 5.36993104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.062755096 meters 0.020781264164594925 Centerline is valid? [True, True] Translation: X:249.82, Y:-124.53, Z:5.37 [[ 7.77563868e-01 6.28639622e-01 -1.43755250e-02 2.49822394e+02] [-6.28522478e-01 7.77696638e-01 1.21422309e-02 -1.24528813e+02] [ 1.88128849e-02 -4.06019493e-04 9.99822940e-01 5.37072204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.122755096 meters 0.021622889530407353 Centerline is valid? [True, True] Translation: X:249.87, Y:-124.57, Z:5.37 [[ 7.78432675e-01 6.27559986e-01 -1.45269990e-02 2.49866776e+02] [-6.27440182e-01 7.78568092e-01 1.22696486e-02 -1.24567339e+02] [ 1.90101984e-02 -4.36272476e-04 9.99819195e-01 5.37143833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.182755096 meters 0.02181009578586643 Centerline is valid? [True, True] Translation: X:249.91, Y:-124.61, Z:5.37 [[ 7.78626277e-01 6.27317764e-01 -1.46131511e-02 2.49912046e+02] [-6.27196529e-01 7.78763267e-01 1.23404693e-02 -1.24605460e+02] [ 1.91215809e-02 -4.43296030e-04 9.99817068e-01 5.37246775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.242755096 meters 0.022690412358789096 Centerline is valid? [True, True] Translation: X:249.96, Y:-124.64, Z:5.37 [[ 7.79202960e-01 6.26610213e-01 -1.42263112e-02 2.49955777e+02] [-6.26495229e-01 7.79332689e-01 1.20119661e-02 -1.24643862e+02] [ 1.86138500e-02 -4.47043478e-04 9.99826647e-01 5.37366486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.302755096 meters 0.023131311903191478 Centerline is valid? [True, True] Translation: X:250.00, Y:-124.68, Z:5.37 [[ 7.79335367e-01 6.26446281e-01 -1.41930600e-02 2.50000733e+02] [-6.26331856e-01 7.79464468e-01 1.19811876e-02 -1.24682216e+02] [ 1.85685564e-02 -4.47797607e-04 9.99827489e-01 5.37399767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.362755096 meters 0.02335622015327476 Centerline is valid? [True, True] Translation: X:250.05, Y:-124.72, Z:5.37 [[ 7.79253174e-01 6.26554037e-01 -1.39473799e-02 2.50045247e+02] [-6.26443589e-01 7.79377860e-01 1.17720608e-02 -1.24720254e+02] [ 1.82461114e-02 -4.36169036e-04 9.99833431e-01 5.37476897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.422755096 meters 0.02315348908683179 Centerline is valid? [True, True] Translation: X:250.09, Y:-124.76, Z:5.38 [[ 7.78527663e-01 6.27464939e-01 -1.35065738e-02 2.50089200e+02] [-6.27361528e-01 7.78644713e-01 1.13983965e-02 -1.24758070e+02] [ 1.76689165e-02 -4.00462235e-04 9.99843812e-01 5.37639669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.482755096 meters 0.020562186453248435 Centerline is valid? [True, True] Translation: X:250.14, Y:-124.79, Z:5.38 [[ 7.77507561e-01 6.28740697e-01 -1.29278127e-02 2.50136555e+02] [-6.28646168e-01 7.77614950e-01 1.09080517e-02 -1.24792763e+02] [ 1.69111965e-02 -3.54072761e-04 9.99856933e-01 5.37748965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.542755096 meters 0.020630905120612705 Centerline is valid? [True, True] Translation: X:250.18, Y:-124.83, Z:5.38 [[ 7.76410777e-01 6.30098598e-01 -1.27303640e-02 2.50180219e+02] [-6.30007144e-01 7.76515071e-01 1.07398357e-02 -1.24830380e+02] [ 1.66524749e-02 -3.18303878e-04 9.99861287e-01 5.37838799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.602755096 meters 0.02005747814461217 Centerline is valid? [True, True] Translation: X:250.23, Y:-124.87, Z:5.38 [[ 7.75928043e-01 6.30689065e-01 -1.29218587e-02 2.50226062e+02] [-6.30594957e-01 7.76035571e-01 1.08992007e-02 -1.24867795e+02] [ 1.69018287e-02 -3.08536516e-04 9.99857106e-01 5.37895744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.662755096 meters 0.019694137740707655 Centerline is valid? [True, True] Translation: X:250.27, Y:-124.91, Z:5.38 [[ 7.75451755e-01 6.31282826e-01 -1.25127923e-02 2.50271343e+02] [-6.31194684e-01 7.75552650e-01 1.05526121e-02 -1.24905318e+02] [ 1.63660120e-02 -2.85033623e-04 9.99866027e-01 5.38012120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.722755096 meters 0.019685968358681007 Centerline is valid? [True, True] Translation: X:250.32, Y:-124.94, Z:5.38 [[ 7.75140736e-01 6.31674591e-01 -1.20020818e-02 2.50316511e+02] [-6.31593568e-01 7.75233604e-01 1.01204301e-02 -1.24942760e+02] [ 1.56972357e-02 -2.64319966e-04 9.99876756e-01 5.38213567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.782755096 meters 0.019094102559527606 Centerline is valid? [True, True] Translation: X:250.36, Y:-124.98, Z:5.38 [[ 7.75208845e-01 6.31600992e-01 -1.14644142e-02 2.50362637e+02] [-6.31527079e-01 7.75293572e-01 9.66569922e-03 -1.24980003e+02] [ 1.49931519e-02 -2.52847503e-04 9.99887564e-01 5.38335830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.842755096 meters 0.020223891403339488 Centerline is valid? [True, True] Translation: X:250.40, Y:-125.02, Z:5.38 [[ 7.75466621e-01 6.31280967e-01 -1.16559284e-02 2.50404935e+02] [-6.31204550e-01 7.75554171e-01 9.82565934e-03 -1.25019368e+02] [ 1.52425556e-02 -2.62195785e-04 9.99883791e-01 5.38473584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.902755096 meters 0.018986985235379873 Centerline is valid? [True, True] Translation: X:250.45, Y:-125.06, Z:5.38 [[ 7.75378697e-01 6.31389373e-01 -1.16334128e-02 2.50451552e+02] [-6.31313294e-01 7.75465920e-01 9.80470038e-03 -1.25055399e+02] [ 1.52118988e-02 -2.58027646e-04 9.99884259e-01 5.38436519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.962755096 meters 0.01889742682708445 Centerline is valid? [True, True] Translation: X:250.50, Y:-125.09, Z:5.38 [[ 7.74930301e-01 6.31924053e-01 -1.24506990e-02 2.50496832e+02] [-6.31837006e-01 7.75030272e-01 1.04917167e-02 -1.25093537e+02] [ 1.62796368e-02 -2.63536851e-04 9.99867443e-01 5.38468290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.022755096 meters 0.018514321542839447 Centerline is valid? [True, True] Translation: X:250.54, Y:-125.13, Z:5.39 [[ 7.74139459e-01 6.32886051e-01 -1.27806170e-02 2.50541795e+02] [-6.32794489e-01 7.74244913e-01 1.07679880e-02 -1.25131191e+02] [ 1.67102371e-02 -2.48420466e-04 9.99860343e-01 5.38543756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.082755096 meters 0.01841405234450754 Centerline is valid? [True, True] Translation: X:250.59, Y:-125.17, Z:5.39 [[ 7.73726492e-01 6.33384503e-01 -1.30914669e-02 2.50586605e+02] [-6.33288534e-01 7.73837201e-01 1.10281298e-02 -1.25169880e+02] [ 1.71157106e-02 -2.42080327e-04 9.99853486e-01 5.38596245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14275509600003 meters 0.018703130768560665 Centerline is valid? [True, True] Translation: X:250.63, Y:-125.21, Z:5.39 [[ 7.74167945e-01 6.32836350e-01 -1.34961658e-02 2.50630125e+02] [-6.32734304e-01 7.74285533e-01 1.13672465e-02 -1.25209388e+02] [ 1.76434927e-02 -2.60670826e-04 9.99844307e-01 5.38609935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20275509600003 meters 0.01970314390453829 Centerline is valid? [True, True] Translation: X:250.67, Y:-125.25, Z:5.39 [[ 7.74906342e-01 6.31934640e-01 -1.33705341e-02 2.50672037e+02] [-6.31834381e-01 7.75021634e-01 1.12597587e-02 -1.25249080e+02] [ 1.74778848e-02 -2.77295293e-04 9.99847212e-01 5.38718640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26275509600003 meters 0.02029101346137207 Centerline is valid? [True, True] Translation: X:250.72, Y:-125.29, Z:5.39 [[ 7.76083710e-01 6.30494250e-01 -1.30795985e-02 2.50715039e+02] [-6.30398136e-01 7.76193861e-01 1.10127358e-02 -1.25288593e+02] [ 1.70957707e-02 -3.01450327e-04 9.99853811e-01 5.38922228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32275509600004 meters 0.01990796845228886 Centerline is valid? [True, True] Translation: X:250.76, Y:-125.33, Z:5.39 [[ 7.76989614e-01 6.29379033e-01 -1.30066289e-02 2.50760311e+02] [-6.29283869e-01 7.77098403e-01 1.09491561e-02 -1.25327253e+02] [ 1.69985999e-02 -3.22518821e-04 9.99855461e-01 5.39058632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38275509600004 meters 0.01992799582418502 Centerline is valid? [True, True] Translation: X:250.81, Y:-125.37, Z:5.39 [[ 7.77186121e-01 6.29132551e-01 -1.31896354e-02 2.50808109e+02] [-6.29034681e-01 7.77297963e-01 1.11016761e-02 -1.25368465e+02] [ 1.72367026e-02 -3.31330503e-04 9.99851382e-01 5.39140177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44275509600004 meters 0.020234750336789793 Centerline is valid? [True, True] Translation: X:250.85, Y:-125.41, Z:5.39 [[ 7.77569381e-01 6.28644147e-01 -1.38706222e-02 2.50854473e+02] [-6.28535687e-01 7.77693000e-01 1.16827814e-02 -1.25409033e+02] [ 1.81313979e-02 -3.65992095e-04 9.99835546e-01 5.39152755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.502755096 meters 0.020589533247667827 Centerline is valid? [True, True] Translation: X:250.90, Y:-125.45, Z:5.39 [[ 7.78151876e-01 6.27917222e-01 -1.41286994e-02 2.50900477e+02] [-6.27804453e-01 7.78280031e-01 1.19064301e-02 -1.25450073e+02] [ 1.84723371e-02 -3.94950564e-04 9.99829294e-01 5.39191682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.562755096 meters 0.02099831531338596 Centerline is valid? [True, True] Translation: X:250.95, Y:-125.49, Z:5.39 [[ 7.78433400e-01 6.27547225e-01 -1.50307364e-02 2.50946560e+02] [-6.27419388e-01 7.78578379e-01 1.26735738e-02 -1.25491096e+02] [ 1.96558724e-02 -4.34957644e-04 9.99806710e-01 5.39237864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.622755096 meters 0.020644110874915026 Centerline is valid? [True, True] Translation: X:250.99, Y:-125.53, Z:5.39 [[ 7.77411888e-01 6.28792683e-01 -1.58277502e-02 2.50991566e+02] [-6.28651047e-01 7.77572876e-01 1.33523242e-02 -1.25528012e+02] [ 2.07030730e-02 -4.30123879e-04 9.99785576e-01 5.39270485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.682755096 meters 0.02012320552257796 Centerline is valid? [True, True] Translation: X:251.04, Y:-125.56, Z:5.39 [[ 7.76494576e-01 6.29925228e-01 -1.58234046e-02 2.51037627e+02] [-6.29783957e-01 7.76655682e-01 1.33461272e-02 -1.25564788e+02] [ 2.06963993e-02 -3.97868974e-04 9.99785727e-01 5.39393061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.742755096 meters 0.019728777026877323 Centerline is valid? [True, True] Translation: X:251.08, Y:-125.60, Z:5.40 [[ 7.75683104e-01 6.30914665e-01 -1.61989833e-02 2.51083619e+02] [-6.30766868e-01 7.75852139e-01 1.36607785e-02 -1.25602065e+02] [ 2.11868013e-02 -3.78653091e-04 9.99775463e-01 5.39526023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.802755096 meters 0.019056911670726987 Centerline is valid? [True, True] Translation: X:251.13, Y:-125.64, Z:5.40 [[ 7.74453893e-01 6.32422278e-01 -1.62243382e-02 2.51129857e+02] [-6.32274392e-01 7.74623747e-01 1.36800977e-02 -1.25638098e+02] [ 2.12193562e-02 -3.36371347e-04 9.99774788e-01 5.39655248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.862755096 meters 0.018335426662266698 Centerline is valid? [True, True] Translation: X:251.18, Y:-125.67, Z:5.40 [[ 7.73254341e-01 6.33880203e-01 -1.65412257e-02 2.51176098e+02] [-6.33726862e-01 7.73431185e-01 1.39451168e-02 -1.25673511e+02] [ 2.16330333e-02 -3.00503036e-04 9.99765933e-01 5.39744351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.922755096 meters 0.017365036469643456 Centerline is valid? [True, True] Translation: X:251.22, Y:-125.71, Z:5.40 [[ 7.72537217e-01 6.34749445e-01 -1.67149901e-02 2.51223509e+02] [-6.34593123e-01 7.72717973e-01 1.40890681e-02 -1.25708446e+02] [ 2.18590014e-02 -2.77111675e-04 9.99761025e-01 5.39867213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.982755096 meters 0.017492674310430566 Centerline is valid? [True, True] Translation: X:251.27, Y:-125.75, Z:5.40 [[ 7.72573657e-01 6.34697122e-01 -1.70149342e-02 2.51268454e+02] [-6.34535181e-01 7.72760948e-01 1.43394819e-02 -1.25745011e+02] [ 2.22497046e-02 -2.81731587e-04 9.99752405e-01 5.39964539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.042755096 meters 0.018609180507880525 Centerline is valid? [True, True] Translation: X:251.31, Y:-125.78, Z:5.40 [[ 7.74104671e-01 6.32817987e-01 -1.74170535e-02 2.51311454e+02] [-6.32647904e-01 7.74300509e-01 1.46748347e-02 -1.25783135e+02] [ 2.27725327e-02 -3.40995653e-04 9.99740614e-01 5.40106118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.102755096 meters 0.018100941984673935 Centerline is valid? [True, True] Translation: X:251.36, Y:-125.82, Z:5.40 [[ 7.75298227e-01 6.31372702e-01 -1.67681411e-02 2.51359760e+02] [-6.31214764e-01 7.75479449e-01 1.41260907e-02 -1.25822538e+02] [ 2.19221768e-02 -3.67634873e-04 9.99759613e-01 5.40404710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.162755096 meters 0.019322062384715868 Centerline is valid? [True, True] Translation: X:251.40, Y:-125.86, Z:5.41 [[ 7.76350274e-01 6.30087124e-01 -1.64458975e-02 2.51404464e+02] [-6.29934743e-01 7.76524342e-01 1.38623896e-02 -1.25864124e+02] [ 2.15051529e-02 -4.02227769e-04 9.99768657e-01 5.40572796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.222755096 meters 0.020030378321909174 Centerline is valid? [True, True] Translation: X:251.45, Y:-125.90, Z:5.41 [[ 7.77054030e-01 6.29206651e-01 -1.69122799e-02 2.51449002e+02] [-6.29045159e-01 7.77237926e-01 1.42616550e-02 -1.25902467e+02] [ 2.21183936e-02 -4.43488684e-04 9.99755260e-01 5.40646391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.282755096 meters 0.01915616470169072 Centerline is valid? [True, True] Translation: X:251.50, Y:-125.94, Z:5.41 [[ 7.76006243e-01 6.30467284e-01 -1.80364929e-02 2.51495986e+02] [-6.30284004e-01 7.76215703e-01 1.52071673e-02 -1.25938029e+02] [ 2.35878305e-02 -4.32743780e-04 9.99721675e-01 5.40591855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.342755096 meters 0.018171793788213535 Centerline is valid? [True, True] Translation: X:251.54, Y:-125.97, Z:5.41 [[ 7.74672738e-01 6.32080748e-01 -1.88700093e-02 2.51543427e+02] [-6.31880668e-01 7.74902425e-01 1.59076209e-02 -1.25974654e+02] [ 2.46773169e-02 -3.99606098e-04 9.99695389e-01 5.40608947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.402755096 meters 0.017784263865555906 Centerline is valid? [True, True] Translation: X:251.59, Y:-126.01, Z:5.41 [[ 7.72852713e-01 6.34287694e-01 -1.94372150e-02 2.51589022e+02] [-6.34076147e-01 7.73097024e-01 1.63839064e-02 -1.26010449e+02] [ 2.54189632e-02 -3.37672112e-04 9.99676829e-01 5.40589679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.462755096 meters 0.017186808461829028 Centerline is valid? [True, True] Translation: X:251.64, Y:-126.05, Z:5.41 [[ 7.71676354e-01 6.35710503e-01 -1.96916421e-02 2.51635930e+02] [-6.35493924e-01 7.71927504e-01 1.65952144e-02 -1.26045583e+02] [ 2.57502722e-02 -2.92215617e-04 9.99668364e-01 5.40677665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.522755096 meters 0.016816908278866012 Centerline is valid? [True, True] Translation: X:251.68, Y:-126.08, Z:5.41 [[ 7.71410039e-01 6.36040698e-01 -1.94623233e-02 2.51682219e+02] [-6.35829307e-01 7.71655463e-01 1.63993558e-02 -1.26081853e+02] [ 2.54488658e-02 -2.75912215e-04 9.99676087e-01 5.40834920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.582755096 meters 0.017011246951941728 Centerline is valid? [True, True] Translation: X:251.73, Y:-126.12, Z:5.41 [[ 7.71621269e-01 6.35799093e-01 -1.89770815e-02 2.51726832e+02] [-6.35598111e-01 7.71854544e-01 1.59876073e-02 -1.26118815e+02] [ 2.48124528e-02 -2.74580724e-04 9.99692086e-01 5.41000551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64275509600003 meters 0.017406456003090414 Centerline is valid? [True, True] Translation: X:251.77, Y:-126.16, Z:5.41 [[ 7.72194645e-01 6.35128633e-01 -1.80845532e-02 2.51769548e+02] [-6.34946024e-01 7.72406332e-01 1.52317030e-02 -1.26156066e+02] [ 2.36427141e-02 -2.79124312e-04 9.99720433e-01 5.41217692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70275509600003 meters 0.017386338442709433 Centerline is valid? [True, True] Translation: X:251.81, Y:-126.19, Z:5.41 [[ 7.72555388e-01 6.34714386e-01 -1.71994401e-02 2.51814878e+02] [-6.34549221e-01 7.72746771e-01 1.44815078e-02 -1.26193052e+02] [ 2.24824331e-02 -2.73875551e-04 9.99747201e-01 5.41465541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76275509600003 meters 0.01739323382563595 Centerline is valid? [True, True] Translation: X:251.86, Y:-126.23, Z:5.42 [[ 7.72762419e-01 6.34463610e-01 -1.71514053e-02 2.51860211e+02] [-6.34299356e-01 7.72952683e-01 1.44387410e-02 -1.26230812e+02] [ 2.24180805e-02 -2.78591101e-04 9.99748644e-01 5.41602987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82275509600004 meters 0.01850720594128873 Centerline is valid? [True, True] Translation: X:251.90, Y:-126.27, Z:5.42 [[ 7.74283583e-01 6.32618200e-01 -1.67076684e-02 2.51903062e+02] [-6.32461956e-01 7.74463756e-01 1.40628658e-02 -1.26269663e+02] [ 2.18359085e-02 -3.21681530e-04 9.99761516e-01 5.41710466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88275509600004 meters 0.01994897025853048 Centerline is valid? [True, True] Translation: X:251.95, Y:-126.31, Z:5.42 [[ 7.76153395e-01 6.30331910e-01 -1.63581920e-02 2.51946558e+02] [-6.30181683e-01 7.76325667e-01 1.37660851e-02 -1.26309248e+02] [ 2.13764870e-02 -3.75960670e-04 9.99771426e-01 5.41810079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94275509600004 meters 0.019924659153205952 Centerline is valid? [True, True] Translation: X:251.99, Y:-126.35, Z:5.42 [[ 7.77625237e-01 6.28532497e-01 -1.56809098e-02 2.51993671e+02] [-6.28394109e-01 7.77783218e-01 1.31950441e-02 -1.26349890e+02] [ 2.04898625e-02 -4.07008006e-04 9.99789978e-01 5.42007611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.002755096 meters 0.020565532476011852 Centerline is valid? [True, True] Translation: X:252.04, Y:-126.39, Z:5.42 [[ 7.78125519e-01 6.27924908e-01 -1.51982092e-02 2.52040260e+02] [-6.27794652e-01 7.78273819e-01 1.27960402e-02 -1.26391520e+02] [ 1.98633207e-02 -4.15570969e-04 9.99802618e-01 5.42141231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.062755096 meters 0.021521921817791664 Centerline is valid? [True, True] Translation: X:252.08, Y:-126.43, Z:5.42 [[ 7.78548653e-01 6.27409178e-01 -1.48228710e-02 2.52084574e+02] [-6.27285053e-01 7.78689633e-01 1.24867204e-02 -1.26431019e+02] [ 1.93766990e-02 -4.23353906e-04 9.99812165e-01 5.42288874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.122755096 meters 0.02132754156461267 Centerline is valid? [True, True] Translation: X:252.13, Y:-126.47, Z:5.42 [[ 7.78236630e-01 6.27790817e-01 -1.50478665e-02 2.52129547e+02] [-6.27662978e-01 7.78381985e-01 1.26756605e-02 -1.26469170e+02] [ 1.96706514e-02 -4.19674646e-04 9.99806426e-01 5.42349555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.182755096 meters 0.022098311884147084 Centerline is valid? [True, True] Translation: X:252.17, Y:-126.51, Z:5.42 [[ 7.77864512e-01 6.28232028e-01 -1.58530814e-02 2.52172754e+02] [-6.28090278e-01 7.78025922e-01 1.33516811e-02 -1.26508040e+02] [ 2.07220620e-02 -4.28632580e-04 9.99785183e-01 5.42393916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.242755096 meters 0.02040750072133131 Centerline is valid? [True, True] Translation: X:252.22, Y:-126.54, Z:5.42 [[ 7.77071129e-01 6.29197682e-01 -1.64541396e-02 2.52221528e+02] [-6.29045246e-01 7.77245202e-01 1.38554840e-02 -1.26544695e+02] [ 2.15067395e-02 -4.16298301e-04 9.99768617e-01 5.42458555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.302755096 meters 0.02068736368428515 Centerline is valid? [True, True] Translation: X:252.27, Y:-126.58, Z:5.43 [[ 7.76461719e-01 6.29949841e-01 -1.64437269e-02 2.52265298e+02] [-6.29797774e-01 7.76635720e-01 1.38463505e-02 -1.26582958e+02] [ 2.14932920e-02 -3.94938493e-04 9.99768915e-01 5.42659234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.362755096 meters 0.020008687734926252 Centerline is valid? [True, True] Translation: X:252.31, Y:-126.62, Z:5.43 [[ 7.76506362e-01 6.29908749e-01 -1.59008632e-02 2.52312724e+02] [-6.29766595e-01 7.76669056e-01 1.33870435e-02 -1.26622311e+02] [ 2.07823243e-02 -3.81291990e-04 9.99783951e-01 5.42907333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.422755096 meters 0.020466156645653707 Centerline is valid? [True, True] Translation: X:252.36, Y:-126.66, Z:5.43 [[ 7.77220987e-01 6.29043476e-01 -1.52263778e-02 2.52358475e+02] [-6.28912934e-01 7.77370024e-01 1.28205869e-02 -1.26664264e+02] [ 1.99012362e-02 -3.88363321e-04 9.99801875e-01 5.43149586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.482755096 meters 0.021348127075317854 Centerline is valid? [True, True] Translation: X:252.40, Y:-126.70, Z:5.43 [[ 7.77914071e-01 6.28198118e-01 -1.47249084e-02 2.52402982e+02] [-6.28075755e-01 7.78053317e-01 1.24049253e-02 -1.26704191e+02] [ 1.92495146e-02 -4.01607938e-04 9.99814630e-01 5.43315113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.542755096 meters 0.021676872214983777 Centerline is valid? [True, True] Translation: X:252.45, Y:-126.74, Z:5.43 [[ 7.77253891e-01 6.29007438e-01 -1.50343845e-02 2.52451719e+02] [-6.28880030e-01 7.77399184e-01 1.26655301e-02 -1.26742921e+02] [ 1.96544309e-02 -3.89508340e-04 9.99806757e-01 5.43297968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.602755096 meters 0.0196343834865291 Centerline is valid? [True, True] Translation: X:252.50, Y:-126.78, Z:5.44 [[ 7.75404116e-01 6.31301530e-01 -1.43817940e-02 2.52500559e+02] [-6.31185214e-01 7.75537410e-01 1.21223616e-02 -1.26780217e+02] [ 1.88064847e-02 -3.22153340e-04 9.99823091e-01 5.43563504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.662755096 meters 0.01931123652072274 Centerline is valid? [True, True] Translation: X:252.55, Y:-126.82, Z:5.44 [[ 7.73969907e-01 6.33054304e-01 -1.45887307e-02 2.52546418e+02] [-6.32934909e-01 7.74107336e-01 1.22977243e-02 -1.26815962e+02] [ 1.90783707e-02 -2.84351553e-04 9.99817951e-01 5.43655264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.722755096 meters 0.018689282717242864 Centerline is valid? [True, True] Translation: X:252.59, Y:-126.85, Z:5.44 [[ 7.72112591e-01 6.35303761e-01 -1.52078640e-02 2.52593073e+02] [-6.35174503e-01 7.72262310e-01 1.28169628e-02 -1.26850457e+02] [ 1.98871249e-02 -2.36490912e-04 9.99802204e-01 5.43576260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.782755096 meters 0.018378064892528696 Centerline is valid? [True, True] Translation: X:252.64, Y:-126.89, Z:5.44 [[ 7.71436712e-01 6.36095808e-01 -1.63560938e-02 2.52639560e+02] [-6.35946531e-01 7.71610050e-01 1.37818566e-02 -1.26886735e+02] [ 2.13871076e-02 -2.30229022e-04 9.99771243e-01 5.43526934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.842755096 meters 0.01867803353859436 Centerline is valid? [True, True] Translation: X:252.68, Y:-126.93, Z:5.44 [[ 7.72479585e-01 6.34809726e-01 -1.70851471e-02 2.52683947e+02] [-6.34646582e-01 7.72668451e-01 1.43937719e-02 -1.26925653e+02] [ 2.23384606e-02 -2.75864712e-04 9.99750427e-01 5.43651330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.902755096 meters 0.020092082974024546 Centerline is valid? [True, True] Translation: X:252.73, Y:-126.97, Z:5.44 [[ 7.74272896e-01 6.32631927e-01 -1.66831381e-02 2.52725789e+02] [-6.32475914e-01 7.74452540e-01 1.40528097e-02 -1.26966202e+02] [ 2.18105548e-02 -3.29026629e-04 9.99762067e-01 5.43774084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.962755096 meters 0.020589029810460083 Centerline is valid? [True, True] Translation: X:252.77, Y:-127.01, Z:5.44 [[ 7.76891444e-01 6.29426522e-01 -1.61844555e-02 2.52770112e+02] [-6.29279052e-01 7.77059901e-01 1.36303307e-02 -1.27006094e+02] [ 2.11555831e-02 -4.04748495e-04 9.99776114e-01 5.44045914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.022755096 meters 0.023162632670689572 Centerline is valid? [True, True] Translation: X:252.81, Y:-127.05, Z:5.44 [[ 7.78292658e-01 6.27696364e-01 -1.60565565e-02 2.52810970e+02] [-6.27550872e-01 7.78458139e-01 1.35213917e-02 -1.27046516e+02] [ 2.09866855e-02 -4.47293804e-04 9.99779655e-01 5.44154395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.082755096 meters 0.02124575361312539 Centerline is valid? [True, True] Translation: X:252.86, Y:-127.08, Z:5.44 [[ 7.78919080e-01 6.26922256e-01 -1.59233162e-02 2.52860702e+02] [-6.26779035e-01 7.79081684e-01 1.34078397e-02 -1.27083556e+02] [ 2.08112371e-02 -4.63221375e-04 9.99783315e-01 5.44302292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14275509600003 meters 0.02210322044228725 Centerline is valid? [True, True] Translation: X:252.91, Y:-127.12, Z:5.44 [[ 7.79284690e-01 6.26434002e-01 -1.71992198e-02 2.52906583e+02] [-6.26266591e-01 7.79474291e-01 1.44909484e-02 -1.27123600e+02] [ 2.24839724e-02 -5.21277427e-04 9.99747068e-01 5.44288288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20275509600003 meters 0.022208791992340743 Centerline is valid? [True, True] Translation: X:252.95, Y:-127.16, Z:5.44 [[ 7.79411204e-01 6.26259823e-01 -1.77991322e-02 2.52952573e+02] [-6.26080337e-01 7.79614220e-01 1.50026770e-02 -1.27161519e+02] [ 2.32720304e-02 -5.49567880e-04 9.99729019e-01 5.44290666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26275509600003 meters 0.021452486832903885 Centerline is valid? [True, True] Translation: X:253.00, Y:-127.20, Z:5.44 [[ 7.78420152e-01 6.27472769e-01 -1.84388509e-02 2.53000443e+02] [-6.27280511e-01 7.78638325e-01 1.55408912e-02 -1.27198215e+02] [ 2.41086820e-02 -5.31011076e-04 9.99709202e-01 5.44397348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32275509600004 meters 0.021477972941310177 Centerline is valid? [True, True] Translation: X:253.04, Y:-127.23, Z:5.45 [[ 7.77336859e-01 6.28803207e-01 -1.88131209e-02 2.53044715e+02] [-6.28603471e-01 7.77564324e-01 1.58555731e-02 -1.27234951e+02] [ 2.45984468e-02 -4.99128359e-04 9.99697288e-01 5.44512334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38275509600004 meters 0.02057706614284365 Centerline is valid? [True, True] Translation: X:253.09, Y:-127.27, Z:5.45 [[ 7.76351154e-01 6.30026444e-01 -1.85893600e-02 2.53091304e+02] [-6.29831853e-01 7.76573547e-01 1.56640437e-02 -1.27270961e+02] [ 2.43047670e-02 -4.52627303e-04 9.99704493e-01 5.44740347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44275509600004 meters 0.01991075801319976 Centerline is valid? [True, True] Translation: X:253.14, Y:-127.31, Z:5.45 [[ 7.75719881e-01 6.30811052e-01 -1.83325623e-02 2.53137165e+02] [-6.30622078e-01 7.75936363e-01 1.54452147e-02 -1.27307212e+02] [ 2.39679138e-02 -4.20241553e-04 9.99712640e-01 5.44923734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.502755096 meters 0.019277245581037272 Centerline is valid? [True, True] Translation: X:253.18, Y:-127.34, Z:5.45 [[ 7.74452335e-01 6.32374403e-01 -1.80608565e-02 2.53183795e+02] [-6.32191472e-01 7.74662818e-01 1.52138654e-02 -1.27343670e+02] [ 2.36119330e-02 -3.64494094e-04 9.99721133e-01 5.45217877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.562755096 meters 0.019414533320559518 Centerline is valid? [True, True] Translation: X:253.23, Y:-127.38, Z:5.45 [[ 7.73047138e-01 6.34093706e-01 -1.79803678e-02 2.53228675e+02] [-6.33912926e-01 7.73256152e-01 1.51434924e-02 -1.27380239e+02] [ 2.35058232e-02 -3.08645875e-04 9.99723652e-01 5.45371069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.622755096 meters 0.018349337632145815 Centerline is valid? [True, True] Translation: X:253.28, Y:-127.41, Z:5.45 [[ 7.72303896e-01 6.34989917e-01 -1.82892723e-02 2.53276635e+02] [-6.34803194e-01 7.72520372e-01 1.54006591e-02 -1.27414857e+02] [ 2.39080987e-02 -2.83900605e-04 9.99714120e-01 5.45493805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.682755096 meters 0.019139837353751445 Centerline is valid? [True, True] Translation: X:253.32, Y:-127.45, Z:5.46 [[ 7.72913585e-01 6.34242804e-01 -1.84568484e-02 2.53320296e+02] [-6.34052495e-01 7.73133863e-01 1.55390708e-02 -1.27453229e+02] [ 2.41251583e-02 -3.07748121e-04 9.99708899e-01 5.45509893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.742755096 meters 0.019361540446970252 Centerline is valid? [True, True] Translation: X:253.36, Y:-127.49, Z:5.46 [[ 7.74614412e-01 6.32161988e-01 -1.85400372e-02 2.53364841e+02] [-6.31969436e-01 7.74836165e-01 1.56060944e-02 -1.27491704e+02] [ 2.42310710e-02 -3.71968784e-04 9.99706315e-01 5.45704189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.802755096 meters 0.021270110474428446 Centerline is valid? [True, True] Translation: X:253.41, Y:-127.53, Z:5.46 [[ 7.77334435e-01 6.28811603e-01 -1.86317957e-02 2.53406122e+02] [-6.28616233e-01 7.77557548e-01 1.56809262e-02 -1.27533220e+02] [ 2.43476417e-02 -4.77074684e-04 9.99703438e-01 5.45798086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.862755096 meters 0.02286852240963963 Centerline is valid? [True, True] Translation: X:253.45, Y:-127.57, Z:5.46 [[ 7.80233473e-01 6.25222980e-01 -1.82195896e-02 2.53449382e+02] [-6.25035222e-01 7.80445959e-01 1.53322037e-02 -1.27573970e+02] [ 2.38054511e-02 -5.74813331e-04 9.99716445e-01 5.45972452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.922755096 meters 0.023953602061737415 Centerline is valid? [True, True] Translation: X:253.49, Y:-127.61, Z:5.46 [[ 7.82352637e-01 6.22595645e-01 -1.72920390e-02 2.53493992e+02] [-6.22425913e-01 7.82543467e-01 1.45500983e-02 -1.27613370e+02] [ 2.25906000e-02 -6.20294614e-04 9.99744607e-01 5.46202610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.982755096 meters 0.0251325748039245 Centerline is valid? [True, True] Translation: X:253.54, Y:-127.65, Z:5.46 [[ 7.83024792e-01 6.21760739e-01 -1.69044205e-02 2.53542108e+02] [-6.21598329e-01 7.83206988e-01 1.42242882e-02 -1.27652212e+02] [ 2.20837643e-02 -6.30210774e-04 9.99755925e-01 5.46135951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.042755096 meters 0.02309134634985239 Centerline is valid? [True, True] Translation: X:253.59, Y:-127.69, Z:5.46 [[ 7.82172227e-01 6.22807024e-01 -1.78330519e-02 2.53592605e+02] [-6.22626358e-01 7.82375230e-01 1.50139320e-02 -1.27689462e+02] [ 2.33029204e-02 -6.40152499e-04 9.99728245e-01 5.46295691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.102755096 meters 0.022760743249507553 Centerline is valid? [True, True] Translation: X:253.64, Y:-127.73, Z:5.46 [[ 7.80576966e-01 6.24780454e-01 -1.86811191e-02 2.53639202e+02] [-6.24582669e-01 7.80800237e-01 1.57314729e-02 -1.27725124e+02] [ 2.44149390e-02 -6.11722168e-04 9.99701724e-01 5.46277897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.162755096 meters 0.023101000197753702 Centerline is valid? [True, True] Translation: X:253.69, Y:-127.76, Z:5.46 [[ 7.77488595e-01 6.28581545e-01 -1.99180094e-02 2.53688503e+02] [-6.28357994e-01 7.77743510e-01 1.67709147e-02 -1.27758800e+02] [ 2.60329900e-02 -5.23554432e-04 9.99660947e-01 5.45986758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.222755096 meters 0.01911005577633423 Centerline is valid? [True, True] Translation: X:253.74, Y:-127.79, Z:5.46 [[ 7.74118256e-01 6.32723492e-01 -2.00476342e-02 2.53737814e+02] [-6.32498478e-01 7.74377708e-01 1.68772596e-02 -1.27792348e+02] [ 2.62030796e-02 -3.84896693e-04 9.99656566e-01 5.46327984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.282755096 meters 0.018203244950762486 Centerline is valid? [True, True] Translation: X:253.78, Y:-127.83, Z:5.47 [[ 7.72147504e-01 6.35159121e-01 -1.90032310e-02 2.53784084e+02] [-6.34957785e-01 7.72381260e-01 1.59937693e-02 -1.27826688e+02] [ 2.48363279e-02 -2.83299572e-04 9.99691491e-01 5.46517145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.342755096 meters 0.017928345348584108 Centerline is valid? [True, True] Translation: X:253.83, Y:-127.86, Z:5.47 [[ 7.71603103e-01 6.35842604e-01 -1.82437431e-02 2.53830259e+02] [-6.35657327e-01 7.71818710e-01 1.53506231e-02 -1.27862830e+02] [ 2.38414424e-02 -2.47819499e-04 9.99715722e-01 5.46689922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.402755096 meters 0.017648903979044485 Centerline is valid? [True, True] Translation: X:253.87, Y:-127.90, Z:5.47 [[ 7.71523515e-01 6.35963457e-01 -1.73766127e-02 2.53873650e+02] [-6.35795465e-01 7.71719138e-01 1.46184602e-02 -1.27900886e+02] [ 2.27066711e-02 -2.30514270e-04 9.99742144e-01 5.46918952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.462755096 meters 0.01799345613170903 Centerline is valid? [True, True] Translation: X:253.92, Y:-127.94, Z:5.47 [[ 7.72124592e-01 6.35266592e-01 -1.61236135e-02 2.53915761e+02] [-6.35121869e-01 7.72292887e-01 1.35612722e-02 -1.27938987e+02] [ 2.10671751e-02 -2.30532214e-04 9.99778036e-01 5.47098563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.522755096 meters 0.01740289896970238 Centerline is valid? [True, True] Translation: X:253.96, Y:-127.98, Z:5.47 [[ 7.72784210e-01 6.34484904e-01 -1.52797699e-02 2.53961519e+02] [-6.34354845e-01 7.72935218e-01 1.28483354e-02 -1.27975586e+02] [ 1.99623472e-02 -2.36194644e-04 9.99800705e-01 5.47344716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.582755096 meters 0.01775627844895424 Centerline is valid? [True, True] Translation: X:254.01, Y:-128.01, Z:5.47 [[ 7.73600581e-01 6.33489765e-01 -1.52596982e-02 2.54005937e+02] [-6.33359896e-01 7.73751026e-01 1.28293654e-02 -1.28014631e+02] [ 1.99344788e-02 -2.59923701e-04 9.99801255e-01 5.47416770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64275509600003 meters 0.018351460811703406 Centerline is valid? [True, True] Translation: X:254.05, Y:-128.05, Z:5.47 [[ 7.74006369e-01 6.32961832e-01 -1.65366249e-02 2.54049501e+02] [-6.32809248e-01 7.74182945e-01 1.39004379e-02 -1.28053353e+02] [ 2.16008197e-02 -2.94498290e-04 9.99766632e-01 5.47337022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70275509600003 meters 0.018138794099016777 Centerline is valid? [True, True] Translation: X:254.09, Y:-128.09, Z:5.47 [[ 7.73834812e-01 6.33144855e-01 -1.75292951e-02 2.54094672e+02] [-6.32973520e-01 7.74033268e-01 1.47316874e-02 -1.28089736e+02] [ 2.28955497e-02 -3.04312872e-04 9.99737816e-01 5.47241232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76275509600003 meters 0.01775452116431793 Centerline is valid? [True, True] Translation: X:254.14, Y:-128.13, Z:5.47 [[ 7.72988696e-01 6.34141463e-01 -1.87904403e-02 2.54138893e+02] [-6.33944967e-01 7.73216994e-01 1.57879144e-02 -1.28128216e+02] [ 2.45408589e-02 -2.91774278e-04 9.99698785e-01 5.47244975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82275509600004 meters 0.017972787036968536 Centerline is valid? [True, True] Translation: X:254.18, Y:-128.17, Z:5.47 [[ 7.72546840e-01 6.34669935e-01 -1.91168610e-02 2.54182090e+02] [-6.34466782e-01 7.72783279e-01 1.60594596e-02 -1.28167175e+02] [ 2.49656467e-02 -2.77671486e-04 9.99688271e-01 5.47290055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88275509600004 meters 0.01784119216679967 Centerline is valid? [True, True] Translation: X:254.23, Y:-128.21, Z:5.47 [[ 7.72289505e-01 6.34972817e-01 -1.94535918e-02 2.54225234e+02] [-6.34762666e-01 7.72534433e-01 1.63373200e-02 -1.28205576e+02] [ 2.54023236e-02 -2.68726979e-04 9.99677273e-01 5.47395089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94275509600004 meters 0.01769252757857944 Centerline is valid? [True, True] Translation: X:254.27, Y:-128.24, Z:5.48 [[ 7.72279035e-01 6.34987045e-01 -1.94047342e-02 2.54269310e+02] [-6.34778204e-01 7.72522741e-01 1.62863953e-02 -1.28243312e+02] [ 2.53322485e-02 -2.59939290e-04 9.99679053e-01 5.47540369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.002755096 meters 0.01726736717006271 Centerline is valid? [True, True] Translation: X:254.31, Y:-128.28, Z:5.48 [[ 7.72055611e-01 6.35287877e-01 -1.84240737e-02 2.54312897e+02] [-6.35099879e-01 7.72275378e-01 1.54558750e-02 -1.28282392e+02] [ 2.40473885e-02 -2.31668113e-04 9.99710793e-01 5.47916258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.062755096 meters 0.01751325871906865 Centerline is valid? [True, True] Translation: X:254.35, Y:-128.32, Z:5.48 [[ 7.72167124e-01 6.35185215e-01 -1.72532497e-02 2.54354505e+02] [-6.35020380e-01 7.72359822e-01 1.44714466e-02 -1.28322698e+02] [ 2.25177658e-02 -2.18210097e-04 9.99746419e-01 5.48121280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.122755096 meters 0.017292757581991277 Centerline is valid? [True, True] Translation: X:254.40, Y:-128.36, Z:5.48 [[ 7.72824683e-01 6.34398313e-01 -1.67568032e-02 2.54398722e+02] [-6.34242699e-01 7.73006292e-01 1.40524822e-02 -1.28361606e+02] [ 2.18679853e-02 -2.32225024e-04 9.99760840e-01 5.48383334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.182755096 meters 0.017411937538902245 Centerline is valid? [True, True] Translation: X:254.44, Y:-128.40, Z:5.49 [[ 7.73609335e-01 6.33464209e-01 -1.58648506e-02 2.54441782e+02] [-6.33324567e-01 7.73771954e-01 1.33024687e-02 -1.28402416e+02] [ 2.07024143e-02 -2.43314261e-04 9.99785652e-01 5.48625305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.242755096 meters 0.017682679794472703 Centerline is valid? [True, True] Translation: X:254.48, Y:-128.44, Z:5.49 [[ 7.74329098e-01 6.32602556e-01 -1.51147251e-02 2.54484508e+02] [-6.32475682e-01 7.74476561e-01 1.26715625e-02 -1.28442580e+02] [ 1.97220632e-02 -2.52263524e-04 9.99805469e-01 5.48737962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.302755096 meters 0.017888084848920082 Centerline is valid? [True, True] Translation: X:254.53, Y:-128.48, Z:5.49 [[ 7.74646842e-01 6.32217035e-01 -1.49630067e-02 2.54527473e+02] [-6.32092663e-01 7.74791297e-01 1.25423627e-02 -1.28481585e+02] [ 1.95227027e-02 -2.57894858e-04 9.99809381e-01 5.48834271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.362755096 meters 0.019922445359640207 Centerline is valid? [True, True] Translation: X:254.57, Y:-128.52, Z:5.49 [[ 7.75244615e-01 6.31461516e-01 -1.58789565e-02 2.54570827e+02] [-6.31321347e-01 7.75407163e-01 1.33074324e-02 -1.28522304e+02] [ 2.07157880e-02 -2.91791125e-04 9.99785362e-01 5.48568560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.422755096 meters 0.017846728829448964 Centerline is valid? [True, True] Translation: X:254.61, Y:-128.56, Z:5.49 [[ 7.74507175e-01 6.32369851e-01 -1.57164605e-02 2.54614220e+02] [-6.32232768e-01 7.74666575e-01 1.31690853e-02 -1.28560193e+02] [ 2.05027492e-02 -2.63089722e-04 9.99789762e-01 5.48808979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.482755096 meters 0.016972794152115882 Centerline is valid? [True, True] Translation: X:254.66, Y:-128.60, Z:5.49 [[ 7.72812937e-01 6.34434185e-01 -1.59194857e-02 2.54659515e+02] [-6.34294045e-01 7.72976857e-01 1.33357615e-02 -1.28597680e+02] [ 2.07660570e-02 -2.08414061e-04 9.99784340e-01 5.48904040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.542755096 meters 0.016124045483524238 Centerline is valid? [True, True] Translation: X:254.71, Y:-128.63, Z:5.49 [[ 7.70476897e-01 6.37263985e-01 -1.61234455e-02 2.54705142e+02] [-6.37120893e-01 7.70645571e-01 1.35044867e-02 -1.28633892e+02] [ 2.10313849e-02 -1.32310946e-04 9.99778807e-01 5.48991816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.602755096 meters 0.017592353489974337 Centerline is valid? [True, True] Translation: X:254.75, Y:-128.67, Z:5.49 [[ 7.69687165e-01 6.38211326e-01 -1.63698251e-02 2.54750268e+02] [-6.38064112e-01 7.69861216e-01 1.37075424e-02 -1.28671120e+02] [ 2.13508022e-02 -1.05521505e-04 9.99772040e-01 5.48900731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.662755096 meters 0.01559891832981485 Centerline is valid? [True, True] Translation: X:254.79, Y:-128.71, Z:5.49 [[ 7.69365582e-01 6.38619194e-01 -1.55603946e-02 2.54794420e+02] [-6.38486412e-01 7.69522916e-01 1.30224173e-02 -1.28709431e+02] [ 2.02904459e-02 -8.38991312e-05 9.99794124e-01 5.49326696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.722755096 meters 0.015851396226329903 Centerline is valid? [True, True] Translation: X:254.84, Y:-128.75, Z:5.50 [[ 7.71242522e-01 6.36373381e-01 -1.46250592e-02 2.54839887e+02] [-6.36255801e-01 7.71381166e-01 1.22332588e-02 -1.28751922e+02] [ 1.90664154e-02 -1.29530620e-04 9.99818211e-01 5.49552091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.782755096 meters 0.01650178588135035 Centerline is valid? [True, True] Translation: X:254.88, Y:-128.79, Z:5.50 [[ 7.73242681e-01 6.33955693e-01 -1.39976849e-02 2.54883420e+02] [-6.33847468e-01 7.73369346e-01 1.17150520e-02 -1.28794344e+02] [ 1.82522043e-02 -1.86181110e-04 9.99833397e-01 5.49752098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.842755096 meters 0.017982795453101278 Centerline is valid? [True, True] Translation: X:254.93, Y:-128.84, Z:5.50 [[ 7.76444327e-01 6.30043285e-01 -1.34039216e-02 2.54927856e+02] [-6.29943413e-01 7.76559969e-01 1.12209656e-02 -1.28838127e+02] [ 1.74786430e-02 -2.68742942e-04 9.99847201e-01 5.49979489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.902755096 meters 0.019220745674670407 Centerline is valid? [True, True] Translation: X:254.97, Y:-128.88, Z:5.50 [[ 7.78486292e-01 6.27506622e-01 -1.39474947e-02 2.54974402e+02] [-6.27397953e-01 7.78611148e-01 1.16828189e-02 -1.28879531e+02] [ 1.81907211e-02 -3.44284687e-04 9.99834476e-01 5.50052482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.962755096 meters 0.01988839631379034 Centerline is valid? [True, True] Translation: X:255.02, Y:-128.92, Z:5.50 [[ 7.79164997e-01 6.26631881e-01 -1.53098828e-02 2.55021906e+02] [-6.26500620e-01 7.79315289e-01 1.28317221e-02 -1.28918809e+02] [ 1.99719919e-02 -4.06377659e-04 9.99800457e-01 5.49980150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.022755096 meters 0.02004311193151367 Centerline is valid? [True, True] Translation: X:255.07, Y:-128.96, Z:5.50 [[ 7.79681068e-01 6.25953663e-01 -1.67165761e-02 2.55070285e+02] [-6.25796843e-01 7.79860111e-01 1.40185207e-02 -1.28958235e+02] [ 2.18115352e-02 -4.68794621e-04 9.99761990e-01 5.49927399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.082755096 meters 0.021409039261747146 Centerline is valid? [True, True] Translation: X:255.12, Y:-129.00, Z:5.50 [[ 7.81265169e-01 6.23945177e-01 -1.78087485e-02 2.55117411e+02] [-6.23766468e-01 7.81467911e-01 1.49431735e-02 -1.28998201e+02] [ 2.32406865e-02 -5.66080861e-04 9.99729739e-01 5.49882659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14275509600003 meters 0.0226211391220727 Centerline is valid? [True, True] Translation: X:255.17, Y:-129.04, Z:5.50 [[ 7.83928401e-01 6.20604599e-01 -1.74984123e-02 2.55165142e+02] [-6.20431071e-01 7.84123394e-01 1.46897585e-02 -1.29038237e+02] [ 2.28374462e-02 -6.59160205e-04 9.99738974e-01 5.50073131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20275509600003 meters 0.024066156857031118 Centerline is valid? [True, True] Translation: X:255.21, Y:-129.08, Z:5.50 [[ 7.85213684e-01 6.19020475e-01 -1.59098051e-02 2.55212669e+02] [-6.18876650e-01 7.85374584e-01 1.33586796e-02 -1.29078779e+02] [ 2.07644528e-02 -6.43211154e-04 9.99784189e-01 5.50328046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26275509600003 meters 0.024662053090079666 Centerline is valid? [True, True] Translation: X:255.26, Y:-129.12, Z:5.51 [[ 7.86377548e-01 6.17579462e-01 -1.43513291e-02 2.55261271e+02] [-6.17462083e-01 7.86508248e-01 1.20561898e-02 -1.29116939e+02] [ 1.87330939e-02 -6.19315398e-04 9.99824328e-01 5.50641879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32275509600004 meters 0.025281388319801378 Centerline is valid? [True, True] Translation: X:255.31, Y:-129.16, Z:5.51 [[ 7.86127438e-01 6.17915513e-01 -1.35672273e-02 2.55311627e+02] [-6.17810555e-01 7.86244287e-01 1.14034970e-02 -1.29155040e+02] [ 1.77135526e-02 -5.82625669e-04 9.99842933e-01 5.50843275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38275509600004 meters 0.025421823886597698 Centerline is valid? [True, True] Translation: X:255.36, Y:-129.19, Z:5.51 [[ 7.85373207e-01 6.18897863e-01 -1.24241887e-02 2.55358468e+02] [-6.18809854e-01 7.85471302e-01 1.04498173e-02 -1.29190529e+02] [ 1.62262132e-02 -5.18796151e-04 9.99868212e-01 5.51089593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44275509600004 meters 0.02301072081772724 Centerline is valid? [True, True] Translation: X:255.41, Y:-129.22, Z:5.51 [[ 7.82804440e-01 6.22162285e-01 -1.14586393e-02 2.55409589e+02] [-6.22087781e-01 7.82888191e-01 9.63712592e-03 -1.29222320e+02] [ 1.49666896e-02 -4.15705487e-04 9.99887906e-01 5.51367837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.502755096 meters 0.019332433618620654 Centerline is valid? [True, True] Translation: X:255.46, Y:-129.25, Z:5.51 [[ 7.79065925e-01 6.26853615e-01 -1.05275674e-02 2.55462503e+02] [-6.26791162e-01 7.79136994e-01 8.85345647e-03 -1.29252045e+02] [ 1.37522384e-02 -2.98840037e-04 9.99905389e-01 5.51457139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.562755096 meters 0.01805423780872864 Centerline is valid? [True, True] Translation: X:255.51, Y:-129.28, Z:5.51 [[ 7.75693437e-01 6.31019110e-01 -1.07039659e-02 2.55511246e+02] [-6.30954945e-01 7.75767253e-01 9.00146185e-03 -1.29284115e+02] [ 1.39838807e-02 -2.28654652e-04 9.99902195e-01 5.51479865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.622755096 meters 0.016723206529556268 Centerline is valid? [True, True] Translation: X:255.56, Y:-129.32, Z:5.51 [[ 7.74213827e-01 6.32824561e-01 -1.12261208e-02 2.55560187e+02] [-6.32754208e-01 7.74295185e-01 9.43811981e-03 -1.29318162e+02] [ 1.46650053e-02 -2.03747654e-04 9.99892442e-01 5.51492522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.682755096 meters 0.01683556853692994 Centerline is valid? [True, True] Translation: X:255.61, Y:-129.35, Z:5.52 [[ 7.73415472e-01 6.33801956e-01 -1.11169694e-02 2.55606507e+02] [-6.33733079e-01 7.73495344e-01 9.34544405e-03 -1.29353414e+02] [ 1.45220848e-02 -1.82719757e-04 9.99894532e-01 5.51622418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.742755096 meters 0.016677825950263066 Centerline is valid? [True, True] Translation: X:255.65, Y:-129.39, Z:5.52 [[ 7.74189770e-01 6.32866629e-01 -1.04895237e-02 2.55653432e+02] [-6.32805245e-01 7.74260806e-01 8.81626270e-03 -1.29388963e+02] [ 1.37011455e-02 -1.87634774e-04 9.99906117e-01 5.51717025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.802755096 meters 0.016847572723567333 Centerline is valid? [True, True] Translation: X:255.70, Y:-129.43, Z:5.52 [[ 7.74926326e-01 6.31960238e-01 -1.07446281e-02 2.55698459e+02] [-6.31895767e-01 7.75000783e-01 9.02916053e-03 -1.29426722e+02] [ 1.40331657e-02 -2.07449156e-04 9.99901509e-01 5.51818268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.862755096 meters 0.01877839670318223 Centerline is valid? [True, True] Translation: X:255.74, Y:-129.47, Z:5.52 [[ 7.78206879e-01 6.27927105e-01 -1.00798867e-02 2.55742712e+02] [-6.27870045e-01 7.78272113e-01 8.46897928e-03 -1.29467339e+02] [ 1.31627964e-02 -2.61758992e-04 9.99913332e-01 5.51973201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.922755096 meters 0.020532627186059256 Centerline is valid? [True, True] Translation: X:255.79, Y:-129.51, Z:5.52 [[ 7.80757540e-01 6.24754733e-01 -9.95929712e-03 2.55786342e+02] [-6.24698777e-01 7.80820995e-01 8.36728528e-03 -1.29507157e+02] [ 1.30039294e-02 -3.11260337e-04 9.99915397e-01 5.52077535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.982755096 meters 0.023056335884554784 Centerline is valid? [True, True] Translation: X:255.83, Y:-129.55, Z:5.52 [[ 7.83941948e-01 6.20754141e-01 -9.96589185e-03 2.55830346e+02] [-6.20697808e-01 7.84005201e-01 8.37118614e-03 -1.29547577e+02] [ 1.30097595e-02 -3.76716753e-04 9.99915299e-01 5.52262105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.042755096 meters 0.02439396196910729 Centerline is valid? [True, True] Translation: X:255.87, Y:-129.59, Z:5.52 [[ 7.85054815e-01 6.19348574e-01 -9.81230705e-03 2.55874746e+02] [-6.19293859e-01 7.85116035e-01 8.24182759e-03 -1.29585820e+02] [ 1.28083638e-02 -3.93584935e-04 9.99917892e-01 5.52489985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.102755096 meters 0.023697251343427254 Centerline is valid? [True, True] Translation: X:255.92, Y:-129.62, Z:5.53 [[ 7.83831442e-01 6.20902570e-01 -9.39511970e-03 2.55921635e+02] [-6.20852534e-01 7.83887667e-01 7.89025433e-03 -1.29621569e+02] [ 1.22637977e-02 -3.51645557e-04 9.99924735e-01 5.52736419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.162755096 meters 0.021333057961369875 Centerline is valid? [True, True] Translation: X:255.97, Y:-129.66, Z:5.53 [[ 7.81882295e-01 6.23358467e-01 -9.18143332e-03 2.55970333e+02] [-6.23310866e-01 7.81936141e-01 7.70948895e-03 -1.29655943e+02] [ 1.19850698e-02 -3.05025759e-04 9.99928130e-01 5.52871405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.222755096 meters 0.019183440004982615 Centerline is valid? [True, True] Translation: X:256.02, Y:-129.69, Z:5.53 [[ 7.78489731e-01 6.27588959e-01 -9.26485820e-03 2.56019652e+02] [-6.27540798e-01 7.78544822e-01 7.77858573e-03 -1.29689498e+02] [ 1.20948619e-02 -2.41472605e-04 9.99926825e-01 5.52979691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.282755096 meters 0.017972993950480933 Centerline is valid? [True, True] Translation: X:256.07, Y:-129.72, Z:5.53 [[ 7.75943980e-01 6.30735525e-01 -9.14533989e-03 2.56066063e+02] [-6.30688824e-01 7.75997849e-01 7.67767899e-03 -1.29724021e+02] [ 1.19393490e-02 -1.89585132e-04 9.99928705e-01 5.53112879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.342755096 meters 0.01709386080351821 Centerline is valid? [True, True] Translation: X:256.11, Y:-129.76, Z:5.53 [[ 7.74534033e-01 6.32462334e-01 -9.40360268e-03 2.56112456e+02] [-6.32413106e-01 7.74591098e-01 7.89271743e-03 -1.29759746e+02] [ 1.22757934e-02 -1.66216690e-04 9.99924636e-01 5.53154741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.402755096 meters 0.017277484596057897 Centerline is valid? [True, True] Translation: X:256.16, Y:-129.80, Z:5.53 [[ 7.74286264e-01 6.32757865e-01 -9.91292094e-03 2.56156819e+02] [-6.32703200e-01 7.74349699e-01 8.31892221e-03 -1.29796736e+02] [ 1.29399308e-02 -1.69290402e-04 9.99916261e-01 5.53181162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.462755096 meters 0.017204593543408635 Centerline is valid? [True, True] Translation: X:256.20, Y:-129.84, Z:5.53 [[ 7.74972797e-01 6.31911635e-01 -1.02396095e-02 2.56201492e+02] [-6.31853259e-01 7.75040418e-01 8.59122142e-03 -1.29835398e+02] [ 1.33650040e-02 -1.88032273e-04 9.99910667e-01 5.53143502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.522755096 meters 0.018026484257592616 Centerline is valid? [True, True] Translation: X:256.24, Y:-129.88, Z:5.53 [[ 7.76053373e-01 6.30582996e-01 -1.03076137e-02 2.56244963e+02] [-6.30523744e-01 7.76121795e-01 8.64688087e-03 -1.29875741e+02] [ 1.34525397e-02 -2.11245859e-04 9.99909488e-01 5.53237327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.582755096 meters 0.018911665468584873 Centerline is valid? [True, True] Translation: X:256.29, Y:-129.92, Z:5.53 [[ 7.77830337e-01 6.28375271e-01 -1.11572551e-02 2.56287658e+02] [-6.28305644e-01 7.77910307e-01 9.35800308e-03 -1.29916662e+02] [ 1.45596814e-02 -2.68772371e-04 9.99893966e-01 5.53172958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64275509600003 meters 0.02011326446525008 Centerline is valid? [True, True] Translation: X:256.33, Y:-129.96, Z:5.53 [[ 7.79115391e-01 6.26759184e-01 -1.23342485e-02 2.56329801e+02] [-6.26673916e-01 7.79212948e-01 1.03433485e-02 -1.29957346e+02] [ 1.60937948e-02 -3.29110217e-04 9.99870432e-01 5.53146314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70275509600003 meters 0.019821715120429205 Centerline is valid? [True, True] Translation: X:256.37, Y:-130.00, Z:5.53 [[ 7.78622153e-01 6.27347194e-01 -1.35292765e-02 2.56374302e+02] [-6.27244726e-01 7.78739609e-01 1.13435327e-02 -1.29996064e+02] [ 1.76521170e-02 -3.46158509e-04 9.99844129e-01 5.53074840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76275509600003 meters 0.018717857617838583 Centerline is valid? [True, True] Translation: X:256.42, Y:-130.03, Z:5.53 [[ 7.77213948e-01 6.29072878e-01 -1.43454697e-02 2.56420737e+02] [-6.28958003e-01 7.77346261e-01 1.20258756e-02 -1.30033042e+02] [ 1.87165493e-02 -3.23980286e-04 9.99824778e-01 5.53006258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82275509600004 meters 0.017666223266732083 Centerline is valid? [True, True] Translation: X:256.47, Y:-130.07, Z:5.53 [[ 7.74851856e-01 6.31948959e-01 -1.56561608e-02 2.56466447e+02] [-6.31812752e-01 7.75009959e-01 1.31228793e-02 -1.30070143e+02] [ 2.04266705e-02 -2.76525335e-04 9.99791316e-01 5.52905201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88275509600004 meters 0.01686874998746891 Centerline is valid? [True, True] Translation: X:256.51, Y:-130.11, Z:5.53 [[ 7.72809799e-01 6.34425442e-01 -1.64125776e-02 2.56511859e+02] [-6.34276359e-01 7.72984030e-01 1.37546202e-02 -1.30107384e+02] [ 2.14129414e-02 -2.19595347e-04 9.99770693e-01 5.52886055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94275509600004 meters 0.016614382359683256 Centerline is valid? [True, True] Translation: X:256.55, Y:-130.15, Z:5.53 [[ 7.71649205e-01 6.35828428e-01 -1.67246987e-02 2.56554742e+02] [-6.35674001e-01 7.71830407e-01 1.40138461e-02 -1.30145561e+02] [ 2.18190327e-02 -1.82317033e-04 9.99761920e-01 5.52904311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.002755096 meters 0.016684251571614996 Centerline is valid? [True, True] Translation: X:256.60, Y:-130.18, Z:5.53 [[ 7.71734015e-01 6.35738217e-01 -1.62336224e-02 2.56598121e+02] [-6.35592762e-01 7.71904715e-01 1.35997091e-02 -1.30184690e+02] [ 2.11766645e-02 -1.77385250e-04 9.99775734e-01 5.53014723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.062755096 meters 0.01675963632946146 Centerline is valid? [True, True] Translation: X:256.64, Y:-130.23, Z:5.53 [[ 7.72381489e-01 6.34948131e-01 -1.63617345e-02 2.56640374e+02] [-6.34800260e-01 7.72554743e-01 1.37039359e-02 -1.30225343e+02] [ 2.13416240e-02 -1.98233127e-04 9.99772222e-01 5.53150996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.122755096 meters 0.01670028103703091 Centerline is valid? [True, True] Translation: X:256.68, Y:-130.26, Z:5.53 [[ 7.72315714e-01 6.35027802e-01 -1.63746707e-02 2.56683782e+02] [-6.34879763e-01 7.72489258e-01 1.37125137e-02 -1.30264790e+02] [ 2.13570846e-02 -1.94442757e-04 9.99771893e-01 5.53220010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.182755096 meters 0.01682517729358509 Centerline is valid? [True, True] Translation: X:256.73, Y:-130.30, Z:5.53 [[ 7.72074462e-01 6.35320158e-01 -1.64110341e-02 2.56726910e+02] [-6.35171578e-01 7.72248835e-01 1.37406101e-02 -1.30303758e+02] [ 2.14030885e-02 -1.84951747e-04 9.99770911e-01 5.53274761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.242755096 meters 0.017126807644169136 Centerline is valid? [True, True] Translation: X:256.77, Y:-130.34, Z:5.53 [[ 7.72665666e-01 6.34596581e-01 -1.65815469e-02 2.56768473e+02] [-6.34444794e-01 7.72843540e-01 1.38804080e-02 -1.30344953e+02] [ 2.16234009e-02 -2.04838628e-04 9.99766166e-01 5.53342884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.302755096 meters 0.017653406637050405 Centerline is valid? [True, True] Translation: X:256.81, Y:-130.39, Z:5.53 [[ 7.73775146e-01 6.33242876e-01 -1.65977098e-02 2.56811103e+02] [-6.33090556e-01 7.73953101e-01 1.38904916e-02 -1.30386370e+02] [ 2.16419038e-02 -2.40263887e-04 9.99765758e-01 5.53407164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.362755096 meters 0.017965367828939753 Centerline is valid? [True, True] Translation: X:256.85, Y:-130.43, Z:5.54 [[ 7.74884177e-01 6.31887624e-01 -1.65088685e-02 2.56852898e+02] [-6.31736669e-01 7.75059968e-01 1.38139782e-02 -1.30427537e+02] [ 2.15242450e-02 -2.74975459e-04 9.99768289e-01 5.53568750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.422755096 meters 0.018684106970860516 Centerline is valid? [True, True] Translation: X:256.89, Y:-130.47, Z:5.54 [[ 7.75826731e-01 6.30715574e-01 -1.70513344e-02 2.56893054e+02] [-6.30554305e-01 7.76014024e-01 1.42654362e-02 -1.30469338e+02] [ 2.22295074e-02 -3.15714447e-04 9.99752844e-01 5.53690120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.482755096 meters 0.018587700345415112 Centerline is valid? [True, True] Translation: X:256.94, Y:-130.51, Z:5.54 [[ 7.76063694e-01 6.30416438e-01 -1.73279362e-02 2.56937755e+02] [-6.30249877e-01 7.76257050e-01 1.44943117e-02 -1.30509702e+02] [ 2.25883850e-02 -3.27579394e-04 9.99744796e-01 5.53762601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.542755096 meters 0.018650359950370097 Centerline is valid? [True, True] Translation: X:256.98, Y:-130.55, Z:5.54 [[ 7.76040929e-01 6.30428864e-01 -1.78864468e-02 2.56983967e+02] [-6.30251349e-01 7.76246953e-01 1.49634352e-02 -1.30553197e+02] [ 2.33176813e-02 -3.39280892e-04 9.99728048e-01 5.53871151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.602755096 meters 0.018355654125188855 Centerline is valid? [True, True] Translation: X:257.03, Y:-130.59, Z:5.54 [[ 7.74827851e-01 6.31951128e-01 -1.67204514e-02 2.57029483e+02] [-6.31796205e-01 7.75008189e-01 1.39950696e-02 -1.30591633e+02] [ 2.18026868e-02 -2.79851961e-04 9.99762254e-01 5.54141320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.662755096 meters 0.017742165966491977 Centerline is valid? [True, True] Translation: X:257.08, Y:-130.63, Z:5.54 [[ 7.73702837e-01 6.33334077e-01 -1.64883910e-02 2.57077940e+02] [-6.33183736e-01 7.73878473e-01 1.38009427e-02 -1.30631132e+02] [ 2.15006181e-02 -2.37647552e-04 9.99768807e-01 5.54356400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.722755096 meters 0.017752014155671358 Centerline is valid? [True, True] Translation: X:257.12, Y:-130.67, Z:5.54 [[ 7.73182880e-01 6.33980224e-01 -1.60408567e-02 2.57123513e+02] [-6.33837936e-01 7.73349227e-01 1.34329309e-02 -1.30670105e+02] [ 2.09213967e-02 -2.18808726e-04 9.99781100e-01 5.54482787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.782755096 meters 0.017723609121897074 Centerline is valid? [True, True] Translation: X:257.17, Y:-130.71, Z:5.55 [[ 7.72941508e-01 6.34290936e-01 -1.53764251e-02 2.57171370e+02] [-6.34160250e-01 7.73094411e-01 1.28766622e-02 -1.30710370e+02] [ 2.00549784e-02 -2.01789125e-04 9.99798858e-01 5.54716656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.842755096 meters 0.017877154652503148 Centerline is valid? [True, True] Translation: X:257.22, Y:-130.75, Z:5.55 [[ 7.73662209e-01 6.33422157e-01 -1.49384785e-02 2.57218859e+02] [-6.33298494e-01 7.73806385e-01 1.25178637e-02 -1.30750450e+02] [ 1.94885823e-02 -2.24082149e-04 9.99810054e-01 5.54851969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.902755096 meters 0.01852837005138556 Centerline is valid? [True, True] Translation: X:257.27, Y:-130.79, Z:5.55 [[ 7.75103722e-01 6.31678700e-01 -1.40085930e-02 2.57266439e+02] [-6.31569554e-01 7.75230259e-01 1.17449316e-02 -1.30790974e+02] [ 1.82789084e-02 -2.56139363e-04 9.99832894e-01 5.55042704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.962755096 meters 0.01958343287885432 Centerline is valid? [True, True] Translation: X:257.31, Y:-130.83, Z:5.55 [[ 7.75911644e-01 6.30691175e-01 -1.37754008e-02 2.57313275e+02] [-6.30585361e-01 7.76033867e-01 1.15559175e-02 -1.30832123e+02] [ 1.79783928e-02 -2.79804877e-04 9.99838336e-01 5.55142878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.022755096 meters 0.019171534847156717 Centerline is valid? [True, True] Translation: X:257.36, Y:-130.87, Z:5.55 [[ 7.75784641e-01 6.30836824e-01 -1.42510035e-02 2.57362156e+02] [-6.30723472e-01 7.75915470e-01 1.19618481e-02 -1.30870996e+02] [ 1.86035483e-02 -2.91375606e-04 9.99826897e-01 5.55256268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.082755096 meters 0.019476444495839913 Centerline is valid? [True, True] Translation: X:257.41, Y:-130.91, Z:5.55 [[ 7.75794499e-01 6.30814817e-01 -1.46820671e-02 2.57408615e+02] [-6.30694344e-01 7.75933356e-01 1.23317348e-02 -1.30909363e+02] [ 1.91713466e-02 -3.06995347e-04 9.99816166e-01 5.55287047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14275509600003 meters 0.019661021029979565 Centerline is valid? [True, True] Translation: X:257.45, Y:-130.95, Z:5.55 [[ 7.76372114e-01 6.30102043e-01 -1.47565491e-02 2.57454025e+02] [-6.29980174e-01 7.76512271e-01 1.23964893e-02 -1.30947457e+02] [ 1.92696947e-02 -3.27955277e-04 9.99814268e-01 5.55344100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20275509600003 meters 0.020651557599149696 Centerline is valid? [True, True] Translation: X:257.50, Y:-130.99, Z:5.55 [[ 7.77458995e-01 6.28774148e-01 -1.41626927e-02 2.57496928e+02] [-6.28661687e-01 7.77587906e-01 1.18967263e-02 -1.30986889e+02] [ 1.84930925e-02 -3.45674633e-04 9.99828928e-01 5.55475855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26275509600003 meters 0.02076872364255284 Centerline is valid? [True, True] Translation: X:257.54, Y:-131.03, Z:5.56 [[ 7.78242081e-01 6.27816186e-01 -1.36418501e-02 2.57544767e+02] [-6.27711750e-01 7.78361557e-01 1.14562926e-02 -1.31027154e+02] [ 1.78107376e-02 -3.52619404e-04 9.99841314e-01 5.55589441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32275509600004 meters 0.020311467889808834 Centerline is valid? [True, True] Translation: X:257.59, Y:-131.07, Z:5.56 [[ 7.78221209e-01 6.27844738e-01 -1.35179178e-02 2.57593569e+02] [-6.27742087e-01 7.78338525e-01 1.13584037e-02 -1.31067126e+02] [ 1.76528302e-02 -3.53584729e-04 9.99844114e-01 5.55680195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38275509600004 meters 0.0208091931406558 Centerline is valid? [True, True] Translation: X:257.64, Y:-131.11, Z:5.56 [[ 7.78026613e-01 6.28084722e-01 -1.35709687e-02 2.57639804e+02] [-6.27981166e-01 7.78144881e-01 1.14105288e-02 -1.31108223e+02] [ 1.77269586e-02 -3.55382300e-04 9.99842802e-01 5.55756563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44275509600004 meters 0.020805378820158586 Centerline is valid? [True, True] Translation: X:257.69, Y:-131.15, Z:5.56 [[ 7.77609579e-01 6.28608813e-01 -1.32023511e-02 2.57686884e+02] [-6.28510769e-01 7.77721573e-01 1.11071560e-02 -1.31148311e+02] [ 1.72498094e-02 -3.39211077e-04 9.99851153e-01 5.55865259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.502755096 meters 0.020502475763504845 Centerline is valid? [True, True] Translation: X:257.74, Y:-131.19, Z:5.56 [[ 7.76928068e-01 6.29453308e-01 -1.30885333e-02 2.57735199e+02] [-6.29356964e-01 7.77038241e-01 1.10174305e-02 -1.31187889e+02] [ 1.71052489e-02 -3.22391407e-04 9.99853643e-01 5.56021321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.562755096 meters 0.019930872394904046 Centerline is valid? [True, True] Translation: X:257.78, Y:-131.23, Z:5.56 [[ 7.75692638e-01 6.30958361e-01 -1.38736234e-02 2.57784438e+02] [-6.30850226e-01 7.75816634e-01 1.16851953e-02 -1.31225771e+02] [ 1.81362595e-02 -3.11941508e-04 9.99835476e-01 5.56043900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.622755096 meters 0.020770753029951128 Centerline is valid? [True, True] Translation: X:257.83, Y:-131.26, Z:5.56 [[ 7.74834477e-01 6.31993138e-01 -1.47039703e-02 2.57829587e+02] [-6.31871720e-01 7.74973921e-01 1.23916181e-02 -1.31261442e+02] [ 1.92266111e-02 -3.10429887e-04 9.99815103e-01 5.55882450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.682755096 meters 0.019021506467390384 Centerline is valid? [True, True] Translation: X:257.88, Y:-131.30, Z:5.56 [[ 7.73832852e-01 6.33209675e-01 -1.51071188e-02 2.57879065e+02] [-6.33081778e-01 7.73980249e-01 1.27293542e-02 -1.31299715e+02] [ 1.97529618e-02 -2.86350784e-04 9.99804850e-01 5.56150962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.742755096 meters 0.019682105009357652 Centerline is valid? [True, True] Translation: X:257.92, Y:-131.34, Z:5.56 [[ 7.73728623e-01 6.33311256e-01 -1.61515064e-02 2.57924624e+02] [-6.33164927e-01 7.73897123e-01 1.36167990e-02 -1.31338936e+02] [ 2.11232764e-02 -3.09139755e-04 9.99776831e-01 5.56133533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.802755096 meters 0.01916990815811334 Centerline is valid? [True, True] Translation: X:257.97, Y:-131.38, Z:5.56 [[ 7.73697980e-01 6.33338750e-01 -1.65367525e-02 2.57971907e+02] [-6.33185356e-01 7.73874620e-01 1.39419276e-02 -1.31376062e+02] [ 2.16273361e-02 -3.16011752e-04 9.99766052e-01 5.56239147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.862755096 meters 0.020845958585577546 Centerline is valid? [True, True] Translation: X:258.02, Y:-131.41, Z:5.56 [[ 7.73625484e-01 6.33426357e-01 -1.65729070e-02 2.58017593e+02] [-6.33272339e-01 7.73802916e-01 1.39711309e-02 -1.31413855e+02] [ 2.16738463e-02 -3.13259345e-04 9.99765046e-01 5.56116148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.922755096 meters 0.018874371165758623 Centerline is valid? [True, True] Translation: X:258.07, Y:-131.45, Z:5.57 [[ 7.73338737e-01 6.33787648e-01 -1.61373702e-02 2.58066137e+02] [-6.33641735e-01 7.73507034e-01 1.36022373e-02 -1.31451887e+02] [ 2.11032994e-02 -2.93825792e-04 9.99777257e-01 5.56538357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.982755096 meters 0.01913032251691481 Centerline is valid? [True, True] Translation: X:258.11, Y:-131.49, Z:5.57 [[ 7.73613429e-01 6.33467759e-01 -1.55196855e-02 2.58110899e+02] [-6.33332722e-01 7.73769031e-01 1.30824362e-02 -1.31489857e+02] [ 2.02959535e-02 -2.91623646e-04 9.99793973e-01 5.56696302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.042755096 meters 0.0194482747052471 Centerline is valid? [True, True] Translation: X:258.16, Y:-131.53, Z:5.57 [[ 7.74661716e-01 6.32200289e-01 -1.49003413e-02 2.58156505e+02] [-6.32075602e-01 7.74804942e-01 1.25593129e-02 -1.31530197e+02] [ 1.94848593e-02 -3.11076668e-04 9.99810104e-01 5.56970916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.102755096 meters 0.01990058617250647 Centerline is valid? [True, True] Translation: X:258.20, Y:-131.57, Z:5.57 [[ 7.76311139e-01 6.30192153e-01 -1.41019687e-02 2.58202975e+02] [-6.30080140e-01 7.76439137e-01 1.18863012e-02 -1.31571612e+02] [ 1.84399742e-02 -3.42097544e-04 9.99829911e-01 5.57223267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.162755096 meters 0.021421798319665886 Centerline is valid? [True, True] Translation: X:258.25, Y:-131.61, Z:5.57 [[ 7.78543450e-01 6.27435955e-01 -1.39362594e-02 2.58248176e+02] [-6.27325992e-01 7.78668065e-01 1.17534489e-02 -1.31613562e+02] [ 1.82262565e-02 -4.07992883e-04 9.99833805e-01 5.57317615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.222755096 meters 0.02295605689986749 Centerline is valid? [True, True] Translation: X:258.29, Y:-131.66, Z:5.57 [[ 7.80158216e-01 6.25408155e-01 -1.47579918e-02 2.58292519e+02] [-6.25284400e-01 7.80297638e-01 1.24504815e-02 -1.31656194e+02] [ 1.93022588e-02 -4.85403334e-04 9.99813576e-01 5.57364637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.282755096 meters 0.023307304857109003 Centerline is valid? [True, True] Translation: X:258.34, Y:-131.70, Z:5.57 [[ 7.80653016e-01 6.24764480e-01 -1.58180885e-02 2.58339379e+02] [-6.24622020e-01 7.80813069e-01 1.33522881e-02 -1.31696439e+02] [ 2.06930055e-02 -5.43177589e-04 9.99785729e-01 5.57403524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.342755096 meters 0.023226031486193125 Centerline is valid? [True, True] Translation: X:258.39, Y:-131.74, Z:5.57 [[ 7.80324442e-01 6.25136266e-01 -1.72746944e-02 2.58388451e+02] [-6.24966243e-01 7.80515408e-01 1.45908525e-02 -1.31736447e+02] [ 2.26044362e-02 -5.89497945e-04 9.99744313e-01 5.57318362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.402755096 meters 0.02303011405862391 Centerline is valid? [True, True] Translation: X:258.44, Y:-131.78, Z:5.57 [[ 7.79430807e-01 6.26226891e-01 -1.80969371e-02 2.58435494e+02] [-6.26040396e-01 7.79640643e-01 1.52934595e-02 -1.31775179e+02] [ 2.36862833e-02 -5.90779805e-04 9.99719266e-01 5.57368646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.462755096 meters 0.021580017303126437 Centerline is valid? [True, True] Translation: X:258.48, Y:-131.81, Z:5.58 [[ 7.77521528e-01 6.28588819e-01 -1.83404233e-02 2.58484910e+02] [-6.28397919e-01 7.77737629e-01 1.54995054e-02 -1.31811832e+02] [ 2.40068531e-02 -5.26115259e-04 9.99711656e-01 5.57550910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.522755096 meters 0.020229209448118197 Centerline is valid? [True, True] Translation: X:258.53, Y:-131.85, Z:5.58 [[ 7.75249119e-01 6.31389065e-01 -1.83481126e-02 2.58533930e+02] [-6.31198763e-01 7.75466089e-01 1.55069726e-02 -1.31847079e+02] [ 2.40192721e-02 -4.40460814e-04 9.99711399e-01 5.57733183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.582755096 meters 0.019562079192944448 Centerline is valid? [True, True] Translation: X:258.58, Y:-131.88, Z:5.58 [[ 7.73104185e-01 6.34013125e-01 -1.83651164e-02 2.58580295e+02] [-6.33823225e-01 7.73322203e-01 1.55206467e-02 -1.31881798e+02] [ 2.40424460e-02 -3.58839609e-04 9.99710874e-01 5.57919398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64275509600003 meters 0.019378026933400416 Centerline is valid? [True, True] Translation: X:258.63, Y:-131.92, Z:5.58 [[ 7.72539743e-01 6.34699178e-01 -1.84200844e-02 2.58626111e+02] [-6.34508406e-01 7.72759238e-01 1.55641297e-02 -1.31918840e+02] [ 2.41128307e-02 -3.36210338e-04 9.99709187e-01 5.58016857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70275509600003 meters 0.018949505020159796 Centerline is valid? [True, True] Translation: X:258.67, Y:-131.95, Z:5.58 [[ 7.71097038e-01 6.36447331e-01 -1.85513493e-02 2.58672588e+02] [-6.36254407e-01 7.71320112e-01 1.56720712e-02 -1.31954061e+02] [ 2.42834767e-02 -2.81309972e-04 9.99705073e-01 5.58190387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76275509600003 meters 0.019510026101694763 Centerline is valid? [True, True] Translation: X:258.72, Y:-131.99, Z:5.58 [[ 7.71348494e-01 6.36152257e-01 -1.82155654e-02 2.58716329e+02] [-6.35966275e-01 7.71563495e-01 1.53841212e-02 -1.31990116e+02] [ 2.38411087e-02 -2.82033420e-04 9.99715721e-01 5.58264466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82275509600004 meters 0.019724117975093148 Centerline is valid? [True, True] Translation: X:258.76, Y:-132.03, Z:5.58 [[ 7.72428163e-01 6.34843676e-01 -1.81173968e-02 2.58760305e+02] [-6.34659420e-01 7.72640541e-01 1.52975079e-02 -1.32028978e+02] [ 2.37097614e-02 -3.17849386e-04 9.99718834e-01 5.58469548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88275509600004 meters 0.021238327706479834 Centerline is valid? [True, True] Translation: X:258.80, Y:-132.07, Z:5.59 [[ 7.74563571e-01 6.32234664e-01 -1.81825290e-02 2.58802052e+02] [-6.32048419e-01 7.74776853e-01 1.53500563e-02 -1.32069598e+02] [ 2.37922403e-02 -3.97355713e-04 9.99716846e-01 5.58646486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94275509600004 meters 0.022682283316985737 Centerline is valid? [True, True] Translation: X:258.85, Y:-132.11, Z:5.59 [[ 7.76305425e-01 6.30110162e-01 -1.76372019e-02 2.58845401e+02] [-6.29934457e-01 7.76505625e-01 1.48860448e-02 -1.32109591e+02] [ 2.30752346e-02 -4.45836120e-04 9.99733632e-01 5.58793333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.002755096 meters 0.02448089945469363 Centerline is valid? [True, True] Translation: X:258.89, Y:-132.15, Z:5.59 [[ 7.76755891e-01 6.29559679e-01 -1.74613160e-02 2.58888758e+02] [-6.29387472e-01 7.76951997e-01 1.47310273e-02 -1.32147418e+02] [ 2.28406651e-02 -4.52478665e-04 9.99739016e-01 5.58718142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.062755096 meters 0.022142714129763135 Centerline is valid? [True, True] Translation: X:258.94, Y:-132.18, Z:5.59 [[ 7.75020849e-01 6.31676427e-01 -1.80990551e-02 2.58935486e+02] [-6.31492077e-01 7.75232049e-01 1.52652042e-02 -1.32182723e+02] [ 2.36736372e-02 -4.01441603e-04 9.99719660e-01 5.58902742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.122755096 meters 0.021224223924683202 Centerline is valid? [True, True] Translation: X:258.98, Y:-132.22, Z:5.59 [[ 7.73577645e-01 6.33412535e-01 -1.91360580e-02 2.58981906e+02] [-6.33207189e-01 7.73814209e-01 1.61315354e-02 -1.32218394e+02] [ 2.50256703e-02 -3.61905713e-04 9.99686743e-01 5.58815834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.182755096 meters 0.020884708062756056 Centerline is valid? [True, True] Translation: X:259.03, Y:-132.25, Z:5.59 [[ 7.70768544e-01 6.36769643e-01 -2.09826740e-02 2.59032196e+02] [-6.36524180e-01 7.71054050e-01 1.76810915e-02 -1.32250782e+02] [ 2.74375581e-02 -2.72049844e-04 9.99623482e-01 5.58620140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.242755096 meters 0.019367558256602295 Centerline is valid? [True, True] Translation: X:259.08, Y:-132.29, Z:5.59 [[ 7.68619447e-01 6.39359056e-01 -2.10747064e-02 2.59076918e+02] [-6.39112470e-01 7.68908295e-01 1.77562670e-02 -1.32288218e+02] [ 2.75571467e-02 -1.78704445e-04 9.99620214e-01 5.58637763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.302755096 meters 0.01763188264046602 Centerline is valid? [True, True] Translation: X:259.12, Y:-132.32, Z:5.59 [[ 7.68543294e-01 6.39491217e-01 -1.98037292e-02 2.59122375e+02] [-6.39273591e-01 7.68798385e-01 1.66828749e-02 -1.32324761e+02] [ 2.58936270e-02 -1.61510552e-04 9.99664691e-01 5.59358620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.362755096 meters 0.018484812699841847 Centerline is valid? [True, True] Translation: X:259.16, Y:-132.37, Z:5.60 [[ 7.70765076e-01 6.36858183e-01 -1.82442397e-02 2.59162930e+02] [-6.36672810e-01 7.70980935e-01 1.53665696e-02 -1.32365580e+02] [ 2.38522866e-02 -2.28403826e-04 9.99715468e-01 5.59641112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.422755096 meters 0.01887035905312571 Centerline is valid? [True, True] Translation: X:259.21, Y:-132.41, Z:5.60 [[ 7.72684506e-01 6.34555600e-01 -1.72581978e-02 2.59205481e+02] [-6.34389219e-01 7.72877165e-01 1.45329710e-02 -1.32406933e+02] [ 2.25604451e-02 -2.80986895e-04 9.99745441e-01 5.59929378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.482755096 meters 0.021523927831737216 Centerline is valid? [True, True] Translation: X:259.25, Y:-132.45, Z:5.60 [[ 7.74796535e-01 6.31973569e-01 -1.73129026e-02 2.59247632e+02] [-6.31805535e-01 7.74989859e-01 1.45768527e-02 -1.32448763e+02] [ 2.26295095e-02 -3.55707280e-04 9.99743857e-01 5.59919254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.542755096 meters 0.021166355727437507 Centerline is valid? [True, True] Translation: X:259.29, Y:-132.49, Z:5.60 [[ 7.76398650e-01 6.30013488e-01 -1.69747275e-02 2.59288482e+02] [-6.29851529e-01 7.76584086e-01 1.42901724e-02 -1.32489254e+02] [ 2.21853046e-02 -4.03312509e-04 9.99753794e-01 5.60254962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.602755096 meters 0.021196267026008735 Centerline is valid? [True, True] Translation: X:259.33, Y:-132.53, Z:5.60 [[ 7.77508082e-01 6.28640508e-01 -1.70965928e-02 2.59332569e+02] [-6.28475955e-01 7.77695901e-01 1.43895463e-02 -1.32528121e+02] [ 2.23418019e-02 -4.43191069e-04 9.99750293e-01 5.60461544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.662755096 meters 0.02360269785576392 Centerline is valid? [True, True] Translation: X:259.38, Y:-132.57, Z:5.60 [[ 7.78226628e-01 6.27716856e-01 -1.82992806e-02 2.59377187e+02] [-6.27528126e-01 7.78441582e-01 1.53997957e-02 -1.32569046e+02] [ 2.39116323e-02 -5.01217765e-04 9.99713950e-01 5.60293134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.722755096 meters 0.020748837991348152 Centerline is valid? [True, True] Translation: X:259.43, Y:-132.61, Z:5.61 [[ 7.78261943e-01 6.27710395e-01 -1.69708066e-02 2.59425988e+02] [-6.27548064e-01 7.78446815e-01 1.42822843e-02 -1.32608230e+02] [ 2.21760087e-02 -4.65361530e-04 9.99753974e-01 5.60710061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.782755096 meters 0.020236864400527955 Centerline is valid? [True, True] Translation: X:259.47, Y:-132.65, Z:5.61 [[ 7.77222593e-01 6.28988447e-01 -1.72792910e-02 2.59473642e+02] [-6.28820386e-01 7.77414522e-01 1.45458636e-02 -1.32647801e+02] [ 2.25823519e-02 -4.39803389e-04 9.99744889e-01 5.60728692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.842755096 meters 0.0204131774234895 Centerline is valid? [True, True] Translation: X:259.52, Y:-132.69, Z:5.61 [[ 7.75736690e-01 6.30816399e-01 -1.74143144e-02 2.59519178e+02] [-6.30646000e-01 7.75932030e-01 1.46665544e-02 -1.32687236e+02] [ 2.27642273e-02 -3.95116651e-04 9.99740783e-01 5.60717607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.902755096 meters 0.0190050385522201 Centerline is valid? [True, True] Translation: X:259.57, Y:-132.72, Z:5.61 [[ 7.72945086e-01 6.34229681e-01 -1.75671709e-02 2.59567382e+02] [-6.34057153e-01 7.73144633e-01 1.47953618e-02 -1.32720543e+02] [ 2.29656215e-02 -2.97411769e-04 9.99736211e-01 5.60745626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.962755096 meters 0.017563315185059006 Centerline is valid? [True, True] Translation: X:259.62, Y:-132.75, Z:5.61 [[ 7.70815525e-01 6.36827873e-01 -1.71372908e-02 2.59616055e+02] [-6.36664375e-01 7.71005976e-01 1.44311792e-02 -1.32754419e+02] [ 2.24031307e-02 -2.13074442e-04 9.99748996e-01 5.60891716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.022755096 meters 0.017390532263601332 Centerline is valid? [True, True] Translation: X:259.66, Y:-132.79, Z:5.61 [[ 7.70466120e-01 6.37278615e-01 -1.60600559e-02 2.59660703e+02] [-6.37135169e-01 7.70633462e-01 1.35219845e-02 -1.32790460e+02] [ 2.09936881e-02 -1.85804511e-04 9.99779591e-01 5.61059136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.082755096 meters 0.01745015374544552 Centerline is valid? [True, True] Translation: X:259.71, Y:-132.82, Z:5.61 [[ 7.71067545e-01 6.36582204e-01 -1.47627118e-02 2.59706191e+02] [-6.36460917e-01 7.71208832e-01 1.24273529e-02 -1.32824940e+02] [ 1.92961654e-02 -1.86439459e-04 9.99813794e-01 5.61219954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14275509600003 meters 0.01711965768804856 Centerline is valid? [True, True] Translation: X:259.75, Y:-132.86, Z:5.61 [[ 7.71677411e-01 6.35852592e-01 -1.43336618e-02 2.59752855e+02] [-6.35738218e-01 7.71810497e-01 1.20613263e-02 -1.32861041e+02] [ 1.87320962e-02 -1.94996453e-04 9.99824520e-01 5.61364176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20275509600003 meters 0.01816620133419447 Centerline is valid? [True, True] Translation: X:259.80, Y:-132.90, Z:5.61 [[ 7.73703393e-01 6.33392471e-01 -1.40369697e-02 2.59796379e+02] [-6.33282411e-01 7.73830677e-01 1.18098031e-02 -1.32899573e+02] [ 1.83424781e-02 -2.47918701e-04 9.99831732e-01 5.61489929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26275509600003 meters 0.019723144386664195 Centerline is valid? [True, True] Translation: X:259.84, Y:-132.94, Z:5.62 [[ 7.76241124e-01 6.30276888e-01 -1.41690482e-02 2.59840190e+02] [-6.30164275e-01 7.76370363e-01 1.19182799e-02 -1.32938682e+02] [ 1.85122455e-02 -3.22630958e-04 9.99828582e-01 5.61555639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32275509600004 meters 0.020672038745570026 Centerline is valid? [True, True] Translation: X:259.89, Y:-132.98, Z:5.62 [[ 7.78646673e-01 6.27295964e-01 -1.44614253e-02 2.59885814e+02] [-6.27178176e-01 7.78780851e-01 1.21623102e-02 -1.32975871e+02] [ 1.88916492e-02 -4.00252004e-04 9.99821457e-01 5.61515000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38275509600004 meters 0.023292936838174662 Centerline is valid? [True, True] Translation: X:259.93, Y:-133.02, Z:5.61 [[ 7.80161141e-01 6.25402999e-01 -1.48216804e-02 2.59927536e+02] [-6.25278966e-01 7.80301789e-01 1.24632594e-02 -1.33015616e+02] [ 1.93599435e-02 -4.55665623e-04 9.99812475e-01 5.61490843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44275509600004 meters 0.02202959953450525 Centerline is valid? [True, True] Translation: X:259.98, Y:-133.05, Z:5.61 [[ 7.81602319e-01 6.23586018e-01 -1.54367430e-02 2.59976942e+02] [-6.23451169e-01 7.81754570e-01 1.29781108e-02 -1.33052571e+02] [ 2.01607128e-02 -5.19666058e-04 9.99796617e-01 5.61480924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.502755096 meters 0.022865326148335495 Centerline is valid? [True, True] Translation: X:260.02, Y:-133.09, Z:5.61 [[ 7.81588774e-01 6.23602452e-01 -1.54586842e-02 2.60020979e+02] [-6.23467207e-01 7.81741461e-01 1.29973305e-02 -1.33090066e+02] [ 2.01898616e-02 -5.20584959e-04 9.99796028e-01 5.61495266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.562755096 meters 0.02216889018485783 Centerline is valid? [True, True] Translation: X:260.07, Y:-133.13, Z:5.61 [[ 7.81288403e-01 6.23968021e-01 -1.58852204e-02 2.60067302e+02] [-6.23825340e-01 7.81449701e-01 1.33532849e-02 -1.33125870e+02] [ 2.07455234e-02 -5.23163591e-04 9.99784652e-01 5.61480516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.622755096 meters 0.02186960344041531 Centerline is valid? [True, True] Translation: X:260.11, Y:-133.16, Z:5.61 [[ 7.80071452e-01 6.25458988e-01 -1.70171740e-02 2.60112263e+02] [-6.25295654e-01 7.80256873e-01 1.43023061e-02 -1.33162582e+02] [ 2.22232728e-02 -5.16055748e-04 9.99752899e-01 5.61429374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.682755096 meters 0.020862057888535554 Centerline is valid? [True, True] Translation: X:260.16, Y:-133.20, Z:5.61 [[ 7.78384303e-01 6.27552811e-01 -1.71856344e-02 2.60159401e+02] [-6.27386796e-01 7.78573862e-01 1.44412226e-02 -1.33198820e+02] [ 2.24429156e-02 -4.58780860e-04 9.99748021e-01 5.61468383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.742755096 meters 0.020525072567701336 Centerline is valid? [True, True] Translation: X:260.20, Y:-133.24, Z:5.62 [[ 7.77135078e-01 6.29124163e-01 -1.62437376e-02 2.60204222e+02] [-6.28976230e-01 7.77304725e-01 1.36479383e-02 -1.33235294e+02] [ 2.12125818e-02 -3.89366751e-04 9.99774912e-01 5.61626730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.802755096 meters 0.019029085126132817 Centerline is valid? [True, True] Translation: X:260.25, Y:-133.27, Z:5.62 [[ 7.75733629e-01 6.30876114e-01 -1.52533410e-02 2.60250877e+02] [-6.30746077e-01 7.75883514e-01 1.28124806e-02 -1.33271792e+02] [ 1.99179037e-02 -3.18087089e-04 9.99801568e-01 5.61895312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.862755096 meters 0.019427042168428336 Centerline is valid? [True, True] Translation: X:260.29, Y:-133.31, Z:5.62 [[ 7.75425900e-01 6.31288979e-01 -1.37440310e-02 2.60293466e+02] [-6.31183499e-01 7.75547644e-01 1.15430740e-02 -1.33310440e+02] [ 1.79461662e-02 -2.75792960e-04 9.99838917e-01 5.62132523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.922755096 meters 0.019521775294027686 Centerline is valid? [True, True] Translation: X:260.34, Y:-133.35, Z:5.62 [[ 7.76025088e-01 6.30581033e-01 -1.23540859e-02 2.60337546e+02] [-6.30495750e-01 7.76123374e-01 1.03738732e-02 -1.33348884e+02] [ 1.61298625e-02 -2.61187225e-04 9.99869871e-01 5.62338159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.982755096 meters 0.02028283486042516 Centerline is valid? [True, True] Translation: X:260.38, Y:-133.39, Z:5.62 [[ 7.76863054e-01 6.29551920e-01 -1.21727374e-02 2.60379592e+02] [-6.29469017e-01 7.76958366e-01 1.02202620e-02 -1.33388795e+02] [ 1.58918957e-02 -2.77382897e-04 9.99873677e-01 5.62433409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.042755096 meters 0.01985227615766223 Centerline is valid? [True, True] Translation: X:260.42, Y:-133.43, Z:5.62 [[ 7.77461782e-01 6.28813684e-01 -1.21049192e-02 2.60424922e+02] [-6.28731663e-01 7.77555958e-01 1.01601314e-02 -1.33427620e+02] [ 1.58010817e-02 -2.88367828e-04 9.99875114e-01 5.62465922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.102755096 meters 0.0223655516918578 Centerline is valid? [True, True] Translation: X:260.47, Y:-133.47, Z:5.63 [[ 7.78736119e-01 6.27238880e-01 -1.18930601e-02 2.60465108e+02] [-6.27159530e-01 7.78826867e-01 9.98176091e-03 -1.33469577e+02] [ 1.55235833e-02 -3.14311769e-04 9.99879453e-01 5.62580207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.162755096 meters 0.021132675221317728 Centerline is valid? [True, True] Translation: X:260.51, Y:-133.51, Z:5.63 [[ 7.79046192e-01 6.26838946e-01 -1.26477467e-02 2.60510905e+02] [-6.26749191e-01 7.79148778e-01 1.06128705e-02 -1.33507094e+02] [ 1.65070370e-02 -3.40951333e-04 9.99863691e-01 5.62560360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.222755096 meters 0.020444876507949516 Centerline is valid? [True, True] Translation: X:260.56, Y:-133.55, Z:5.63 [[ 7.78644213e-01 6.27327456e-01 -1.31701446e-02 2.60559042e+02] [-6.27230245e-01 7.78755511e-01 1.10486631e-02 -1.33547498e+02] [ 1.71874524e-02 -3.42264579e-04 9.99852226e-01 5.62580856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.282755096 meters 0.02019113532532024 Centerline is valid? [True, True] Translation: X:260.60, Y:-133.59, Z:5.63 [[ 7.78050224e-01 6.28029098e-01 -1.47411255e-02 2.60604708e+02] [-6.27907269e-01 7.78189767e-01 1.23752863e-02 -1.33587075e+02] [ 1.92434329e-02 -3.72534425e-04 9.99814759e-01 5.62556291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.342755096 meters 0.020073542335400235 Centerline is valid? [True, True] Translation: X:260.65, Y:-133.62, Z:5.63 [[ 7.77063016e-01 6.29232846e-01 -1.54626986e-02 2.60648890e+02] [-6.29099039e-01 7.77216763e-01 1.29808562e-02 -1.33623908e+02] [ 2.01858496e-02 -3.59374395e-04 9.99796180e-01 5.62589713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.402755096 meters 0.01889021143022399 Centerline is valid? [True, True] Translation: X:260.70, Y:-133.66, Z:5.63 [[ 7.75703549e-01 6.30907144e-01 -1.54977472e-02 2.60695689e+02] [-6.30773114e-01 7.75858284e-01 1.30077515e-02 -1.33659597e+02] [ 2.02307389e-02 -3.14596798e-04 9.99795288e-01 5.62749308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.462755096 meters 0.018981711528759698 Centerline is valid? [True, True] Translation: X:260.74, Y:-133.70, Z:5.63 [[ 7.75256662e-01 6.31464930e-01 -1.51376945e-02 2.60739595e+02] [-6.31337202e-01 7.75404383e-01 1.27035478e-02 -1.33697324e+02] [ 1.97596796e-02 -2.91520378e-04 9.99804716e-01 5.62983116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.522755096 meters 0.01845389721460065 Centerline is valid? [True, True] Translation: X:260.79, Y:-133.73, Z:5.63 [[ 7.75149068e-01 6.31617454e-01 -1.42588474e-02 2.60785088e+02] [-6.31504194e-01 7.75280155e-01 1.19638184e-02 -1.33734800e+02] [ 1.86111579e-02 -2.69220739e-04 9.99826761e-01 5.63301782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.582755096 meters 0.018267062258787693 Centerline is valid? [True, True] Translation: X:260.83, Y:-133.77, Z:5.64 [[ 7.75360758e-01 6.31380716e-01 -1.31941832e-02 2.60834046e+02] [-6.31283746e-01 7.75472971e-01 1.10681613e-02 -1.33774863e+02] [ 1.72199560e-02 -2.52544520e-04 9.99851694e-01 5.63584070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64275509600003 meters 0.01873706424124045 Centerline is valid? [True, True] Translation: X:260.88, Y:-133.81, Z:5.64 [[ 7.75961506e-01 6.30647487e-01 -1.29417530e-02 2.60879263e+02] [-6.30553960e-01 7.76069375e-01 1.08641022e-02 -1.33813013e+02] [ 1.68951170e-02 -2.69651491e-04 9.99857231e-01 5.63742897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70275509600003 meters 0.01920275804366039 Centerline is valid? [True, True] Translation: X:260.92, Y:-133.85, Z:5.64 [[ 7.76820916e-01 6.29590634e-01 -1.28412574e-02 2.60924684e+02] [-6.29498402e-01 7.76926991e-01 1.07801722e-02 -1.33851382e+02] [ 1.67638149e-02 -2.90712238e-04 9.99859435e-01 5.63812621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76275509600003 meters 0.020008422718174806 Centerline is valid? [True, True] Translation: X:260.97, Y:-133.89, Z:5.64 [[ 7.78648251e-01 6.27321484e-01 -1.32158046e-02 2.60971802e+02] [-6.27223492e-01 7.78760319e-01 1.10931069e-02 -1.33891444e+02] [ 1.72508885e-02 -3.48365176e-04 9.99851132e-01 5.63806597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82275509600004 meters 0.022089433827905305 Centerline is valid? [True, True] Translation: X:261.02, Y:-133.93, Z:5.64 [[ 7.81329775e-01 6.23959397e-01 -1.40873627e-02 2.61016016e+02] [-6.23847371e-01 7.81456629e-01 1.18319313e-02 -1.33933303e+02] [ 1.83913077e-02 -4.56276000e-04 9.99830761e-01 5.63760284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88275509600004 meters 0.02340400183083087 Centerline is valid? [True, True] Translation: X:261.06, Y:-133.97, Z:5.64 [[ 7.82996675e-01 6.21863595e-01 -1.42083078e-02 2.61061784e+02] [-6.21749229e-01 7.83125409e-01 1.19368796e-02 -1.33974544e+02] [ 1.85499977e-02 -5.12532647e-04 9.99827803e-01 5.63787995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94275509600004 meters 0.025256565663766214 Centerline is valid? [True, True] Translation: X:261.11, Y:-134.01, Z:5.64 [[ 7.84762943e-01 6.19638931e-01 -1.39541811e-02 2.61106852e+02] [-6.19528157e-01 7.84886795e-01 1.17294850e-02 -1.34014931e+02] [ 1.82204981e-02 -5.59857068e-04 9.99833836e-01 5.63839410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.002755096 meters 0.025203424702846196 Centerline is valid? [True, True] Translation: X:261.15, Y:-134.05, Z:5.64 [[ 7.84849669e-01 6.19521433e-01 -1.42895437e-02 2.61154807e+02] [-6.19405251e-01 7.84979530e-01 1.20113912e-02 -1.34054434e+02] [ 1.86583135e-02 -5.76118011e-04 9.99825753e-01 5.63832071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.062755096 meters 0.02510642747526681 Centerline is valid? [True, True] Translation: X:261.20, Y:-134.09, Z:5.64 [[ 7.82968118e-01 6.21891794e-01 -1.45438182e-02 2.61199959e+02] [-6.21771719e-01 7.83103001e-01 1.22318470e-02 -1.34091589e+02] [ 1.89961929e-02 -5.34211361e-04 9.99819413e-01 5.63839337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.122755096 meters 0.022378709233062 Centerline is valid? [True, True] Translation: X:261.25, Y:-134.13, Z:5.64 [[ 7.80862581e-01 6.24531893e-01 -1.46131311e-02 2.61249183e+02] [-6.24411167e-01 7.80999163e-01 1.22882576e-02 -1.34126378e+02] [ 1.90872520e-02 -4.70838304e-04 9.99817711e-01 5.63900276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.182755096 meters 0.02123425573294832 Centerline is valid? [True, True] Translation: X:261.30, Y:-134.16, Z:5.64 [[ 7.78398778e-01 6.27605302e-01 -1.43849533e-02 2.61295915e+02] [-6.27488849e-01 7.78531588e-01 1.20958943e-02 -1.34160245e+02] [ 1.87905879e-02 -3.89031521e-04 9.99823366e-01 5.63989052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.242755096 meters 0.021382278847604085 Centerline is valid? [True, True] Translation: X:261.34, Y:-134.20, Z:5.64 [[ 7.77721130e-01 6.28458915e-01 -1.37563369e-02 2.61340962e+02] [-6.28352591e-01 7.77842702e-01 1.15651544e-02 -1.34196872e+02] [ 1.79684907e-02 -3.50635055e-04 9.99838492e-01 5.64232107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.302755096 meters 0.020205859430392076 Centerline is valid? [True, True] Translation: X:261.39, Y:-134.23, Z:5.65 [[ 7.77805815e-01 6.28375338e-01 -1.27494624e-02 2.61387437e+02] [-6.28284030e-01 7.77910232e-01 1.07167478e-02 -1.34232862e+02] [ 1.66520773e-02 -3.25265136e-04 9.99861292e-01 5.64528182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.362755096 meters 0.02061716882826801 Centerline is valid? [True, True] Translation: X:261.43, Y:-134.27, Z:5.65 [[ 7.78206924e-01 6.27900621e-01 -1.16100612e-02 2.61432395e+02] [-6.27824873e-01 7.78293465e-01 9.75762456e-03 -1.34271021e+02] [ 1.51628533e-02 -3.04365798e-04 9.99884991e-01 5.64774783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.422755096 meters 0.021089127351999953 Centerline is valid? [True, True] Translation: X:261.48, Y:-134.31, Z:5.65 [[ 7.78830136e-01 6.27132537e-01 -1.13313405e-02 2.61477073e+02] [-6.27060323e-01 7.78912501e-01 9.52192067e-03 -1.34309390e+02] [ 1.47976290e-02 -3.10524757e-04 9.99890461e-01 5.64952669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.482755096 meters 0.021685616774903726 Centerline is valid? [True, True] Translation: X:261.52, Y:-134.35, Z:5.65 [[ 7.79848321e-01 6.25857330e-01 -1.17982763e-02 2.61521673e+02] [-6.25778920e-01 7.79937486e-01 9.91268461e-03 -1.34347980e+02] [ 1.54058443e-02 -3.47277844e-04 9.99881263e-01 5.65024880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.542755096 meters 0.022311479716827416 Centerline is valid? [True, True] Translation: X:261.57, Y:-134.39, Z:5.65 [[ 7.80294384e-01 6.25291804e-01 -1.22814532e-02 2.61565537e+02] [-6.25206796e-01 7.80390941e-01 1.03170186e-02 -1.34386120e+02] [ 1.60354820e-02 -3.71863639e-04 9.99871354e-01 5.65059101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.602755096 meters 0.02157166555853431 Centerline is valid? [True, True] Translation: X:261.61, Y:-134.42, Z:5.65 [[ 7.80452255e-01 6.25095555e-01 -1.22402985e-02 2.61611547e+02] [-6.25011124e-01 7.80548146e-01 1.02804238e-02 -1.34422287e+02] [ 1.59803895e-02 -3.73057154e-04 9.99872236e-01 5.65147524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.662755096 meters 0.020997204673229443 Centerline is valid? [True, True] Translation: X:261.66, Y:-134.46, Z:5.65 [[ 7.80084210e-01 6.25539975e-01 -1.29755546e-02 2.61657851e+02] [-6.25445187e-01 7.80192023e-01 1.08961280e-02 -1.34458754e+02] [ 1.69393878e-02 -3.84399293e-04 9.99856444e-01 5.65211361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.722755096 meters 0.022650857137068863 Centerline is valid? [True, True] Translation: X:261.70, Y:-134.50, Z:5.65 [[ 7.79714057e-01 6.25997991e-01 -1.31340882e-02 2.61700770e+02] [-6.25900968e-01 7.79824578e-01 1.10275127e-02 -1.34498206e+02] [ 1.71454856e-02 -3.77668107e-04 9.99852934e-01 5.65325999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.782755096 meters 0.020888952326598008 Centerline is valid? [True, True] Translation: X:261.75, Y:-134.53, Z:5.65 [[ 7.78973159e-01 6.26900931e-01 -1.40014300e-02 2.61748007e+02] [-6.26790860e-01 7.79098889e-01 1.17532824e-02 -1.34533431e+02] [ 1.82766423e-02 -3.79523171e-04 9.99832896e-01 5.65353591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.842755096 meters 0.018969004167770517 Centerline is valid? [True, True] Translation: X:261.80, Y:-134.57, Z:5.66 [[ 7.77511606e-01 6.28713373e-01 -1.39712862e-02 2.61796837e+02] [-6.28604101e-01 7.77637050e-01 1.17261562e-02 -1.34568165e+02] [ 1.82369810e-02 -3.34814779e-04 9.99833636e-01 5.65520940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.902755096 meters 0.018671283514490745 Centerline is valid? [True, True] Translation: X:261.84, Y:-134.60, Z:5.66 [[ 7.75987412e-01 6.30611389e-01 -1.31458265e-02 2.61842120e+02] [-6.30514932e-01 7.76098706e-01 1.10326105e-02 -1.34603850e+02] [ 1.71597488e-02 -2.72527000e-04 9.99852724e-01 5.65791945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.962755096 meters 0.01789504138332165 Centerline is valid? [True, True] Translation: X:261.89, Y:-134.64, Z:5.66 [[ 7.74555126e-01 6.32404357e-01 -1.13616570e-02 2.61888337e+02] [-6.32332525e-01 7.74638425e-01 9.53354520e-03 -1.34639631e+02] [ 1.48302316e-02 -1.99911037e-04 9.99890006e-01 5.66069340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.022755096 meters 0.017665856001278426 Centerline is valid? [True, True] Translation: X:261.93, Y:-134.68, Z:5.66 [[ 7.73888862e-01 6.33217135e-01 -1.14929868e-02 2.61933966e+02] [-6.33143745e-01 7.73974176e-01 9.64221650e-03 -1.34676207e+02] [ 1.50008917e-02 -1.85291232e-04 9.99887463e-01 5.66149035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.082755096 meters 0.01753576462767481 Centerline is valid? [True, True] Translation: X:261.98, Y:-134.71, Z:5.66 [[ 7.73649303e-01 6.33509421e-01 -1.15138860e-02 2.61979432e+02] [-6.33435820e-01 7.73734955e-01 9.65823461e-03 -1.34713485e+02] [ 1.50272787e-02 -1.78778640e-04 9.99887068e-01 5.66146324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14275509600003 meters 0.01744290274053518 Centerline is valid? [True, True] Translation: X:262.02, Y:-134.75, Z:5.66 [[ 7.74171877e-01 6.32861493e-01 -1.20097938e-02 2.62024513e+02] [-6.32781362e-01 7.74265001e-01 1.00725928e-02 -1.34751443e+02] [ 1.56733191e-02 -1.98344373e-04 9.99877146e-01 5.66126939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20275509600003 meters 0.017879694224395483 Centerline is valid? [True, True] Translation: X:262.07, Y:-134.79, Z:5.66 [[ 7.75643406e-01 6.31049099e-01 -1.24234160e-02 2.62068076e+02] [-6.30963147e-01 7.75742855e-01 1.04177838e-02 -1.34790838e+02] [ 1.62115093e-02 -2.41767676e-04 9.99868556e-01 5.66175757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26275509600003 meters 0.01952818321362722 Centerline is valid? [True, True] Translation: X:262.11, Y:-134.83, Z:5.66 [[ 7.78856532e-01 6.27069101e-01 -1.29168650e-02 2.62111102e+02] [-6.26975670e-01 7.78963561e-01 1.08295468e-02 -1.34833321e+02] [ 1.68526413e-02 -3.36103185e-04 9.99857928e-01 5.66170244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32275509600004 meters 0.02211821737969068 Centerline is valid? [True, True] Translation: X:262.15, Y:-134.88, Z:5.66 [[ 7.82389957e-01 6.22653316e-01 -1.29924532e-02 2.62153004e+02] [-6.22558178e-01 7.82497706e-01 1.08928768e-02 -1.34877833e+02] [ 1.69490507e-02 -4.33919430e-04 9.99856260e-01 5.66268822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38275509600004 meters 0.02432415546107738 Centerline is valid? [True, True] Translation: X:262.20, Y:-134.92, Z:5.66 [[ 7.84978558e-01 6.19389638e-01 -1.28507165e-02 2.62196050e+02] [-6.19296118e-01 7.85083580e-01 1.07745199e-02 -1.34920392e+02] [ 1.67625125e-02 -4.99368231e-04 9.99859375e-01 5.66393562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44275509600004 meters 0.025380794032105004 Centerline is valid? [True, True] Translation: X:262.24, Y:-134.96, Z:5.66 [[ 7.87280987e-01 6.16440722e-01 -1.37652987e-02 2.62241529e+02] [-6.16332967e-01 7.87401088e-01 1.15412696e-02 -1.34962524e+02] [ 1.79533198e-02 -6.02214700e-04 9.99838645e-01 5.66452106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.502755096 meters 0.025382864258910204 Centerline is valid? [True, True] Translation: X:262.29, Y:-135.00, Z:5.66 [[ 7.86977140e-01 6.16802105e-01 -1.49045347e-02 2.62289106e+02] [-6.16675790e-01 7.87118001e-01 1.24988745e-02 -1.35003449e+02] [ 1.94409597e-02 -6.45062778e-04 9.99810799e-01 5.66495807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.562755096 meters 0.024293634707804584 Centerline is valid? [True, True] Translation: X:262.34, Y:-135.04, Z:5.67 [[ 7.85219757e-01 6.19030892e-01 -1.51884193e-02 2.62337116e+02] [-6.18899978e-01 7.85366402e-01 1.27448881e-02 -1.35041362e+02] [ 1.98179537e-02 -6.07425602e-04 9.99803421e-01 5.66536512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.622755096 meters 0.023023615693937502 Centerline is valid? [True, True] Translation: X:262.39, Y:-135.08, Z:5.67 [[ 7.83767982e-01 6.20868288e-01 -1.51763110e-02 2.62386537e+02] [-6.20737897e-01 7.83914698e-01 1.27361238e-02 -1.35079175e+02] [ 1.98043886e-02 -5.61654692e-04 9.99803716e-01 5.66698352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.682755096 meters 0.02179757285543092 Centerline is valid? [True, True] Translation: X:262.43, Y:-135.12, Z:5.67 [[ 7.81429145e-01 6.23818717e-01 -1.47885138e-02 2.62433693e+02] [-6.23695304e-01 7.81568921e-01 1.24172926e-02 -1.35115412e+02] [ 1.93043823e-02 -4.79707751e-04 9.99813538e-01 5.66899655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.742755096 meters 0.021308502993427535 Centerline is valid? [True, True] Translation: X:262.48, Y:-135.15, Z:5.67 [[ 7.79512149e-01 6.26217071e-01 -1.45941596e-02 2.62478680e+02] [-6.26097319e-01 7.79648644e-01 1.22531015e-02 -1.35151996e+02] [ 1.90514181e-02 -4.14077226e-04 9.99818420e-01 5.67087542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.802755096 meters 0.01983484087692725 Centerline is valid? [True, True] Translation: X:262.53, Y:-135.19, Z:5.67 [[ 7.77817315e-01 6.28333179e-01 -1.40584717e-02 2.62526562e+02] [-6.28222443e-01 7.77944276e-01 1.18010992e-02 -1.35186602e+02] [ 1.83517297e-02 -3.47251875e-04 9.99831533e-01 5.67287314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.862755096 meters 0.019305026418685728 Centerline is valid? [True, True] Translation: X:262.57, Y:-135.22, Z:5.67 [[ 7.76269448e-01 6.30268296e-01 -1.29467746e-02 2.62574249e+02] [-6.30174678e-01 7.76377356e-01 1.08662901e-02 -1.35222065e+02] [ 1.69002607e-02 -2.76439493e-04 9.99857142e-01 5.67490695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.922755096 meters 0.01941336342613024 Centerline is valid? [True, True] Translation: X:262.62, Y:-135.26, Z:5.68 [[ 7.75868159e-01 6.30767961e-01 -1.26641125e-02 2.62620039e+02] [-6.30678472e-01 7.75971464e-01 1.06278895e-02 -1.35259127e+02] [ 1.65307221e-02 -2.58857877e-04 9.99863325e-01 5.67629008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.982755096 meters 0.01984823288771899 Centerline is valid? [True, True] Translation: X:262.66, Y:-135.30, Z:5.68 [[ 7.76137652e-01 6.30439789e-01 -1.24907039e-02 2.62664649e+02] [-6.30352717e-01 7.76238110e-01 1.04808314e-02 -1.35296064e+02] [ 1.63032935e-02 -2.61018775e-04 9.99867058e-01 5.67771771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.042755096 meters 0.019423311697039685 Centerline is valid? [True, True] Translation: X:262.71, Y:-135.33, Z:5.68 [[ 7.76537031e-01 6.29948792e-01 -1.24401808e-02 2.62711317e+02] [-6.29862393e-01 7.76636625e-01 1.04364290e-02 -1.35332338e+02] [ 1.62359159e-02 -2.68671540e-04 9.99868153e-01 5.67827538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.102755096 meters 0.02033212745444383 Centerline is valid? [True, True] Translation: X:262.75, Y:-135.37, Z:5.68 [[ 7.77440904e-01 6.28829466e-01 -1.26152461e-02 2.62754905e+02] [-6.28740496e-01 7.77543192e-01 1.05817135e-02 -1.35369864e+02] [ 1.64629920e-02 -2.94940824e-04 9.99864432e-01 5.67908110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.162755096 meters 0.020164001072589532 Centerline is valid? [True, True] Translation: X:262.80, Y:-135.41, Z:5.68 [[ 7.78370707e-01 6.27687907e-01 -1.21216159e-02 2.62800395e+02] [-6.27605669e-01 7.78465027e-01 1.01649601e-02 -1.35406773e+02] [ 1.58166765e-02 -3.04512323e-04 9.99874862e-01 5.68062673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.222755096 meters 0.020344979144746957 Centerline is valid? [True, True] Translation: X:262.85, Y:-135.44, Z:5.68 [[ 7.78173952e-01 6.27930481e-01 -1.21906223e-02 2.62845207e+02] [-6.27847359e-01 7.78269375e-01 1.02212300e-02 -1.35443432e+02] [ 1.59058099e-02 -3.00044912e-04 9.99873450e-01 5.68204883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.282755096 meters 0.01940909823943045 Centerline is valid? [True, True] Translation: X:262.89, Y:-135.48, Z:5.68 [[ 7.77232606e-01 6.29094211e-01 -1.22453604e-02 2.62892291e+02] [-6.29010518e-01 7.77329015e-01 1.02650170e-02 -1.35478662e+02] [ 1.59763367e-02 -2.75845377e-04 9.99872332e-01 5.68317080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.342755096 meters 0.019408391704240344 Centerline is valid? [True, True] Translation: X:262.94, Y:-135.52, Z:5.68 [[ 7.76381068e-01 6.30146247e-01 -1.21714471e-02 2.62937080e+02] [-6.30063715e-01 7.76476428e-01 1.02015218e-02 -1.35515464e+02] [ 1.58792925e-02 -2.51481265e-04 9.99873884e-01 5.68454064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.402755096 meters 0.018240128724718786 Centerline is valid? [True, True] Translation: X:262.99, Y:-135.55, Z:5.69 [[ 7.73892564e-01 6.33200805e-01 -1.21260127e-02 2.62985472e+02] [-6.33119300e-01 7.73987536e-01 1.01610142e-02 -1.35548816e+02] [ 1.58193450e-02 -1.86320674e-04 9.99874849e-01 5.68594028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.462755096 meters 0.01765772105512555 Centerline is valid? [True, True] Translation: X:263.03, Y:-135.58, Z:5.69 [[ 7.71976398e-01 6.35539595e-01 -1.19106186e-02 2.63032972e+02] [-6.35461262e-01 7.72068264e-01 9.97897896e-03 -1.35583988e+02] [ 1.55378469e-02 -1.34799482e-04 9.99879271e-01 5.68811056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.522755096 meters 0.017338836394729232 Centerline is valid? [True, True] Translation: X:263.08, Y:-135.62, Z:5.69 [[ 7.71197782e-01 6.36500985e-01 -1.09762262e-02 2.63079782e+02] [-6.36434576e-01 7.71275881e-01 9.19484979e-03 -1.35619619e+02] [ 1.43182295e-02 -1.05397872e-04 9.99897483e-01 5.69038480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.582755096 meters 0.017837784353190212 Centerline is valid? [True, True] Translation: X:263.12, Y:-135.66, Z:5.69 [[ 7.72013960e-01 6.35517631e-01 -1.05729156e-02 2.63123888e+02] [-6.35455938e-01 7.72086347e-01 8.85572181e-03 -1.35657255e+02] [ 1.37911711e-02 -1.18118876e-04 9.99904890e-01 5.69186258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64275509600003 meters 0.01815833612956467 Centerline is valid? [True, True] Translation: X:263.17, Y:-135.70, Z:5.69 [[ 7.73378431e-01 6.33863247e-01 -1.01580886e-02 2.63167993e+02] [-6.33806181e-01 7.73445127e-01 8.50649734e-03 -1.35695586e+02] [ 1.32486801e-02 -1.40482246e-04 9.99912223e-01 5.69300173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70275509600003 meters 0.01967835812057838 Centerline is valid? [True, True] Translation: X:263.21, Y:-135.74, Z:5.69 [[ 7.76625905e-01 6.29871352e-01 -1.06904065e-02 2.63208931e+02] [-6.29807788e-01 7.76699448e-01 8.95081920e-03 -1.35737017e+02] [ 1.39410974e-02 -2.18536777e-04 9.99902794e-01 5.69333344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76275509600003 meters 0.02065844269661614 Centerline is valid? [True, True] Translation: X:263.25, Y:-135.78, Z:5.69 [[ 7.79216976e-01 6.26663798e-01 -1.06484021e-02 2.63252218e+02] [-6.26600463e-01 7.79289682e-01 8.91352222e-03 -1.35778613e+02] [ 1.38839716e-02 -2.73274169e-04 9.99903576e-01 5.69424643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82275509600004 meters 0.024649100945007472 Centerline is valid? [True, True] Translation: X:263.29, Y:-135.82, Z:5.69 [[ 7.82648529e-01 6.22355441e-01 -1.16183162e-02 2.63292689e+02] [-6.22279580e-01 7.82734668e-01 9.72444082e-03 -1.35823037e+02] [ 1.51461175e-02 -3.80978404e-04 9.99885218e-01 5.69235443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88275509600004 meters 0.02447465463226419 Centerline is valid? [True, True] Translation: X:263.34, Y:-135.86, Z:5.70 [[ 7.84273021e-01 6.20316508e-01 -1.11021604e-02 2.63336251e+02] [-6.20247037e-01 7.84351496e-01 9.29217579e-03 -1.35863878e+02] [ 1.44720862e-02 -4.01520661e-04 9.99895193e-01 5.69536884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94275509600004 meters 0.023650920178914 Centerline is valid? [True, True] Translation: X:263.38, Y:-135.90, Z:5.70 [[ 7.84001765e-01 6.20656307e-01 -1.12685593e-02 2.63383314e+02] [-6.20584787e-01 7.84082641e-01 9.43049169e-03 -1.35901273e+02] [ 1.46885758e-02 -4.00425691e-04 9.99892037e-01 5.69598214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.002755096 meters 0.023092423997218222 Centerline is valid? [True, True] Translation: X:263.43, Y:-135.94, Z:5.70 [[ 7.82197222e-01 6.22917893e-01 -1.18661218e-02 2.63428986e+02] [-6.22838839e-01 7.82287131e-01 9.93098562e-03 -1.35937073e+02] [ 1.54689030e-02 -3.77307836e-04 9.99880278e-01 5.69681271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.062755096 meters 0.022428269658018914 Centerline is valid? [True, True] Translation: X:263.47, Y:-135.97, Z:5.70 [[ 7.79204251e-01 6.26643488e-01 -1.25965461e-02 2.63474772e+02] [-6.26554923e-01 7.79305996e-01 1.05400510e-02 -1.35972030e+02] [ 1.64214182e-02 -3.20424559e-04 9.99865108e-01 5.69731854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.122755096 meters 0.01909859565257393 Centerline is valid? [True, True] Translation: X:263.53, Y:-136.00, Z:5.70 [[ 7.76546477e-01 6.29924780e-01 -1.30514768e-02 2.63526079e+02] [-6.29830201e-01 7.76656105e-01 1.09184793e-02 -1.36002307e+02] [ 1.70143298e-02 -2.58492418e-04 9.99855212e-01 5.69701319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.182755096 meters 0.019610358797885162 Centerline is valid? [True, True] Translation: X:263.57, Y:-136.04, Z:5.70 [[ 7.75763530e-01 6.30881494e-01 -1.33972214e-02 2.63570471e+02] [-6.30782013e-01 7.75879167e-01 1.12058477e-02 -1.36039920e+02] [ 1.74641869e-02 -2.42361711e-04 9.99847460e-01 5.69798108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.242755096 meters 0.019264983903691985 Centerline is valid? [True, True] Translation: X:263.62, Y:-136.08, Z:5.70 [[ 7.76071160e-01 6.30501146e-01 -1.34855521e-02 2.63616656e+02] [-6.30400335e-01 7.76188278e-01 1.12772143e-02 -1.36077050e+02] [ 1.75776240e-02 -2.50624204e-04 9.99845470e-01 5.69900894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.302755096 meters 0.020166757988980898 Centerline is valid? [True, True] Translation: X:263.66, Y:-136.12, Z:5.70 [[ 7.77954040e-01 6.28167421e-01 -1.38997584e-02 2.63660258e+02] [-6.28059982e-01 7.78078141e-01 1.16217169e-02 -1.36116340e+02] [ 1.81154821e-02 -3.11279553e-04 9.99835853e-01 5.70026952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.362755096 meters 0.021497179309526073 Centerline is valid? [True, True] Translation: X:263.70, Y:-136.16, Z:5.70 [[ 7.79712488e-01 6.25983386e-01 -1.39009633e-02 2.63703331e+02] [-6.25875614e-01 7.79836310e-01 1.16209471e-02 -1.36155708e+02] [ 1.81149957e-02 -3.60723649e-04 9.99835845e-01 5.70163162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.422755096 meters 0.02327575958043834 Centerline is valid? [True, True] Translation: X:263.75, Y:-136.20, Z:5.70 [[ 7.81847486e-01 6.23321439e-01 -1.35975206e-02 2.63746475e+02] [-6.23217975e-01 7.81965610e-01 1.13639859e-02 -1.36195754e+02] [ 1.77162096e-02 -4.10684530e-04 9.99842971e-01 5.70306123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.482755096 meters 0.022676485895706994 Centerline is valid? [True, True] Translation: X:263.79, Y:-136.23, Z:5.70 [[ 7.82946704e-01 6.21941737e-01 -1.35253002e-02 2.63792591e+02] [-6.21839194e-01 7.83063397e-01 1.13019311e-02 -1.36232090e+02] [ 1.76203102e-02 -4.38247871e-04 9.99844654e-01 5.70366139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.542755096 meters 0.023099496092963166 Centerline is valid? [True, True] Translation: X:263.84, Y:-136.27, Z:5.70 [[ 7.83971228e-01 6.20643118e-01 -1.38287471e-02 2.63837788e+02] [-6.20535754e-01 7.84093039e-01 1.15535587e-02 -1.36270862e+02] [ 1.80136610e-02 -4.76425581e-04 9.99837627e-01 5.70372069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.602755096 meters 0.02400567378216672 Centerline is valid? [True, True] Translation: X:263.88, Y:-136.31, Z:5.70 [[ 7.84038149e-01 6.20520047e-01 -1.54612778e-02 2.63880545e+02] [-6.20385837e-01 7.84190401e-01 1.29162208e-02 -1.36309534e+02] [ 2.01393596e-02 -5.34852061e-04 9.99797039e-01 5.70360207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.662755096 meters 0.02309674261624631 Centerline is valid? [True, True] Translation: X:263.93, Y:-136.35, Z:5.70 [[ 7.82933051e-01 6.21894692e-01 -1.62120411e-02 2.63927376e+02] [-6.21747480e-01 7.83100709e-01 1.35407195e-02 -1.36346046e+02] [ 2.11165624e-02 -5.21681132e-04 9.99776884e-01 5.70376544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.722755096 meters 0.022319825974283353 Centerline is valid? [True, True] Translation: X:263.97, Y:-136.38, Z:5.70 [[ 7.81330252e-01 6.23884429e-01 -1.70662414e-02 2.63973743e+02] [-6.23721805e-01 7.81516461e-01 1.42524111e-02 -1.36383124e+02] [ 2.22294059e-02 -4.91253058e-04 9.99752776e-01 5.70399425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.782755096 meters 0.02184588131231788 Centerline is valid? [True, True] Translation: X:264.02, Y:-136.42, Z:5.71 [[ 7.80048493e-01 6.25495650e-01 -1.67194587e-02 2.64017960e+02] [-6.25339976e-01 7.80227533e-01 1.39610594e-02 -1.36420874e+02] [ 2.17775639e-02 -4.34957475e-04 9.99762746e-01 5.70594584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.842755096 meters 0.021373975956365237 Centerline is valid? [True, True] Translation: X:264.06, Y:-136.46, Z:5.71 [[ 7.79819508e-01 6.25813401e-01 -1.54635286e-02 2.64062733e+02] [-6.25680348e-01 7.79972713e-01 1.29100775e-02 -1.36458517e+02] [ 2.01404299e-02 -3.92304337e-04 9.99797084e-01 5.70883237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.902755096 meters 0.02126581822776832 Centerline is valid? [True, True] Translation: X:264.11, Y:-136.50, Z:5.71 [[ 7.79934053e-01 6.25678270e-01 -1.51517504e-02 2.64106350e+02] [-6.25550541e-01 7.80081120e-01 1.26478254e-02 -1.36496543e+02] [ 1.97330639e-02 -3.86284037e-04 9.99805210e-01 5.71110333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.962755096 meters 0.021502020224285243 Centerline is valid? [True, True] Translation: X:264.15, Y:-136.54, Z:5.71 [[ 7.80963789e-01 6.24410890e-01 -1.43735976e-02 2.64149571e+02] [-6.24295780e-01 7.81095951e-01 1.19956450e-02 -1.36536487e+02] [ 1.87173702e-02 -3.94788044e-04 9.99824737e-01 5.71344183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.022755096 meters 0.021499820091400168 Centerline is valid? [True, True] Translation: X:264.19, Y:-136.58, Z:5.72 [[ 7.81795937e-01 6.23380488e-01 -1.38520776e-02 2.64194111e+02] [-6.23273449e-01 7.81918541e-01 1.15586594e-02 -1.36575382e+02] [ 1.80366390e-02 -4.02880810e-04 9.99837245e-01 5.71512084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.082755096 meters 0.02260337060621671 Centerline is valid? [True, True] Translation: X:264.24, Y:-136.62, Z:5.72 [[ 7.83012015e-01 6.21848334e-01 -1.40297818e-02 2.64236907e+02] [-6.21738319e-01 7.83137571e-01 1.17050378e-02 -1.36616390e+02] [ 1.82660074e-02 -4.42332267e-04 9.99833065e-01 5.71633272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14275509600003 meters 0.023376445226146667 Centerline is valid? [True, True] Translation: X:264.28, Y:-136.66, Z:5.72 [[ 7.83907487e-01 6.20711714e-01 -1.43533776e-02 2.64280225e+02] [-6.20596411e-01 7.84038736e-01 1.19730802e-02 -1.36656411e+02] [ 1.86854352e-02 -4.78132626e-04 9.99825298e-01 5.71651809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20275509600003 meters 0.02419114134585304 Centerline is valid? [True, True] Translation: X:264.32, Y:-136.70, Z:5.72 [[ 7.84316031e-01 6.20194029e-01 -1.44127995e-02 2.64321855e+02] [-6.20077718e-01 7.84448293e-01 1.20207609e-02 -1.36696153e+02] [ 1.87613001e-02 -4.91019699e-04 9.99823871e-01 5.71699555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26275509600003 meters 0.021968359630428914 Centerline is valid? [True, True] Translation: X:264.37, Y:-136.73, Z:5.72 [[ 7.83866625e-01 6.20758727e-01 -1.45504654e-02 2.64371193e+02] [-6.20640322e-01 7.84001513e-01 1.21333821e-02 -1.36733998e+02] [ 1.89394897e-02 -4.80347762e-04 9.99820516e-01 5.71763113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32275509600004 meters 0.02427131947108391 Centerline is valid? [True, True] Translation: X:264.42, Y:-136.78, Z:5.72 [[ 7.83066908e-01 6.21765149e-01 -1.46395662e-02 2.64415020e+02] [-6.21645327e-01 7.83203603e-01 1.22148724e-02 -1.36776908e+02] [ 1.90605429e-02 -4.64444423e-04 9.99818223e-01 5.71821772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38275509600004 meters 0.023115679773945127 Centerline is valid? [True, True] Translation: X:264.46, Y:-136.81, Z:5.72 [[ 7.81563724e-01 6.23655334e-01 -1.45660584e-02 2.64460902e+02] [-6.23536918e-01 7.81699333e-01 1.21599381e-02 -1.36813835e+02] [ 1.89698884e-02 -4.21291324e-04 9.99819967e-01 5.71895580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44275509600004 meters 0.01982306893836078 Centerline is valid? [True, True] Translation: X:264.51, Y:-136.85, Z:5.72 [[ 7.79778929e-01 6.25905343e-01 -1.36866119e-02 2.64512525e+02] [-6.25801174e-01 7.79898958e-01 1.14239533e-02 -1.36849774e+02] [ 1.78244878e-02 -3.43060247e-04 9.99841072e-01 5.72006389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.502755096 meters 0.01932625510966312 Centerline is valid? [True, True] Translation: X:264.56, Y:-136.89, Z:5.72 [[ 7.78659016e-01 6.27294245e-01 -1.38587973e-02 2.64561144e+02] [-6.27187593e-01 7.78782273e-01 1.15713011e-02 -1.36888928e+02] [ 1.80515963e-02 -3.18032251e-04 9.99837006e-01 5.72102284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.562755096 meters 0.018763082666773116 Centerline is valid? [True, True] Translation: X:264.61, Y:-136.93, Z:5.72 [[ 7.77178569e-01 6.29137101e-01 -1.34157008e-02 2.64608570e+02] [-6.29037317e-01 7.77294304e-01 1.12080052e-02 -1.36926967e+02] [ 1.74793197e-02 -2.71644968e-04 9.99847188e-01 5.72232641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.622755096 meters 0.018472285490639756 Centerline is valid? [True, True] Translation: X:264.65, Y:-136.97, Z:5.72 [[ 7.76609674e-01 6.29859785e-01 -1.24122927e-02 2.64654311e+02] [-6.29774461e-01 7.76708823e-01 1.03698470e-02 -1.36965089e+02] [ 1.61722869e-02 -2.36378560e-04 9.99869192e-01 5.72396212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.682755096 meters 0.018958209802566007 Centerline is valid? [True, True] Translation: X:264.70, Y:-137.00, Z:5.72 [[ 7.76506135e-01 6.29985000e-01 -1.25348001e-02 2.64697591e+02] [-6.29898010e-01 7.76607265e-01 1.04715097e-02 -1.37002825e+02] [ 1.63315108e-02 -2.35545903e-04 9.99866604e-01 5.72440148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.742755096 meters 0.01876717604508257 Centerline is valid? [True, True] Translation: X:264.74, Y:-137.04, Z:5.73 [[ 7.76826330e-01 6.29595040e-01 -1.22857224e-02 2.64742562e+02] [-6.29511457e-01 7.76923439e-01 1.02613631e-02 -1.37041065e+02] [ 1.60055690e-02 -2.37294023e-04 9.99871875e-01 5.72523924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.802755096 meters 0.01945623742858381 Centerline is valid? [True, True] Translation: X:264.79, Y:-137.08, Z:5.73 [[ 7.78099288e-01 6.28029321e-01 -1.18604746e-02 2.64785918e+02] [-6.27951266e-01 7.78189633e-01 9.90465830e-03 -1.37081375e+02] [ 1.54501142e-02 -2.59007560e-04 9.99880606e-01 5.72642709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.862755096 meters 0.020205538119149002 Centerline is valid? [True, True] Translation: X:264.83, Y:-137.12, Z:5.73 [[ 7.79302760e-01 6.26541474e-01 -1.15321534e-02 2.64828900e+02] [-6.26467540e-01 7.79388032e-01 9.62899597e-03 -1.37121484e+02] [ 1.50209877e-02 -2.79383372e-04 9.99887140e-01 5.72728081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.922755096 meters 0.020146694718626224 Centerline is valid? [True, True] Translation: X:264.88, Y:-137.16, Z:5.73 [[ 7.79841082e-01 6.25877260e-01 -1.12045532e-02 2.64876416e+02] [-6.25807447e-01 7.79921519e-01 9.35215834e-03 -1.37162108e+02] [ 1.45919754e-02 -2.81304424e-04 9.99893492e-01 5.72831440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.982755096 meters 0.020278523169822718 Centerline is valid? [True, True] Translation: X:264.92, Y:-137.20, Z:5.73 [[ 7.79464075e-01 6.26354113e-01 -1.07833615e-02 2.64922239e+02] [-6.26289403e-01 7.79538616e-01 9.00725824e-03 -1.37199664e+02] [ 1.40477799e-02 -2.67329187e-04 9.99901289e-01 5.72962981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.042755096 meters 0.02050562780958587 Centerline is valid? [True, True] Translation: X:264.97, Y:-137.24, Z:5.73 [[ 7.79535444e-01 6.26261681e-01 -1.09908421e-02 2.64967748e+02] [-6.26194448e-01 7.79612873e-01 9.18051430e-03 -1.37237412e+02] [ 1.43180063e-02 -2.74132011e-04 9.99897455e-01 5.72948368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.102755096 meters 0.02061575735124103 Centerline is valid? [True, True] Translation: X:265.01, Y:-137.28, Z:5.73 [[ 7.79913817e-01 6.25785872e-01 -1.12463697e-02 2.65013906e+02] [-6.25715452e-01 7.79994846e-01 9.39223386e-03 -1.37275805e+02] [ 1.46496377e-02 -2.88105641e-04 9.99892647e-01 5.72928925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.162755096 meters 0.020545145497124214 Centerline is valid? [True, True] Translation: X:265.06, Y:-137.31, Z:5.73 [[ 7.80291948e-01 6.25326473e-01 -1.05488204e-02 2.65062649e+02] [-6.25264512e-01 7.80363201e-01 8.80701409e-03 -1.37314186e+02] [ 1.37391703e-02 -2.76239154e-04 9.99905575e-01 5.73033048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.222755096 meters 0.02103608649140066 Centerline is valid? [True, True] Translation: X:265.11, Y:-137.35, Z:5.73 [[ 7.80234437e-01 6.25400354e-01 -1.04221008e-02 2.65108945e+02] [-6.25339787e-01 7.80303992e-01 8.70806107e-03 -1.37351078e+02] [ 1.35784313e-02 -2.76974818e-04 9.99907770e-01 5.73128560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.282755096 meters 0.0203740752024707 Centerline is valid? [True, True] Translation: X:265.16, Y:-137.39, Z:5.73 [[ 7.79330787e-01 6.26517181e-01 -1.09428475e-02 2.65156219e+02] [-6.26450524e-01 7.79407563e-01 9.14288901e-03 -1.37386986e+02] [ 1.42571152e-02 -2.70182337e-04 9.99898326e-01 5.73125023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.342755096 meters 0.020590691746698017 Centerline is valid? [True, True] Translation: X:265.20, Y:-137.42, Z:5.73 [[ 7.78715759e-01 6.27279788e-01 -1.10378905e-02 2.65200961e+02] [-6.27212050e-01 7.78793940e-01 9.22187110e-03 -1.37423885e+02] [ 1.43809355e-02 -2.58118445e-04 9.99896556e-01 5.73244303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.402755096 meters 0.019906475742485493 Centerline is valid? [True, True] Translation: X:265.25, Y:-137.46, Z:5.73 [[ 7.77994793e-01 6.28175695e-01 -1.09269559e-02 2.65247805e+02] [-6.28109427e-01 7.78071487e-01 9.12731309e-03 -1.37459489e+02] [ 1.42355091e-02 -2.37678038e-04 9.99898642e-01 5.73381938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.462755096 meters 0.01973982411518043 Centerline is valid? [True, True] Translation: X:265.29, Y:-137.50, Z:5.74 [[ 7.77518099e-01 6.28766231e-01 -1.08918179e-02 2.65293551e+02] [-6.28700467e-01 7.77594352e-01 9.09652934e-03 -1.37496292e+02] [ 1.41890065e-02 -2.25025226e-04 9.99899306e-01 5.73543958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.522755096 meters 0.019516818323730558 Centerline is valid? [True, True] Translation: X:265.34, Y:-137.53, Z:5.74 [[ 7.77182847e-01 6.29177322e-01 -1.10778638e-02 2.65339405e+02] [-6.29109355e-01 7.77261763e-01 9.25041986e-03 -1.37533856e+02] [ 1.44305543e-02 -2.20079909e-04 9.99895850e-01 5.73654557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.582755096 meters 0.0199110132606926 Centerline is valid? [True, True] Translation: X:265.38, Y:-137.57, Z:5.74 [[ 7.76856635e-01 6.29577454e-01 -1.12248964e-02 2.65383295e+02] [-6.29507734e-01 7.76937696e-01 9.37178435e-03 -1.37571624e+02] [ 1.46213093e-02 -2.14373734e-04 9.99893080e-01 5.73734999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64275509600003 meters 0.019252939363838466 Centerline is valid? [True, True] Translation: X:265.43, Y:-137.61, Z:5.74 [[ 7.76814517e-01 6.29627802e-01 -1.13153455e-02 2.65429974e+02] [-6.29556990e-01 7.76896895e-01 9.44516356e-03 -1.37608472e+02] [ 1.47377944e-02 -2.13485293e-04 9.99891370e-01 5.73763290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70275509600003 meters 0.01957569016641484 Centerline is valid? [True, True] Translation: X:265.47, Y:-137.65, Z:5.74 [[ 7.77252615e-01 6.29083495e-01 -1.15034654e-02 2.65474917e+02] [-6.29010261e-01 7.77337703e-01 9.60139900e-03 -1.37647719e+02] [ 1.49821590e-02 -2.26914706e-04 9.99887735e-01 5.73845060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76275509600003 meters 0.020271537069267705 Centerline is valid? [True, True] Translation: X:265.52, Y:-137.69, Z:5.74 [[ 7.77806918e-01 6.28404670e-01 -1.11341758e-02 2.65518784e+02] [-6.28335999e-01 7.77886571e-01 9.29276170e-03 -1.37685620e+02] [ 1.45007406e-02 -2.31970886e-04 9.99894832e-01 5.74015271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82275509600004 meters 0.020350240330751234 Centerline is valid? [True, True] Translation: X:265.56, Y:-137.72, Z:5.74 [[ 7.77702333e-01 6.28547153e-01 -1.03710275e-02 2.65563785e+02] [-6.28487605e-01 7.77771452e-01 8.65438379e-03 -1.37722104e+02] [ 1.35059774e-02 -2.12472242e-04 9.99908768e-01 5.74143994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88275509600004 meters 0.019632765686416663 Centerline is valid? [True, True] Translation: X:265.61, Y:-137.76, Z:5.74 [[ 7.76683268e-01 6.29799877e-01 -1.07338310e-02 2.65611282e+02] [-6.29736244e-01 7.76757412e-01 8.95471871e-03 -1.37757363e+02] [ 1.39772635e-02 -1.95497780e-04 9.99902294e-01 5.74155729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94275509600004 meters 0.019490925606220066 Centerline is valid? [True, True] Translation: X:265.66, Y:-137.79, Z:5.74 [[ 7.76077536e-01 6.30533002e-01 -1.14800656e-02 2.65658125e+02] [-6.30460318e-01 7.76162416e-01 9.57559375e-03 -1.37793553e+02] [ 1.49481233e-02 -1.93677386e-04 9.99888252e-01 5.74186455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.002755096 meters 0.019337217037078816 Centerline is valid? [True, True] Translation: X:265.71, Y:-137.83, Z:5.74 [[ 7.75518396e-01 6.31200975e-01 -1.25118763e-02 2.65705680e+02] [-6.31114753e-01 7.75619295e-01 1.04344132e-02 -1.37829096e+02] [ 1.62906644e-02 -1.95649639e-04 9.99867279e-01 5.74102030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.062755096 meters 0.019385705984088578 Centerline is valid? [True, True] Translation: X:265.75, Y:-137.86, Z:5.74 [[ 7.75651752e-01 6.31020379e-01 -1.33282407e-02 2.65751633e+02] [-6.30922542e-01 7.75766226e-01 1.11134355e-02 -1.37864862e+02] [ 1.73524032e-02 -2.11068250e-04 9.99849413e-01 5.74095348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.122755096 meters 0.020133158641681935 Centerline is valid? [True, True] Translation: X:265.80, Y:-137.90, Z:5.74 [[ 7.76036531e-01 6.30545145e-01 -1.34209689e-02 2.65795081e+02] [-6.30445918e-01 7.76152544e-01 1.11881033e-02 -1.37902770e+02] [ 1.74713233e-02 -2.21181819e-04 9.99847340e-01 5.74187309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.182755096 meters 0.019997096483981402 Centerline is valid? [True, True] Translation: X:265.84, Y:-137.94, Z:5.74 [[ 7.76720112e-01 6.29714502e-01 -1.28652323e-02 2.65841533e+02] [-6.29623242e-01 7.76826618e-01 1.07228341e-02 -1.37938886e+02] [ 1.67463791e-02 -2.28391631e-04 9.99859743e-01 5.74316975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.242755096 meters 0.020550547582948844 Centerline is valid? [True, True] Translation: X:265.89, Y:-137.98, Z:5.74 [[ 7.77362303e-01 6.28930935e-01 -1.23987536e-02 2.65885732e+02] [-6.28846097e-01 7.77461140e-01 1.03325657e-02 -1.37976407e+02] [ 1.61380193e-02 -2.35239257e-04 9.99869746e-01 5.74472996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.302755096 meters 0.020746804978039133 Centerline is valid? [True, True] Translation: X:265.93, Y:-138.01, Z:5.75 [[ 7.78835255e-01 6.27102713e-01 -1.25631492e-02 2.65931699e+02] [-6.27015406e-01 7.78936526e-01 1.04675052e-02 -1.38013521e+02] [ 1.63500967e-02 -2.75174001e-04 9.99866290e-01 5.74532144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.362755096 meters 0.02101467189542395 Centerline is valid? [True, True] Translation: X:265.98, Y:-138.05, Z:5.75 [[ 7.80152827e-01 6.25454937e-01 -1.29494219e-02 2.65976758e+02] [-6.25361983e-01 7.80260226e-01 1.07874736e-02 -1.38052263e+02] [ 1.68509974e-02 -3.17801845e-04 9.99857961e-01 5.74632444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.422755096 meters 0.024084909330274396 Centerline is valid? [True, True] Translation: X:266.02, Y:-138.09, Z:5.75 [[ 7.81112240e-01 6.24239635e-01 -1.37312291e-02 2.66017381e+02] [-6.24134945e-01 7.81232837e-01 1.14378223e-02 -1.38093513e+02] [ 1.78672291e-02 -3.64083085e-04 9.99840302e-01 5.74672170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.482755096 meters 0.0219414861981998 Centerline is valid? [True, True] Translation: X:266.07, Y:-138.13, Z:5.75 [[ 7.81564262e-01 6.23654106e-01 -1.45897184e-02 2.66066001e+02] [-6.23535863e-01 7.81700324e-01 1.21503492e-02 -1.38127779e+02] [ 1.89824028e-02 -3.99066078e-04 9.99819738e-01 5.74676941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.542755096 meters 0.025597407296023944 Centerline is valid? [True, True] Translation: X:266.11, Y:-138.17, Z:5.75 [[ 7.81826829e-01 6.23304990e-01 -1.54174768e-02 2.66106389e+02] [-6.23172924e-01 7.81978712e-01 1.28374840e-02 -1.38169812e+02] [ 2.00578065e-02 -4.28935364e-04 9.99798730e-01 5.74671819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.602755096 meters 0.021672384011020458 Centerline is valid? [True, True] Translation: X:266.16, Y:-138.20, Z:5.75 [[ 7.80612201e-01 6.24829325e-01 -1.52612736e-02 2.66159506e+02] [-6.24700262e-01 7.80761274e-01 1.27049420e-02 -1.38197709e+02] [ 1.98538318e-02 -3.83911152e-04 9.99802820e-01 5.74912209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.662755096 meters 0.02130623247304912 Centerline is valid? [True, True] Translation: X:266.21, Y:-138.23, Z:5.75 [[ 7.79441456e-01 6.26261718e-01 -1.63485793e-02 2.66205801e+02] [-6.26113973e-01 7.79612803e-01 1.36077205e-02 -1.38232094e+02] [ 2.12675562e-02 -3.70347559e-04 9.99773751e-01 5.74914420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.722755096 meters 0.02095045147656172 Centerline is valid? [True, True] Translation: X:266.25, Y:-138.27, Z:5.75 [[ 7.79043185e-01 6.26751312e-01 -1.65683218e-02 2.66251940e+02] [-6.26599736e-01 7.79219266e-01 1.37879341e-02 -1.38268886e+02] [ 2.15519613e-02 -3.59690067e-04 9.99767665e-01 5.75012267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.782755096 meters 0.020604704172471205 Centerline is valid? [True, True] Translation: X:266.30, Y:-138.30, Z:5.75 [[ 7.78661382e-01 6.27227465e-01 -1.64972313e-02 2.66299538e+02] [-6.27077341e-01 7.78836048e-01 1.37266084e-02 -1.38302995e+02] [ 2.14583442e-02 -3.43339965e-04 9.99769684e-01 5.75118542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.842755096 meters 0.020146820115999636 Centerline is valid? [True, True] Translation: X:266.35, Y:-138.34, Z:5.75 [[ 7.78363190e-01 6.27593286e-01 -1.66556707e-02 2.66346883e+02] [-6.27440396e-01 7.78541300e-01 1.38562029e-02 -1.38337595e+02] [ 2.16631874e-02 -3.34717726e-04 9.99765270e-01 5.75210623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.902755096 meters 0.020196780410037855 Centerline is valid? [True, True] Translation: X:266.39, Y:-138.38, Z:5.75 [[ 7.78446249e-01 6.27489297e-01 -1.66919045e-02 2.66391589e+02] [-6.27335770e-01 7.78625114e-01 1.38839043e-02 -1.38375286e+02] [ 2.17087374e-02 -3.36444482e-04 9.99764281e-01 5.75435365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.962755096 meters 0.020691933523093658 Centerline is valid? [True, True] Translation: X:266.44, Y:-138.41, Z:5.76 [[ 7.79261817e-01 6.26485723e-01 -1.63297462e-02 2.66435872e+02] [-6.26338633e-01 7.79432816e-01 1.35794962e-02 -1.38412922e+02] [ 2.12353005e-02 -3.54031980e-04 9.99774443e-01 5.75646290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.022755096 meters 0.021052701342844884 Centerline is valid? [True, True] Translation: X:266.48, Y:-138.45, Z:5.76 [[ 7.80619651e-01 6.24811622e-01 -1.56012038e-02 2.66482173e+02] [-6.24677080e-01 7.80775443e-01 1.29712120e-02 -1.38449602e+02] [ 2.02856008e-02 -3.79868546e-04 9.99794154e-01 5.75910645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.082755096 meters 0.02196191576532471 Centerline is valid? [True, True] Translation: X:266.53, Y:-138.49, Z:5.76 [[ 7.81559040e-01 6.23655729e-01 -1.47985768e-02 2.66525712e+02] [-6.23534507e-01 7.81699035e-01 1.23019279e-02 -1.38487805e+02] [ 1.92402010e-02 -3.87259717e-04 9.99814815e-01 5.76143878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14275509600003 meters 0.0236562080963185 Centerline is valid? [True, True] Translation: X:266.57, Y:-138.53, Z:5.76 [[ 7.83179977e-01 6.21633818e-01 -1.41605100e-02 2.66568019e+02] [-6.21522555e-01 7.83307873e-01 1.17681623e-02 -1.38526879e+02] [ 1.84075266e-02 -4.15512726e-04 9.99830481e-01 5.76458732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20275509600003 meters 0.022990374691090387 Centerline is valid? [True, True] Translation: X:266.62, Y:-138.56, Z:5.77 [[ 7.84151453e-01 6.20418655e-01 -1.36817762e-02 2.66615062e+02] [-6.20314641e-01 7.84270687e-01 1.13681689e-02 -1.38562324e+02] [ 1.77832400e-02 -4.27360063e-04 9.99841774e-01 5.76609625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26275509600003 meters 0.02340739363932656 Centerline is valid? [True, True] Translation: X:266.66, Y:-138.60, Z:5.77 [[ 7.84386046e-01 6.20112653e-01 -1.41006591e-02 2.66658787e+02] [-6.20002159e-01 7.84512650e-01 1.17143044e-02 -1.38598163e+02] [ 1.83263338e-02 -4.46097810e-04 9.99831959e-01 5.76694002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32275509600004 meters 0.022846682698081457 Centerline is valid? [True, True] Translation: X:266.71, Y:-138.63, Z:5.77 [[ 7.83959425e-01 6.20633468e-01 -1.48902217e-02 2.66705622e+02] [-6.20510441e-01 7.84100690e-01 1.23653244e-02 -1.38633956e+02] [ 1.93497673e-02 -4.54374629e-04 9.99812672e-01 5.76716376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38275509600004 meters 0.022314445861978546 Centerline is valid? [True, True] Translation: X:266.75, Y:-138.67, Z:5.77 [[ 7.82643607e-01 6.22264806e-01 -1.59842305e-02 2.66751353e+02] [-6.22123422e-01 7.82806691e-01 1.32714948e-02 -1.38669570e+02] [ 2.07709467e-02 -4.42686343e-04 9.99784163e-01 5.76803511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44275509600004 meters 0.021124035176868946 Centerline is valid? [True, True] Translation: X:266.80, Y:-138.70, Z:5.77 [[ 7.80387122e-01 6.25077558e-01 -1.65525484e-02 2.66798449e+02] [-6.24926644e-01 7.80562556e-01 1.37399150e-02 -1.38704190e+02] [ 2.15088120e-02 -3.78324222e-04 9.99768587e-01 5.76915910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.502755096 meters 0.020306634341210453 Centerline is valid? [True, True] Translation: X:266.85, Y:-138.74, Z:5.77 [[ 7.78804485e-01 6.27044880e-01 -1.66820965e-02 2.66845438e+02] [-6.26892210e-01 7.78983065e-01 1.38398434e-02 -1.38739618e+02] [ 2.16732735e-02 -3.20655765e-04 9.99765056e-01 5.77017807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.562755096 meters 0.01894391323750925 Centerline is valid? [True, True] Translation: X:266.89, Y:-138.77, Z:5.77 [[ 7.77231521e-01 6.29015264e-01 -1.58417326e-02 2.66893233e+02] [-6.28878138e-01 7.77392910e-01 1.31358944e-02 -1.38773636e+02] [ 2.05779287e-02 -2.47111843e-04 9.99788221e-01 5.77263425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.622755096 meters 0.01867669445501275 Centerline is valid? [True, True] Translation: X:266.94, Y:-138.81, Z:5.78 [[ 7.77332668e-01 6.28934701e-01 -1.39665929e-02 2.66938475e+02] [-6.28828209e-01 7.77458099e-01 1.15753351e-02 -1.38810738e+02] [ 1.81385707e-02 -2.15298456e-04 9.99835459e-01 5.77547575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.682755096 meters 0.019013177081822694 Centerline is valid? [True, True] Translation: X:266.98, Y:-138.85, Z:5.78 [[ 7.78420573e-01 6.27602666e-01 -1.32779517e-02 2.66982890e+02] [-6.27506340e-01 7.78533776e-01 1.09978273e-02 -1.38849590e+02] [ 1.72395996e-02 -2.28936143e-04 9.99851361e-01 5.77712182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.742755096 meters 0.01949234504770123 Centerline is valid? [True, True] Translation: X:267.03, Y:-138.89, Z:5.78 [[ 7.79430430e-01 6.26356788e-01 -1.28599616e-02 2.67027788e+02] [-6.26266289e-01 7.79536473e-01 1.06499651e-02 -1.38888065e+02] [ 1.66954870e-02 -2.47146439e-04 9.99860590e-01 5.77815763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.802755096 meters 0.01999203395424792 Centerline is valid? [True, True] Translation: X:267.07, Y:-138.93, Z:5.78 [[ 7.80559056e-01 6.24963586e-01 -1.21686718e-02 2.67071714e+02] [-6.24882409e-01 7.80653859e-01 1.00760411e-02 -1.38926504e+02] [ 1.57966794e-02 -2.60956163e-04 9.99875191e-01 5.77972849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.862755096 meters 0.019716637820489023 Centerline is valid? [True, True] Translation: X:267.12, Y:-138.96, Z:5.78 [[ 7.81194288e-01 6.24156517e-01 -1.28112090e-02 2.67117109e+02] [-6.24066470e-01 7.81299275e-01 1.06058287e-02 -1.38964072e+02] [ 1.66290854e-02 -2.90166786e-04 9.99861685e-01 5.77952451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.922755096 meters 0.01948779805902005 Centerline is valid? [True, True] Translation: X:267.16, Y:-139.00, Z:5.78 [[ 7.81161500e-01 6.24148346e-01 -1.50184099e-02 2.67161546e+02] [-6.24024640e-01 7.81305783e-01 1.24306705e-02 -1.39001407e+02] [ 1.94925529e-02 -3.38503388e-04 9.99809945e-01 5.77804592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.982755096 meters 0.01969211487133724 Centerline is valid? [True, True] Translation: X:267.20, Y:-139.04, Z:5.78 [[ 7.81108294e-01 6.24196654e-01 -1.57597692e-02 2.67204427e+02] [-6.24060511e-01 7.81267185e-01 1.30409073e-02 -1.39039034e+02] [ 2.04526812e-02 -3.51311256e-04 9.99790760e-01 5.77804730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.042755096 meters 0.01977444852199372 Centerline is valid? [True, True] Translation: X:267.25, Y:-139.08, Z:5.78 [[ 7.81227496e-01 6.24041645e-01 -1.59882764e-02 2.67248945e+02] [-6.23901569e-01 7.81391002e-01 1.32262942e-02 -1.39076645e+02] [ 2.07468537e-02 -3.57633939e-04 9.99784697e-01 5.77887805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.102755096 meters 0.021310156501225523 Centerline is valid? [True, True] Translation: X:267.29, Y:-139.12, Z:5.78 [[ 7.82041158e-01 6.23045032e-01 -1.50504477e-02 2.67290116e+02] [-6.22920778e-01 7.82185885e-01 1.24476781e-02 -1.39116938e+02] [ 1.95277118e-02 -3.59360010e-04 9.99809251e-01 5.78072359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.162755096 meters 0.020917160213781948 Centerline is valid? [True, True] Translation: X:267.34, Y:-139.16, Z:5.78 [[ 7.82752520e-01 6.22157585e-01 -1.47794469e-02 2.67335110e+02] [-6.22037677e-01 7.82891947e-01 1.22199945e-02 -1.39155585e+02] [ 1.91734722e-02 -3.71858684e-04 9.99816103e-01 5.78214739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.222755096 meters 0.02149681921768298 Centerline is valid? [True, True] Translation: X:267.38, Y:-139.19, Z:5.78 [[ 7.83518226e-01 6.21194999e-01 -1.46956431e-02 2.67378374e+02] [-6.21076400e-01 7.83655933e-01 1.21442918e-02 -1.39194974e+02] [ 1.90603012e-02 -3.88156841e-04 9.99818261e-01 5.78231803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.282755096 meters 0.0222366698871198 Centerline is valid? [True, True] Translation: X:267.42, Y:-139.23, Z:5.78 [[ 7.83822947e-01 6.20818854e-01 -1.43365876e-02 2.67421250e+02] [-6.20706030e-01 7.83953955e-01 1.18414917e-02 -1.39233832e+02] [ 1.85906459e-02 -3.82826534e-04 9.99827106e-01 5.78312719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.342755096 meters 0.019861434241874688 Centerline is valid? [True, True] Translation: X:267.47, Y:-139.27, Z:5.78 [[ 7.82649746e-01 6.22312107e-01 -1.36753682e-02 2.67468383e+02] [-6.22209733e-01 7.82769144e-01 1.12922812e-02 -1.39268663e+02] [ 1.77319795e-02 -3.28953826e-04 9.99842722e-01 5.78455199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.402755096 meters 0.018740627217737796 Centerline is valid? [True, True] Translation: X:267.52, Y:-139.30, Z:5.79 [[ 7.81184778e-01 6.24166713e-01 -1.28940846e-02 2.67515312e+02] [-6.24075981e-01 7.81291138e-01 1.06455230e-02 -1.39304994e+02] [ 1.67186151e-02 -2.69231984e-04 9.99860198e-01 5.78643024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.462755096 meters 0.017592151346658976 Centerline is valid? [True, True] Translation: X:267.56, Y:-139.34, Z:5.79 [[ 7.78630225e-01 6.27356421e-01 -1.26052893e-02 2.67562251e+02] [-6.27270145e-01 7.78732228e-01 1.04059226e-02 -1.39340914e+02] [ 1.63443674e-02 -1.95444181e-04 9.99866403e-01 5.78718627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.522755096 meters 0.017211722068447108 Centerline is valid? [True, True] Translation: X:267.61, Y:-139.38, Z:5.79 [[ 7.77228560e-01 6.29093049e-01 -1.25579423e-02 2.67606606e+02] [-6.29007670e-01 7.77329989e-01 1.03653369e-02 -1.39378573e+02] [ 1.62824265e-02 -1.57193844e-04 9.99867420e-01 5.78752404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.582755096 meters 0.017178717265481317 Centerline is valid? [True, True] Translation: X:267.65, Y:-139.42, Z:5.79 [[ 7.77330559e-01 6.28972975e-01 -1.22555699e-02 2.67650037e+02] [-6.28891691e-01 7.77427150e-01 1.01127756e-02 -1.39416684e+02] [ 1.58884753e-02 -1.53543409e-04 9.99873758e-01 5.78900342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64275509600003 meters 0.017818475044119424 Centerline is valid? [True, True] Translation: X:267.69, Y:-139.46, Z:5.79 [[ 7.78651230e-01 6.27350673e-01 -1.15496777e-02 2.67691258e+02] [-6.27278339e-01 7.78736863e-01 9.52800659e-03 -1.39457843e+02] [ 1.49715611e-02 -1.74131432e-04 9.99887905e-01 5.79117490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70275509600003 meters 0.01979457050234704 Centerline is valid? [True, True] Translation: X:267.73, Y:-139.50, Z:5.79 [[ 7.80667445e-01 6.24855788e-01 -1.06576236e-02 2.67730923e+02] [-6.24793984e-01 7.80740164e-01 8.79060437e-03 -1.39499803e+02] [ 1.38136948e-02 -2.03719562e-04 9.99904566e-01 5.79234014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76275509600003 meters 0.0198125437332402 Centerline is valid? [True, True] Translation: X:267.77, Y:-139.54, Z:5.79 [[ 7.82174863e-01 6.22967670e-01 -1.06660885e-02 2.67774317e+02] [-6.22905624e-01 7.82247548e-01 8.79526233e-03 -1.39540278e+02] [ 1.38226857e-02 -2.35466596e-04 9.99904434e-01 5.79288506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82275509600004 meters 0.020028385136373256 Centerline is valid? [True, True] Translation: X:267.82, Y:-139.58, Z:5.79 [[ 7.82286916e-01 6.22819808e-01 -1.10755338e-02 2.67817880e+02] [-6.22752911e-01 7.82365277e-01 9.13159245e-03 -1.39578055e+02] [ 1.43524497e-02 -2.46204392e-04 9.99896968e-01 5.79261481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88275509600004 meters 0.019961433105365668 Centerline is valid? [True, True] Translation: X:267.86, Y:-139.62, Z:5.79 [[ 7.81900737e-01 6.23291352e-01 -1.17952294e-02 2.67862659e+02] [-6.23215572e-01 7.81989659e-01 9.72235966e-03 -1.39616629e+02] [ 1.52836101e-02 -2.50949556e-04 9.99883167e-01 5.79202492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94275509600004 meters 0.019311333628641736 Centerline is valid? [True, True] Translation: X:267.91, Y:-139.66, Z:5.79 [[ 7.81714370e-01 6.23515405e-01 -1.22957195e-02 2.67908269e+02] [-6.23433112e-01 7.81811022e-01 1.01331220e-02 -1.39655842e+02] [ 1.59310867e-02 -2.55648440e-04 9.99873060e-01 5.79155603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.002755096 meters 0.01967582300470238 Centerline is valid? [True, True] Translation: X:267.95, Y:-139.69, Z:5.79 [[ 7.80541631e-01 6.24983445e-01 -1.22660239e-02 2.67951874e+02] [-6.24901740e-01 7.80637972e-01 1.01080413e-02 -1.39693825e+02] [ 1.58926825e-02 -2.24687412e-04 9.99873678e-01 5.79271095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.062755096 meters 0.018261205027618535 Centerline is valid? [True, True] Translation: X:268.00, Y:-139.73, Z:5.79 [[ 7.78952601e-01 6.26978446e-01 -1.14399916e-02 2.68000752e+02] [-6.26907617e-01 7.79036584e-01 9.42552463e-03 -1.39726627e+02] [ 1.48217728e-02 -1.70219020e-04 9.99890137e-01 5.79345021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.122755096 meters 0.01755325159485996 Centerline is valid? [True, True] Translation: X:268.05, Y:-139.76, Z:5.79 [[ 7.77078205e-01 6.29291693e-01 -1.18923620e-02 2.68049235e+02] [-6.29215446e-01 7.77169189e-01 9.79661415e-03 -1.39760174e+02] [ 1.54073053e-02 -1.29877461e-04 9.99881292e-01 5.79457831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.182755096 meters 0.017131736915788096 Centerline is valid? [True, True] Translation: X:268.10, Y:-139.79, Z:5.80 [[ 7.75717625e-01 6.30972630e-01 -1.16493516e-02 2.68097649e+02] [-6.30899679e-01 7.75805086e-01 9.59497247e-03 -1.39793954e+02] [ 1.50917912e-02 -9.34170692e-05 9.99886108e-01 5.79635044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.242755096 meters 0.01724469984624744 Centerline is valid? [True, True] Translation: X:268.14, Y:-139.83, Z:5.80 [[ 7.76368148e-01 6.30170310e-01 -1.17421789e-02 2.68143791e+02] [-6.30096123e-01 7.76456933e-01 9.66988626e-03 -1.39830897e+02] [ 1.52109714e-02 -1.08690314e-04 9.99884301e-01 5.79765976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.302755096 meters 0.01767786795045794 Centerline is valid? [True, True] Translation: X:268.19, Y:-139.87, Z:5.80 [[ 7.77643105e-01 6.28611165e-01 -1.09180711e-02 2.68187632e+02] [-6.28546890e-01 7.77719736e-01 8.98998673e-03 -1.39868273e+02] [ 1.41424054e-02 -1.28481546e-04 9.99899983e-01 5.80022346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.362755096 meters 0.019048650434233688 Centerline is valid? [True, True] Translation: X:268.23, Y:-139.91, Z:5.80 [[ 7.80541444e-01 6.25009912e-01 -1.08473323e-02 2.68232470e+02] [-6.24946146e-01 7.80616790e-01 8.92982236e-03 -1.39906581e+02] [ 1.40488372e-02 -1.91097911e-04 9.99901292e-01 5.80130064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.422755096 meters 0.02043765860295426 Centerline is valid? [True, True] Translation: X:268.28, Y:-139.95, Z:5.80 [[ 7.83919054e-01 6.20756217e-01 -1.15167976e-02 2.68275511e+02] [-6.20683902e-01 7.84003596e-01 9.47918020e-03 -1.39948365e+02] [ 1.49134707e-02 -2.82619125e-04 9.99888748e-01 5.80121864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.482755096 meters 0.021304408161240396 Centerline is valid? [True, True] Translation: X:268.32, Y:-139.99, Z:5.80 [[ 7.84823698e-01 6.19608769e-01 -1.16934772e-02 2.68318798e+02] [-6.19534097e-01 7.84910746e-01 9.62410542e-03 -1.39986329e+02] [ 1.51415160e-02 -3.08718175e-04 9.99885313e-01 5.80199619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.542755096 meters 0.02114708577484051 Centerline is valid? [True, True] Translation: X:268.36, Y:-140.02, Z:5.80 [[ 7.84018470e-01 6.20618888e-01 -1.21340599e-02 2.68364343e+02] [-6.20538640e-01 7.84112305e-01 9.98442645e-03 -1.40022527e+02] [ 1.57109893e-02 -2.98321705e-04 9.99876530e-01 5.80249998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.602755096 meters 0.01977219837072613 Centerline is valid? [True, True] Translation: X:268.41, Y:-140.06, Z:5.80 [[ 7.82642389e-01 6.22341196e-01 -1.27407457e-02 2.68411877e+02] [-6.22252986e-01 7.82746038e-01 1.04814423e-02 -1.40057298e+02] [ 1.64958016e-02 -2.75253958e-04 9.99863897e-01 5.80274204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.662755096 meters 0.019272270677715 Centerline is valid? [True, True] Translation: X:268.46, Y:-140.09, Z:5.80 [[ 7.81449956e-01 6.23830656e-01 -1.30873306e-02 2.68458581e+02] [-6.23737821e-01 7.81559499e-01 1.07647785e-02 -1.40092554e+02] [ 1.69439264e-02 -2.49072654e-04 9.99856410e-01 5.80367726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.722755096 meters 0.019375975326073637 Centerline is valid? [True, True] Translation: X:268.50, Y:-140.13, Z:5.80 [[ 7.81475214e-01 6.23781550e-01 -1.38948930e-02 2.68503757e+02] [-6.23676930e-01 7.81598687e-01 1.14270972e-02 -1.40129029e+02] [ 1.79882425e-02 -2.64069069e-04 9.99838164e-01 5.80388397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.782755096 meters 0.019642728077539598 Centerline is valid? [True, True] Translation: X:268.55, Y:-140.17, Z:5.81 [[ 7.82333088e-01 6.22715165e-01 -1.34447674e-02 2.68548988e+02] [-6.22617103e-01 7.82448558e-01 1.10542813e-02 -1.40167123e+02] [ 1.74035075e-02 -2.77187877e-04 9.99848509e-01 5.80553050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.842755096 meters 0.020065367099857623 Centerline is valid? [True, True] Translation: X:268.59, Y:-140.20, Z:5.81 [[ 7.83072084e-01 6.21784823e-01 -1.34813097e-02 2.68594381e+02] [-6.21686120e-01 7.83188066e-01 1.10825252e-02 -1.40204884e+02] [ 1.74493468e-02 -2.97272919e-04 9.99847704e-01 5.80706665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.902755096 meters 0.020662224266977298 Centerline is valid? [True, True] Translation: X:268.64, Y:-140.24, Z:5.81 [[ 7.84238599e-01 6.20298557e-01 -1.41251961e-02 2.68640727e+02] [-6.20189994e-01 7.84365719e-01 1.16098861e-02 -1.40241778e+02] [ 1.82809152e-02 -3.44615496e-04 9.99832831e-01 5.80703978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.962755096 meters 0.02071998179048837 Centerline is valid? [True, True] Translation: X:268.69, Y:-140.28, Z:5.81 [[ 7.84521803e-01 6.19936481e-01 -1.42933907e-02 2.68686350e+02] [-6.19825292e-01 7.84651919e-01 1.17462084e-02 -1.40279139e+02] [ 1.84972395e-02 -3.55751485e-04 9.99828848e-01 5.80792874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.022755096 meters 0.021111683488220685 Centerline is valid? [True, True] Translation: X:268.73, Y:-140.32, Z:5.81 [[ 7.85185310e-01 6.19098220e-01 -1.41923361e-02 2.68731412e+02] [-6.18988496e-01 7.85313476e-01 1.16612935e-02 -1.40316692e+02] [ 1.83649189e-02 -3.71383537e-04 9.99831282e-01 5.80993911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.082755096 meters 0.022157484410544496 Centerline is valid? [True, True] Translation: X:268.78, Y:-140.35, Z:5.81 [[ 7.85584371e-01 6.18583387e-01 -1.45529457e-02 2.68775113e+02] [-6.18467965e-01 7.85719059e-01 1.19556069e-02 -1.40354202e+02] [ 1.88300667e-02 -3.91607237e-04 9.99822622e-01 5.81091826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14275509600003 meters 0.021086414485582378 Centerline is valid? [True, True] Translation: X:268.82, Y:-140.39, Z:5.81 [[ 7.85133490e-01 6.19148109e-01 -1.48668146e-02 2.68822503e+02] [-6.19027817e-01 7.85274138e-01 1.22102521e-02 -1.40389748e+02] [ 1.92344795e-02 -3.83706021e-04 9.99814927e-01 5.81202458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20275509600003 meters 0.020492329154515602 Centerline is valid? [True, True] Translation: X:268.87, Y:-140.43, Z:5.81 [[ 7.83498913e-01 6.21194369e-01 -1.57165151e-02 2.68868207e+02] [-6.21060387e-01 7.83656451e-01 1.29059223e-02 -1.40426689e+02] [ 2.03334347e-02 -3.50871138e-04 9.99793193e-01 5.81210050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26275509600003 meters 0.01976279967521353 Centerline is valid? [True, True] Translation: X:268.91, Y:-140.46, Z:5.81 [[ 7.82198100e-01 6.22828749e-01 -1.58265879e-02 2.68913521e+02] [-6.22693260e-01 7.82358136e-01 1.29942253e-02 -1.40464124e+02] [ 2.04752369e-02 -3.08948759e-04 9.99790313e-01 5.81329409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32275509600004 meters 0.019752201184692307 Centerline is valid? [True, True] Translation: X:268.96, Y:-140.50, Z:5.81 [[ 7.81771979e-01 6.23363818e-01 -1.58152663e-02 2.68958260e+02] [-6.23228675e-01 7.81931880e-01 1.29828572e-02 -1.40502628e+02] [ 2.04595044e-02 -2.93106507e-04 9.99790639e-01 5.81445125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38275509600004 meters 0.019185590273572525 Centerline is valid? [True, True] Translation: X:269.00, Y:-140.54, Z:5.82 [[ 7.80693041e-01 6.24736334e-01 -1.49294278e-02 2.69004600e+02] [-6.24616194e-01 7.80835741e-01 1.22538313e-02 -1.40539033e+02] [ 1.93128445e-02 -2.41318438e-04 9.99813461e-01 5.81733902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44275509600004 meters 0.018421487297434955 Centerline is valid? [True, True] Translation: X:269.05, Y:-140.58, Z:5.82 [[ 7.78992295e-01 6.26866190e-01 -1.44839532e-02 2.69051327e+02] [-6.26753514e-01 7.79126914e-01 1.18863258e-02 -1.40575657e+02] [ 1.87359735e-02 -1.81487618e-04 9.99824450e-01 5.81904858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.502755096 meters 0.018523450594647578 Centerline is valid? [True, True] Translation: X:269.10, Y:-140.61, Z:5.82 [[ 7.78528596e-01 6.27437438e-01 -1.46794596e-02 2.69096198e+02] [-6.27321831e-01 7.78666959e-01 1.20452418e-02 -1.40612852e+02] [ 1.89880458e-02 -1.68819725e-04 9.99819697e-01 5.81976529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.562755096 meters 0.01847008910157727 Centerline is valid? [True, True] Translation: X:269.14, Y:-140.65, Z:5.82 [[ 7.78781516e-01 6.27124342e-01 -1.46427106e-02 2.69141622e+02] [-6.27009304e-01 7.78919141e-01 1.20126669e-02 -1.40649824e+02] [ 1.89389234e-02 -1.74127192e-04 9.99820627e-01 5.82055974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.622755096 meters 0.018495619649574177 Centerline is valid? [True, True] Translation: X:269.19, Y:-140.69, Z:5.82 [[ 7.79081629e-01 6.26752484e-01 -1.45992450e-02 2.69188443e+02] [-6.26638099e-01 7.79218384e-01 1.19750881e-02 -1.40685393e+02] [ 1.88814164e-02 -1.81128016e-04 9.99821714e-01 5.82097162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.682755096 meters 0.018575497141144506 Centerline is valid? [True, True] Translation: X:269.23, Y:-140.72, Z:5.82 [[ 7.79387361e-01 6.26369297e-01 -1.47256527e-02 2.69233139e+02] [-6.26252892e-01 7.79526438e-01 1.20767408e-02 -1.40721471e+02] [ 1.90435352e-02 -1.90476522e-04 9.99818637e-01 5.82147572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.742755096 meters 0.019034297067162358 Centerline is valid? [True, True] Translation: X:269.28, Y:-140.76, Z:5.82 [[ 7.80019479e-01 6.25566402e-01 -1.53716819e-02 2.69277266e+02] [-6.25439509e-01 7.80170898e-01 1.26011972e-02 -1.40759201e+02] [ 1.98754245e-02 -2.15122082e-04 9.99802441e-01 5.82122710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.802755096 meters 0.019458285068814897 Centerline is valid? [True, True] Translation: X:269.32, Y:-140.80, Z:5.82 [[ 7.81390976e-01 6.23830390e-01 -1.62415169e-02 2.69322907e+02] [-6.23688409e-01 7.81559704e-01 1.33116019e-02 -1.40796389e+02] [ 2.09978969e-02 -2.71919832e-04 9.99779483e-01 5.82048999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.862755096 meters 0.019794923722333515 Centerline is valid? [True, True] Translation: X:269.37, Y:-140.83, Z:5.82 [[ 7.83103631e-01 6.21679698e-01 -1.62190036e-02 2.69367773e+02] [-6.21537691e-01 7.83271502e-01 1.32910564e-02 -1.40834754e+02] [ 2.09666632e-02 -3.27552477e-04 9.99780122e-01 5.82163685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.922755096 meters 0.020464864804868525 Centerline is valid? [True, True] Translation: X:269.41, Y:-140.87, Z:5.82 [[ 7.84776440e-01 6.19557982e-01 -1.65483061e-02 2.69412561e+02] [-6.19409724e-01 7.84950798e-01 1.35587306e-02 -1.40873515e+02] [ 2.13900259e-02 -3.90390619e-04 9.99771131e-01 5.82293658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.982755096 meters 0.021381284229751055 Centerline is valid? [True, True] Translation: X:269.46, Y:-140.91, Z:5.82 [[ 7.85574744e-01 6.18544508e-01 -1.65835420e-02 2.69455656e+02] [-6.18395441e-01 7.85749653e-01 1.35853042e-02 -1.40911375e+02] [ 2.14336277e-02 -4.17085084e-04 9.99770186e-01 5.82390036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.042755096 meters 0.020818948787148808 Centerline is valid? [True, True] Translation: X:269.50, Y:-140.95, Z:5.83 [[ 7.85502465e-01 6.18644647e-01 -1.62689361e-02 2.69502649e+02] [-6.18501267e-01 7.85670820e-01 1.33246279e-02 -1.40947243e+02] [ 2.10252381e-02 -4.04170439e-04 9.99778864e-01 5.82587924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.102755096 meters 0.02008267144417135 Centerline is valid? [True, True] Translation: X:269.55, Y:-140.98, Z:5.83 [[ 7.84599666e-01 6.19795960e-01 -1.60103795e-02 2.69549878e+02] [-6.19657383e-01 7.84762916e-01 1.31108491e-02 -1.40982472e+02] [ 2.06904034e-02 -3.65817986e-04 9.99785864e-01 5.82710227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.162755096 meters 0.019574774543910347 Centerline is valid? [True, True] Translation: X:269.60, Y:-141.02, Z:5.83 [[ 7.83643779e-01 6.20996978e-01 -1.62843545e-02 2.69596956e+02] [-6.20853921e-01 7.83812885e-01 1.33330726e-02 -1.41017849e+02] [ 2.10436847e-02 -3.38174053e-04 9.99778500e-01 5.82767636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.222755096 meters 0.01855064456417769 Centerline is valid? [True, True] Translation: X:269.65, Y:-141.05, Z:5.83 [[ 7.82433526e-01 6.22494762e-01 -1.72640735e-02 2.69645522e+02] [-6.22334384e-01 7.82623902e-01 1.41329918e-02 -1.41052147e+02] [ 2.23089900e-02 -3.14100065e-04 9.99751074e-01 5.82799598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.282755096 meters 0.01810101308189379 Centerline is valid? [True, True] Translation: X:269.69, Y:-141.09, Z:5.83 [[ 7.81654245e-01 6.23439418e-01 -1.84373040e-02 2.69691699e+02] [-6.23256810e-01 7.81871600e-01 1.50913814e-02 -1.41088847e+02] [ 2.38241664e-02 -3.05067122e-04 9.99716118e-01 5.82834659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.342755096 meters 0.017882515011209164 Centerline is valid? [True, True] Translation: X:269.74, Y:-141.13, Z:5.83 [[ 7.81299986e-01 6.23870094e-01 -1.88795360e-02 2.69737868e+02] [-6.23678808e-01 7.81528002e-01 1.54508069e-02 -1.41125674e+02] [ 2.43941824e-02 -2.96948713e-04 9.99702374e-01 5.82799833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.402755096 meters 0.018312367874268855 Centerline is valid? [True, True] Translation: X:269.78, Y:-141.16, Z:5.83 [[ 7.81503548e-01 6.23600136e-01 -1.93668558e-02 2.69781469e+02] [-6.23398832e-01 7.81743419e-01 1.58468495e-02 -1.41163033e+02] [ 2.50220096e-02 -3.11093763e-04 9.99686852e-01 5.82770789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.462755096 meters 0.018602016017160886 Centerline is valid? [True, True] Translation: X:269.82, Y:-141.20, Z:5.83 [[ 7.81670622e-01 6.23389410e-01 -1.94082958e-02 2.69824141e+02] [-6.23187281e-01 7.81911468e-01 1.58766853e-02 -1.41200207e+02] [ 2.50729265e-02 -3.15335353e-04 9.99685575e-01 5.82815432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.522755096 meters 0.01777948786970308 Centerline is valid? [True, True] Translation: X:269.87, Y:-141.24, Z:5.83 [[ 7.81092826e-01 6.24152189e-01 -1.81119069e-02 2.69871508e+02] [-6.23976516e-01 7.81302741e-01 1.48099116e-02 -1.41235539e+02] [ 2.33945213e-02 -2.66511128e-04 9.99726275e-01 5.83079809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.582755096 meters 0.018169585781320937 Centerline is valid? [True, True] Translation: X:269.92, Y:-141.27, Z:5.83 [[ 7.82001506e-01 6.23041055e-01 -1.71315134e-02 2.69916154e+02] [-6.22883764e-01 7.82189086e-01 1.40018042e-02 -1.41274386e+02] [ 2.21237817e-02 -2.78490448e-04 9.99755200e-01 5.83276890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64275509600003 meters 0.018362067867720634 Centerline is valid? [True, True] Translation: X:269.96, Y:-141.31, Z:5.83 [[ 7.82700599e-01 6.22176223e-01 -1.66289061e-02 2.69961076e+02] [-6.22027876e-01 7.82877169e-01 1.35889317e-02 -1.41311794e+02] [ 2.14731012e-02 -2.92421786e-04 9.99769384e-01 5.83412479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70275509600003 meters 0.018829885528544723 Centerline is valid? [True, True] Translation: X:270.01, Y:-141.35, Z:5.83 [[ 7.83335333e-01 6.21394368e-01 -1.59623327e-02 2.70008231e+02] [-6.21257556e-01 7.83497894e-01 1.30422018e-02 -1.41347650e+02] [ 2.06108048e-02 -2.99697676e-04 9.99787530e-01 5.83404985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76275509600003 meters 0.0199285080935909 Centerline is valid? [True, True] Translation: X:270.05, Y:-141.39, Z:5.83 [[ 7.83001471e-01 6.21806466e-01 -1.62915653e-02 2.70051895e+02] [-6.21664087e-01 7.83170884e-01 1.33089993e-02 -1.41386025e+02] [ 2.10347014e-02 -2.93084963e-04 9.99778703e-01 5.83352074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82275509600004 meters 0.01895134132519348 Centerline is valid? [True, True] Translation: X:270.10, Y:-141.42, Z:5.83 [[ 7.82835296e-01 6.22021092e-01 -1.60829368e-02 2.70097977e+02] [-6.21882447e-01 7.83000435e-01 1.31354626e-02 -1.41420984e+02] [ 2.07634813e-02 -2.81207664e-04 9.99784376e-01 5.83465702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88275509600004 meters 0.019099650110197295 Centerline is valid? [True, True] Translation: X:270.14, Y:-141.46, Z:5.84 [[ 7.83097190e-01 6.21695150e-01 -1.59351928e-02 2.70143253e+02] [-6.21559138e-01 7.83259255e-01 1.30067974e-02 -1.41457832e+02] [ 2.05676501e-02 -2.80921830e-04 9.99788424e-01 5.83549957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94275509600004 meters 0.018769501840306232 Centerline is valid? [True, True] Translation: X:270.19, Y:-141.49, Z:5.84 [[ 7.83504028e-01 6.21180515e-01 -1.60064312e-02 2.70189859e+02] [-6.21043330e-01 7.83667458e-01 1.30574665e-02 -1.41494446e+02] [ 2.06547630e-02 -2.89890302e-04 9.99786626e-01 5.83602545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.002755096 meters 0.019757225641935564 Centerline is valid? [True, True] Translation: X:270.23, Y:-141.53, Z:5.84 [[ 7.84617318e-01 6.19794603e-01 -1.51760930e-02 2.70232511e+02] [-6.19671063e-01 7.84764012e-01 1.23781691e-02 -1.41534266e+02] [ 1.95815740e-02 -3.07940154e-04 9.99808215e-01 5.83782038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.062755096 meters 0.020823690086762377 Centerline is valid? [True, True] Translation: X:270.28, Y:-141.58, Z:5.84 [[ 7.86251675e-01 6.17743562e-01 -1.41843564e-02 2.70275351e+02] [-6.17635347e-01 7.86379540e-01 1.15671063e-02 -1.41575266e+02] [ 1.82997932e-02 -3.33896803e-04 9.99832489e-01 5.84055957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.122755096 meters 0.02147583553655407 Centerline is valid? [True, True] Translation: X:270.32, Y:-141.61, Z:5.84 [[ 7.87728381e-01 6.15898492e-01 -1.23711539e-02 2.70319858e+02] [-6.15815970e-01 7.87825450e-01 1.00871499e-02 -1.41614215e+02] [ 1.59589703e-02 -3.27580071e-04 9.99872594e-01 5.84383291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.182755096 meters 0.02089901253507791 Centerline is valid? [True, True] Translation: X:270.37, Y:-141.65, Z:5.85 [[ 7.87552081e-01 6.16129019e-01 -1.21140896e-02 2.70366337e+02] [-6.16049942e-01 7.87645182e-01 9.87604263e-03 -1.41650774e+02] [ 1.56265208e-02 -3.15013747e-04 9.99877849e-01 5.84548042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.242755096 meters 0.02089973563646424 Centerline is valid? [True, True] Translation: X:270.41, Y:-141.69, Z:5.85 [[ 7.86952475e-01 6.16902936e-01 -1.16862922e-02 2.70411034e+02] [-6.16829451e-01 7.87039188e-01 9.52595187e-03 -1.41686962e+02] [ 1.50741576e-02 -2.88022208e-04 9.99886337e-01 5.84710573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.302755096 meters 0.020340090434046457 Centerline is valid? [True, True] Translation: X:270.46, Y:-141.72, Z:5.85 [[ 7.85980382e-01 6.18137434e-01 -1.18723152e-02 2.70458062e+02] [-6.18061769e-01 7.86069998e-01 9.67512770e-03 -1.41723146e+02] [ 1.53130294e-02 -2.66636446e-04 9.99882713e-01 5.84763127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.362755096 meters 0.019677791188947195 Centerline is valid? [True, True] Translation: X:270.50, Y:-141.76, Z:5.85 [[ 7.85366107e-01 6.18914080e-01 -1.20598566e-02 2.70504965e+02] [-6.18836114e-01 7.85458654e-01 9.82686836e-03 -1.41759315e+02] [ 1.55545059e-02 -2.54614535e-04 9.99878989e-01 5.84912780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.422755096 meters 0.019755122769394288 Centerline is valid? [True, True] Translation: X:270.55, Y:-141.80, Z:5.85 [[ 7.85435373e-01 6.18821691e-01 -1.22877535e-02 2.70550456e+02] [-6.18740763e-01 7.85531442e-01 1.00110789e-02 -1.41795986e+02] [ 1.58474895e-02 -2.60121567e-04 9.99874387e-01 5.85011945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.482755096 meters 0.020542252442029566 Centerline is valid? [True, True] Translation: X:270.59, Y:-141.83, Z:5.85 [[ 7.86360653e-01 6.17649369e-01 -1.20905067e-02 2.70594845e+02] [-6.17570913e-01 7.86453546e-01 9.84820099e-03 -1.41833276e+02] [ 1.55913570e-02 -2.77492522e-04 9.99878409e-01 5.85202630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.542755096 meters 0.0218989979877652 Centerline is valid? [True, True] Translation: X:270.64, Y:-141.87, Z:5.85 [[ 7.88603050e-01 6.14802004e-01 -1.11231492e-02 2.70638056e+02] [-6.14735351e-01 7.88681433e-01 9.05790747e-03 -1.41872618e+02] [ 1.43414409e-02 -3.05300451e-04 9.99897110e-01 5.85458324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.602755096 meters 0.02380628128383662 Centerline is valid? [True, True] Translation: X:270.68, Y:-141.91, Z:5.86 [[ 7.91173684e-01 6.11490268e-01 -1.11289397e-02 2.70681428e+02] [-6.11423262e-01 7.91251869e-01 9.05953338e-03 -1.41913313e+02] [ 1.43456108e-02 -3.63171782e-04 9.99897030e-01 5.85624742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.662755096 meters 0.02445660430219089 Centerline is valid? [True, True] Translation: X:270.73, Y:-141.95, Z:5.86 [[ 7.92392907e-01 6.09909942e-01 -1.11059733e-02 2.70726049e+02] [-6.09843070e-01 7.92470637e-01 9.03990505e-03 -1.41951131e+02] [ 1.43146857e-02 -3.90255820e-04 9.99897463e-01 5.85742896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.722755096 meters 0.023724538799763592 Centerline is valid? [True, True] Translation: X:270.77, Y:-141.99, Z:5.86 [[ 7.93160744e-01 6.08902821e-01 -1.15494024e-02 2.70774601e+02] [-6.08830424e-01 7.93244713e-01 9.39894489e-03 -1.41987923e+02] [ 1.48845465e-02 -4.23246532e-04 9.99889129e-01 5.85747602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.782755096 meters 0.02372071690909497 Centerline is valid? [True, True] Translation: X:270.82, Y:-142.02, Z:5.86 [[ 7.92179849e-01 6.10165899e-01 -1.21927267e-02 2.70819906e+02] [-6.10085354e-01 7.92273562e-01 9.92285153e-03 -1.42024472e+02] [ 1.57145607e-02 -4.22079024e-04 9.99876430e-01 5.85796041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.842755096 meters 0.02293763690048608 Centerline is valid? [True, True] Translation: X:270.87, Y:-142.06, Z:5.86 [[ 7.90815507e-01 6.11918812e-01 -1.28919332e-02 2.70866500e+02] [-6.11829034e-01 7.90920477e-01 1.04896100e-02 -1.42060473e+02] [ 1.66152836e-02 -4.07687231e-04 9.99861874e-01 5.85837581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.902755096 meters 0.020143237223437083 Centerline is valid? [True, True] Translation: X:270.92, Y:-142.09, Z:5.86 [[ 7.87582058e-01 6.16054342e-01 -1.38401365e-02 2.70915277e+02] [-6.15951540e-01 7.87703580e-01 1.12592315e-02 -1.42093442e+02] [ 1.78382236e-02 -3.42715322e-04 9.99840827e-01 5.85881074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.962755096 meters 0.020013958268800376 Centerline is valid? [True, True] Translation: X:270.96, Y:-142.13, Z:5.86 [[ 7.86962542e-01 6.16844684e-01 -1.38778278e-02 2.70960100e+02] [-6.16741475e-01 7.87084831e-01 1.12881243e-02 -1.42130200e+02] [ 1.78860472e-02 -3.24299028e-04 9.99839979e-01 5.86013542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.022755096 meters 0.019563308252146396 Centerline is valid? [True, True] Translation: X:271.00, Y:-142.17, Z:5.86 [[ 7.87051003e-01 6.16741952e-01 -1.34195392e-02 2.71004862e+02] [-6.16645485e-01 7.87165336e-01 1.09123493e-02 -1.42168571e+02] [ 1.72934997e-02 -3.13477173e-04 9.99850407e-01 5.86204014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.082755096 meters 0.020251234235803908 Centerline is valid? [True, True] Translation: X:271.05, Y:-142.21, Z:5.87 [[ 7.87963563e-01 6.15607108e-01 -1.18874499e-02 2.71046783e+02] [-6.15531302e-01 7.88053170e-01 9.66526197e-03 -1.42208218e+02] [ 1.53179466e-02 -2.98776736e-04 9.99882629e-01 5.86610080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14275509600003 meters 0.02109876516442804 Centerline is valid? [True, True] Translation: X:271.09, Y:-142.25, Z:5.87 [[ 7.88423235e-01 6.15041777e-01 -1.06026248e-02 2.71089125e+02] [-6.14981444e-01 7.88494475e-01 8.61894983e-03 -1.42247195e+02] [ 1.36611253e-02 -2.74962822e-04 9.99906645e-01 5.86922292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20275509600003 meters 0.021095098244036162 Centerline is valid? [True, True] Translation: X:271.13, Y:-142.28, Z:5.87 [[ 7.88615491e-01 6.14796035e-01 -1.05566508e-02 2.71133795e+02] [-6.14736227e-01 7.88686096e-01 8.57977014e-03 -1.42284777e+02] [ 1.36006924e-02 -2.76583934e-04 9.99907468e-01 5.87040275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26275509600003 meters 0.02075795033256323 Centerline is valid? [True, True] Translation: X:271.18, Y:-142.32, Z:5.87 [[ 7.87560790e-01 6.16148981e-01 -1.04132227e-02 2.71179076e+02] [-6.16090921e-01 7.87629590e-01 8.46203307e-03 -1.42320573e+02] [ 1.34156354e-02 -2.48873509e-04 9.99909975e-01 5.87148909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32275509600004 meters 0.01898804081931636 Centerline is valid? [True, True] Translation: X:271.23, Y:-142.35, Z:5.87 [[ 7.85480036e-01 6.18789235e-01 -1.09997910e-02 2.71227424e+02] [-6.18724735e-01 7.85557023e-01 8.93677059e-03 -1.42354991e+02] [ 1.41709405e-02 -2.13812127e-04 9.99899564e-01 5.87123143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38275509600004 meters 0.01835271815203772 Centerline is valid? [True, True] Translation: X:271.27, Y:-142.39, Z:5.87 [[ 7.84371656e-01 6.20180220e-01 -1.17303444e-02 2.71273667e+02] [-6.20107046e-01 7.84459339e-01 9.52869625e-03 -1.42391184e+02] [ 1.51114872e-02 -1.99970015e-04 9.99885795e-01 5.87104508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44275509600004 meters 0.018049372572716833 Centerline is valid? [True, True] Translation: X:271.32, Y:-142.43, Z:5.87 [[ 7.84214422e-01 6.20370100e-01 -1.21934145e-02 2.71318765e+02] [-6.20291083e-01 7.84309185e-01 9.90324733e-03 -1.42429426e+02] [ 1.57070855e-02 -2.02803102e-04 9.99876616e-01 5.87082063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.502755096 meters 0.01923146334020877 Centerline is valid? [True, True] Translation: X:271.36, Y:-142.47, Z:5.87 [[ 7.85356668e-01 6.18931840e-01 -1.17592818e-02 2.71360117e+02] [-6.18858209e-01 7.85444669e-01 9.54929096e-03 -1.42469997e+02] [ 1.51466255e-02 -2.22271225e-04 9.99885259e-01 5.87269416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.562755096 meters 0.019447153905383287 Centerline is valid? [True, True] Translation: X:271.40, Y:-142.51, Z:5.87 [[ 7.87515801e-01 6.16189275e-01 -1.13859950e-02 2.71404134e+02] [-6.16119987e-01 7.87598062e-01 9.24415904e-03 -1.42509839e+02] [ 1.46637392e-02 -2.64782247e-04 9.99892447e-01 5.87348235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.622755096 meters 0.02009579632072338 Centerline is valid? [True, True] Translation: X:271.45, Y:-142.55, Z:5.87 [[ 7.88641136e-01 6.14754626e-01 -1.10412121e-02 2.71450057e+02] [-6.14689346e-01 7.88718372e-01 8.96309591e-03 -1.42550148e+02] [ 1.42185115e-02 -2.81750696e-04 9.99898872e-01 5.87477647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.682755096 meters 0.020868424390447848 Centerline is valid? [True, True] Translation: X:271.50, Y:-142.59, Z:5.88 [[ 7.89232587e-01 6.14006079e-01 -1.04143727e-02 2.71495608e+02] [-6.13947920e-01 7.89301246e-01 8.45538945e-03 -1.42588205e+02] [ 1.34117378e-02 -2.79386449e-04 9.99910020e-01 5.87619256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.742755096 meters 0.020023304113904166 Centerline is valid? [True, True] Translation: X:271.55, Y:-142.63, Z:5.88 [[ 7.88688746e-01 6.14710405e-01 -1.00588338e-02 2.71545841e+02] [-6.14656249e-01 7.88752846e-01 8.16348782e-03 -1.42626030e+02] [ 1.29521147e-02 -2.55725916e-04 9.99916085e-01 5.87668969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.802755096 meters 0.019499903340441008 Centerline is valid? [True, True] Translation: X:271.60, Y:-142.66, Z:5.88 [[ 7.87517840e-01 6.16201551e-01 -1.05498377e-02 2.71596612e+02] [-6.16142028e-01 7.87588463e-01 8.56820999e-03 -1.42662493e+02] [ 1.35886747e-02 -2.47419850e-04 9.99907639e-01 5.87639743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.862755096 meters 0.020207317673677314 Centerline is valid? [True, True] Translation: X:271.64, Y:-142.70, Z:5.88 [[ 7.86603373e-01 6.17355281e-01 -1.12956276e-02 2.71642365e+02] [-6.17287053e-01 7.86684432e-01 9.18144992e-03 -1.42699190e+02] [ 1.45543109e-02 -2.49514821e-04 9.99894049e-01 5.87624877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.922755096 meters 0.019066563057746486 Centerline is valid? [True, True] Translation: X:271.69, Y:-142.73, Z:5.87 [[ 7.85137164e-01 6.19190684e-01 -1.27487548e-02 2.71691774e+02] [-6.19104027e-01 7.85240625e-01 1.03617264e-02 -1.42731841e+02] [ 1.64267246e-02 -2.42571027e-04 9.99865043e-01 5.87434397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.982755096 meters 0.018162288233181313 Centerline is valid? [True, True] Translation: X:271.74, Y:-142.77, Z:5.87 [[ 7.84530600e-01 6.19937641e-01 -1.37498679e-02 2.71741059e+02] [-6.19837069e-01 7.84651046e-01 1.11688391e-02 -1.42765283e+02] [ 1.77128320e-02 -2.39618168e-04 9.99843087e-01 5.87235225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.042755096 meters 0.017777191503516903 Centerline is valid? [True, True] Translation: X:271.79, Y:-142.80, Z:5.87 [[ 7.84390144e-01 6.20101355e-01 -1.43670218e-02 2.71788566e+02] [-6.19991616e-01 7.84521669e-01 1.16682230e-02 -1.42800772e+02] [ 1.85067208e-02 -2.45006005e-04 9.99828706e-01 5.87186066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.102755096 meters 0.017860529322726443 Centerline is valid? [True, True] Translation: X:271.83, Y:-142.84, Z:5.87 [[ 7.84977719e-01 6.19367887e-01 -1.39068730e-02 2.71833816e+02] [-6.19264982e-01 7.85100858e-01 1.12927485e-02 -1.42837613e+02] [ 1.79126637e-02 -2.52516526e-04 9.99839523e-01 5.87285448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.162755096 meters 0.019191790565615725 Centerline is valid? [True, True] Translation: X:271.88, Y:-142.88, Z:5.87 [[ 7.85677156e-01 6.18494127e-01 -1.32823610e-02 2.71877006e+02] [-6.18400168e-01 7.85789379e-01 1.07834999e-02 -1.42876005e+02] [ 1.71066696e-02 -2.58535287e-04 9.99853637e-01 5.87489271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.222755096 meters 0.019685401257938055 Centerline is valid? [True, True] Translation: X:271.92, Y:-142.91, Z:5.88 [[ 7.87101129e-01 6.16706660e-01 -1.20295088e-02 2.71922278e+02] [-6.16629411e-01 7.87193003e-01 9.76449496e-03 -1.42913529e+02] [ 1.54913742e-02 -2.67896102e-04 9.99879966e-01 5.87713823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.282755096 meters 0.019981403116511292 Centerline is valid? [True, True] Translation: X:271.97, Y:-142.95, Z:5.88 [[ 7.88673167e-01 6.14710043e-01 -1.12338482e-02 2.71967858e+02] [-6.14642494e-01 7.88753118e-01 9.11716056e-03 -1.42952374e+02] [ 1.44651430e-02 -2.85659395e-04 9.99895334e-01 5.87897805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.342755096 meters 0.02112926111741756 Centerline is valid? [True, True] Translation: X:272.01, Y:-142.99, Z:5.88 [[ 7.89945494e-01 6.13078547e-01 -1.09914595e-02 2.72010000e+02] [-6.13013730e-01 7.90021898e-01 8.92002799e-03 -1.42991367e+02] [ 1.41521715e-02 -3.08420304e-04 9.99899805e-01 5.88009492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.402755096 meters 0.02059950473144562 Centerline is valid? [True, True] Translation: X:272.06, Y:-143.03, Z:5.88 [[ 7.89879194e-01 6.13138665e-01 -1.23222028e-02 2.72055618e+02] [-6.13057247e-01 7.89975228e-01 9.99757374e-03 -1.43030577e+02] [ 1.58641340e-02 -3.42659735e-04 9.99874098e-01 5.87938825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.462755096 meters 0.019226914133208796 Centerline is valid? [True, True] Translation: X:272.10, Y:-143.07, Z:5.88 [[ 7.87405403e-01 6.16275796e-01 -1.40312198e-02 2.72103015e+02] [-6.16170722e-01 7.87530343e-01 1.13842076e-02 -1.43066820e+02] [ 1.80658230e-02 -3.18359676e-04 9.99836749e-01 5.87881671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.522755096 meters 0.01774170746843787 Centerline is valid? [True, True] Translation: X:272.15, Y:-143.10, Z:5.88 [[ 7.84275876e-01 6.20237160e-01 -1.47382610e-02 2.72151295e+02] [-6.20121944e-01 7.84414309e-01 1.19568284e-02 -1.43100959e+02] [ 1.89769721e-02 -2.37932989e-04 9.99819893e-01 5.87844522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.582755096 meters 0.016043441528814803 Centerline is valid? [True, True] Translation: X:272.20, Y:-143.13, Z:5.88 [[ 7.79234024e-01 6.26521414e-01 -1.62866242e-02 2.72201772e+02] [-6.26382127e-01 7.79404202e-01 1.32106548e-02 -1.43131564e+02] [ 2.09706214e-02 -9.25413747e-05 9.99780088e-01 5.87793606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64275509600003 meters 0.015874174006715803 Centerline is valid? [True, True] Translation: X:272.25, Y:-143.17, Z:5.88 [[ 7.77062714e-01 6.29215223e-01 -1.61784094e-02 2.72250172e+02] [-6.29078407e-01 7.77231113e-01 1.31207893e-02 -1.43165243e+02] [ 2.08301635e-02 -1.81881332e-05 9.99783028e-01 5.87841065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70275509600003 meters 0.016007013298254456 Centerline is valid? [True, True] Translation: X:272.29, Y:-143.20, Z:5.88 [[ 7.78347307e-01 6.27625366e-01 -1.61823698e-02 2.72294431e+02] [-6.27488196e-01 7.78515508e-01 1.31212813e-02 -1.43202877e+02] [ 2.08334748e-02 -5.86679856e-05 9.99782958e-01 5.87997072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76275509600003 meters 0.016910143253876398 Centerline is valid? [True, True] Translation: X:272.34, Y:-143.24, Z:5.88 [[ 7.81977813e-01 6.23107691e-01 -1.57323154e-02 2.72336468e+02] [-6.22977282e-01 7.82136035e-01 1.27486794e-02 -1.43244466e+02] [ 2.02486110e-02 -1.68309368e-04 9.99794962e-01 5.88226275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82275509600004 meters 0.018462792014996215 Centerline is valid? [True, True] Translation: X:272.38, Y:-143.29, Z:5.88 [[ 7.85026900e-01 6.19268784e-01 -1.54576464e-02 2.72378117e+02] [-6.19142271e-01 7.85179028e-01 1.25196676e-02 -1.43285642e+02] [ 1.98900592e-02 -2.57793560e-04 9.99802140e-01 5.88442296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88275509600004 meters 0.019075584506568124 Centerline is valid? [True, True] Translation: X:272.42, Y:-143.32, Z:5.89 [[ 7.85860192e-01 6.18200268e-01 -1.58804090e-02 2.72422452e+02] [-6.18066602e-01 7.86020575e-01 1.28580641e-02 -1.43324061e+02] [ 2.04311869e-02 -2.89490283e-04 9.99791220e-01 5.88510195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94275509600004 meters 0.018116748218957746 Centerline is valid? [True, True] Translation: X:272.47, Y:-143.36, Z:5.89 [[ 7.84920852e-01 6.19365806e-01 -1.68894439e-02 2.72469294e+02] [-6.19215032e-01 7.85102493e-01 1.36682000e-02 -1.43359908e+02] [ 2.17255602e-02 -2.70257666e-04 9.99763936e-01 5.88566528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.002755096 meters 0.01902035866705983 Centerline is valid? [True, True] Translation: X:272.52, Y:-143.40, Z:5.88 [[ 7.83383477e-01 6.21284453e-01 -1.77751412e-02 2.72515357e+02] [-6.21117996e-01 7.83585080e-01 1.43825669e-02 -1.43396266e+02] [ 2.28640007e-02 -2.26605155e-04 9.99738559e-01 5.88436274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.062755096 meters 0.017196045840043257 Centerline is valid? [True, True] Translation: X:272.56, Y:-143.43, Z:5.89 [[ 7.80870579e-01 6.24415006e-01 -1.86289867e-02 2.72562624e+02] [-6.24233118e-01 7.81092748e-01 1.50709466e-02 -1.43430594e+02] [ 2.39614916e-02 -1.39628327e-04 9.99712872e-01 5.88592188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.122755096 meters 0.016989868594802247 Centerline is valid? [True, True] Translation: X:272.61, Y:-143.46, Z:5.89 [[ 7.79458496e-01 6.26164003e-01 -1.90550418e-02 2.72610097e+02] [-6.25974282e-01 7.79691371e-01 1.54131342e-02 -1.43464914e+02] [ 2.45082015e-02 -8.59322466e-05 9.99699625e-01 5.88732732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.182755096 meters 0.018744466104324148 Centerline is valid? [True, True] Translation: X:272.65, Y:-143.50, Z:5.89 [[ 7.80137305e-01 6.25308701e-01 -1.93600983e-02 2.72654420e+02] [-6.25112656e-01 7.80377483e-01 1.56573081e-02 -1.43503544e+02] [ 2.48988358e-02 -1.12607694e-04 9.99689970e-01 5.88703708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.242755096 meters 0.018259995324545215 Centerline is valid? [True, True] Translation: X:272.70, Y:-143.54, Z:5.89 [[ 7.83512265e-01 6.21094596e-01 -1.87092159e-02 2.72698105e+02] [-6.20910364e-01 7.83735572e-01 1.51285376e-02 -1.43543679e+02] [ 2.40593309e-02 -2.36648686e-04 9.99710504e-01 5.89178495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.302755096 meters 0.01970016102217518 Centerline is valid? [True, True] Translation: X:272.74, Y:-143.58, Z:5.89 [[ 7.86906847e-01 6.16809906e-01 -1.79765190e-02 2.72741982e+02] [-6.16638753e-01 7.87112074e-01 1.45338133e-02 -1.43583195e+02] [ 2.31141351e-02 -3.51738913e-04 9.99732771e-01 5.89404931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.362755096 meters 0.020378719356672206 Centerline is valid? [True, True] Translation: X:272.79, Y:-143.62, Z:5.90 [[ 7.88729161e-01 6.14488278e-01 -1.76200965e-02 2.72789033e+02] [-6.14323312e-01 7.88925845e-01 1.42436093e-02 -1.43620295e+02] [ 2.26534805e-02 -4.09914023e-04 9.99743293e-01 5.89640495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.422755096 meters 0.020846084674624888 Centerline is valid? [True, True] Translation: X:272.84, Y:-143.66, Z:5.90 [[ 7.88903191e-01 6.14257883e-01 -1.78608060e-02 2.72835467e+02] [-6.14088354e-01 7.89105238e-01 1.44366650e-02 -1.43655220e+02] [ 2.29618908e-02 -4.21018122e-04 9.99736252e-01 5.89719989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.482755096 meters 0.02087751372527166 Centerline is valid? [True, True] Translation: X:272.88, Y:-143.69, Z:5.90 [[ 7.88034931e-01 6.15359046e-01 -1.82809272e-02 2.72883068e+02] [-6.15181821e-01 7.88246845e-01 1.47729390e-02 -1.43688815e+02] [ 2.35005449e-02 -3.95497906e-04 9.99723746e-01 5.89765273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.542755096 meters 0.023788991629317077 Centerline is valid? [True, True] Translation: X:272.93, Y:-143.72, Z:5.89 [[ 7.87678840e-01 6.15771128e-01 -1.96967610e-02 2.72928099e+02] [-6.15565632e-01 7.87924965e-01 1.59123277e-02 -1.43723579e+02] [ 2.53179217e-02 -4.09154698e-04 9.99679366e-01 5.89369859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.602755096 meters 0.02074540825064543 Centerline is valid? [True, True] Translation: X:272.98, Y:-143.76, Z:5.90 [[ 7.88062275e-01 6.15287239e-01 -1.94798367e-02 2.72976538e+02] [-6.15086191e-01 7.88302885e-01 1.57333664e-02 -1.43757380e+02] [ 2.50365511e-02 -4.17093911e-04 9.99686449e-01 5.89980463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.662755096 meters 0.020820766948469745 Centerline is valid? [True, True] Translation: X:273.02, Y:-143.79, Z:5.90 [[ 7.89100362e-01 6.13962115e-01 -1.92649911e-02 2.73022753e+02] [-6.13765144e-01 7.89335364e-01 1.55573752e-02 -1.43793580e+02] [ 2.47581777e-02 -4.52150392e-04 9.99693367e-01 5.90189759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.722755096 meters 0.021602413063874507 Centerline is valid? [True, True] Translation: X:273.07, Y:-143.83, Z:5.90 [[ 7.90225537e-01 6.12517755e-01 -1.91207099e-02 2.73067316e+02] [-6.12323361e-01 7.90456677e-01 1.54383513e-02 -1.43831504e+02] [ 2.45703571e-02 -4.91722105e-04 9.99697982e-01 5.90364708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.782755096 meters 0.022422762105674305 Centerline is valid? [True, True] Translation: X:273.11, Y:-143.87, Z:5.91 [[ 7.91581587e-01 6.10755080e-01 -1.94119265e-02 2.73112200e+02] [-6.10554253e-01 7.91819377e-01 1.56709137e-02 -1.43869809e+02] [ 2.49418297e-02 -5.52772426e-04 9.99688751e-01 5.90513963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.842755096 meters 0.02217144335936558 Centerline is valid? [True, True] Translation: X:273.16, Y:-143.91, Z:5.91 [[ 7.91568365e-01 6.10790243e-01 -1.88362168e-02 2.73158069e+02] [-6.10601222e-01 7.91792267e-01 1.52037361e-02 -1.43906370e+02] [ 2.42006645e-02 -5.33379484e-04 9.99706979e-01 5.90693597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.902755096 meters 0.021873054697331876 Centerline is valid? [True, True] Translation: X:273.20, Y:-143.94, Z:5.91 [[ 7.90341493e-01 6.12393400e-01 -1.82934071e-02 2.73203636e+02] [-6.12215609e-01 7.90553037e-01 1.47629015e-02 -1.43942590e+02] [ 2.35026119e-02 -4.68224265e-04 9.99723666e-01 5.90854870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.962755096 meters 0.02018998202582548 Centerline is valid? [True, True] Translation: X:273.25, Y:-143.98, Z:5.91 [[ 7.87583419e-01 6.15943840e-01 -1.80428382e-02 2.73252507e+02] [-6.15771907e-01 7.87789985e-01 1.45567311e-02 -1.43976607e+02] [ 2.31800961e-02 -3.54367128e-04 9.99731243e-01 5.91025979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.022755096 meters 0.019443984534383552 Centerline is valid? [True, True] Translation: X:273.30, Y:-144.01, Z:5.91 [[ 7.84894542e-01 6.19344887e-01 -1.87741474e-02 2.73300567e+02] [-6.19159796e-01 7.85118999e-01 1.51427856e-02 -1.44009824e+02] [ 2.41185467e-02 -2.61292499e-04 9.99709071e-01 5.91023650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.082755096 meters 0.019075059798731635 Centerline is valid? [True, True] Translation: X:273.35, Y:-144.04, Z:5.91 [[ 7.83652541e-01 6.20905124e-01 -1.91186307e-02 2.73347495e+02] [-6.20713737e-01 7.83885694e-01 1.54167226e-02 -1.44044946e+02] [ 2.45591432e-02 -2.14157143e-04 9.99698356e-01 5.91058749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14275509600003 meters 0.01865434691817049 Centerline is valid? [True, True] Translation: X:273.40, Y:-144.08, Z:5.91 [[ 7.82082161e-01 6.22873618e-01 -1.93894104e-02 2.73395148e+02] [-6.22677552e-01 7.82322461e-01 1.56279711e-02 -1.44079630e+02] [ 2.49030222e-02 -1.49006776e-04 9.99689861e-01 5.91224045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20275509600003 meters 0.018721020331633968 Centerline is valid? [True, True] Translation: X:273.44, Y:-144.11, Z:5.91 [[ 7.81985131e-01 6.22993281e-01 -1.94583165e-02 2.73440189e+02] [-6.22795932e-01 7.82227174e-01 1.56804334e-02 -1.44114596e+02] [ 2.49896285e-02 -1.43305429e-04 9.99687700e-01 5.91350455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26275509600003 meters 0.018699571768860335 Centerline is valid? [True, True] Translation: X:273.49, Y:-144.15, Z:5.92 [[ 7.82755382e-01 6.22030423e-01 -1.92915568e-02 2.73485758e+02] [-6.21836248e-01 7.82993055e-01 1.55421047e-02 -1.44151129e+02] [ 2.47728169e-02 -1.69476765e-04 9.99693092e-01 5.91537974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32275509600004 meters 0.018985264672346656 Centerline is valid? [True, True] Translation: X:273.53, Y:-144.19, Z:5.92 [[ 7.84446597e-01 6.19903989e-01 -1.90415708e-02 2.73530114e+02] [-6.19714248e-01 7.84677635e-01 1.53381583e-02 -1.44190150e+02] [ 2.44496802e-02 -2.31633398e-04 9.99701035e-01 5.91785728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38275509600004 meters 0.019646850707612733 Centerline is valid? [True, True] Translation: X:273.57, Y:-144.23, Z:5.92 [[ 7.86622181e-01 6.17153793e-01 -1.86209574e-02 2.73573864e+02] [-6.16971630e-01 7.86842488e-01 1.49968903e-02 -1.44229040e+02] [ 2.39071481e-02 -3.08284101e-04 9.99714136e-01 5.91966772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44275509600004 meters 0.02073333930314711 Centerline is valid? [True, True] Translation: X:273.62, Y:-144.27, Z:5.92 [[ 7.88415177e-01 6.14866680e-01 -1.84519746e-02 2.73616325e+02] [-6.14687242e-01 7.88630983e-01 1.48582193e-02 -1.44268119e+02] [ 2.36876228e-02 -3.72252249e-04 9.99719340e-01 5.92169340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.502755096 meters 0.02118547051395434 Centerline is valid? [True, True] Translation: X:273.66, Y:-144.31, Z:5.92 [[ 7.89532529e-01 6.13425189e-01 -1.86526821e-02 2.73660817e+02] [-6.13241494e-01 7.89752722e-01 1.50168927e-02 -1.44307047e+02] [ 2.39427467e-02 -4.17726669e-04 9.99713244e-01 5.92306151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.562755096 meters 0.021583844011406204 Centerline is valid? [True, True] Translation: X:273.71, Y:-144.35, Z:5.92 [[ 7.90096531e-01 6.12696602e-01 -1.87175170e-02 2.73705519e+02] [-6.12511481e-01 7.90318088e-01 1.50666883e-02 -1.44346074e+02] [ 2.40241009e-02 -4.39444136e-04 9.99711283e-01 5.92436725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.622755096 meters 0.020964683810647554 Centerline is valid? [True, True] Translation: X:273.75, Y:-144.38, Z:5.93 [[ 7.89777863e-01 6.13114891e-01 -1.84677294e-02 2.73751701e+02] [-6.12934845e-01 7.89993642e-01 1.48634182e-02 -1.44383245e+02] [ 2.37023719e-02 -4.19283785e-04 9.99718971e-01 5.92720027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.682755096 meters 0.020181042134891386 Centerline is valid? [True, True] Translation: X:273.80, Y:-144.42, Z:5.93 [[ 7.88452403e-01 6.14824004e-01 -1.82825529e-02 2.73798095e+02] [-6.14648052e-01 7.88664258e-01 1.47126102e-02 -1.44420115e+02] [ 2.34644620e-02 -3.62857363e-04 9.99724606e-01 5.93033373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.742755096 meters 0.01995627811774422 Centerline is valid? [True, True] Translation: X:273.84, Y:-144.46, Z:5.93 [[ 7.87670839e-01 6.15821789e-01 -1.83894927e-02 2.73842943e+02] [-6.15644097e-01 7.87885406e-01 1.47963720e-02 -1.44456377e+02] [ 2.36007412e-02 -3.33288168e-04 9.99721408e-01 5.93224218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.802755096 meters 0.019109728935945265 Centerline is valid? [True, True] Translation: X:273.89, Y:-144.49, Z:5.93 [[ 7.86291530e-01 6.17565081e-01 -1.89473216e-02 2.73889759e+02] [-6.17377044e-01 7.86519732e-01 1.52412797e-02 -1.44492620e+02] [ 2.43149244e-02 -2.86447737e-04 9.99704307e-01 5.93326512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.862755096 meters 0.01859452585832293 Centerline is valid? [True, True] Translation: X:273.94, Y:-144.53, Z:5.93 [[ 7.84950471e-01 6.19247714e-01 -1.96221086e-02 2.73935092e+02] [-6.19046633e-01 7.85195651e-01 1.57814906e-02 -1.44529491e+02] [ 2.51798463e-02 -2.40688197e-04 9.99682908e-01 5.93479248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.922755096 meters 0.01810113981481865 Centerline is valid? [True, True] Translation: X:273.98, Y:-144.57, Z:5.94 [[ 7.84038383e-01 6.20401756e-01 -1.96335369e-02 2.73980518e+02] [-6.20200865e-01 7.84284146e-01 1.57881805e-02 -1.44566773e+02] [ 2.51932866e-02 -2.01802892e-04 9.99682578e-01 5.93739165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.982755096 meters 0.017641658977628434 Centerline is valid? [True, True] Translation: X:274.03, Y:-144.60, Z:5.94 [[ 7.83000021e-01 6.21706602e-01 -1.97956649e-02 2.74026177e+02] [-6.21502860e-01 7.83250200e-01 1.59159880e-02 -1.44603385e+02] [ 2.54000333e-02 -1.59156515e-04 9.99677354e-01 5.93889204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.042755096 meters 0.01771413865054295 Centerline is valid? [True, True] Translation: X:274.07, Y:-144.64, Z:5.94 [[ 7.82890763e-01 6.21829570e-01 -2.02494472e-02 2.74069914e+02] [-6.21616521e-01 7.83152579e-01 1.62769321e-02 -1.44640047e+02] [ 2.59798845e-02 -1.55668868e-04 9.99662454e-01 5.93924151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.102755096 meters 0.017622638199875067 Centerline is valid? [True, True] Translation: X:274.11, Y:-144.68, Z:5.94 [[ 7.83196908e-01 6.21456205e-01 -1.98692891e-02 2.74114173e+02] [-6.21251112e-01 7.83448888e-01 1.59654691e-02 -1.44678301e+02] [ 2.54884122e-02 -1.60288077e-04 9.99675105e-01 5.94115695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.162755096 meters 0.017822058453316823 Centerline is valid? [True, True] Translation: X:274.16, Y:-144.72, Z:5.94 [[ 7.83774721e-01 6.20714818e-01 -2.02559092e-02 2.74158949e+02] [-6.20501508e-01 7.84036403e-01 1.62725988e-02 -1.44716625e+02] [ 2.59820134e-02 -1.85229400e-04 9.99662393e-01 5.94233233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.222755096 meters 0.0177781023148184 Centerline is valid? [True, True] Translation: X:274.20, Y:-144.76, Z:5.94 [[ 7.84365013e-01 6.19931893e-01 -2.13535817e-02 2.74203866e+02] [-6.19694620e-01 7.84655593e-01 1.71516113e-02 -1.44755110e+02] [ 2.73880382e-02 -2.20424106e-04 9.99624853e-01 5.94289313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.282755096 meters 0.017783240943307136 Centerline is valid? [True, True] Translation: X:274.25, Y:-144.79, Z:5.94 [[ 7.84594120e-01 6.19618812e-01 -2.20135175e-02 2.74248553e+02] [-6.19366611e-01 7.84902842e-01 1.76785095e-02 -1.44792639e+02] [ 2.82324095e-02 -2.36016841e-04 9.99601358e-01 5.94413544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.342755096 meters 0.017905652676947548 Centerline is valid? [True, True] Translation: X:274.29, Y:-144.83, Z:5.94 [[ 7.84850544e-01 6.19268266e-01 -2.27252719e-02 2.74292959e+02] [-6.18999459e-01 7.85179438e-01 1.82460683e-02 -1.44829248e+02] [ 2.91426273e-02 -2.53505556e-04 9.99575231e-01 5.94429292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.402755096 meters 0.018024538586493558 Centerline is valid? [True, True] Translation: X:274.34, Y:-144.87, Z:5.95 [[ 7.85016072e-01 6.19039221e-01 -2.32424208e-02 2.74338277e+02] [-6.18758054e-01 7.85360028e-01 1.86573657e-02 -1.44866405e+02] [ 2.98033093e-02 -2.64896886e-04 9.99555748e-01 5.94504850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.462755096 meters 0.017929960240987742 Centerline is valid? [True, True] Translation: X:274.38, Y:-144.90, Z:5.95 [[ 7.85438229e-01 6.18512638e-01 -2.29979457e-02 2.74383637e+02] [-6.18237232e-01 7.85774802e-01 1.84576610e-02 -1.44902566e+02] [ 2.94875028e-02 -2.79166273e-04 9.99565110e-01 5.94711948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.522755096 meters 0.018302876301381055 Centerline is valid? [True, True] Translation: X:274.43, Y:-144.94, Z:5.95 [[ 7.86368728e-01 6.17298853e-01 -2.37980810e-02 2.74429252e+02] [-6.17003515e-01 7.86728679e-01 1.90957311e-02 -1.44939309e+02] [ 3.05104058e-02 -3.32786187e-04 9.99534394e-01 5.94789181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.582755096 meters 0.01859793333255384 Centerline is valid? [True, True] Translation: X:274.47, Y:-144.98, Z:5.95 [[ 7.86727613e-01 6.16825407e-01 -2.42090897e-02 2.74474522e+02] [-6.16519650e-01 7.87099925e-01 1.94224116e-02 -1.44976454e+02] [ 3.10352096e-02 -3.54767992e-04 9.99518229e-01 5.94825513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64275509600003 meters 0.018865415375729132 Centerline is valid? [True, True] Translation: X:274.52, Y:-145.01, Z:5.95 [[ 7.87586203e-01 6.15684464e-01 -2.53103654e-02 2.74520020e+02] [-6.15349776e-01 7.87992683e-01 2.03023052e-02 -1.45012957e+02] [ 3.24441966e-02 -4.15087791e-04 9.99473462e-01 5.94874884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70275509600003 meters 0.019025941045009608 Centerline is valid? [True, True] Translation: X:274.57, Y:-145.05, Z:5.95 [[ 7.87468972e-01 6.15794865e-01 -2.62545544e-02 2.74566965e+02] [-6.15434927e-01 7.87906406e-01 2.10557825e-02 -1.45049204e+02] [ 3.36521744e-02 -4.22805692e-04 9.99433516e-01 5.94918495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76275509600003 meters 0.019206451874520847 Centerline is valid? [True, True] Translation: X:274.61, Y:-145.08, Z:5.95 [[ 7.86886375e-01 6.16523910e-01 -2.66101877e-02 2.74613471e+02] [-6.16154695e-01 7.87336087e-01 2.13372589e-02 -1.45084114e+02] [ 3.41060913e-02 -3.94006228e-04 9.99418140e-01 5.94903552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82275509600004 meters 0.017513287545681856 Centerline is valid? [True, True] Translation: X:274.66, Y:-145.12, Z:5.95 [[ 7.85922790e-01 6.17765598e-01 -2.62875310e-02 2.74661174e+02] [-6.17406106e-01 7.86362229e-01 2.10747546e-02 -1.45118750e+02] [ 3.36907798e-02 -3.33047789e-04 9.99432249e-01 5.95431459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88275509600004 meters 0.01752822163716499 Centerline is valid? [True, True] Translation: X:274.71, Y:-145.15, Z:5.95 [[ 7.84653121e-01 6.19406538e-01 -2.55933610e-02 2.74706608e+02] [-6.19066778e-01 7.85070364e-01 2.05145706e-02 -1.45154780e+02] [ 3.27994484e-02 -2.52822313e-04 9.99461921e-01 5.95491918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94275509600004 meters 0.01651886687577799 Centerline is valid? [True, True] Translation: X:274.75, Y:-145.19, Z:5.96 [[ 7.84046573e-01 6.20184423e-01 -2.53427253e-02 2.74754669e+02] [-6.19851803e-01 7.84456012e-01 2.03102658e-02 -1.45189630e+02] [ 3.24763637e-02 -2.15460284e-04 9.99472481e-01 5.95888821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.002755096 meters 0.016698948083653797 Centerline is valid? [True, True] Translation: X:274.80, Y:-145.23, Z:5.96 [[ 7.84682536e-01 6.19407770e-01 -2.46441001e-02 2.74798592e+02] [-6.19092954e-01 7.85069397e-01 1.97473380e-02 -1.45226875e+02] [ 3.15789834e-02 -2.38402562e-04 9.99501231e-01 5.96017713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.062755096 meters 0.017099739264077405 Centerline is valid? [True, True] Translation: X:274.84, Y:-145.27, Z:5.96 [[ 7.86188250e-01 6.17520715e-01 -2.40042105e-02 2.74841910e+02] [-6.17221264e-01 7.86554560e-01 1.92311242e-02 -1.45266839e+02] [ 3.07562388e-02 -3.03374688e-04 9.99526869e-01 5.96247784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.122755096 meters 0.01748404181875187 Centerline is valid? [True, True] Translation: X:274.89, Y:-145.31, Z:5.96 [[ 7.87141899e-01 6.16298750e-01 -2.41553559e-02 2.74886293e+02] [-6.15995033e-01 7.87512367e-01 1.93492083e-02 -1.45305202e+02] [ 3.09475344e-02 -3.50993333e-04 9.99520949e-01 5.96396772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.182755096 meters 0.01706206435495984 Centerline is valid? [True, True] Translation: X:274.93, Y:-145.34, Z:5.97 [[ 7.88138189e-01 6.15051620e-01 -2.34456568e-02 2.74932300e+02] [-6.14765027e-01 7.88486750e-01 1.87778083e-02 -1.45342098e+02] [ 3.00359112e-02 -3.85937995e-04 9.99548746e-01 5.96679770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.242755096 meters 0.01817892212001702 Centerline is valid? [True, True] Translation: X:274.98, Y:-145.38, Z:5.97 [[ 7.89570831e-01 6.13239821e-01 -2.26897419e-02 2.74975280e+02] [-6.12970757e-01 7.89896658e-01 1.81692374e-02 -1.45380670e+02] [ 2.90646512e-02 -4.37751603e-04 9.99577438e-01 5.96817364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.302755096 meters 0.0182224906485948 Centerline is valid? [True, True] Translation: X:275.02, Y:-145.42, Z:5.97 [[ 7.90948349e-01 6.11481403e-01 -2.21631135e-02 2.75020090e+02] [-6.11224088e-01 7.91258653e-01 1.77442571e-02 -1.45418976e+02] [ 2.83870386e-02 -4.88162037e-04 9.99596888e-01 5.97097676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.362755096 meters 0.0193259477236303 Centerline is valid? [True, True] Translation: X:275.06, Y:-145.46, Z:5.97 [[ 7.92238911e-01 6.09811906e-01 -2.20668761e-02 2.75063576e+02] [-6.09556260e-01 7.92545989e-01 1.76641276e-02 -1.45457037e+02] [ 2.82608094e-02 -5.43206705e-04 9.99600436e-01 5.97194293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.422755096 meters 0.019695785439082986 Centerline is valid? [True, True] Translation: X:275.11, Y:-145.50, Z:5.97 [[ 7.93747055e-01 6.07869582e-01 -2.14519262e-02 2.75110123e+02] [-6.07627340e-01 7.94036661e-01 1.71696156e-02 -1.45495800e+02] [ 2.74705029e-02 -5.93554917e-04 9.99622438e-01 5.97441193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.482755096 meters 0.02036859458634438 Centerline is valid? [True, True] Translation: X:275.16, Y:-145.53, Z:5.98 [[ 7.94981605e-01 6.06285829e-01 -2.05363420e-02 2.75156302e+02] [-6.06063300e-01 7.95246571e-01 1.64368036e-02 -1.45534848e+02] [ 2.62968566e-02 -6.20633278e-04 9.99653985e-01 5.97621819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.542755096 meters 0.020372380765881916 Centerline is valid? [True, True] Translation: X:275.20, Y:-145.57, Z:5.98 [[ 7.95477098e-01 6.05655801e-01 -1.99308136e-02 2.75204391e+02] [-6.05445942e-01 7.95726499e-01 1.59546262e-02 -1.45573889e+02] [ 2.55224884e-02 -6.24509559e-04 9.99674053e-01 5.97846813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.602755096 meters 0.023138246588734167 Centerline is valid? [True, True] Translation: X:275.25, Y:-145.62, Z:5.98 [[ 7.95867176e-01 6.05169259e-01 -1.91208565e-02 2.75249518e+02] [-6.04975786e-01 7.96096592e-01 1.53138572e-02 -1.45615296e+02] [ 2.44895243e-02 -6.20141080e-04 9.99699894e-01 5.97932341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.662755096 meters 0.02049578382340681 Centerline is valid? [True, True] Translation: X:275.30, Y:-145.65, Z:5.98 [[ 7.95929316e-01 6.05082378e-01 -1.92831359e-02 2.75301127e+02] [-6.04885426e-01 7.96162618e-01 1.54501348e-02 -1.45651747e+02] [ 2.47011163e-02 -6.33127308e-04 9.99694680e-01 5.98133125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.722755096 meters 0.020113006350853103 Centerline is valid? [True, True] Translation: X:275.35, Y:-145.69, Z:5.98 [[ 7.95515088e-01 6.05665562e-01 -1.80269740e-02 2.75349521e+02] [-6.05493383e-01 7.95719102e-01 1.44524903e-02 -1.45690081e+02] [ 2.30977832e-02 -5.81960589e-04 9.99733041e-01 5.98338422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.782755096 meters 0.02024962673481264 Centerline is valid? [True, True] Translation: X:275.40, Y:-145.73, Z:5.98 [[ 7.94394571e-01 6.07141854e-01 -1.77773353e-02 2.75397356e+02] [-6.06974610e-01 7.94593279e-01 1.42598349e-02 -1.45727748e+02] [ 2.27834938e-02 -5.37544238e-04 9.99740278e-01 5.98459771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.842755096 meters 0.01877372901663133 Centerline is valid? [True, True] Translation: X:275.44, Y:-145.76, Z:5.99 [[ 7.92139539e-01 6.10120886e-01 -1.63540537e-02 2.75444513e+02] [-6.09979916e-01 7.92308229e-01 1.31214374e-02 -1.45762364e+02] [ 2.09631144e-02 -4.18365034e-04 9.99780162e-01 5.98585488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.902755096 meters 0.016184335549708585 Centerline is valid? [True, True] Translation: X:275.49, Y:-145.80, Z:5.99 [[ 7.89557424e-01 6.13449652e-01 -1.66912441e-02 2.75493422e+02] [-6.13303596e-01 7.89733760e-01 1.33898431e-02 -1.45795908e+02] [ 2.13956336e-02 -3.35250032e-04 9.99771031e-01 5.98655648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.962755096 meters 0.014971337676712475 Centerline is valid? [True, True] Translation: X:275.54, Y:-145.83, Z:5.99 [[ 7.87701445e-01 6.15830484e-01 -1.67107028e-02 2.75540951e+02] [-6.15684667e-01 7.87878634e-01 1.34032909e-02 -1.45831083e+02] [ 2.14201609e-02 -2.69268149e-04 9.99770526e-01 5.98718475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.022755096 meters 0.013302079143609409 Centerline is valid? [True, True] Translation: X:275.59, Y:-145.86, Z:5.99 [[ 7.84123665e-01 6.20388680e-01 -1.63695971e-02 2.75590136e+02] [-6.20249788e-01 7.84294502e-01 1.31276053e-02 -1.45864205e+02] [ 2.09828027e-02 -1.40426807e-04 9.99779827e-01 5.98749818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.082755096 meters 0.012901227974754887 Centerline is valid? [True, True] Translation: X:275.64, Y:-145.90, Z:5.99 [[ 7.83146202e-01 6.21627469e-01 -1.61652975e-02 2.75636991e+02] [-6.21492330e-01 7.83313015e-01 1.29616780e-02 -1.45900517e+02] [ 2.07198230e-02 -1.04280468e-04 9.99785316e-01 5.98852709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14275509600003 meters 0.012574858368224452 Centerline is valid? [True, True] Translation: X:275.68, Y:-145.94, Z:5.99 [[ 7.81724118e-01 6.23440257e-01 -1.51541723e-02 2.75684055e+02] [-6.23321872e-01 7.81870989e-01 1.21490769e-02 -1.45936164e+02] [ 1.94228313e-02 -5.12993616e-05 9.99811358e-01 5.99022198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20275509600003 meters 0.01241521061037595 Centerline is valid? [True, True] Translation: X:275.73, Y:-145.97, Z:5.99 [[ 7.80902157e-01 6.24492392e-01 -1.41800323e-02 2.75728211e+02] [-6.24388944e-01 7.81030891e-01 1.13664063e-02 -1.45971614e+02] [ 1.81732776e-02 -2.21958314e-05 9.99834852e-01 5.99227981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26275509600003 meters 0.012431249333315401 Centerline is valid? [True, True] Translation: X:275.77, Y:-146.01, Z:5.99 [[ 7.80732814e-01 6.24722018e-01 -1.33668886e-02 2.75772254e+02] [-6.24630178e-01 7.80847232e-01 1.07117425e-02 -1.46009166e+02] [ 1.71293594e-02 -1.36469066e-05 9.99853282e-01 5.99466098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32275509600004 meters 0.012534282253606411 Centerline is valid? [True, True] Translation: X:275.81, Y:-146.05, Z:6.00 [[ 7.81467178e-01 6.23830650e-01 -1.20153936e-02 2.75814888e+02] [-6.23756371e-01 7.81559543e-01 9.62657208e-03 -1.46048358e+02] [ 1.53960963e-02 -2.81718091e-05 9.99881473e-01 5.99749088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38275509600004 meters 0.012638906724669309 Centerline is valid? [True, True] Translation: X:275.86, Y:-146.09, Z:6.00 [[ 7.82383961e-01 6.22696144e-01 -1.11736306e-02 2.75861267e+02] [-6.22631847e-01 7.82463744e-01 8.94832429e-03 -1.46090272e+02] [ 1.43150479e-02 -4.39671371e-05 9.99897533e-01 5.99934402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44275509600004 meters 0.013090256728755209 Centerline is valid? [True, True] Translation: X:275.90, Y:-146.13, Z:6.00 [[ 7.83780611e-01 6.20966050e-01 -9.44022666e-03 2.75904878e+02] [-6.20919971e-01 7.83837457e-01 7.56503719e-03 -1.46133839e+02] [ 1.20972345e-02 -6.77042059e-05 9.99926823e-01 6.00291732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.502755096 meters 0.013193936494885136 Centerline is valid? [True, True] Translation: X:275.95, Y:-146.17, Z:6.00 [[ 7.84034760e-01 6.20650439e-01 -9.08443986e-03 2.75952374e+02] [-6.20607734e-01 7.84087385e-01 7.28095918e-03 -1.46174615e+02] [ 1.16419252e-02 -7.06514460e-05 9.99932228e-01 6.00488573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.562755096 meters 0.013503187915716069 Centerline is valid? [True, True] Translation: X:276.00, Y:-146.22, Z:6.01 [[ 7.84383964e-01 6.20224664e-01 -7.94752309e-03 2.75998584e+02] [-6.20191930e-01 7.84424222e-01 6.37251826e-03 -1.46215586e+02] [ 1.01866226e-02 -6.95114423e-05 9.99948113e-01 6.00717173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.622755096 meters 0.01351106499671663 Centerline is valid? [True, True] Translation: X:276.05, Y:-146.25, Z:6.01 [[ 7.83865107e-01 6.20893059e-01 -6.87772860e-03 2.76048150e+02] [-6.20868555e-01 7.83895277e-01 5.51649378e-03 -1.46254227e+02] [ 8.81657166e-03 -5.40215685e-05 9.99961132e-01 6.00966414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.682755096 meters 0.014104744628014544 Centerline is valid? [True, True] Translation: X:276.10, Y:-146.29, Z:6.01 [[ 7.84169273e-01 6.20525448e-01 -5.16910682e-03 2.76095235e+02] [-6.20511559e-01 7.84186308e-01 4.15205197e-03 -1.46290694e+02] [ 6.62999670e-03 -4.84210446e-05 9.99978020e-01 6.01238951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.742755096 meters 0.014814390129136136 Centerline is valid? [True, True] Translation: X:276.14, Y:-146.33, Z:6.01 [[ 7.85693714e-01 6.18600465e-01 -4.34187141e-03 2.76142094e+02] [-6.18590638e-01 7.85705709e-01 3.48718909e-03 -1.46329674e+02] [ 5.56860995e-03 -5.40215436e-05 9.99984494e-01 6.01326055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.802755096 meters 0.015149862129517131 Centerline is valid? [True, True] Translation: X:276.19, Y:-146.37, Z:6.01 [[ 7.87125132e-01 6.16775912e-01 -4.63702140e-03 2.76190471e+02] [-6.16764699e-01 7.87138787e-01 3.71967124e-03 -1.46369208e+02] [ 5.94418302e-03 -6.78956056e-05 9.99982331e-01 6.01205188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.862755096 meters 0.01654369551724283 Centerline is valid? [True, True] Translation: X:276.24, Y:-146.41, Z:6.01 [[ 7.89278446e-01 6.14013964e-01 -5.13679066e-03 2.76238058e+02] [-6.14000125e-01 7.89295155e-01 4.12372814e-03 -1.46409158e+02] [ 6.58647064e-03 -1.00779629e-04 9.99978304e-01 6.01060200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.922755096 meters 0.01802425324188484 Centerline is valid? [True, True] Translation: X:276.29, Y:-146.45, Z:6.01 [[ 7.92621204e-01 6.09674311e-01 -6.99015807e-03 2.76286211e+02] [-6.09648465e-01 7.92652003e-01 5.61705529e-03 -1.46448899e+02] [ 8.96533711e-03 -1.90657985e-04 9.99959792e-01 6.00645260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.982755096 meters 0.02032987323528696 Centerline is valid? [True, True] Translation: X:276.33, Y:-146.49, Z:6.00 [[ 7.95141240e-01 6.06367008e-01 -8.33430521e-03 2.76332192e+02] [-6.06330025e-01 7.95184869e-01 6.70261511e-03 -1.46489441e+02] [ 1.06915581e-02 -2.76186198e-04 9.99942806e-01 6.00486398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.042755096 meters 0.022512532698560538 Centerline is valid? [True, True] Translation: X:276.38, Y:-146.53, Z:6.00 [[ 7.97535785e-01 6.03173460e-01 -1.08834222e-02 2.76379845e+02] [-6.03110004e-01 7.97609929e-01 8.75924708e-03 -1.46528821e+02] [ 1.39640710e-02 -4.21912182e-04 9.99902409e-01 6.00048996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.102755096 meters 0.02252591278525623 Centerline is valid? [True, True] Translation: X:276.43, Y:-146.56, Z:5.99 [[ 7.97314798e-01 6.03399055e-01 -1.40958452e-02 2.76432073e+02] [-6.03292501e-01 7.97439202e-01 1.13524538e-02 -1.46564746e+02] [ 1.80906394e-02 -5.47561714e-04 9.99836201e-01 5.99443639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.162755096 meters 0.020473632170436597 Centerline is valid? [True, True] Translation: X:276.49, Y:-146.59, Z:5.99 [[ 7.94060447e-01 6.07570058e-01 -1.80729094e-02 2.76486620e+02] [-6.07395732e-01 7.94265874e-01 1.45652411e-02 -1.46594016e+02] [ 2.32040995e-02 -5.88273772e-04 9.99730576e-01 5.98819387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.222755096 meters 0.018885326525540196 Centerline is valid? [True, True] Translation: X:276.54, Y:-146.63, Z:5.98 [[ 7.91267761e-01 6.11102917e-01 -2.11791207e-02 2.76536205e+02] [-6.10864789e-01 7.91550947e-01 1.70677282e-02 -1.46626144e+02] [ 2.71944916e-02 -5.67563975e-04 9.99630000e-01 5.98436331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.282755096 meters 0.016931974475310533 Centerline is valid? [True, True] Translation: X:276.59, Y:-146.65, Z:5.98 [[ 7.87254750e-01 6.16156412e-01 -2.41088004e-02 2.76590265e+02] [-6.15850289e-01 7.87623690e-01 1.94253394e-02 -1.46652628e+02] [ 3.09577097e-02 -4.45279021e-04 9.99520596e-01 5.97989261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.342755096 meters 0.015162409797719201 Centerline is valid? [True, True] Translation: X:276.65, Y:-146.68, Z:5.98 [[ 7.83902789e-01 6.20381491e-01 -2.49644279e-02 2.76646077e+02] [-6.20055594e-01 7.84300150e-01 2.01080770e-02 -1.46676974e+02] [ 3.20542833e-02 -2.83444436e-04 9.99486089e-01 5.97876475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.402755096 meters 0.014764141549255106 Centerline is valid? [True, True] Translation: X:276.70, Y:-146.71, Z:5.98 [[ 7.82553865e-01 6.22096839e-01 -2.45961702e-02 2.76696274e+02] [-6.21781684e-01 7.82940280e-01 1.98003826e-02 -1.46708507e+02] [ 3.15750877e-02 -2.01417810e-04 9.99501362e-01 5.97929092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.462755096 meters 0.01436147945790376 Centerline is valid? [True, True] Translation: X:276.75, Y:-146.74, Z:5.98 [[ 7.81704465e-01 6.23191027e-01 -2.38971254e-02 2.76747711e+02] [-6.22894376e-01 7.82069641e-01 1.92268970e-02 -1.46738336e+02] [ 3.06712460e-02 -1.44366252e-04 9.99529516e-01 5.98094493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.522755096 meters 0.015039615160081702 Centerline is valid? [True, True] Translation: X:276.80, Y:-146.77, Z:5.98 [[ 7.82797433e-01 6.21819236e-01 -2.38540892e-02 2.76797782e+02] [-6.21523300e-01 7.83160777e-01 1.91829461e-02 -1.46769489e+02] [ 3.06099120e-02 -1.90488739e-04 9.99531389e-01 5.98054432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.582755096 meters 0.0163851002176941 Centerline is valid? [True, True] Translation: X:276.85, Y:-146.80, Z:5.98 [[ 7.85962639e-01 6.17826901e-01 -2.35085405e-02 2.76845748e+02] [-6.17537943e-01 7.86314065e-01 1.88965534e-02 -1.46803903e+02] [ 3.01598950e-02 -3.34569244e-04 9.99545031e-01 5.98184547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64275509600003 meters 0.020112415874370404 Centerline is valid? [True, True] Translation: X:276.89, Y:-146.84, Z:5.98 [[ 7.88134599e-01 6.15046140e-01 -2.37086440e-02 2.76888981e+02] [-6.14751255e-01 7.88490998e-01 1.90483649e-02 -1.46842860e+02] [ 3.04096757e-02 -4.37756770e-04 9.99537423e-01 5.98075080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70275509600003 meters 0.02131339199712536 Centerline is valid? [True, True] Translation: X:277.19, Y:-146.49, Z:7.25 [[ 8.15038125e-01 -5.79388251e-01 4.70212757e-03 2.77194889e+02] [-5.79368437e-01 -8.15050606e-01 -4.97232251e-03 -1.46488309e+02] [ 6.71337717e-03 1.32836812e-03 -9.99976583e-01 7.24651766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76275509600003 meters 0.02207093431608886 Centerline is valid? [True, True] Translation: X:277.02, Y:-146.89, Z:5.99 [[ 8.38212656e-01 5.44762197e-01 -2.51732218e-02 2.77017785e+02] [-5.44492367e-01 8.38590301e-01 1.71571865e-02 -1.46894634e+02] [ 3.04566063e-02 -6.74743790e-04 9.99535862e-01 5.98693315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82275509600004 meters 0.022754195703815625 Centerline is valid? [True, True] Translation: X:277.07, Y:-146.93, Z:5.99 [[ 8.39349409e-01 5.42994209e-01 -2.54923045e-02 2.77066635e+02] [-5.42717028e-01 8.39736115e-01 1.73633011e-02 -1.46927407e+02] [ 3.08349806e-02 -7.38768765e-04 9.99524216e-01 5.98948081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88275509600004 meters 0.021978711431485685 Centerline is valid? [True, True] Translation: X:277.12, Y:-146.96, Z:5.99 [[ 8.38780994e-01 5.43847220e-01 -2.60124048e-02 2.77115595e+02] [-5.43559393e-01 8.39183945e-01 1.77057063e-02 -1.46959898e+02] [ 3.14583917e-02 -7.11922990e-04 9.99504809e-01 5.99164268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94275509600004 meters 0.020458181702928957 Centerline is valid? [True, True] Translation: X:277.16, Y:-146.99, Z:5.99 [[ 8.36831090e-01 5.46865174e-01 -2.55383733e-02 2.77164207e+02] [-5.46589496e-01 8.37220489e-01 1.73716947e-02 -1.46992262e+02] [ 3.08812242e-02 -5.78167590e-04 9.99522894e-01 5.99419008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.002755096 meters 0.018200498693894732 Centerline is valid? [True, True] Translation: X:277.21, Y:-147.03, Z:6.00 [[ 8.35154605e-01 5.49491832e-01 -2.39898416e-02 2.77212987e+02] [-5.49249959e-01 8.35498971e-01 1.63080331e-02 -1.47025022e+02] [ 2.90046189e-02 -4.43309422e-04 9.99579179e-01 5.99933707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.062755096 meters 0.016345302228247458 Centerline is valid? [True, True] Translation: X:277.26, Y:-147.06, Z:6.00 [[ 8.32613262e-01 5.53405285e-01 -2.23102141e-02 2.77261714e+02] [-5.53197761e-01 8.32912068e-01 1.51566641e-02 -1.47058375e+02] [ 2.69702246e-02 -2.77679113e-04 9.99636199e-01 6.00405129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.122755096 meters 0.015048310992116466 Centerline is valid? [True, True] Translation: X:277.31, Y:-147.09, Z:6.01 [[ 8.29376558e-01 5.58264884e-01 -2.17909191e-02 2.77309641e+02] [-5.58068794e-01 8.29662767e-01 1.47957214e-02 -1.47090629e+02] [ 2.63390459e-02 -1.10392529e-04 9.99653061e-01 6.00741846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.182755096 meters 0.014874514285610728 Centerline is valid? [True, True] Translation: X:277.36, Y:-147.13, Z:6.01 [[ 8.25982376e-01 5.63309910e-01 -2.08580941e-02 2.77357506e+02] [-5.63131955e-01 8.26245691e-01 1.41583437e-02 -1.47125375e+02] [ 2.52094457e-02 5.13169496e-05 9.99682190e-01 6.01139953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.242755096 meters 0.015135926519883108 Centerline is valid? [True, True] Translation: X:277.40, Y:-147.16, Z:6.01 [[ 8.24378210e-01 5.65680762e-01 -2.01455339e-02 2.77403242e+02] [-5.65515521e-01 8.24624315e-01 1.36724052e-02 -1.47162280e+02] [ 2.43467137e-02 1.21379180e-04 9.99703567e-01 6.01431386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.302755096 meters 0.015218285102838552 Centerline is valid? [True, True] Translation: X:277.45, Y:-147.20, Z:6.02 [[ 8.24411925e-01 5.65673982e-01 -1.89188968e-02 2.77448854e+02] [-5.65528299e-01 8.24628967e-01 1.28378471e-02 -1.47199837e+02] [ 2.28631064e-02 1.15497271e-04 9.99738598e-01 6.01732735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.362755096 meters 0.015187099352044233 Centerline is valid? [True, True] Translation: X:277.49, Y:-147.24, Z:6.02 [[ 8.25142386e-01 5.64642266e-01 -1.78649210e-02 2.77493398e+02] [-5.64512165e-01 8.25335753e-01 1.21206904e-02 -1.47238450e+02] [ 2.15884121e-02 8.36698117e-05 9.99766940e-01 6.02089810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.422755096 meters 0.014964087660640965 Centerline is valid? [True, True] Translation: X:277.54, Y:-147.28, Z:6.02 [[ 8.26281736e-01 5.63000406e-01 -1.70010251e-02 2.77537340e+02] [-5.62882278e-01 8.26456618e-01 1.15325715e-02 -1.47277060e+02] [ 2.05434521e-02 4.04225250e-05 9.99788960e-01 6.02355750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.482755096 meters 0.015043621231916176 Centerline is valid? [True, True] Translation: X:277.58, Y:-147.32, Z:6.03 [[ 8.27454117e-01 5.61277372e-01 -1.69527587e-02 2.77580236e+02] [-5.61159614e-01 8.27627761e-01 1.14967890e-02 -1.47318742e+02] [ 2.04834612e-02 1.38133482e-07 9.99790192e-01 6.02574109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.542755096 meters 0.01516882710225918 Centerline is valid? [True, True] Translation: X:277.63, Y:-147.36, Z:6.03 [[ 8.26718903e-01 5.62349544e-01 -1.72871700e-02 2.77626749e+02] [-5.62227365e-01 8.26899625e-01 1.17218014e-02 -1.47358607e+02] [ 2.08865041e-02 2.86852473e-05 9.99781853e-01 6.02760322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.602755096 meters 0.015368826710772833 Centerline is valid? [True, True] Translation: X:277.67, Y:-147.40, Z:6.03 [[ 8.25658699e-01 5.63892205e-01 -1.77001270e-02 2.77673906e+02] [-5.63764472e-01 8.25848398e-01 1.20018125e-02 -1.47397300e+02] [ 2.13853500e-02 6.93018449e-05 9.99771305e-01 6.02985965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.662755096 meters 0.015477307718557475 Centerline is valid? [True, True] Translation: X:277.72, Y:-147.43, Z:6.03 [[ 8.25420488e-01 5.64237847e-01 -1.77952090e-02 2.77722208e+02] [-5.64108819e-01 8.25612285e-01 1.20662842e-02 -1.47434360e+02] [ 2.15001973e-02 7.86761562e-05 9.99768841e-01 6.03176085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.722755096 meters 0.01538809072821476 Centerline is valid? [True, True] Translation: X:277.77, Y:-147.48, Z:6.03 [[ 8.25693581e-01 5.63821765e-01 -1.83064935e-02 2.77768381e+02] [-5.63685087e-01 8.25896490e-01 1.24141147e-02 -1.47476079e+02] [ 2.21186168e-02 6.88425260e-05 9.99755351e-01 6.03367390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.782755096 meters 0.015235154391280863 Centerline is valid? [True, True] Translation: X:277.81, Y:-147.52, Z:6.04 [[ 8.27246303e-01 5.61545854e-01 -1.81606032e-02 2.77814105e+02] [-5.61410644e-01 8.27445620e-01 1.23221585e-02 -1.47517675e+02] [ 2.19463686e-02 2.09587914e-06 9.99759149e-01 6.03606008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.842755096 meters 0.01535150039889106 Centerline is valid? [True, True] Translation: X:277.86, Y:-147.56, Z:6.04 [[ 8.28823890e-01 5.59217733e-01 -1.80689582e-02 2.77860174e+02] [-5.59083211e-01 8.29020822e-01 1.22653792e-02 -1.47556234e+02] [ 2.18385601e-02 -6.37881143e-05 9.99761508e-01 6.03789575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.902755096 meters 0.016428741526935662 Centerline is valid? [True, True] Translation: X:277.91, Y:-147.60, Z:6.04 [[ 8.31656295e-01 5.54990583e-01 -1.82554028e-02 2.77906300e+02] [-5.54852234e-01 8.31856611e-01 1.23925911e-02 -1.47599462e+02] [ 2.20636489e-02 -1.77325409e-04 9.99756552e-01 6.04171970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.962755096 meters 0.016232709419285448 Centerline is valid? [True, True] Translation: X:277.96, Y:-147.64, Z:6.05 [[ 8.32044772e-01 5.54420039e-01 -1.78862329e-02 2.77957351e+02] [-5.54286952e-01 8.32236975e-01 1.21487417e-02 -1.47635387e+02] [ 2.16210902e-02 -1.94191488e-04 9.99766218e-01 6.04577048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.022755096 meters 0.017370661772287323 Centerline is valid? [True, True] Translation: X:278.01, Y:-147.67, Z:6.05 [[ 8.33927833e-01 5.51584761e-01 -1.78499525e-02 2.78005436e+02] [-5.51451389e-01 8.34118803e-01 1.21321494e-02 -1.47673988e+02] [ 2.15808897e-02 -2.73955982e-04 9.99767068e-01 6.04755034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.082755096 meters 0.017840362103323657 Centerline is valid? [True, True] Translation: X:278.06, Y:-147.71, Z:6.05 [[ 8.35255425e-01 5.49588853e-01 -1.73340315e-02 2.78055099e+02] [-5.49462518e-01 8.35435210e-01 1.17877715e-02 -1.47710372e+02] [ 2.09598880e-02 -3.21399490e-04 9.99780266e-01 6.04971456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14275509600003 meters 0.018818966555247126 Centerline is valid? [True, True] Translation: X:278.11, Y:-147.74, Z:6.05 [[ 8.36948552e-01 5.46993219e-01 -1.77634275e-02 2.78106484e+02] [-5.46859813e-01 8.37136940e-01 1.20866908e-02 -1.47744349e+02] [ 2.14817593e-02 -4.01833735e-04 9.99769160e-01 6.04985358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20275509600003 meters 0.019762787151548597 Centerline is valid? [True, True] Translation: X:278.16, Y:-147.78, Z:6.05 [[ 8.37472049e-01 5.46146696e-01 -1.90880692e-02 2.78156580e+02] [-5.45992249e-01 8.37689426e-01 1.29957684e-02 -1.47779299e+02] [ 2.30874697e-02 -4.61654969e-04 9.99733342e-01 6.05002472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26275509600003 meters 0.01994189374821112 Centerline is valid? [True, True] Translation: X:278.21, Y:-147.81, Z:6.05 [[ 8.37064438e-01 5.46737332e-01 -2.00353602e-02 2.78209705e+02] [-5.46567143e-01 8.37304045e-01 1.36489454e-02 -1.47812978e+02] [ 2.42380762e-02 -4.74377222e-04 9.99706102e-01 6.05063341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32275509600004 meters 0.01997658056968195 Centerline is valid? [True, True] Translation: X:278.26, Y:-147.84, Z:6.05 [[ 8.36261295e-01 5.47935495e-01 -2.08264415e-02 2.78262001e+02] [-5.47751735e-01 8.36520458e-01 1.41971759e-02 -1.47844341e+02] [ 2.52008810e-02 -4.64829194e-04 9.99682299e-01 6.04991062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38275509600004 meters 0.01996529912118956 Centerline is valid? [True, True] Translation: X:278.32, Y:-147.88, Z:6.05 [[ 8.35855791e-01 5.48527919e-01 -2.14992936e-02 2.78316586e+02] [-5.48332064e-01 8.36132108e-01 1.46644004e-02 -1.47876860e+02] [ 2.60200828e-02 -4.68571964e-04 9.99661311e-01 6.04995534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44275509600004 meters 0.020285410828039165 Centerline is valid? [True, True] Translation: X:278.37, Y:-147.91, Z:6.05 [[ 8.36506751e-01 5.47513484e-01 -2.20327173e-02 2.78368689e+02] [-5.47307177e-01 8.36796698e-01 1.50379804e-02 -1.47910978e+02] [ 2.66704022e-02 -5.20707840e-04 9.99644146e-01 6.05136323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.502755096 meters 0.021678783841741316 Centerline is valid? [True, True] Translation: X:278.42, Y:-147.95, Z:6.05 [[ 8.38927418e-01 5.43786893e-01 -2.22845659e-02 2.78419289e+02] [-5.43574285e-01 8.39223086e-01 1.52187282e-02 -1.47946342e+02] [ 2.69774671e-02 -6.54091379e-04 9.99635828e-01 6.05311664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.562755096 meters 0.025277595291194457 Centerline is valid? [True, True] Translation: X:278.47, Y:-147.98, Z:6.06 [[ 8.41773548e-01 5.39404159e-01 -2.14580519e-02 2.78465658e+02] [-5.39205436e-01 8.42046649e-01 1.46607835e-02 -1.47984170e+02] [ 2.59767683e-02 -7.70761474e-04 9.99662250e-01 6.05565158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.622755096 meters 0.025405541140585908 Centerline is valid? [True, True] Translation: X:278.52, Y:-148.02, Z:6.06 [[ 8.43995588e-01 5.35939204e-01 -2.09908760e-02 2.78517096e+02] [-5.35747897e-01 8.44256139e-01 1.43444141e-02 -1.48019310e+02] [ 2.54094098e-02 -8.60804552e-04 9.99676758e-01 6.05803517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.682755096 meters 0.026596257393981554 Centerline is valid? [True, True] Translation: X:278.57, Y:-148.05, Z:6.06 [[ 8.44694086e-01 5.34828879e-01 -2.12125136e-02 2.78567317e+02] [-5.34633057e-01 8.44959908e-01 1.44999138e-02 -1.48054990e+02] [ 2.56786962e-02 -9.07080459e-04 9.99669836e-01 6.05864630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.742755096 meters 0.026356689960203055 Centerline is valid? [True, True] Translation: X:278.62, Y:-148.09, Z:6.06 [[ 8.44838735e-01 5.34558687e-01 -2.22378454e-02 2.78619213e+02] [-5.34343139e-01 8.45130803e-01 1.52097204e-02 -1.48089756e+02] [ 2.69243764e-02 -9.67120822e-04 9.99637005e-01 6.05864790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.802755096 meters 0.0259808170429779 Centerline is valid? [True, True] Translation: X:278.67, Y:-148.12, Z:6.06 [[ 8.43972686e-01 5.35862626e-01 -2.36928527e-02 2.78671297e+02] [-5.35618224e-01 8.44304602e-01 1.62128786e-02 -1.48124622e+02] [ 2.86918602e-02 -9.92903020e-04 9.99587811e-01 6.05851610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.862755096 meters 0.0265200263547541 Centerline is valid? [True, True] Translation: X:278.72, Y:-148.16, Z:6.06 [[ 8.43245291e-01 5.37001724e-01 -2.38018417e-02 2.78721198e+02] [-5.36755363e-01 8.43580596e-01 1.62929110e-02 -1.48159372e+02] [ 2.88280931e-02 -9.63154264e-04 9.99583920e-01 6.05856774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.922755096 meters 0.024905831067071713 Centerline is valid? [True, True] Translation: X:278.77, Y:-148.19, Z:6.06 [[ 8.41782469e-01 5.39275940e-01 -2.41606184e-02 2.78773857e+02] [-5.39022751e-01 8.42128636e-01 1.65479577e-02 -1.48192904e+02] [ 2.92702641e-02 -9.06657646e-04 9.99571123e-01 6.05923265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.982755096 meters 0.024860999591011557 Centerline is valid? [True, True] Translation: X:278.83, Y:-148.23, Z:6.06 [[ 8.39994410e-01 5.42005578e-01 -2.52852664e-02 2.78825695e+02] [-5.41729172e-01 8.40374450e-01 1.73288092e-02 -1.48227404e+02] [ 3.06414030e-02 -8.58336423e-04 9.99530073e-01 6.05780358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.042755096 meters 0.023062622396622066 Centerline is valid? [True, True] Translation: X:278.88, Y:-148.26, Z:6.06 [[ 8.38526495e-01 5.44274214e-01 -2.52764124e-02 2.78877664e+02] [-5.43998716e-01 8.38907007e-01 1.73329533e-02 -1.48261295e+02] [ 3.06384391e-02 -7.83804706e-04 9.99530226e-01 6.05939975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.102755096 meters 0.022037833930183947 Centerline is valid? [True, True] Translation: X:278.93, Y:-148.30, Z:6.06 [[ 8.36736719e-01 5.47018822e-01 -2.53391366e-02 2.78929139e+02] [-5.46742893e-01 8.37120019e-01 1.73862731e-02 -1.48295635e+02] [ 3.07225172e-02 -6.93740213e-04 9.99527711e-01 6.06077071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.162755096 meters 0.021542702922832634 Centerline is valid? [True, True] Translation: X:278.98, Y:-148.33, Z:6.06 [[ 8.35784579e-01 5.48487413e-01 -2.50138928e-02 2.78980676e+02] [-5.48218874e-01 8.36158566e-01 1.71731823e-02 -1.48329868e+02] [ 3.03348551e-02 -6.39992803e-04 9.99539587e-01 6.06239871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.222755096 meters 0.022121961402533752 Centerline is valid? [True, True] Translation: X:279.03, Y:-148.37, Z:6.07 [[ 8.36614619e-01 5.47300785e-01 -2.31911589e-02 2.79030097e+02] [-5.47069256e-01 8.36935744e-01 1.59307875e-02 -1.48366772e+02] [ 2.81284423e-02 -6.40759720e-04 9.99604112e-01 6.06612214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.282755096 meters 0.02256197246425869 Centerline is valid? [True, True] Translation: X:279.08, Y:-148.40, Z:6.07 [[ 8.37085088e-01 5.46585612e-01 -2.30808258e-02 2.79080692e+02] [-5.46355745e-01 8.37402962e-01 1.58643953e-02 -1.48403484e+02] [ 2.79992021e-02 -6.69506949e-04 9.99607721e-01 6.06763816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.342755096 meters 0.024716565040429097 Centerline is valid? [True, True] Translation: X:279.13, Y:-148.44, Z:6.07 [[ 8.39603026e-01 5.42753474e-01 -2.20323836e-02 2.79128822e+02] [-5.42542518e-01 8.39891706e-01 1.51505162e-02 -1.48443116e+02] [ 2.67278115e-02 -7.66914402e-04 9.99642454e-01 6.06997042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.402755096 meters 0.026599063848280147 Centerline is valid? [True, True] Translation: X:279.18, Y:-148.48, Z:6.07 [[ 8.41229704e-01 5.40257438e-01 -2.13186652e-02 2.79178173e+02] [-5.40059066e-01 8.41499392e-01 1.46621393e-02 -1.48480774e+02] [ 2.58609736e-02 -8.20888663e-04 9.99665212e-01 6.07189449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.462755096 meters 0.027902242562013548 Centerline is valid? [True, True] Translation: X:279.23, Y:-148.52, Z:6.07 [[ 8.42112203e-01 5.38906747e-01 -2.06532321e-02 2.79227558e+02] [-5.38720070e-01 8.42365013e-01 1.42081373e-02 -1.48517661e+02] [ 2.50544212e-02 -8.38535171e-04 9.99685737e-01 6.07383533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.522755096 meters 0.029567297179277002 Centerline is valid? [True, True] Translation: X:279.28, Y:-148.56, Z:6.07 [[ 8.42756637e-01 5.37841793e-01 -2.20784231e-02 2.79276500e+02] [-5.37627867e-01 8.43045270e-01 1.51970270e-02 -1.48555004e+02] [ 2.67867064e-02 -9.37419863e-04 9.99640732e-01 6.07366352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.582755096 meters 0.030314761373282824 Centerline is valid? [True, True] Translation: X:279.33, Y:-148.59, Z:6.07 [[ 8.42371690e-01 5.38394740e-01 -2.32602826e-02 2.79327854e+02] [-5.38157247e-01 8.42692204e-01 1.60195972e-02 -1.48590321e+02] [ 2.82261256e-02 -9.76765513e-04 9.99601086e-01 6.07324400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64275509600003 meters 0.030154337235350305 Centerline is valid? [True, True] Translation: X:279.38, Y:-148.62, Z:6.07 [[ 8.41247842e-01 5.40144297e-01 -2.33710441e-02 2.79379144e+02] [-5.39904952e-01 8.41571906e-01 1.61049768e-02 -1.48623015e+02] [ 2.83674255e-02 -9.30134604e-04 9.99597131e-01 6.07371222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70275509600003 meters 0.03053200768883082 Centerline is valid? [True, True] Translation: X:279.43, Y:-148.66, Z:6.07 [[ 8.40392286e-01 5.41461278e-01 -2.36746632e-02 2.79430109e+02] [-5.41215949e-01 8.40725203e-01 1.63226612e-02 -1.48657858e+02] [ 2.87419750e-02 -9.04333247e-04 9.99586455e-01 6.07439951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76275509600003 meters 0.028952118419348378 Centerline is valid? [True, True] Translation: X:279.48, Y:-148.69, Z:6.08 [[ 8.39490501e-01 5.42903318e-01 -2.26205006e-02 2.79482031e+02] [-5.42679655e-01 8.39794802e-01 1.56039234e-02 -1.48691805e+02] [ 2.74680006e-02 -8.23660041e-04 9.99622344e-01 6.07838131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82275509600004 meters 0.02863673162536818 Centerline is valid? [True, True] Translation: X:279.53, Y:-148.72, Z:6.08 [[ 8.38691228e-01 5.44221950e-01 -2.04815492e-02 2.79530962e+02] [-5.44038868e-01 8.38940978e-01 1.41331346e-02 -1.48723573e+02] [ 2.48743730e-02 -7.10577151e-04 9.99690332e-01 6.08250864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88275509600004 meters 0.028379583381310025 Centerline is valid? [True, True] Translation: X:279.58, Y:-148.76, Z:6.09 [[ 8.38011162e-01 5.45317439e-01 -1.91359222e-02 2.79579003e+02] [-5.45157950e-01 8.38229379e-01 1.32029845e-02 -1.48755433e+02] [ 2.32401098e-02 -6.32148263e-04 9.99729712e-01 6.08506921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94275509600004 meters 0.02448592785243301 Centerline is valid? [True, True] Translation: X:279.63, Y:-148.78, Z:6.09 [[ 8.36960029e-01 5.46930270e-01 -1.91099210e-02 2.79634246e+02] [-5.46771643e-01 8.37177959e-01 1.31846427e-02 -1.48784085e+02] [ 2.32094849e-02 -5.86256052e-04 9.99730452e-01 6.08668980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.002755096 meters 0.028304228285870356 Centerline is valid? [True, True] Translation: X:279.68, Y:-148.83, Z:6.09 [[ 8.36335066e-01 5.47886092e-01 -1.90915778e-02 2.79679877e+02] [-5.47727836e-01 8.36552754e-01 1.31798320e-02 -1.48826032e+02] [ 2.31921587e-02 -5.65767048e-04 9.99730866e-01 6.08742718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.062755096 meters 0.023005137399326064 Centerline is valid? [True, True] Translation: X:279.74, Y:-148.85, Z:6.09 [[ 8.36146939e-01 5.48209306e-01 -1.80236896e-02 2.79736372e+02] [-5.48068187e-01 8.36341004e-01 1.24493923e-02 -1.48854571e+02] [ 2.18988233e-02 -5.31310363e-04 9.99760051e-01 6.09160331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.122755096 meters 0.023587775157675336 Centerline is valid? [True, True] Translation: X:279.79, Y:-148.89, Z:6.09 [[ 8.36787260e-01 5.47236174e-01 -1.78787779e-02 2.79787248e+02] [-5.47096919e-01 8.36978050e-01 1.23573720e-02 -1.48890826e+02] [ 2.17265456e-02 -5.59067154e-04 9.99763794e-01 6.09280696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.182755096 meters 0.02497515207846899 Centerline is valid? [True, True] Translation: X:279.84, Y:-148.93, Z:6.09 [[ 8.38880017e-01 5.44019835e-01 -1.79648394e-02 2.79835464e+02] [-5.43878339e-01 8.39072103e-01 1.24240825e-02 -1.48929112e+02] [ 2.18327429e-02 -6.51627497e-04 9.99761425e-01 6.09424537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.242755096 meters 0.028794060962662616 Centerline is valid? [True, True] Translation: X:279.88, Y:-148.97, Z:6.09 [[ 8.40826579e-01 5.40977541e-01 -1.88139382e-02 2.79881783e+02] [-5.40821420e-01 8.41036685e-01 1.30186957e-02 -1.48969526e+02] [ 2.28660342e-02 -7.71484645e-04 9.99738240e-01 6.09428277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.302755096 meters 0.028379188605971786 Centerline is valid? [True, True] Translation: X:279.93, Y:-149.01, Z:6.09 [[ 8.41104654e-01 5.40487941e-01 -2.03898668e-02 2.79932412e+02] [-5.40304219e-01 8.41351324e-01 1.41173922e-02 -1.49005307e+02] [ 2.47853217e-02 -8.57473220e-04 9.99692429e-01 6.09454474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.362755096 meters 0.02971637071956818 Centerline is valid? [True, True] Translation: X:279.98, Y:-149.04, Z:6.09 [[ 8.40639934e-01 5.41166964e-01 -2.15132323e-02 2.79982190e+02] [-5.40962432e-01 8.40914695e-01 1.49038035e-02 -1.49041152e+02] [ 2.61562393e-02 -8.90881934e-04 9.99657470e-01 6.09418380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.422755096 meters 0.027430550169093893 Centerline is valid? [True, True] Translation: X:280.04, Y:-149.07, Z:6.10 [[ 8.40291573e-01 5.41671480e-01 -2.24071618e-02 2.80036632e+02] [-5.41449526e-01 8.40589771e-01 1.55321470e-02 -1.49073707e+02] [ 2.72485520e-02 -9.19185059e-04 9.99628267e-01 6.09587557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.482755096 meters 0.029796315386717488 Centerline is valid? [True, True] Translation: X:280.08, Y:-149.11, Z:6.10 [[ 8.40497839e-01 5.41323334e-01 -2.30744469e-02 2.80084939e+02] [-5.41087544e-01 8.40813959e-01 1.60048895e-02 -1.49111604e+02] [ 2.80651372e-02 -9.66779256e-04 9.99605629e-01 6.09666712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.542755096 meters 0.031083265216390054 Centerline is valid? [True, True] Translation: X:280.13, Y:-149.15, Z:6.10 [[ 8.40861924e-01 5.40770155e-01 -2.27785651e-02 2.80133877e+02] [-5.40539944e-01 8.41169828e-01 1.58078848e-02 -1.49147494e+02] [ 2.77090740e-02 -9.79524179e-04 9.99615550e-01 6.09815576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.602755096 meters 0.027676967048677042 Centerline is valid? [True, True] Translation: X:280.19, Y:-149.18, Z:6.10 [[ 8.41614250e-01 5.39642771e-01 -2.17056430e-02 2.80188330e+02] [-5.39433161e-01 8.41893538e-01 1.50710305e-02 -1.49178488e+02] [ 2.64068132e-02 -9.75250404e-04 9.99650804e-01 6.10236987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.662755096 meters 0.030053713487934595 Centerline is valid? [True, True] Translation: X:280.24, Y:-149.22, Z:6.10 [[ 8.42217469e-01 5.38711016e-01 -2.14517415e-02 2.80237714e+02] [-5.38505751e-01 8.42490025e-01 1.49035107e-02 -1.49215638e+02] [ 2.61015636e-02 -1.00011088e-03 9.99658796e-01 6.10350865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.722755096 meters 0.02872872939310439 Centerline is valid? [True, True] Translation: X:280.29, Y:-149.25, Z:6.11 [[ 8.42369665e-01 5.38497000e-01 -2.08405567e-02 2.80289364e+02] [-5.38302991e-01 8.42626851e-01 1.44872290e-02 -1.49250761e+02] [ 2.53621421e-02 -9.85068257e-04 9.99677844e-01 6.10604634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.782755096 meters 0.029377986473437895 Centerline is valid? [True, True] Translation: X:280.34, Y:-149.29, Z:6.11 [[ 8.42210508e-01 5.38757606e-01 -2.05353765e-02 2.80341142e+02] [-5.38569101e-01 8.42460266e-01 1.42836839e-02 -1.49286477e+02] [ 2.49956821e-02 -9.70149432e-04 9.99687088e-01 6.10665991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.842755096 meters 0.028626949321505953 Centerline is valid? [True, True] Translation: X:280.39, Y:-149.32, Z:6.11 [[ 8.41477826e-01 5.39905530e-01 -2.04227311e-02 2.80392564e+02] [-5.39719197e-01 8.41725096e-01 1.42144395e-02 -1.49321190e+02] [ 2.48647798e-02 -9.38595597e-04 9.99690383e-01 6.10756017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.902755096 meters 0.027816072747654307 Centerline is valid? [True, True] Translation: X:280.45, Y:-149.35, Z:6.11 [[ 8.40547184e-01 5.41324673e-01 -2.11667193e-02 2.80445160e+02] [-5.41124735e-01 8.40813131e-01 1.47411068e-02 -1.49354818e+02] [ 2.57769803e-02 -9.36760388e-04 9.99667280e-01 6.10810188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.962755096 meters 0.02753678050534153 Centerline is valid? [True, True] Translation: X:280.50, Y:-149.39, Z:6.11 [[ 8.39772338e-01 5.42542220e-01 -2.07451057e-02 2.80497353e+02] [-5.42350354e-01 8.40028066e-01 1.44548102e-02 -1.49389470e+02] [ 2.52688158e-02 -8.87634296e-04 9.99680298e-01 6.10871989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.022755096 meters 0.027203471246854183 Centerline is valid? [True, True] Translation: X:280.55, Y:-149.42, Z:6.11 [[ 8.38147812e-01 5.45038631e-01 -2.10032305e-02 2.80547033e+02] [-5.44842650e-01 8.38410526e-01 1.46382317e-02 -1.49424040e+02] [ 2.55877312e-02 -8.25546102e-04 9.99672240e-01 6.10979911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.082755096 meters 0.025312903117936904 Centerline is valid? [True, True] Translation: X:280.60, Y:-149.46, Z:6.11 [[ 8.36455700e-01 5.47622287e-01 -2.12530473e-02 2.80599280e+02] [-5.47422372e-01 8.36725317e-01 1.48151942e-02 -1.49457568e+02] [ 2.58960933e-02 -7.57860071e-04 9.99664353e-01 6.11082867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14275509600003 meters 0.023668085519857482 Centerline is valid? [True, True] Translation: X:280.65, Y:-149.49, Z:6.11 [[ 8.33767557e-01 5.51652173e-01 -2.26172927e-02 2.80651746e+02] [-5.51427043e-01 8.34073989e-01 1.57733163e-02 -1.49490536e+02] [ 2.75658798e-02 -6.79492549e-04 9.99619758e-01 6.11005617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20275509600003 meters 0.02273522853367716 Centerline is valid? [True, True] Translation: X:280.70, Y:-149.53, Z:6.11 [[ 8.32154560e-01 5.54091714e-01 -2.23866184e-02 2.80702836e+02] [-5.53871924e-01 8.32455414e-01 1.56165030e-02 -1.49525146e+02] [ 2.72888367e-02 -5.96024783e-04 9.99627413e-01 6.11100321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26275509600003 meters 0.02212901896300685 Centerline is valid? [True, True] Translation: X:280.75, Y:-149.56, Z:6.11 [[ 8.31214395e-01 5.55534031e-01 -2.15538729e-02 2.80752742e+02] [-5.55330561e-01 8.31493628e-01 1.50437308e-02 -1.49561647e+02] [ 2.62792124e-02 -5.35041272e-04 9.99654499e-01 6.11348244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32275509600004 meters 0.02212653435767565 Centerline is valid? [True, True] Translation: X:280.80, Y:-149.60, Z:6.12 [[ 8.30780684e-01 5.56237477e-01 -2.00829260e-02 2.80799796e+02] [-5.56060903e-01 8.31023247e-01 1.40226673e-02 -1.49599223e+02] [ 2.44893115e-02 -4.82431114e-04 9.99699975e-01 6.11693779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38275509600004 meters 0.02137206275978401 Centerline is valid? [True, True] Translation: X:280.85, Y:-149.64, Z:6.12 [[ 8.31338316e-01 5.55426200e-01 -1.94510051e-02 2.80850040e+02] [-5.55260293e-01 8.31565689e-01 1.35835189e-02 -1.49636407e+02] [ 2.37194307e-02 -4.92128901e-04 9.99718534e-01 6.12051723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44275509600004 meters 0.020946829901410856 Centerline is valid? [True, True] Translation: X:280.90, Y:-149.67, Z:6.12 [[ 8.31861429e-01 5.54669713e-01 -1.86567228e-02 2.80900187e+02] [-5.54516726e-01 8.32070466e-01 1.30361021e-02 -1.49673054e+02] [ 2.27544390e-02 -4.98765642e-04 9.99740960e-01 6.12293138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.502755096 meters 0.022858729134452437 Centerline is valid? [True, True] Translation: X:280.95, Y:-149.71, Z:6.12 [[ 8.33066491e-01 5.52829802e-01 -1.94790021e-02 2.80946370e+02] [-5.52662348e-01 8.33293990e-01 1.36181732e-02 -1.49712858e+02] [ 2.37602674e-02 -5.79532701e-04 9.99717517e-01 6.12335555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.562755096 meters 0.024385875947309146 Centerline is valid? [True, True] Translation: X:281.00, Y:-149.75, Z:6.12 [[ 8.34893922e-01 5.50023773e-01 -2.06395064e-02 2.80995333e+02] [-5.49834811e-01 8.35148703e-01 1.44334422e-02 -1.49751850e+02] [ 2.51757934e-02 -7.02074056e-04 9.99682793e-01 6.12339817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.622755096 meters 0.025212105526553872 Centerline is valid? [True, True] Translation: X:281.05, Y:-149.79, Z:6.12 [[ 8.35893064e-01 5.48465904e-01 -2.16318793e-02 2.81045387e+02] [-5.48257725e-01 8.36172549e-01 1.51305823e-02 -1.49787802e+02] [ 2.63865922e-02 -7.87703879e-04 9.99651503e-01 6.12387636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.682755096 meters 0.025356506283162165 Centerline is valid? [True, True] Translation: X:281.10, Y:-149.82, Z:6.13 [[ 8.36580463e-01 5.47397657e-01 -2.21118459e-02 2.81096326e+02] [-5.47179600e-01 8.36872207e-01 1.54723535e-02 -1.49823567e+02] [ 2.69743193e-02 -8.44717625e-04 9.99635770e-01 6.12531173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.742755096 meters 0.024528637631100997 Centerline is valid? [True, True] Translation: X:281.15, Y:-149.86, Z:6.13 [[ 8.36195123e-01 5.47973226e-01 -2.24289713e-02 2.81148519e+02] [-5.47748808e-01 8.36495444e-01 1.57040281e-02 -1.49857918e+02] [ 2.73671192e-02 -8.46189472e-04 9.99625092e-01 6.12678540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.802755096 meters 0.024052850929464513 Centerline is valid? [True, True] Translation: X:281.20, Y:-149.89, Z:6.13 [[ 8.35899952e-01 5.48422394e-01 -2.24532499e-02 2.81201641e+02] [-5.48197421e-01 8.36201036e-01 1.57294128e-02 -1.49891218e+02] [ 2.74017931e-02 -8.39401727e-04 9.99624148e-01 6.12829670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.862755096 meters 0.02437143745702814 Centerline is valid? [True, True] Translation: X:281.25, Y:-149.93, Z:6.13 [[ 8.35362277e-01 5.49249610e-01 -2.22425798e-02 2.81253135e+02] [-5.49028992e-01 8.35657951e-01 1.55870252e-02 -1.49925447e+02] [ 2.71483562e-02 -8.08991661e-04 9.99631088e-01 6.13058776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.922755096 meters 0.024617854494982827 Centerline is valid? [True, True] Translation: X:281.30, Y:-149.96, Z:6.13 [[ 8.34977285e-01 5.49846035e-01 -2.19606893e-02 2.81304137e+02] [-5.49630939e-01 8.35265657e-01 1.53984858e-02 -1.49960247e+02] [ 2.68098060e-02 -7.87111585e-04 9.99640243e-01 6.13225889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.982755096 meters 0.02749430748715032 Centerline is valid? [True, True] Translation: X:281.35, Y:-150.00, Z:6.13 [[ 8.35023437e-01 5.49810170e-01 -2.10864128e-02 2.81352665e+02] [-5.49611631e-01 8.35289287e-01 1.47939989e-02 -1.49998631e+02] [ 2.57471458e-02 -7.63998053e-04 9.99668195e-01 6.13321951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.042755096 meters 0.023993777649704045 Centerline is valid? [True, True] Translation: X:281.41, Y:-150.03, Z:6.14 [[ 8.35459579e-01 5.49139814e-01 -2.12780789e-02 2.81407553e+02] [-5.48937191e-01 8.35730115e-01 1.49377080e-02 -1.50029250e+02] [ 2.59856215e-02 -7.99522391e-04 9.99661997e-01 6.13510270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.102755096 meters 0.026148735821871924 Centerline is valid? [True, True] Translation: X:281.46, Y:-150.07, Z:6.14 [[ 8.36602307e-01 5.47379056e-01 -2.17427982e-02 2.81455748e+02] [-5.47166645e-01 8.36884337e-01 1.52731198e-02 -1.50066991e+02] [ 2.65563932e-02 -8.80593337e-04 9.99646929e-01 6.13531665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.162755096 meters 0.028991616194610412 Centerline is valid? [True, True] Translation: X:281.50, Y:-150.11, Z:6.13 [[ 8.37752204e-01 5.45590739e-01 -2.24051563e-02 2.81503532e+02] [-5.45364343e-01 8.38051192e-01 1.57458987e-02 -1.50105521e+02] [ 2.73674844e-02 -9.72188049e-04 9.99624967e-01 6.13449888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.222755096 meters 0.02769717285836473 Centerline is valid? [True, True] Translation: X:281.56, Y:-150.14, Z:6.14 [[ 8.37424856e-01 5.46084204e-01 -2.26197342e-02 2.81556606e+02] [-5.45853451e-01 8.37729729e-01 1.59031643e-02 -1.50139914e+02] [ 2.76336906e-02 -9.70645050e-04 9.99617645e-01 6.13581147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.282755096 meters 0.027106353589085756 Centerline is valid? [True, True] Translation: X:281.61, Y:-150.17, Z:6.14 [[ 8.36872277e-01 5.46933624e-01 -2.25478144e-02 2.81608403e+02] [-5.46704365e-01 8.37175437e-01 1.58626680e-02 -1.50173497e+02] [ 2.75523029e-02 -9.48038564e-04 9.99619914e-01 6.13581288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.342755096 meters 0.02709378618181808 Centerline is valid? [True, True] Translation: X:281.66, Y:-150.21, Z:6.14 [[ 8.36122626e-01 5.48076263e-01 -2.26133593e-02 2.81659716e+02] [-5.47845831e-01 8.36427858e-01 1.59180188e-02 -1.50208594e+02] [ 2.76387319e-02 -9.20781056e-04 9.99617553e-01 6.13617006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.402755096 meters 0.027217561983526994 Centerline is valid? [True, True] Translation: X:281.71, Y:-150.24, Z:6.14 [[ 8.35643638e-01 5.48814815e-01 -2.24055621e-02 2.81711045e+02] [-5.48588618e-01 8.35943477e-01 1.57807125e-02 -1.50244130e+02] [ 2.73904723e-02 -8.95615632e-04 9.99624409e-01 6.13687808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.462755096 meters 0.02739524213216806 Centerline is valid? [True, True] Translation: X:281.76, Y:-150.28, Z:6.14 [[ 8.35149158e-01 5.49610319e-01 -2.13162198e-02 2.81761144e+02] [-5.49405632e-01 8.35420733e-01 1.50216592e-02 -1.50280874e+02] [ 2.60640709e-02 -8.34074804e-04 9.99659926e-01 6.13950626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.522755096 meters 0.024910330942754258 Centerline is valid? [True, True] Translation: X:281.81, Y:-150.31, Z:6.14 [[ 8.33712813e-01 5.51820911e-01 -2.04114820e-02 2.81814323e+02] [-5.51633696e-01 8.33962311e-01 1.43919642e-02 -1.50312886e+02] [ 2.49641935e-02 -7.39103751e-04 9.99688073e-01 6.14161973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.582755096 meters 0.023759407871124932 Centerline is valid? [True, True] Translation: X:281.87, Y:-150.35, Z:6.14 [[ 8.31657381e-01 5.54938959e-01 -1.97167842e-02 2.81865816e+02] [-5.54764995e-01 8.31890832e-01 1.39084239e-02 -1.50345778e+02] [ 2.41205383e-02 -6.28861741e-04 9.99708860e-01 6.14296860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64275509600003 meters 0.02182973466001051 Centerline is valid? [True, True] Translation: X:281.92, Y:-150.38, Z:6.15 [[ 8.29999748e-01 5.57454441e-01 -1.85731928e-02 2.81919143e+02] [-5.57300672e-01 8.30207366e-01 1.31030623e-02 -1.50378909e+02] [ 2.27239617e-02 -5.24685590e-04 9.99741640e-01 6.14529376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70275509600003 meters 0.020557502896294176 Centerline is valid? [True, True] Translation: X:281.97, Y:-150.41, Z:6.15 [[ 8.27892076e-01 5.60638651e-01 -1.67036938e-02 2.81971133e+02] [-5.60514874e-01 8.28060472e-01 1.17868324e-02 -1.50412944e+02] [ 2.04398224e-02 -3.95556318e-04 9.99791007e-01 6.14946463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76275509600003 meters 0.021823630788595057 Centerline is valid? [True, True] Translation: X:282.02, Y:-150.45, Z:6.15 [[ 8.26948383e-01 5.62056401e-01 -1.57789236e-02 2.82020933e+02] [-5.61946090e-01 8.27098835e-01 1.11404425e-02 -1.50448377e+02] [ 1.93122864e-02 -3.45666480e-04 9.99813441e-01 6.15056366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82275509600004 meters 0.020159497086452576 Centerline is valid? [True, True] Translation: X:282.07, Y:-150.48, Z:6.15 [[ 8.26884939e-01 5.62196548e-01 -1.40120706e-02 2.82072718e+02] [-5.62109502e-01 8.27003595e-01 9.89754020e-03 -1.50483704e+02] [ 1.71523957e-02 -3.07808906e-04 9.99852839e-01 6.15464089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88275509600004 meters 0.020880368711598353 Centerline is valid? [True, True] Translation: X:282.12, Y:-150.52, Z:6.16 [[ 8.27482228e-01 5.61330396e-01 -1.34665613e-02 2.82122546e+02] [-5.61249780e-01 8.27591738e-01 9.51834965e-03 -1.50520889e+02] [ 1.64877538e-02 -3.18160623e-04 9.99864017e-01 6.15629385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94275509600004 meters 0.021577454841992496 Centerline is valid? [True, True] Translation: X:282.17, Y:-150.56, Z:6.16 [[ 8.29215380e-01 5.58799698e-01 -1.20312626e-02 2.82172312e+02] [-5.58735022e-01 8.29302591e-01 8.50812605e-03 -1.50557274e+02] [ 1.47318955e-02 -3.32781187e-04 9.99891424e-01 6.15817411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.002755096 meters 0.02468384591359041 Centerline is valid? [True, True] Translation: X:282.22, Y:-150.60, Z:6.16 [[ 8.30937372e-01 5.56239643e-01 -1.18551183e-02 2.82218668e+02] [-5.56176521e-01 8.31021852e-01 8.38807810e-03 -1.50597490e+02] [ 1.45176439e-02 -3.76429140e-04 9.99894543e-01 6.15992019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.062755096 meters 0.02426647586500885 Centerline is valid? [True, True] Translation: X:282.27, Y:-150.63, Z:6.16 [[ 8.30995759e-01 5.56144749e-01 -1.22092680e-02 2.82270168e+02] [-5.56077720e-01 8.31085353e-01 8.64323116e-03 -1.50634006e+02] [ 1.49538315e-02 -3.93186501e-04 9.99888108e-01 6.16032012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.122755096 meters 0.02392271053800037 Centerline is valid? [True, True] Translation: X:282.32, Y:-150.67, Z:6.16 [[ 8.31518722e-01 5.55336555e-01 -1.33388552e-02 2.82321487e+02] [-5.55256334e-01 8.31625581e-01 9.44966514e-03 -1.50668971e+02] [ 1.63406777e-02 -4.51089611e-04 9.99866380e-01 6.16012161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.182755096 meters 0.02479994297525336 Centerline is valid? [True, True] Translation: X:282.37, Y:-150.70, Z:6.16 [[ 8.31722161e-01 5.55029906e-01 -1.34182852e-02 2.82372332e+02] [-5.54948596e-01 8.31830264e-01 9.51146660e-03 -1.50704018e+02] [ 1.64408842e-02 -4.64438995e-04 9.99864732e-01 6.15997409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.242755096 meters 0.025487516111453314 Centerline is valid? [True, True] Translation: X:282.42, Y:-150.74, Z:6.16 [[ 8.31973498e-01 5.54660073e-01 -1.31264302e-02 2.82422253e+02] [-5.54582133e-01 8.32076912e-01 9.30973675e-03 -1.50741169e+02] [ 1.60859388e-02 -4.65770579e-04 9.99870504e-01 6.16162057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.302755096 meters 0.024884772325902145 Centerline is valid? [True, True] Translation: X:282.47, Y:-150.78, Z:6.16 [[ 8.32666180e-01 5.53654127e-01 -1.15818996e-02 2.82473684e+02] [-5.53593300e-01 8.32746613e-01 8.21811511e-03 -1.50776316e+02] [ 1.41947810e-02 -4.31284515e-04 9.99899156e-01 6.16451253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.362755096 meters 0.025808230298665868 Centerline is valid? [True, True] Translation: X:282.52, Y:-150.81, Z:6.17 [[ 8.33604343e-01 5.52258608e-01 -1.06878251e-02 2.82524056e+02] [-5.52206643e-01 8.33672748e-01 7.58764961e-03 -1.50812635e+02] [ 1.31004933e-02 -4.23209668e-04 9.99914095e-01 6.16630956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.422755096 meters 0.025926259655576548 Centerline is valid? [True, True] Translation: X:282.57, Y:-150.85, Z:6.17 [[ 8.34380830e-01 5.51087370e-01 -1.05517950e-02 2.82574585e+02] [-5.51036569e-01 8.34447432e-01 7.49548020e-03 -1.50847918e+02] [ 1.29355827e-02 -4.39660070e-04 9.99916235e-01 6.16769208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.482755096 meters 0.026981266532731602 Centerline is valid? [True, True] Translation: X:282.63, Y:-150.88, Z:6.17 [[ 8.35300030e-01 5.49707231e-01 -9.78870818e-03 2.82625637e+02] [-5.49663379e-01 8.35357274e-01 6.95666642e-03 -1.50882938e+02] [ 1.20011984e-02 -4.30409256e-04 9.99927890e-01 6.16914286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.542755096 meters 0.02804604993644424 Centerline is valid? [True, True] Translation: X:282.68, Y:-150.92, Z:6.17 [[ 8.35338339e-01 5.49622729e-01 -1.11675709e-02 2.82675845e+02] [-5.49565561e-01 8.35412837e-01 7.94266097e-03 -1.50918932e+02] [ 1.36949991e-02 -4.97496849e-04 9.99906095e-01 6.16868648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.602755096 meters 0.02814507986946612 Centerline is valid? [True, True] Translation: X:282.73, Y:-150.95, Z:6.17 [[ 8.35328739e-01 5.49602655e-01 -1.27600700e-02 2.82727899e+02] [-5.49527954e-01 8.35425996e-01 9.07929880e-03 -1.50955000e+02] [ 1.56501009e-02 -5.72184083e-04 9.99877366e-01 6.16841443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.662755096 meters 0.030011922212000768 Centerline is valid? [True, True] Translation: X:282.78, Y:-150.99, Z:6.17 [[ 8.34757896e-01 5.50457593e-01 -1.32549246e-02 2.82777373e+02] [-5.50376984e-01 8.34862922e-01 9.43805872e-03 -1.50991117e+02] [ 1.62612961e-02 -5.83288620e-04 9.99867606e-01 6.16937704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.722755096 meters 0.025657125584395025 Centerline is valid? [True, True] Translation: X:282.83, Y:-151.02, Z:6.17 [[ 8.33911474e-01 5.51737576e-01 -1.33154213e-02 2.82832571e+02] [-5.51656313e-01 8.34017582e-01 9.48603412e-03 -1.51020762e+02] [ 1.63390970e-02 -5.64976462e-04 9.99866348e-01 6.17026984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.782755096 meters 0.02869340335384775 Centerline is valid? [True, True] Translation: X:282.88, Y:-151.06, Z:6.17 [[ 8.32983592e-01 5.53124171e-01 -1.38559764e-02 2.82880229e+02] [-5.53036260e-01 8.33098633e-01 9.87735045e-03 -1.51059305e+02] [ 1.70067963e-02 -5.64813487e-04 9.99855214e-01 6.17140046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.842755096 meters 0.02658846694793463 Centerline is valid? [True, True] Translation: X:282.93, Y:-151.09, Z:6.17 [[ 8.31707705e-01 5.55035501e-01 -1.40672032e-02 2.82933260e+02] [-5.54945067e-01 8.31826486e-01 1.00334772e-02 -1.51092183e+02] [ 1.72704082e-02 -5.38395279e-04 9.99850710e-01 6.17183902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.902755096 meters 0.023857186294101673 Centerline is valid? [True, True] Translation: X:282.99, Y:-151.12, Z:6.17 [[ 8.31025667e-01 5.56051617e-01 -1.42457116e-02 2.82986968e+02] [-5.55958917e-01 8.31147592e-01 1.01667481e-02 -1.51124671e+02] [ 1.74935257e-02 -5.28798223e-04 9.99846837e-01 6.17227688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.962755096 meters 0.024211451167533857 Centerline is valid? [True, True] Translation: X:283.04, Y:-151.16, Z:6.17 [[ 8.30988266e-01 5.56109190e-01 -1.41799015e-02 2.83036775e+02] [-5.56017321e-01 8.31109073e-01 1.01216077e-02 -1.51162831e+02] [ 1.74137639e-02 -5.26666424e-04 9.99848230e-01 6.17407310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.022755096 meters 0.023695284629780506 Centerline is valid? [True, True] Translation: X:283.09, Y:-151.20, Z:6.18 [[ 8.30187952e-01 5.57301710e-01 -1.42396383e-02 2.83088348e+02] [-5.57209119e-01 8.30309908e-01 1.01711979e-02 -1.51198109e+02] [ 1.74917388e-02 -5.09549658e-04 9.99846878e-01 6.17545415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.082755096 meters 0.023299827498298977 Centerline is valid? [True, True] Translation: X:283.14, Y:-151.23, Z:6.18 [[ 8.29044999e-01 5.59006080e-01 -1.40211627e-02 2.83139890e+02] [-5.58916451e-01 8.29163422e-01 1.00210091e-02 -1.51231702e+02] [ 1.72276402e-02 -4.71208999e-04 9.99851482e-01 6.17605374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14275509600003 meters 0.023801591230366202 Centerline is valid? [True, True] Translation: X:283.19, Y:-151.27, Z:6.18 [[ 8.28802162e-01 5.59371546e-01 -1.38003526e-02 2.83189818e+02] [-5.59284681e-01 8.28916921e-01 9.86836426e-03 -1.51267516e+02] [ 1.69594280e-02 -4.60595816e-04 9.99856072e-01 6.17716956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20275509600003 meters 0.024979948393485798 Centerline is valid? [True, True] Translation: X:283.24, Y:-151.30, Z:6.18 [[ 8.29336837e-01 5.58573221e-01 -1.40131436e-02 2.83238368e+02] [-5.58483431e-01 8.29455072e-01 1.00269783e-02 -1.51304928e+02] [ 1.72240746e-02 -4.89633968e-04 9.99851535e-01 6.17863439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26275509600003 meters 0.02448942576880217 Centerline is valid? [True, True] Translation: X:283.29, Y:-151.34, Z:6.18 [[ 8.29868050e-01 5.57779025e-01 -1.41978294e-02 2.83289711e+02] [-5.57686685e-01 8.29989333e-01 1.01620614e-02 -1.51340122e+02] [ 1.74522317e-02 -5.15229687e-04 9.99847565e-01 6.17923732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32275509600004 meters 0.023790605112770067 Centerline is valid? [True, True] Translation: X:283.34, Y:-151.38, Z:6.18 [[ 8.29392270e-01 5.58480049e-01 -1.44394668e-02 2.83340604e+02] [-5.58384537e-01 8.29517794e-01 1.03410480e-02 -1.51375303e+02] [ 1.77530636e-02 -5.14010257e-04 9.99842270e-01 6.17954166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38275509600004 meters 0.024661630531437058 Centerline is valid? [True, True] Translation: X:283.39, Y:-151.41, Z:6.18 [[ 8.28064794e-01 5.60434493e-01 -1.48955355e-02 2.83389239e+02] [-5.60333050e-01 8.28198610e-01 1.06740893e-02 -1.51412472e+02] [ 1.83185896e-02 -4.92376665e-04 9.99832079e-01 6.18036529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44275509600004 meters 0.02259320295295068 Centerline is valid? [True, True] Translation: X:283.44, Y:-151.45, Z:6.18 [[ 8.26485945e-01 5.62741501e-01 -1.55880128e-02 2.83441103e+02] [-5.62630699e-01 8.26632799e-01 1.11763647e-02 -1.51445896e+02] [ 1.91749669e-02 -4.66813770e-04 9.99816034e-01 6.18062141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.502755096 meters 0.022094172199003035 Centerline is valid? [True, True] Translation: X:283.49, Y:-151.48, Z:6.18 [[ 8.25608872e-01 5.64013398e-01 -1.60896728e-02 2.83490503e+02] [-5.63895571e-01 8.25765513e-01 1.15370095e-02 -1.51482708e+02] [ 1.97933249e-02 -4.52162176e-04 9.99803991e-01 6.18155895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.562755096 meters 0.023010770578826407 Centerline is valid? [True, True] Translation: X:283.54, Y:-151.52, Z:6.18 [[ 8.26218350e-01 5.63142014e-01 -1.53071730e-02 2.83536433e+02] [-5.63035206e-01 8.26360011e-01 1.09767295e-02 -1.51519554e+02] [ 1.88306933e-02 -4.50698048e-04 9.99822585e-01 6.18345120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.622755096 meters 0.02256356991669882 Centerline is valid? [True, True] Translation: X:283.59, Y:-151.56, Z:6.19 [[ 8.27011736e-01 5.61993601e-01 -1.46553856e-02 2.83586452e+02] [-5.61895541e-01 8.27141454e-01 1.05079401e-02 -1.51555523e+02] [ 1.80274720e-02 -4.55393955e-04 9.99837388e-01 6.18570779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.682755096 meters 0.023565342095734326 Centerline is valid? [True, True] Translation: X:283.63, Y:-151.59, Z:6.19 [[ 8.29090658e-01 5.58938485e-01 -1.40160686e-02 2.83634770e+02] [-5.58848268e-01 8.29208970e-01 1.00546835e-02 -1.51594110e+02] [ 1.72421994e-02 -5.03388518e-04 9.99851216e-01 6.18693511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.742755096 meters 0.03112318000664218 Centerline is valid? [True, True] Translation: X:283.68, Y:-151.64, Z:6.19 [[ 8.31817240e-01 5.54869985e-01 -1.41201931e-02 2.83675892e+02] [-5.54777732e-01 8.31936863e-01 1.01352998e-02 -1.51640656e+02] [ 1.73708828e-02 -5.97148374e-04 9.99848937e-01 6.18776225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.802755096 meters 0.029990489884396367 Centerline is valid? [True, True] Translation: X:283.73, Y:-151.68, Z:6.19 [[ 8.34713034e-01 5.50502118e-01 -1.41974898e-02 2.83725169e+02] [-5.50408200e-01 8.34833479e-01 1.01919405e-02 -1.51676517e+02] [ 1.74632246e-02 -6.92930820e-04 9.99847266e-01 6.18796730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.862755096 meters 0.03135279794808996 Centerline is valid? [True, True] Translation: X:283.77, Y:-151.72, Z:6.19 [[ 8.35429643e-01 5.49389747e-01 -1.51068964e-02 2.83774058e+02] [-5.49283208e-01 8.35565870e-01 1.08459001e-02 -1.51715330e+02] [ 1.85814333e-02 -7.63021934e-04 9.99827059e-01 6.18785891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.922755096 meters 0.02992344370287332 Centerline is valid? [True, True] Translation: X:283.82, Y:-151.75, Z:6.19 [[ 8.34831306e-01 5.50283244e-01 -1.56538252e-02 2.83823897e+02] [-5.50168881e-01 8.34977695e-01 1.12451017e-02 -1.51752004e+02] [ 1.92585859e-02 -7.75515453e-04 9.99814235e-01 6.18889527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.982755096 meters 0.029732366477656584 Centerline is valid? [True, True] Translation: X:283.87, Y:-151.79, Z:6.19 [[ 8.34278277e-01 5.51120590e-01 -1.56796500e-02 2.83873833e+02] [-5.51005872e-01 8.34425259e-01 1.12700960e-02 -1.51789068e+02] [ 1.92946779e-02 -7.62817015e-04 9.99813549e-01 6.19046626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.042755096 meters 0.028566280070732693 Centerline is valid? [True, True] Translation: X:283.92, Y:-151.83, Z:6.19 [[ 8.31982981e-01 5.54572660e-01 -1.59211743e-02 2.83922608e+02] [-5.54454886e-01 8.32135011e-01 1.14500050e-02 -1.51825349e+02] [ 1.95984263e-02 -6.98636432e-04 9.99807688e-01 6.19154545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.102755096 meters 0.025501926691370875 Centerline is valid? [True, True] Translation: X:283.97, Y:-151.86, Z:6.19 [[ 8.28439520e-01 5.59852527e-01 -1.59094164e-02 2.83973339e+02] [-5.59735877e-01 8.28592070e-01 1.14424427e-02 -1.51859008e+02] [ 1.95884967e-02 -5.74300536e-04 9.99807962e-01 6.19268542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.162755096 meters 0.023712846555785982 Centerline is valid? [True, True] Translation: X:284.02, Y:-151.89, Z:6.19 [[ 8.25953015e-01 5.63510313e-01 -1.60544190e-02 2.84023202e+02] [-5.63392206e-01 8.26108882e-01 1.15472180e-02 -1.51894729e+02] [ 1.97696746e-02 -4.92525040e-04 9.99804440e-01 6.19388753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.222755096 meters 0.020546431109975272 Centerline is valid? [True, True] Translation: X:284.07, Y:-151.93, Z:6.20 [[ 8.21823737e-01 5.69520246e-01 -1.58881903e-02 2.84073826e+02] [-5.69405672e-01 8.21977232e-01 1.14284750e-02 -1.51927531e+02] [ 1.95684786e-02 -3.45366357e-04 9.99808459e-01 6.19558489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.282755096 meters 0.018075383455449293 Centerline is valid? [True, True] Translation: X:284.12, Y:-151.96, Z:6.20 [[ 8.18134842e-01 5.74804269e-01 -1.59822683e-02 2.84124248e+02] [-5.74689348e-01 8.18290904e-01 1.14956298e-02 -1.51958740e+02] [ 1.96858819e-02 -2.20135910e-04 9.99806190e-01 6.19574307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.342755096 meters 0.01769108429221518 Centerline is valid? [True, True] Translation: X:284.17, Y:-152.00, Z:6.20 [[ 8.16933239e-01 5.76505270e-01 -1.61789319e-02 2.84168775e+02] [-5.76387872e-01 8.17093411e-01 1.16352698e-02 -1.51995411e+02] [ 1.99274929e-02 -1.79898521e-04 9.99801412e-01 6.19687215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.402755096 meters 0.017884816495902536 Centerline is valid? [True, True] Translation: X:284.21, Y:-152.03, Z:6.20 [[ 8.17048671e-01 5.76346900e-01 -1.59912361e-02 2.84213386e+02] [-5.76232223e-01 8.17205126e-01 1.14981364e-02 -1.52033366e+02] [ 1.96950354e-02 -1.79871547e-04 9.99806018e-01 6.19776902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.462755096 meters 0.01796731056420713 Centerline is valid? [True, True] Translation: X:284.26, Y:-152.07, Z:6.20 [[ 8.16933852e-01 5.76546809e-01 -1.45896765e-02 2.84259167e+02] [-5.76451423e-01 8.17064105e-01 1.04882856e-02 -1.52066480e+02] [ 1.79676886e-02 -1.57995785e-04 9.99838556e-01 6.20036084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.522755096 meters 0.017717988622179624 Centerline is valid? [True, True] Translation: X:284.31, Y:-152.10, Z:6.20 [[ 8.16858819e-01 5.76657911e-01 -1.43987389e-02 2.84309237e+02] [-5.76565071e-01 8.16985698e-01 1.03483147e-02 -1.52100690e+02] [ 1.77310013e-02 -1.51302218e-04 9.99842782e-01 6.20160701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.582755096 meters 0.017998694000917602 Centerline is valid? [True, True] Translation: X:284.36, Y:-152.14, Z:6.20 [[ 8.17039858e-01 5.76387096e-01 -1.49594942e-02 2.84356303e+02] [-5.76286838e-01 8.17176780e-01 1.07513379e-02 -1.52135753e+02] [ 1.84214837e-02 -1.63311968e-04 9.99830297e-01 6.20167537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64275509600003 meters 0.01875885804009264 Centerline is valid? [True, True] Translation: X:284.40, Y:-152.17, Z:6.20 [[ 8.18309821e-01 5.74569201e-01 -1.54683692e-02 2.84403431e+02] [-5.74461706e-01 8.18455978e-01 1.11157444e-02 -1.52171226e+02] [ 1.90469436e-02 -2.10137070e-04 9.99818568e-01 6.20211357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70275509600003 meters 0.019506753703736873 Centerline is valid? [True, True] Translation: X:284.45, Y:-152.21, Z:6.20 [[ 8.20895787e-01 5.70838823e-01 -1.65270796e-02 2.84454282e+02] [-5.70715373e-01 8.21062079e-01 1.18754024e-02 -1.52206838e+02] [ 2.03486990e-02 -3.16209413e-04 9.99792894e-01 6.20170915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76275509600003 meters 0.02130636657097313 Centerline is valid? [True, True] Translation: X:284.50, Y:-152.24, Z:6.20 [[ 8.23959514e-01 5.66378823e-01 -1.74856534e-02 2.84503215e+02] [-5.66239464e-01 8.24144902e-01 1.25717897e-02 -1.52244381e+02] [ 2.15311075e-02 -4.57578736e-04 9.99768074e-01 6.20231153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82275509600004 meters 0.02282520952164522 Centerline is valid? [True, True] Translation: X:284.55, Y:-152.28, Z:6.21 [[ 8.26301525e-01 5.62979037e-01 -1.67449664e-02 2.84552753e+02] [-5.62850406e-01 8.26471006e-01 1.20455570e-02 -1.52281028e+02] [ 2.06206253e-02 -5.28351011e-04 9.99787233e-01 6.20529175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88275509600004 meters 0.022606611710804775 Centerline is valid? [True, True] Translation: X:284.60, Y:-152.32, Z:6.21 [[ 8.26626083e-01 5.62492298e-01 -1.70801716e-02 2.84604393e+02] [-5.62358216e-01 8.26802337e-01 1.22936154e-02 -1.52315779e+02] [ 2.10369898e-02 -5.57048361e-04 9.99778543e-01 6.20654934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94275509600004 meters 0.023315693991537222 Centerline is valid? [True, True] Translation: X:284.65, Y:-152.35, Z:6.21 [[ 8.26224758e-01 5.63083254e-01 -1.70264228e-02 2.84654504e+02] [-5.62949993e-01 8.26399995e-01 1.22618936e-02 -1.52351204e+02] [ 2.09751026e-02 -5.46055434e-04 9.99779849e-01 6.20794742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.002755096 meters 0.021349522218712724 Centerline is valid? [True, True] Translation: X:284.71, Y:-152.38, Z:6.21 [[ 8.23932531e-01 5.66426618e-01 -1.72067207e-02 2.84707903e+02] [-5.66291149e-01 8.24112047e-01 1.23963116e-02 -1.52383402e+02] [ 2.12018667e-02 -4.69710712e-04 9.99775105e-01 6.20990934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.062755096 meters 0.02068342170938182 Centerline is valid? [True, True] Translation: X:284.76, Y:-152.42, Z:6.21 [[ 8.22297647e-01 5.68821239e-01 -1.64005363e-02 2.84759176e+02] [-5.68698510e-01 8.22461089e-01 1.18221145e-02 -1.52417167e+02] [ 2.02134728e-02 -3.94336349e-04 9.99795609e-01 6.21197748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.122755096 meters 0.019505335781668017 Centerline is valid? [True, True] Translation: X:284.81, Y:-152.45, Z:6.22 [[ 8.20076852e-01 5.72060404e-01 -1.48610561e-02 2.84811482e+02] [-5.71960071e-01 8.20211443e-01 1.07175986e-02 -1.52450303e+02] [ 1.83203221e-02 -2.89323840e-04 9.99832127e-01 6.21513231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.182755096 meters 0.018938910719080236 Centerline is valid? [True, True] Translation: X:284.86, Y:-152.49, Z:6.22 [[ 8.19094346e-01 5.73462010e-01 -1.50258176e-02 2.84862996e+02] [-5.73359559e-01 8.19232112e-01 1.08426502e-02 -1.52485938e+02] [ 1.85274802e-02 -2.65957360e-04 9.99828316e-01 6.21657391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.242755096 meters 0.019359125974066162 Centerline is valid? [True, True] Translation: X:284.91, Y:-152.52, Z:6.22 [[ 8.19721285e-01 5.72560949e-01 -1.51978159e-02 2.84912408e+02] [-5.72455919e-01 8.19862107e-01 1.09702795e-02 -1.52523490e+02] [ 1.87412670e-02 -2.92491996e-04 9.99824324e-01 6.21731235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.302755096 meters 0.020297292982072182 Centerline is valid? [True, True] Translation: X:284.96, Y:-152.56, Z:6.22 [[ 8.20493535e-01 5.71419055e-01 -1.64506407e-02 2.84960296e+02] [-5.71295618e-01 8.20658358e-01 1.18817599e-02 -1.52562168e+02] [ 2.02898198e-02 -3.50728217e-04 9.99794079e-01 6.21643898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.362755096 meters 0.020012875637628453 Centerline is valid? [True, True] Translation: X:285.01, Y:-152.60, Z:6.22 [[ 8.21472432e-01 5.69947908e-01 -1.85047288e-02 2.85008346e+02] [-5.69791222e-01 8.21680709e-01 1.33706584e-02 -1.52601890e+02] [ 2.28255575e-02 -4.39795286e-04 9.99739366e-01 6.21628605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.422755096 meters 0.022624796014997058 Centerline is valid? [True, True] Translation: X:285.05, Y:-152.64, Z:6.21 [[ 8.22603132e-01 5.68253642e-01 -2.02949517e-02 2.85053821e+02] [-5.68064421e-01 8.22853271e-01 1.46733992e-02 -1.52642867e+02] [ 2.50379799e-02 -5.41544136e-04 9.99686354e-01 6.21458863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.482755096 meters 0.021875753057370575 Centerline is valid? [True, True] Translation: X:285.10, Y:-152.68, Z:6.22 [[ 8.23304331e-01 5.67217463e-01 -2.08405644e-02 2.85103513e+02] [-5.67017381e-01 8.23567845e-01 1.50762690e-02 -1.52679395e+02] [ 2.57151418e-02 -5.95395253e-04 9.99669134e-01 6.21528983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.542755096 meters 0.02382684722523879 Centerline is valid? [True, True] Translation: X:285.15, Y:-152.72, Z:6.22 [[ 8.25230472e-01 5.64422397e-01 -2.05432716e-02 2.85149053e+02] [-5.64226914e-01 8.25485854e-01 1.48692204e-02 -1.52721025e+02] [ 2.53507011e-02 -6.79467022e-04 9.99678388e-01 6.21754975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.602755096 meters 0.02522347493992904 Centerline is valid? [True, True] Translation: X:285.20, Y:-152.76, Z:6.22 [[ 8.26430111e-01 5.62656748e-01 -2.07522543e-02 2.85195392e+02] [-5.62456502e-01 8.26690284e-01 1.50285896e-02 -1.52762236e+02] [ 2.56116244e-02 -7.47838641e-04 9.99671689e-01 6.21938605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.662755096 meters 0.025310891126137106 Centerline is valid? [True, True] Translation: X:285.25, Y:-152.80, Z:6.22 [[ 8.26537772e-01 5.62511405e-01 -2.04017270e-02 2.85245320e+02] [-5.62317617e-01 8.26789188e-01 1.47829596e-02 -1.52800974e+02] [ 2.51835107e-02 -7.46424020e-04 9.99682566e-01 6.22126932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.722755096 meters 0.02612327206817333 Centerline is valid? [True, True] Translation: X:285.29, Y:-152.84, Z:6.22 [[ 8.25843305e-01 5.63602183e-01 -1.83143435e-02 2.85294980e+02] [-5.63446117e-01 8.26046101e-01 1.32782164e-02 -1.52837778e+02] [ 2.26121238e-02 -6.46580397e-04 9.99744104e-01 6.22332429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.782755096 meters 0.022724878978608115 Centerline is valid? [True, True] Translation: X:285.35, Y:-152.87, Z:6.23 [[ 8.23249561e-01 5.67412156e-01 -1.74242837e-02 2.85346335e+02] [-5.67271613e-01 8.23433770e-01 1.26389554e-02 -1.52870937e+02] [ 2.15192405e-02 -5.20712948e-04 9.99768299e-01 6.22716960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.842755096 meters 0.021441579906934443 Centerline is valid? [True, True] Translation: X:285.40, Y:-152.91, Z:6.23 [[ 8.21235301e-01 5.70308461e-01 -1.79119887e-02 2.85397118e+02] [-5.70160579e-01 8.21430489e-01 1.29948318e-02 -1.52906308e+02] [ 2.21245161e-02 -4.59104749e-04 9.99755118e-01 6.22761954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.902755096 meters 0.02112915051022967 Centerline is valid? [True, True] Translation: X:285.45, Y:-152.94, Z:6.23 [[ 8.20610986e-01 5.71196986e-01 -1.82102141e-02 2.85448023e+02] [-5.71044203e-01 8.20812891e-01 1.32180003e-02 -1.52942796e+02] [ 2.24972604e-02 -4.47999077e-04 9.99746804e-01 6.22852050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.962755096 meters 0.019968738028022986 Centerline is valid? [True, True] Translation: X:285.50, Y:-152.98, Z:6.23 [[ 8.18192867e-01 5.74670547e-01 -1.77255153e-02 2.85499058e+02] [-5.74526533e-01 8.18384777e-01 1.28693603e-02 -1.52977061e+02] [ 2.19019342e-02 -3.45839921e-04 9.99760064e-01 6.23047156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.022755096 meters 0.01860457340623513 Centerline is valid? [True, True] Translation: X:285.55, Y:-153.01, Z:6.23 [[ 8.16084218e-01 5.77685250e-01 -1.69204494e-02 2.85552378e+02] [-5.77554538e-01 8.16259570e-01 1.22910774e-02 -1.53009490e+02] [ 2.09118529e-02 -2.58071986e-04 9.99781290e-01 6.23218711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.082755096 meters 0.01858289082055932 Centerline is valid? [True, True] Translation: X:285.60, Y:-153.05, Z:6.23 [[ 8.15347205e-01 5.78728235e-01 -1.68096727e-02 2.85602183e+02] [-5.78599304e-01 8.15520432e-01 1.22176686e-02 -1.53045618e+02] [ 2.07793413e-02 -2.35577075e-04 9.99784058e-01 6.23348718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14275509600003 meters 0.018719046074235763 Centerline is valid? [True, True] Translation: X:285.65, Y:-153.08, Z:6.23 [[ 8.15232742e-01 5.78873820e-01 -1.73400273e-02 2.85652265e+02] [-5.78736504e-01 8.15417096e-01 1.26102807e-02 -1.53084046e+02] [ 2.14391161e-02 -2.45006972e-04 9.99770126e-01 6.23429247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20275509600003 meters 0.01878221945417485 Centerline is valid? [True, True] Translation: X:285.70, Y:-153.12, Z:6.24 [[ 8.15614737e-01 5.78329739e-01 -1.75303396e-02 2.85703013e+02] [-5.78189084e-01 8.15803065e-01 1.27570698e-02 -1.53121832e+02] [ 2.16790977e-02 -2.69003102e-04 9.99764945e-01 6.23508985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26275509600003 meters 0.01928791954634036 Centerline is valid? [True, True] Translation: X:285.75, Y:-153.16, Z:6.24 [[ 8.16459267e-01 5.77134244e-01 -1.76161930e-02 2.85752314e+02] [-5.76991748e-01 8.16649233e-01 1.28278217e-02 -1.53159349e+02] [ 2.17896257e-02 -3.08995892e-04 9.99762530e-01 6.23607577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32275509600004 meters 0.019994664922863767 Centerline is valid? [True, True] Translation: X:285.80, Y:-153.20, Z:6.24 [[ 8.17797136e-01 5.75246846e-01 -1.72890320e-02 2.85800519e+02] [-5.75109022e-01 8.17979791e-01 1.25966315e-02 -1.53198392e+02] [ 2.13882513e-02 -3.58410839e-04 9.99771181e-01 6.23808136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38275509600004 meters 0.02087694928359223 Centerline is valid? [True, True] Translation: X:285.85, Y:-153.24, Z:6.24 [[ 8.19241129e-01 5.73182939e-01 -1.74725727e-02 2.85848823e+02] [-5.73041543e-01 8.19427324e-01 1.27377700e-02 -1.53237242e+02] [ 2.16185760e-02 -4.22795012e-04 9.99766202e-01 6.23959554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44275509600004 meters 0.0217315141967574 Centerline is valid? [True, True] Translation: X:285.90, Y:-153.28, Z:6.24 [[ 8.20707871e-01 5.71087498e-01 -1.72528096e-02 2.85897915e+02] [-5.70949018e-01 8.20889055e-01 1.25848357e-02 -1.53275149e+02] [ 2.13496849e-02 -4.77998984e-04 9.99771955e-01 6.24053861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.502755096 meters 0.02320359894944334 Centerline is valid? [True, True] Translation: X:285.95, Y:-153.31, Z:6.24 [[ 8.22499848e-01 5.68566527e-01 -1.50367279e-02 2.85946509e+02] [-5.68460814e-01 8.22637147e-01 1.09739517e-02 -1.53313688e+02] [ 1.86091925e-02 -4.78283070e-04 9.99826720e-01 6.24420587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.562755096 meters 0.023997957600036982 Centerline is valid? [True, True] Translation: X:286.00, Y:-153.35, Z:6.25 [[ 8.23694747e-01 5.66866176e-01 -1.37732786e-02 2.85995340e+02] [-5.66777153e-01 8.23809754e-01 1.00572307e-02 -1.53351044e+02] [ 1.70476652e-02 -4.77708469e-04 9.99854564e-01 6.24724358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.622755096 meters 0.024719424228855355 Centerline is valid? [True, True] Translation: X:286.05, Y:-153.39, Z:6.25 [[ 8.24247796e-01 5.66082590e-01 -1.28868935e-02 2.86046094e+02] [-5.66004487e-01 8.24348400e-01 9.41467719e-03 -1.53387523e+02] [ 1.59527749e-02 -4.65987373e-04 9.99872638e-01 6.24885414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.682755096 meters 0.02493754266398225 Centerline is valid? [True, True] Translation: X:286.10, Y:-153.42, Z:6.25 [[ 8.24104482e-01 5.66300166e-01 -1.24869722e-02 2.86097238e+02] [-5.66226785e-01 8.24198955e-01 9.12747964e-03 -1.53423419e+02] [ 1.54606427e-02 -4.51538741e-04 9.99880375e-01 6.24998556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.742755096 meters 0.02371118467553149 Centerline is valid? [True, True] Translation: X:286.15, Y:-153.46, Z:6.25 [[ 8.23130767e-01 5.67725173e-01 -1.19945674e-02 2.86150007e+02] [-5.67657531e-01 8.23218050e-01 8.77320184e-03 -1.53456464e+02] [ 1.48549119e-02 -4.12685843e-04 9.99889575e-01 6.25095489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.802755096 meters 0.0249327963544161 Centerline is valid? [True, True] Translation: X:286.20, Y:-153.49, Z:6.25 [[ 8.21739826e-01 5.69745770e-01 -1.15505757e-02 2.86199658e+02] [-5.69683165e-01 8.21820919e-01 8.45388226e-03 -1.53492409e+02] [ 1.43090684e-02 -3.66723238e-04 9.99897553e-01 6.25187425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.862755096 meters 0.02233481024318801 Centerline is valid? [True, True] Translation: X:286.25, Y:-153.52, Z:6.25 [[ 8.20084115e-01 5.72131384e-01 -1.13014869e-02 2.86254021e+02] [-5.72071648e-01 8.20161921e-01 8.27360494e-03 -1.53523437e+02] [ 1.40026383e-02 -3.19791746e-04 9.99901907e-01 6.25264965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.922755096 meters 0.022387754237693624 Centerline is valid? [True, True] Translation: X:286.30, Y:-153.56, Z:6.26 [[ 8.19492724e-01 5.72988526e-01 -1.07621585e-02 2.86303876e+02] [-5.72934370e-01 8.19563337e-01 7.88321226e-03 -1.53558727e+02] [ 1.33372607e-02 -2.94224589e-04 9.99911011e-01 6.25507698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.982755096 meters 0.02176654258966568 Centerline is valid? [True, True] Translation: X:286.36, Y:-153.59, Z:6.26 [[ 8.19372550e-01 5.73162662e-01 -1.06389201e-02 2.86355227e+02] [-5.73109706e-01 8.19441565e-01 7.79655199e-03 -1.53594817e+02] [ 1.31866659e-02 -2.91012293e-04 9.99913010e-01 6.25609713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.042755096 meters 0.021489111030606203 Centerline is valid? [True, True] Translation: X:286.41, Y:-153.63, Z:6.26 [[ 8.18945873e-01 5.73773177e-01 -1.05829076e-02 2.86407118e+02] [-5.73720761e-01 8.19014200e-01 7.76070854e-03 -1.53631205e+02] [ 1.31204380e-02 -2.83966452e-04 9.99913883e-01 6.25722582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.102755096 meters 0.02090879632812378 Centerline is valid? [True, True] Translation: X:286.46, Y:-153.67, Z:6.26 [[ 8.18548746e-01 5.74333316e-01 -1.09175168e-02 2.86458961e+02] [-5.74277506e-01 8.18621499e-01 8.01169156e-03 -1.53666567e+02] [ 1.35386954e-02 -2.88275749e-04 9.99908306e-01 6.25709378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.162755096 meters 0.02157632704272797 Centerline is valid? [True, True] Translation: X:286.51, Y:-153.70, Z:6.26 [[ 8.19000694e-01 5.73680902e-01 -1.13175489e-02 2.86507995e+02] [-5.73620766e-01 8.19078826e-01 8.31228034e-03 -1.53703666e+02] [ 1.40385611e-02 -3.15782301e-04 9.99901405e-01 6.25808038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.222755096 meters 0.022484476142980332 Centerline is valid? [True, True] Translation: X:286.56, Y:-153.74, Z:6.26 [[ 8.20310097e-01 5.71808147e-01 -1.12599526e-02 2.86556579e+02] [-5.71748418e-01 8.20387300e-01 8.27195206e-03 -1.53743010e+02] [ 1.39674917e-02 -3.47705714e-04 9.99902389e-01 6.25926506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.282755096 meters 0.023294854297274268 Centerline is valid? [True, True] Translation: X:286.61, Y:-153.78, Z:6.26 [[ 8.20870790e-01 5.71004053e-01 -1.12034702e-02 2.86605923e+02] [-5.70944779e-01 8.20947160e-01 8.23529087e-03 -1.53780287e+02] [ 1.38998415e-02 -3.63546908e-04 9.99903326e-01 6.26012405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.342755096 meters 0.024333388426085605 Centerline is valid? [True, True] Translation: X:286.65, Y:-153.82, Z:6.26 [[ 8.21176368e-01 5.70545199e-01 -1.21469875e-02 2.86654323e+02] [-5.70475382e-01 8.21266102e-01 8.93466318e-03 -1.53817746e+02] [ 1.50735382e-02 -4.07376933e-04 9.99886305e-01 6.26022204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.402755096 meters 0.024679310830113366 Centerline is valid? [True, True] Translation: X:286.70, Y:-153.86, Z:6.26 [[ 8.22015695e-01 5.69305251e-01 -1.34806715e-02 2.86704126e+02] [-5.69218996e-01 8.22126084e-01 9.92149420e-03 -1.53855427e+02] [ 1.67311704e-02 -4.82169641e-04 9.99859908e-01 6.26057351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.462755096 meters 0.02415081099114438 Centerline is valid? [True, True] Translation: X:286.75, Y:-153.89, Z:6.26 [[ 8.22510705e-01 5.68601142e-01 -1.29954290e-02 2.86754182e+02] [-5.68520807e-01 8.22613219e-01 9.56995432e-03 -1.53891449e+02] [ 1.61316987e-02 -4.83218069e-04 9.99869759e-01 6.26201154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.522755096 meters 0.024684149618093506 Centerline is valid? [True, True] Translation: X:286.80, Y:-153.93, Z:6.26 [[ 8.22944638e-01 5.67977718e-01 -1.27841764e-02 2.86804219e+02] [-5.67899859e-01 8.23043785e-01 9.41691547e-03 -1.53928079e+02] [ 1.58705351e-02 -4.89468091e-04 9.99873935e-01 6.26333801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.582755096 meters 0.025150501993351716 Centerline is valid? [True, True] Translation: X:286.85, Y:-153.97, Z:6.26 [[ 8.22737952e-01 5.68290085e-01 -1.21918984e-02 2.86853778e+02] [-5.68219235e-01 8.22828149e-01 8.98542584e-03 -1.53966666e+02] [ 1.51381656e-02 -4.64979651e-04 9.99885303e-01 6.26492906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64275509600003 meters 0.023439846088802688 Centerline is valid? [True, True] Translation: X:286.90, Y:-154.00, Z:6.27 [[ 8.21702184e-01 5.69784721e-01 -1.22838779e-02 2.86904926e+02] [-5.69712870e-01 8.21793875e-01 9.05935107e-03 -1.54001773e+02] [ 1.52566955e-02 -4.45805208e-04 9.99883510e-01 6.26604847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70275509600003 meters 0.024451045189962432 Centerline is valid? [True, True] Translation: X:286.95, Y:-154.04, Z:6.27 [[ 8.20932569e-01 5.70900289e-01 -1.19405281e-02 2.86953539e+02] [-5.70832435e-01 8.21019296e-01 8.81172897e-03 -1.54038498e+02] [ 1.48340226e-02 -4.17794580e-04 9.99889883e-01 6.26775421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76275509600003 meters 0.02235293238190441 Centerline is valid? [True, True] Translation: X:287.01, Y:-154.07, Z:6.27 [[ 8.19656918e-01 5.72733501e-01 -1.17844824e-02 2.87005269e+02] [-5.72667564e-01 8.19741539e-01 8.69883183e-03 -1.54072488e+02] [ 1.46423422e-02 -3.81466848e-04 9.99892722e-01 6.26840060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82275509600004 meters 0.021593293470418145 Centerline is valid? [True, True] Translation: X:287.06, Y:-154.11, Z:6.27 [[ 8.18572499e-01 5.74262733e-01 -1.27033906e-02 2.87055775e+02] [-5.74186201e-01 8.18670974e-01 9.38313045e-03 -1.54107974e+02] [ 1.57882793e-02 -3.86660973e-04 9.99875283e-01 6.26817089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88275509600004 meters 0.023016553499050886 Centerline is valid? [True, True] Translation: X:287.10, Y:-154.15, Z:6.27 [[ 8.17676210e-01 5.75514940e-01 -1.37174808e-02 2.87103182e+02] [-5.75425761e-01 8.17791169e-01 1.01388970e-02 -1.54146939e+02] [ 1.70531214e-02 -3.96943057e-04 9.99854506e-01 6.26790034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94275509600004 meters 0.021330600547383685 Centerline is valid? [True, True] Translation: X:287.16, Y:-154.18, Z:6.27 [[ 8.17539425e-01 5.75720542e-01 -1.32342799e-02 2.87155374e+02] [-5.75637518e-01 8.17646447e-01 9.78446604e-03 -1.54181928e+02] [ 1.64540800e-02 -3.81038711e-04 9.99864550e-01 6.26899247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.002755096 meters 0.021868785628544735 Centerline is valid? [True, True] Translation: X:287.20, Y:-154.22, Z:6.27 [[ 8.17987630e-01 5.75096466e-01 -1.26606428e-02 2.87203729e+02] [-5.75020313e-01 8.18085515e-01 9.36639325e-03 -1.54221085e+02] [ 1.57440682e-02 -3.81467015e-04 9.99875982e-01 6.27150981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.062755096 meters 0.022438662797682554 Centerline is valid? [True, True] Translation: X:287.25, Y:-154.26, Z:6.27 [[ 8.18019467e-01 5.75046015e-01 -1.28931123e-02 2.87251662e+02] [-5.74966945e-01 8.18120972e-01 9.54392600e-03 -1.54260191e+02] [ 1.60363222e-02 -3.94003884e-04 9.99871332e-01 6.27270015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.122755096 meters 0.022183163262289564 Centerline is valid? [True, True] Translation: X:287.30, Y:-154.30, Z:6.27 [[ 8.17390007e-01 5.75942790e-01 -1.27859005e-02 2.87301800e+02] [-5.75865048e-01 8.17489914e-01 9.47031185e-03 -1.54297171e+02] [ 1.59067025e-02 -3.77985093e-04 9.99873409e-01 6.27384234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.182755096 meters 0.021622389026000558 Centerline is valid? [True, True] Translation: X:287.35, Y:-154.33, Z:6.27 [[ 8.16096765e-01 5.77764916e-01 -1.31822988e-02 2.87351112e+02] [-5.77682422e-01 8.16203145e-01 9.76960695e-03 -1.54333825e+02] [ 1.64039699e-02 -3.57762320e-04 9.99865382e-01 6.27449418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.242755096 meters 0.020977540333497944 Centerline is valid? [True, True] Translation: X:287.40, Y:-154.37, Z:6.27 [[ 8.14511616e-01 5.79981685e-01 -1.38590069e-02 2.87399737e+02] [-5.79890726e-01 8.14629446e-01 1.02767928e-02 -1.54370539e+02] [ 1.72503067e-02 -3.33857542e-04 9.99851147e-01 6.27476415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.302755096 meters 0.020089078488782074 Centerline is valid? [True, True] Translation: X:287.45, Y:-154.41, Z:6.27 [[ 8.13189764e-01 5.81809421e-01 -1.48393319e-02 2.87448091e+02] [-5.81705373e-01 8.13325086e-01 1.10073875e-02 -1.54405454e+02] [ 1.84734026e-02 -3.18975716e-04 9.99829301e-01 6.27431323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.362755096 meters 0.01828177059474524 Centerline is valid? [True, True] Translation: X:287.50, Y:-154.44, Z:6.28 [[ 8.12455279e-01 5.82833553e-01 -1.48818608e-02 2.87499892e+02] [-5.82729095e-01 8.12591510e-01 1.10380855e-02 -1.54439872e+02] [ 1.85262403e-02 -2.95857571e-04 9.99828331e-01 6.27504457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.422755096 meters 0.018158610313327536 Centerline is valid? [True, True] Translation: X:287.55, Y:-154.48, Z:6.28 [[ 8.12392380e-01 5.82923068e-01 -1.48093751e-02 2.87548785e+02] [-5.82819525e-01 8.12527297e-01 1.09905976e-02 -1.54478749e+02] [ 1.84396944e-02 -2.97484799e-04 9.99829930e-01 6.27691388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.482755096 meters 0.020492254843650377 Centerline is valid? [True, True] Translation: X:287.59, Y:-154.52, Z:6.28 [[ 8.13622546e-01 5.81222411e-01 -1.41017989e-02 2.87594023e+02] [-5.81128154e-01 8.13744679e-01 1.04721749e-02 -1.54520097e+02] [ 1.75619265e-02 -3.25445279e-04 9.99845725e-01 6.27787942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.542755096 meters 0.020185041453345254 Centerline is valid? [True, True] Translation: X:287.64, Y:-154.56, Z:6.28 [[ 8.13877766e-01 5.80878576e-01 -1.35300287e-02 2.87642356e+02] [-5.80791675e-01 8.13990157e-01 1.00526480e-02 -1.54559056e+02] [ 1.68526780e-02 -3.23498671e-04 9.99857931e-01 6.27978537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.602755096 meters 0.020420687451452195 Centerline is valid? [True, True] Translation: X:287.69, Y:-154.60, Z:6.28 [[ 8.14519147e-01 5.79989212e-01 -1.30795008e-02 2.87690256e+02] [-5.79907805e-01 8.14624086e-01 9.72297766e-03 -1.54597950e+02] [ 1.62940986e-02 -3.34646856e-04 9.99867186e-01 6.28104040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.662755096 meters 0.021021961727540006 Centerline is valid? [True, True] Translation: X:287.74, Y:-154.64, Z:6.28 [[ 8.14758154e-01 5.79650095e-01 -1.32256528e-02 2.87737940e+02] [-5.79566723e-01 8.14865415e-01 9.83713862e-03 -1.54637431e+02] [ 1.64792254e-02 -3.49740650e-04 9.99864147e-01 6.28134014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.722755096 meters 0.02100855206814562 Centerline is valid? [True, True] Translation: X:287.79, Y:-154.67, Z:6.28 [[ 8.13456194e-01 5.81472738e-01 -1.33594867e-02 2.87786974e+02] [-5.81387823e-01 8.13565825e-01 9.94219536e-03 -1.54673497e+02] [ 1.66499374e-02 -3.20497524e-04 9.99861329e-01 6.28161452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.782755096 meters 0.019579071526857793 Centerline is valid? [True, True] Translation: X:287.84, Y:-154.71, Z:6.28 [[ 8.12162346e-01 5.83267061e-01 -1.38513235e-02 2.87837819e+02] [-5.83175940e-01 8.12280399e-01 1.03139277e-02 -1.54707020e+02] [ 1.72669329e-02 -2.98825133e-04 9.99850871e-01 6.28200718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.842755096 meters 0.017551095492387682 Centerline is valid? [True, True] Translation: X:287.89, Y:-154.74, Z:6.28 [[ 8.11003849e-01 5.84887157e-01 -1.34078294e-02 2.87890396e+02] [-5.84802010e-01 8.11114633e-01 9.98306222e-03 -1.54740608e+02] [ 1.67142515e-02 -2.55376315e-04 9.99860275e-01 6.28337033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.902755096 meters 0.01671206402421636 Centerline is valid? [True, True] Translation: X:287.94, Y:-154.78, Z:6.28 [[ 8.10122975e-01 5.86108751e-01 -1.33152957e-02 2.87941631e+02] [-5.86024847e-01 8.10232360e-01 9.91972567e-03 -1.54775546e+02] [ 1.66025215e-02 -2.33103519e-04 9.99862141e-01 6.28365607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.962755096 meters 0.0168252618017062 Centerline is valid? [True, True] Translation: X:287.99, Y:-154.81, Z:6.28 [[ 8.09756033e-01 5.86618375e-01 -1.31927695e-02 2.87991011e+02] [-5.86535982e-01 8.09863465e-01 9.83413159e-03 -1.54812690e+02] [ 1.64532243e-02 -2.25213368e-04 9.99864611e-01 6.28494203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.022755096 meters 0.01680071089613887 Centerline is valid? [True, True] Translation: X:288.04, Y:-154.85, Z:6.29 [[ 8.09588274e-01 5.86875690e-01 -1.19895742e-02 2.88041674e+02] [-5.86807597e-01 8.09677024e-01 8.94209417e-03 -1.54849882e+02] [ 1.49555804e-02 -2.03841360e-04 9.99888138e-01 6.28674676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.082755096 meters 0.017132188009910038 Centerline is valid? [True, True] Translation: X:288.09, Y:-154.89, Z:6.29 [[ 8.09806068e-01 5.86598127e-01 -1.08060259e-02 2.88091347e+02] [-5.86542725e-01 8.09878139e-01 8.06422326e-03 -1.54887054e+02] [ 1.34820224e-02 -1.92261030e-04 9.99909095e-01 6.28853384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14275509600003 meters 0.017334944472763784 Centerline is valid? [True, True] Translation: X:288.14, Y:-154.93, Z:6.29 [[ 8.09966862e-01 5.86361778e-01 -1.15562553e-02 2.88141937e+02] [-5.86298318e-01 8.10049270e-01 8.62920225e-03 -1.54925236e+02] [ 1.44209706e-02 -2.13954802e-04 9.99895990e-01 6.28791776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20275509600003 meters 0.01779382244372627 Centerline is valid? [True, True] Translation: X:288.19, Y:-154.96, Z:6.29 [[ 8.10243759e-01 5.85977440e-01 -1.16400457e-02 2.88191077e+02] [-5.85912933e-01 8.10327334e-01 8.69751878e-03 -1.54963175e+02] [ 1.45287970e-02 -2.27057021e-04 9.99894426e-01 6.28812558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26275509600003 meters 0.01746685992140188 Centerline is valid? [True, True] Translation: X:288.24, Y:-155.00, Z:6.29 [[ 8.10392038e-01 5.85778152e-01 -1.13446807e-02 2.88241401e+02] [-5.85716791e-01 8.10471409e-01 8.48150438e-03 -1.55000434e+02] [ 1.41628193e-02 -2.28573626e-04 9.99899676e-01 6.28888510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32275509600004 meters 0.018359996022198025 Centerline is valid? [True, True] Translation: X:288.29, Y:-155.04, Z:6.29 [[ 8.11497834e-01 5.84246153e-01 -1.13003967e-02 2.88290531e+02] [-5.84185041e-01 8.11576469e-01 8.45409528e-03 -1.55037932e+02] [ 1.41104087e-02 -2.58957287e-04 9.99900410e-01 6.28921508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38275509600004 meters 0.018673509621615392 Centerline is valid? [True, True] Translation: X:288.34, Y:-155.08, Z:6.29 [[ 8.12694766e-01 5.82585268e-01 -1.10282714e-02 2.88339620e+02] [-5.82526849e-01 8.12769540e-01 8.25499616e-03 -1.55075444e+02] [ 1.37726822e-02 -2.84528007e-04 9.99905112e-01 6.28934329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44275509600004 meters 0.020348248193775523 Centerline is valid? [True, True] Translation: X:288.39, Y:-155.12, Z:6.29 [[ 8.14758685e-01 5.79729814e-01 -9.03480133e-03 2.88386867e+02] [-5.79690398e-01 8.14808730e-01 6.76579162e-03 -1.55115107e+02] [ 1.12839661e-02 -2.75099908e-04 9.99936296e-01 6.29192219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.502755096 meters 0.021971780450171608 Centerline is valid? [True, True] Translation: X:288.43, Y:-155.16, Z:6.29 [[ 8.16209735e-01 5.77682662e-01 -9.18744945e-03 2.88434701e+02] [-5.77641731e-01 8.16261382e-01 6.88378497e-03 -1.55155026e+02] [ 1.14760034e-02 -3.11558103e-04 9.99934100e-01 6.29179747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.562755096 meters 0.022948425887971798 Centerline is valid? [True, True] Translation: X:288.48, Y:-155.19, Z:6.29 [[ 8.15861801e-01 5.78203467e-01 -7.09026330e-03 2.88484785e+02] [-5.78179097e-01 8.15892576e-01 5.31385839e-03 -1.55190954e+02] [ 8.85738453e-03 -2.35932043e-04 9.99960745e-01 6.29449843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.622755096 meters 0.021474599111650474 Centerline is valid? [True, True] Translation: X:288.54, Y:-155.23, Z:6.29 [[ 8.14951976e-01 5.79480993e-01 -7.41990613e-03 2.88535251e+02] [-5.79454321e-01 8.14985719e-01 5.56479142e-03 -1.55227213e+02] [ 9.27180839e-03 -2.35541096e-04 9.99956988e-01 6.29445860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.682755096 meters 0.020895310489279163 Centerline is valid? [True, True] Translation: X:288.59, Y:-155.26, Z:6.29 [[ 8.13784049e-01 5.81109322e-01 -8.21446044e-03 2.88585611e+02] [-5.81076671e-01 8.13825470e-01 6.16492711e-03 -1.55264033e+02] [ 1.02676337e-02 -2.43688024e-04 9.99947257e-01 6.29461866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.742755096 meters 0.01921984999132251 Centerline is valid? [True, True] Translation: X:288.64, Y:-155.30, Z:6.29 [[ 8.11656548e-01 5.84067267e-01 -8.89241863e-03 2.88637666e+02] [-5.84029133e-01 8.11705227e-01 6.67802064e-03 -1.55298303e+02] [ 1.11184360e-02 -2.26827635e-04 9.99938163e-01 6.29376100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.802755096 meters 0.018667985693900897 Centerline is valid? [True, True] Translation: X:288.69, Y:-155.33, Z:6.29 [[ 8.09835997e-01 5.86591109e-01 -8.74807944e-03 2.88689544e+02] [-5.86554307e-01 8.09883222e-01 6.57355857e-03 -1.55331299e+02] [ 1.09409138e-02 -1.92280689e-04 9.99940128e-01 6.29388551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.862755096 meters 0.0178053261434588 Centerline is valid? [True, True] Translation: X:288.74, Y:-155.37, Z:6.30 [[ 8.08350683e-01 5.88651105e-01 -7.68439785e-03 2.88739846e+02] [-5.88622782e-01 8.08387194e-01 5.77634476e-03 -1.55367505e+02] [ 9.61222054e-03 -1.46100592e-04 9.99953791e-01 6.29594156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.922755096 meters 0.018439594571395334 Centerline is valid? [True, True] Translation: X:288.79, Y:-155.41, Z:6.30 [[ 8.08171727e-01 5.88906307e-01 -6.91533937e-03 2.88788284e+02] [-5.88883360e-01 8.08201302e-01 5.20041524e-03 -1.55406685e+02] [ 8.65154362e-03 -1.30500279e-04 9.99962566e-01 6.29828750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.982755096 meters 0.01848810968296055 Centerline is valid? [True, True] Translation: X:288.84, Y:-155.44, Z:6.30 [[ 8.08106279e-01 5.89006105e-01 -6.00414519e-03 2.88838492e+02] [-5.88988793e-01 8.08128576e-01 4.51732421e-03 -1.55443819e+02] [ 7.51285284e-03 -1.14103827e-04 9.99971772e-01 6.29929105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.042755096 meters 0.01855222820132457 Centerline is valid? [True, True] Translation: X:288.89, Y:-155.48, Z:6.30 [[ 8.07440974e-01 5.89920132e-01 -5.77151382e-03 2.88888977e+02] [-5.89904143e-01 8.07461595e-01 4.34456848e-03 -1.55480280e+02] [ 7.22322417e-03 -1.03342691e-04 9.99973907e-01 6.29981023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.102755096 meters 0.018241565087806617 Centerline is valid? [True, True] Translation: X:288.94, Y:-155.52, Z:6.30 [[ 8.06015413e-01 5.91868970e-01 -5.50230230e-03 2.88939474e+02] [-5.91854469e-01 8.06034190e-01 4.14401560e-03 -1.55516969e+02] [ 6.88775802e-03 -8.35782411e-05 9.99976276e-01 6.30098904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.162755096 meters 0.018379557186362756 Centerline is valid? [True, True] Translation: X:288.99, Y:-155.55, Z:6.30 [[ 8.05677566e-01 5.92315147e-01 -6.81362271e-03 2.88988358e+02] [-5.92292887e-01 8.05706371e-01 5.13622326e-03 -1.55553142e+02] [ 8.53204206e-03 -1.02479586e-04 9.99963596e-01 6.30037645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.222755096 meters 0.017819936158860992 Centerline is valid? [True, True] Translation: X:289.04, Y:-155.59, Z:6.30 [[ 8.06345852e-01 5.91387036e-01 -8.23045233e-03 2.89039321e+02] [-5.91354470e-01 8.06387844e-01 6.20773408e-03 -1.55589450e+02] [ 1.03081102e-02 -1.38465855e-04 9.99946860e-01 6.29674800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.282755096 meters 0.018700331899520136 Centerline is valid? [True, True] Translation: X:289.09, Y:-155.63, Z:6.30 [[ 8.07583455e-01 5.89685901e-01 -8.91636895e-03 2.89087775e+02] [-5.89647515e-01 8.07632656e-01 6.73062564e-03 -1.55628393e+02] [ 1.11701058e-02 -1.78027107e-04 9.99937597e-01 6.29662965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.342755096 meters 0.019357278175134433 Centerline is valid? [True, True] Translation: X:289.14, Y:-155.67, Z:6.30 [[ 8.09267201e-01 5.87353474e-01 -1.01239874e-02 2.89137046e+02] [-5.87303737e-01 8.09330487e-01 7.64741508e-03 -1.55666415e+02] [ 1.26853874e-02 -2.42946574e-04 9.99919508e-01 6.29556018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.402755096 meters 0.021015365080035053 Centerline is valid? [True, True] Translation: X:289.18, Y:-155.71, Z:6.30 [[ 8.10179073e-01 5.86086885e-01 -1.05845655e-02 2.89184920e+02] [-5.86032343e-01 8.10248163e-01 8.00051973e-03 -1.55705029e+02] [ 1.32651244e-02 -2.78955936e-04 9.99911975e-01 6.29631300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.462755096 meters 0.02049819613224143 Centerline is valid? [True, True] Translation: X:289.24, Y:-155.74, Z:6.29 [[ 8.10409982e-01 5.85739510e-01 -1.20369544e-02 2.89236639e+02] [-5.85668850e-01 8.10499302e-01 9.10378829e-03 -1.55740256e+02] [ 1.50883917e-02 -3.28131625e-04 9.99886110e-01 6.29449810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.522755096 meters 0.020770790753269704 Centerline is valid? [True, True] Translation: X:289.29, Y:-155.78, Z:6.29 [[ 8.10639872e-01 5.85404635e-01 -1.28223123e-02 2.89287308e+02] [-5.85324300e-01 8.10741193e-01 9.70471583e-03 -1.55778168e+02] [ 1.60767624e-02 -3.61818638e-04 9.99870695e-01 6.29462059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.582755096 meters 0.021283278352928002 Centerline is valid? [True, True] Translation: X:289.34, Y:-155.81, Z:6.29 [[ 8.10630344e-01 5.85400960e-01 -1.35705791e-02 2.89337346e+02] [-5.85310849e-01 8.10743834e-01 1.02783796e-02 -1.55814825e+02] [ 1.70192367e-02 -3.88959221e-04 9.99855087e-01 6.29470158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64275509600003 meters 0.020984815228437332 Centerline is valid? [True, True] Translation: X:289.39, Y:-155.85, Z:6.30 [[ 8.10205342e-01 5.85984852e-01 -1.37497857e-02 2.89388980e+02] [-5.85892318e-01 8.10321913e-01 1.04205560e-02 -1.55850323e+02] [ 1.72480407e-02 -3.86896336e-04 9.99851167e-01 6.29551308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70275509600003 meters 0.02058336074145127 Centerline is valid? [True, True] Translation: X:289.44, Y:-155.88, Z:6.30 [[ 8.09661884e-01 5.86740296e-01 -1.35447067e-02 2.89440531e+02] [-5.86650493e-01 8.09775085e-01 1.02718224e-02 -1.55884898e+02] [ 1.69950582e-02 -3.70694192e-04 9.99855505e-01 6.29681928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76275509600003 meters 0.020959913676181035 Centerline is valid? [True, True] Translation: X:289.49, Y:-155.92, Z:6.30 [[ 8.08944408e-01 5.87732665e-01 -1.33887614e-02 2.89491071e+02] [-5.87644954e-01 8.09055122e-01 1.01595801e-02 -1.55918911e+02] [ 1.68033631e-02 -3.50697433e-04 9.99858752e-01 6.29840432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82275509600004 meters 0.02152556315408525 Centerline is valid? [True, True] Translation: X:289.54, Y:-155.95, Z:6.30 [[ 8.08945230e-01 5.87721587e-01 -1.38185388e-02 2.89538826e+02] [-5.87628084e-01 8.09063164e-01 1.04895977e-02 -1.55950944e+02] [ 1.73450338e-02 -3.65348512e-04 9.99849497e-01 6.29832244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88275509600004 meters 0.021184623404060885 Centerline is valid? [True, True] Translation: X:289.59, Y:-155.99, Z:6.30 [[ 8.09849695e-01 5.86472481e-01 -1.39104658e-02 2.89588301e+02] [-5.86377595e-01 8.09969058e-01 1.05565260e-02 -1.55988057e+02] [ 1.74581589e-02 -3.92413839e-04 9.99847518e-01 6.29920776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94275509600004 meters 0.021696786707101845 Centerline is valid? [True, True] Translation: X:289.64, Y:-156.02, Z:6.30 [[ 8.11384381e-01 5.84344771e-01 -1.40205286e-02 2.89638784e+02] [-5.84247954e-01 8.11505384e-01 1.06461036e-02 -1.56024277e+02] [ 1.75987294e-02 -4.46617016e-04 9.99845031e-01 6.29956521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.002755096 meters 0.02237355182873554 Centerline is valid? [True, True] Translation: X:289.69, Y:-156.06, Z:6.30 [[ 8.11563767e-01 5.84089698e-01 -1.42645345e-02 2.89687452e+02] [-5.83989327e-01 8.11688985e-01 1.08378117e-02 -1.56061063e+02] [ 1.79086198e-02 -4.65239395e-04 9.99839520e-01 6.30106321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.062755096 meters 0.021387024432011542 Centerline is valid? [True, True] Translation: X:289.74, Y:-156.10, Z:6.30 [[ 8.11000895e-01 5.84860687e-01 -1.46807672e-02 2.89737560e+02] [-5.84754386e-01 8.11133626e-01 1.11601286e-02 -1.56098436e+02] [ 1.84351844e-02 -4.66231245e-04 9.99829949e-01 6.30174119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.122755096 meters 0.021193890295870974 Centerline is valid? [True, True] Translation: X:289.79, Y:-156.14, Z:6.30 [[ 8.09769272e-01 5.86566969e-01 -1.45916616e-02 2.89785688e+02] [-5.86462112e-01 8.09900615e-01 1.10988697e-02 -1.56136334e+02] [ 1.83280261e-02 -4.30066941e-04 9.99831935e-01 6.30387710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.182755096 meters 0.019950961569874373 Centerline is valid? [True, True] Translation: X:289.84, Y:-156.17, Z:6.31 [[ 8.08347953e-01 5.88536243e-01 -1.40953172e-02 2.89837223e+02] [-5.88438600e-01 8.08470747e-01 1.07268453e-02 -1.56170482e+02] [ 1.77087889e-02 -3.76794719e-04 9.99843116e-01 6.30593931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.242755096 meters 0.020689088482328824 Centerline is valid? [True, True] Translation: X:289.88, Y:-156.21, Z:6.31 [[ 8.07518271e-01 5.89665655e-01 -1.44449632e-02 2.89884442e+02] [-5.89563167e-01 8.07647374e-01 1.09995575e-02 -1.56208980e+02] [ 1.81524979e-02 -3.66125347e-04 9.99835163e-01 6.30862287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.302755096 meters 0.02046414342608619 Centerline is valid? [True, True] Translation: X:289.93, Y:-156.25, Z:6.31 [[ 8.07942918e-01 5.89083168e-01 -1.44659040e-02 2.89933359e+02] [-5.88980182e-01 8.08072320e-01 1.10213964e-02 -1.56247440e+02] [ 1.81820157e-02 -3.84528430e-04 9.99834620e-01 6.31148020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.362755096 meters 0.021833371352933516 Centerline is valid? [True, True] Translation: X:289.98, Y:-156.29, Z:6.31 [[ 8.10138316e-01 5.86052195e-01 -1.47896543e-02 2.89979998e+02] [-5.85943921e-01 8.10273167e-01 1.12745867e-02 -1.56287767e+02] [ 1.85911563e-02 -4.68066615e-04 9.99827060e-01 6.31338209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.422755096 meters 0.025837654683924308 Centerline is valid? [True, True] Translation: X:290.02, Y:-156.33, Z:6.32 [[ 8.13910733e-01 5.80767719e-01 -1.60678076e-02 2.90021478e+02] [-5.80638752e-01 8.14069063e-01 1.22555731e-02 -1.56333110e+02] [ 2.01979463e-02 -6.45350688e-04 9.99795792e-01 6.31521915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.482755096 meters 0.028296771222206793 Centerline is valid? [True, True] Translation: X:290.07, Y:-156.37, Z:6.32 [[ 8.16319049e-01 5.77352441e-01 -1.69519522e-02 2.90066761e+02] [-5.77208124e-01 8.16494681e-01 1.29312557e-02 -1.56374829e+02] [ 2.13070708e-02 -7.71225812e-04 9.99772681e-01 6.31745457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.542755096 meters 0.029786641487348556 Centerline is valid? [True, True] Translation: X:290.11, Y:-156.42, Z:6.32 [[ 8.17081562e-01 5.76236357e-01 -1.81488637e-02 2.90113152e+02] [-5.76070612e-01 8.17282646e-01 1.38465405e-02 -1.56415657e+02] [ 2.28116314e-02 -8.58725937e-04 9.99739412e-01 6.31831757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.602755096 meters 0.028901903088072257 Centerline is valid? [True, True] Translation: X:290.16, Y:-156.45, Z:6.32 [[ 8.16566657e-01 5.76951955e-01 -1.85832338e-02 2.90162570e+02] [-5.76778190e-01 8.16777628e-01 1.41854076e-02 -1.56452613e+02] [ 2.33626683e-02 -8.64926845e-04 9.99726681e-01 6.32016780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.662755096 meters 0.027977276547041185 Centerline is valid? [True, True] Translation: X:290.21, Y:-156.49, Z:6.32 [[ 8.13683294e-01 5.80955123e-01 -2.02643152e-02 2.90210610e+02] [-5.80749549e-01 8.13935173e-01 1.54756296e-02 -1.56488812e+02] [ 2.54844852e-02 -8.23769355e-04 9.99674878e-01 6.32099631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.722755096 meters 0.022762597071689823 Centerline is valid? [True, True] Translation: X:290.26, Y:-156.52, Z:6.32 [[ 8.09902286e-01 5.86179822e-01 -2.12486222e-02 2.90263633e+02] [-5.85955563e-01 8.10180682e-01 1.62278009e-02 -1.56519223e+02] [ 2.67276327e-02 -6.92184707e-04 9.99642513e-01 6.32359194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.782755096 meters 0.020859729500701345 Centerline is valid? [True, True] Translation: X:290.31, Y:-156.55, Z:6.33 [[ 8.07391705e-01 5.89615204e-01 -2.17381380e-02 2.90314582e+02] [-5.89381648e-01 8.07684071e-01 1.66046838e-02 -1.56554413e+02] [ 2.73479218e-02 -5.94424414e-04 9.99625799e-01 6.32567251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.842755096 meters 0.018949295755823707 Centerline is valid? [True, True] Translation: X:290.36, Y:-156.59, Z:6.33 [[ 8.04147741e-01 5.94029258e-01 -2.18094334e-02 2.90364445e+02] [-5.93795605e-01 8.04443309e-01 1.66655918e-02 -1.56588505e+02] [ 2.74443019e-02 -4.51252317e-04 9.99623232e-01 6.32786714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.902755096 meters 0.017290850512097833 Centerline is valid? [True, True] Translation: X:290.42, Y:-156.62, Z:6.33 [[ 8.01586549e-01 5.97437911e-01 -2.29553040e-02 2.90415310e+02] [-5.97180342e-01 8.01915093e-01 1.75448856e-02 -1.56624759e+02] [ 2.88901845e-02 -3.55288023e-04 9.99582528e-01 6.32901156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.962755096 meters 0.017283136321415496 Centerline is valid? [True, True] Translation: X:290.46, Y:-156.66, Z:6.33 [[ 8.00903490e-01 5.98368304e-01 -2.25604427e-02 2.90462710e+02] [-5.98119614e-01 8.01221111e-01 1.72528150e-02 -1.56662553e+02] [ 2.83994405e-02 -3.23996466e-04 9.99596602e-01 6.33076340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.022755096 meters 0.017783096659983857 Centerline is valid? [True, True] Translation: X:290.51, Y:-156.70, Z:6.33 [[ 8.01659647e-01 5.97344612e-01 -2.28303302e-02 2.90509224e+02] [-5.97089250e-01 8.01984586e-01 1.74686032e-02 -1.56703151e+02] [ 2.87443489e-02 -3.72129491e-04 9.99586727e-01 6.33182773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.082755096 meters 0.019714502265534502 Centerline is valid? [True, True] Translation: X:290.55, Y:-156.75, Z:6.33 [[ 8.03717710e-01 5.94570131e-01 -2.28954682e-02 2.90552832e+02] [-5.94311994e-01 8.04043613e-01 1.75249201e-02 -1.56745926e+02] [ 2.88287490e-02 -4.78037318e-04 9.99584251e-01 6.33233671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14275509600003 meters 0.019506032825607426 Centerline is valid? [True, True] Translation: X:290.60, Y:-156.79, Z:6.34 [[ 8.05297840e-01 5.92433273e-01 -2.27641528e-02 2.90600659e+02] [-5.92177106e-01 8.05619333e-01 1.74288566e-02 -1.56785587e+02] [ 2.86646761e-02 -5.55010461e-04 9.99588930e-01 6.33535841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20275509600003 meters 0.019585081686482392 Centerline is valid? [True, True] Translation: X:290.65, Y:-156.82, Z:6.34 [[ 8.05521705e-01 5.92105153e-01 -2.33724400e-02 2.90649344e+02] [-5.91834661e-01 8.05860496e-01 1.79051602e-02 -1.56824783e+02] [ 2.94366637e-02 -5.90375008e-04 9.99566473e-01 6.33597226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26275509600003 meters 0.020546928129114253 Centerline is valid? [True, True] Translation: X:290.70, Y:-156.86, Z:6.34 [[ 8.05928328e-01 5.91554504e-01 -2.32980618e-02 2.90696382e+02] [-5.91285246e-01 8.06264777e-01 1.78568647e-02 -1.56863999e+02] [ 2.93477154e-02 -6.15552876e-04 9.99569074e-01 6.33534373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32275509600004 meters 0.021223210448094956 Centerline is valid? [True, True] Translation: X:290.74, Y:-156.90, Z:6.33 [[ 8.06288922e-01 5.91044282e-01 -2.37661619e-02 2.90743469e+02] [-5.90763646e-01 8.06638848e-01 1.82231719e-02 -1.56904453e+02] [ 2.99414110e-02 -6.52957166e-04 9.99551442e-01 6.33453795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38275509600004 meters 0.021243624510960284 Centerline is valid? [True, True] Translation: X:290.79, Y:-156.94, Z:6.34 [[ 8.06249635e-01 5.91077283e-01 -2.42728460e-02 2.90792365e+02] [-5.90784223e-01 8.06614648e-01 1.86228868e-02 -1.56943769e+02] [ 3.05863984e-02 -6.74681193e-04 9.99531899e-01 6.33527508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44275509600004 meters 0.021519516079244187 Centerline is valid? [True, True] Translation: X:290.84, Y:-156.98, Z:6.33 [[ 8.05794963e-01 5.91678369e-01 -2.47221624e-02 2.90841734e+02] [-5.91374252e-01 8.06173836e-01 1.89799992e-02 -1.56983453e+02] [ 3.11604155e-02 -6.73937440e-04 9.99514169e-01 6.33497269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.502755096 meters 0.020246107596677557 Centerline is valid? [True, True] Translation: X:290.89, Y:-157.02, Z:6.34 [[ 8.03962740e-01 5.94186917e-01 -2.42037165e-02 2.90893299e+02] [-5.93896297e-01 8.04326787e-01 1.85905268e-02 -1.57018957e+02] [ 3.05139453e-02 -5.71593251e-04 9.99534178e-01 6.33608199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.562755096 meters 0.018786464491087965 Centerline is valid? [True, True] Translation: X:290.94, Y:-157.05, Z:6.34 [[ 8.02527649e-01 5.96107788e-01 -2.45942512e-02 2.90944036e+02] [-5.95808405e-01 8.02904255e-01 1.88971354e-02 -1.57054974e+02] [ 3.10115586e-02 -5.12012066e-04 9.99518895e-01 6.33774251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.622755096 meters 0.018564049745166775 Centerline is valid? [True, True] Translation: X:290.99, Y:-157.09, Z:6.34 [[ 8.01993975e-01 5.96850015e-01 -2.39942652e-02 2.90993552e+02] [-5.96565080e-01 8.02352684e-01 1.84465486e-02 -1.57092719e+02] [ 3.02616859e-02 -4.79880061e-04 9.99541895e-01 6.33974062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.682755096 meters 0.01875457494099823 Centerline is valid? [True, True] Translation: X:291.04, Y:-157.13, Z:6.34 [[ 8.01881593e-01 5.97034982e-01 -2.31331208e-02 2.91042980e+02] [-5.96769934e-01 8.02215068e-01 1.77941059e-02 -1.57129003e+02] [ 2.91814418e-02 -4.63614967e-04 9.99574024e-01 6.34174387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.742755096 meters 0.018187133696360984 Centerline is valid? [True, True] Translation: X:291.09, Y:-157.16, Z:6.34 [[ 8.01628875e-01 5.97422326e-01 -2.18566169e-02 2.91093871e+02] [-5.97185632e-01 8.01926666e-01 1.68209168e-02 -1.57164952e+02] [ 2.75765951e-02 -4.31675090e-04 9.99619600e-01 6.34441075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.802755096 meters 0.018404602624065236 Centerline is valid? [True, True] Translation: X:291.14, Y:-157.20, Z:6.35 [[ 8.01497615e-01 5.97640101e-01 -2.06853270e-02 2.91144185e+02] [-5.97427945e-01 8.01764394e-01 1.59281975e-02 -1.57201842e+02] [ 2.61040882e-02 -4.08419886e-04 9.99659147e-01 6.34620152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.862755096 meters 0.018375627163625508 Centerline is valid? [True, True] Translation: X:291.20, Y:-157.24, Z:6.35 [[ 8.01503119e-01 5.97658532e-01 -1.99255946e-02 2.91196144e+02] [-5.97461461e-01 8.01750659e-01 1.53519824e-02 -1.57237045e+02] [ 2.51506019e-02 -3.99886921e-04 9.99683594e-01 6.34688624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.922755096 meters 0.018254002554380845 Centerline is valid? [True, True] Translation: X:291.25, Y:-157.27, Z:6.35 [[ 8.01149465e-01 5.98133815e-01 -1.98865226e-02 2.91246624e+02] [-5.97937409e-01 8.01396148e-01 1.53319494e-02 -1.57274011e+02] [ 2.51075400e-02 -3.92287227e-04 9.99684679e-01 6.34712388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.982755096 meters 0.018157509032719673 Centerline is valid? [True, True] Translation: X:291.30, Y:-157.31, Z:6.35 [[ 8.01275101e-01 5.97969375e-01 -1.97696493e-02 2.91296763e+02] [-5.97774970e-01 8.01518849e-01 1.52519139e-02 -1.57311366e+02] [ 2.49659240e-02 -4.03177317e-04 9.99688221e-01 6.34823754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.042755096 meters 0.018583275141818085 Centerline is valid? [True, True] Translation: X:291.35, Y:-157.35, Z:6.35 [[ 8.01536085e-01 5.97583400e-01 -2.08322945e-02 2.91346229e+02] [-5.97367116e-01 8.01806636e-01 1.60825371e-02 -1.57349051e+02] [ 2.63141292e-02 -4.46206144e-04 9.99653624e-01 6.34790711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.102755096 meters 0.02000408263713404 Centerline is valid? [True, True] Translation: X:291.39, Y:-157.39, Z:6.35 [[ 8.03044881e-01 5.95607916e-01 -1.92387634e-02 2.91392996e+02] [-5.95422698e-01 8.03275159e-01 1.48603352e-02 -1.57388794e+02] [ 2.43049540e-02 -4.78319691e-04 9.99704477e-01 6.35004030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.162755096 meters 0.02080732977326141 Centerline is valid? [True, True] Translation: X:291.44, Y:-157.43, Z:6.35 [[ 8.04569110e-01 5.93601237e-01 -1.74962512e-02 2.91440377e+02] [-5.93447443e-01 8.04759173e-01 1.35205659e-02 -1.57428259e+02] [ 2.21060933e-02 -4.95124140e-04 9.99755508e-01 6.35227086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.222755096 meters 0.022299267257907287 Centerline is valid? [True, True] Translation: X:291.49, Y:-157.47, Z:6.35 [[ 8.06775834e-01 5.90615357e-01 -1.69190492e-02 2.91487022e+02] [-5.90470805e-01 8.06953025e-01 1.30783506e-02 -1.57468498e+02] [ 2.13771527e-02 -5.61092612e-04 9.99771325e-01 6.35351737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.282755096 meters 0.023380974429502453 Centerline is valid? [True, True] Translation: X:291.53, Y:-157.51, Z:6.35 [[ 8.08042786e-01 5.88893783e-01 -1.64611180e-02 2.91534685e+02] [-5.88756513e-01 8.08210220e-01 1.27282369e-02 -1.57507846e+02] [ 2.07996234e-02 -5.93369571e-04 9.99783488e-01 6.35444106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.342755096 meters 0.02351630814648111 Centerline is valid? [True, True] Translation: X:291.58, Y:-157.55, Z:6.36 [[ 8.08533369e-01 5.88240072e-01 -1.57292240e-02 2.91583116e+02] [-5.88114483e-01 8.08686139e-01 1.21689696e-02 -1.57546929e+02] [ 1.98782809e-02 -5.88433537e-04 9.99802234e-01 6.35634179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.402755096 meters 0.024573036910517425 Centerline is valid? [True, True] Translation: X:291.63, Y:-157.59, Z:6.36 [[ 8.08157265e-01 5.88768434e-01 -1.52828527e-02 2.91630363e+02] [-5.88649839e-01 8.08301560e-01 1.18302372e-02 -1.57586007e+02] [ 1.93184239e-02 -5.64443328e-04 9.99813223e-01 6.35772942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.462755096 meters 0.022249281701675543 Centerline is valid? [True, True] Translation: X:291.68, Y:-157.62, Z:6.36 [[ 8.06276526e-01 5.91365397e-01 -1.43223673e-02 2.91682838e+02] [-5.91261552e-01 8.06403584e-01 1.10921759e-02 -1.57620133e+02] [ 1.81091373e-02 -4.75095907e-04 9.99835903e-01 6.35934807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.522755096 meters 0.02191718490753937 Centerline is valid? [True, True] Translation: X:291.73, Y:-157.66, Z:6.36 [[ 8.05281398e-01 5.92716818e-01 -1.44444759e-02 2.91732650e+02] [-5.92611293e-01 8.05410807e-01 1.11931957e-02 -1.57657517e+02] [ 1.82681323e-02 -4.53712771e-04 9.99833021e-01 6.36031437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.582755096 meters 0.020439360262966944 Centerline is valid? [True, True] Translation: X:291.78, Y:-157.69, Z:6.36 [[ 8.02608838e-01 5.96326185e-01 -1.46333285e-02 2.91783837e+02] [-5.96218359e-01 8.02742135e-01 1.13460630e-02 -1.57691330e+02] [ 1.85127439e-02 -3.81791336e-04 9.99828552e-01 6.36103120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64275509600003 meters 0.019075456880003092 Centerline is valid? [True, True] Translation: X:291.83, Y:-157.73, Z:6.36 [[ 8.00616795e-01 5.98980969e-01 -1.53149324e-02 2.91834910e+02] [-5.98863323e-01 8.00763190e-01 1.18757818e-02 -1.57727066e+02] [ 1.93770014e-02 -3.36399023e-04 9.99812192e-01 6.36102745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70275509600003 meters 0.019128934614148954 Centerline is valid? [True, True] Translation: X:291.88, Y:-157.76, Z:6.36 [[ 8.00175024e-01 5.99564981e-01 -1.55487717e-02 2.91882698e+02] [-5.99443697e-01 8.00326010e-01 1.20636632e-02 -1.57764673e+02] [ 1.96770364e-02 -3.32428759e-04 9.99806333e-01 6.36183173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76275509600003 meters 0.018741549377038445 Centerline is valid? [True, True] Translation: X:291.93, Y:-157.80, Z:6.36 [[ 8.00083531e-01 5.99667936e-01 -1.62699395e-02 2.91932588e+02] [-5.99535143e-01 8.00248866e-01 1.26240004e-02 -1.57803451e+02] [ 2.05902089e-02 -3.45854341e-04 9.99787939e-01 6.36294628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82275509600004 meters 0.019466578473041965 Centerline is valid? [True, True] Translation: X:291.98, Y:-157.84, Z:6.37 [[ 8.00877207e-01 5.98631461e-01 -1.53647058e-02 2.91979171e+02] [-5.98512703e-01 8.01024498e-01 1.19288748e-02 -1.57842399e+02] [ 1.94485055e-02 -3.57592298e-04 9.99810796e-01 6.36536159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88275509600004 meters 0.019319055506331922 Centerline is valid? [True, True] Translation: X:292.03, Y:-157.88, Z:6.37 [[ 8.00268687e-01 5.99467540e-01 -1.44463461e-02 2.92028757e+02] [-5.99362633e-01 8.00399004e-01 1.12190955e-02 -1.57880418e+02] [ 1.82883246e-02 -3.19690768e-04 9.99832703e-01 6.36815911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94275509600004 meters 0.018953432026053058 Centerline is valid? [True, True] Translation: X:292.08, Y:-157.92, Z:6.37 [[ 7.99817526e-01 6.00050082e-01 -1.52257699e-02 2.92077918e+02] [-5.99933519e-01 7.99962368e-01 1.18313753e-02 -1.57919267e+02] [ 1.92794607e-02 -3.28491637e-04 9.99814080e-01 6.36892918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.002755096 meters 0.020007990077069 Centerline is valid? [True, True] Translation: X:292.13, Y:-157.96, Z:6.37 [[ 8.00243621e-01 5.99464290e-01 -1.58969346e-02 2.92125389e+02] [-5.99336946e-01 8.00401420e-01 1.23609022e-02 -1.57958582e+02] [ 2.01338485e-02 -3.64112958e-04 9.99797227e-01 6.36924638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.062755096 meters 0.021058247330345944 Centerline is valid? [True, True] Translation: X:292.17, Y:-158.00, Z:6.37 [[ 8.01381635e-01 5.97951490e-01 -1.55399423e-02 2.92170975e+02] [-5.97829450e-01 8.01532194e-01 1.20867508e-02 -1.57995141e+02] [ 1.96830547e-02 -3.95864988e-04 9.99806192e-01 6.36990929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.122755096 meters 0.020791019037942966 Centerline is valid? [True, True] Translation: X:292.22, Y:-158.03, Z:6.37 [[ 8.02070478e-01 5.97016118e-01 -1.59594221e-02 2.92221304e+02] [-5.96887240e-01 8.02229126e-01 1.24117952e-02 -1.58030952e+02] [ 2.02131550e-02 -4.29159060e-04 9.99795601e-01 6.37021741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.182755096 meters 0.021327863285911415 Centerline is valid? [True, True] Translation: X:292.27, Y:-158.07, Z:6.37 [[ 8.02092970e-01 5.96969677e-01 -1.65551637e-02 2.92270308e+02] [-5.96830829e-01 8.02263673e-01 1.28826025e-02 -1.58069547e+02] [ 2.09721295e-02 -4.52412804e-04 9.99779958e-01 6.37072753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.242755096 meters 0.02165871709267404 Centerline is valid? [True, True] Translation: X:292.32, Y:-158.11, Z:6.37 [[ 8.02016439e-01 5.97057114e-01 -1.71006891e-02 2.92317058e+02] [-5.96908845e-01 8.02198592e-01 1.33135207e-02 -1.58106241e+02] [ 2.16670809e-02 -4.70109913e-04 9.99765131e-01 6.37046280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.302755096 meters 0.02075737262475874 Centerline is valid? [True, True] Translation: X:292.37, Y:-158.14, Z:6.37 [[ 8.01862291e-01 5.97267350e-01 -1.69876288e-02 2.92367999e+02] [-5.97121075e-01 8.02042081e-01 1.32258091e-02 -1.58143125e+02] [ 2.15241371e-02 -4.61606410e-04 9.99768222e-01 6.37199752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.362755096 meters 0.02140605965341892 Centerline is valid? [True, True] Translation: X:292.42, Y:-158.18, Z:6.37 [[ 8.00964250e-01 5.98492328e-01 -1.62235493e-02 2.92415161e+02] [-5.98359006e-01 8.01128430e-01 1.26388000e-02 -1.58181827e+02] [ 2.05613714e-02 -4.15720124e-04 9.99788506e-01 6.37382200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.422755096 meters 0.021573108954546998 Centerline is valid? [True, True] Translation: X:292.46, Y:-158.22, Z:6.38 [[ 8.00469729e-01 5.99184430e-01 -1.50409900e-02 2.92460851e+02] [-5.99069854e-01 8.00610942e-01 1.17230606e-02 -1.58217112e+02] [ 1.90662566e-02 -3.73351437e-04 9.99818153e-01 6.37620567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.482755096 meters 0.020154811046519238 Centerline is valid? [True, True] Translation: X:292.51, Y:-158.25, Z:6.38 [[ 7.99762768e-01 6.00164830e-01 -1.34793018e-02 2.92510929e+02] [-6.00072995e-01 7.99876290e-01 1.05033918e-02 -1.58253312e+02] [ 1.70855403e-02 -3.11656733e-04 9.99853983e-01 6.37935197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.542755096 meters 0.020655419602411036 Centerline is valid? [True, True] Translation: X:292.56, Y:-158.29, Z:6.38 [[ 7.99755694e-01 6.00176131e-01 -1.33956007e-02 2.92557769e+02] [-6.00085335e-01 7.99867810e-01 1.04440470e-02 -1.58293832e+02] [ 1.69829775e-02 -3.14182520e-04 9.99855729e-01 6.38093353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.602755096 meters 0.022849038987756178 Centerline is valid? [True, True] Translation: X:292.60, Y:-158.33, Z:6.38 [[ 8.00069536e-01 5.99770510e-01 -1.28090932e-02 2.92602995e+02] [-5.99687344e-01 8.00172005e-01 9.99260886e-03 -1.58334779e+02] [ 1.62427499e-02 -3.13330863e-04 9.99868029e-01 6.38246715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.662755096 meters 0.021360414921937347 Centerline is valid? [True, True] Translation: X:292.65, Y:-158.37, Z:6.38 [[ 8.00681793e-01 5.98955245e-01 -1.26996623e-02 2.92653899e+02] [-5.98873312e-01 8.00782433e-01 9.91215686e-03 -1.58371187e+02] [ 1.61066048e-02 -3.30994709e-04 9.99870225e-01 6.38245338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.722755096 meters 0.021381600593742073 Centerline is valid? [True, True] Translation: X:292.70, Y:-158.41, Z:6.38 [[ 8.01687093e-01 5.97617493e-01 -1.22937381e-02 2.92702502e+02] [-5.97540477e-01 8.01781272e-01 9.60052295e-03 -1.58409980e+02] [ 1.55943294e-02 -3.50609228e-04 9.99878340e-01 6.38366491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.782755096 meters 0.024369938466334035 Centerline is valid? [True, True] Translation: X:292.75, Y:-158.45, Z:6.39 [[ 8.02736639e-01 5.96216520e-01 -1.18216261e-02 2.92747839e+02] [-5.96145074e-01 8.02823596e-01 9.23714076e-03 -1.58451467e+02] [ 1.49980163e-02 -3.67587177e-04 9.99887456e-01 6.38502904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.842755096 meters 0.023608628913066934 Centerline is valid? [True, True] Translation: X:292.80, Y:-158.49, Z:6.39 [[ 8.03061891e-01 5.95774538e-01 -1.20124650e-02 2.92797203e+02] [-5.95700639e-01 8.03151636e-01 9.39135906e-03 -1.58488774e+02] [ 1.52429635e-02 -3.86009481e-04 9.99883745e-01 6.38575374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.902755096 meters 0.023314447273135093 Centerline is valid? [True, True] Translation: X:292.85, Y:-158.53, Z:6.39 [[ 8.02469849e-01 5.96542678e-01 -1.33781339e-02 2.92846718e+02] [-5.96451015e-01 8.02581247e-01 1.04656242e-02 -1.58526981e+02] [ 1.69802309e-02 -4.18946298e-04 9.99855738e-01 6.38568007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.962755096 meters 0.022485567388468863 Centerline is valid? [True, True] Translation: X:292.90, Y:-158.56, Z:6.38 [[ 8.00916013e-01 5.98585586e-01 -1.51273353e-02 2.92896945e+02] [-5.98468602e-01 8.01058744e-01 1.18415350e-02 -1.58563594e+02] [ 1.92060564e-02 -4.30839789e-04 9.99815454e-01 6.38485368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.022755096 meters 0.02128628792685935 Centerline is valid? [True, True] Translation: X:292.95, Y:-158.60, Z:6.39 [[ 7.98879512e-01 6.01294016e-01 -1.53958199e-02 2.92948088e+02] [-6.01173208e-01 7.99027762e-01 1.20586301e-02 -1.58599521e+02] [ 1.95524696e-02 -3.77838048e-04 9.99808761e-01 6.38593261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.082755096 meters 0.021238099441442167 Centerline is valid? [True, True] Translation: X:293.00, Y:-158.64, Z:6.39 [[ 7.97935437e-01 6.02549510e-01 -1.52684852e-02 2.92996048e+02] [-6.02430790e-01 7.98081428e-01 1.19657006e-02 -1.58638104e+02] [ 1.93954215e-02 -3.49650918e-04 9.99811830e-01 6.38857703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14275509600003 meters 0.021051774505611718 Centerline is valid? [True, True] Translation: X:293.05, Y:-158.68, Z:6.39 [[ 7.98056760e-01 6.02389974e-01 -1.52225769e-02 2.93045174e+02] [-6.02271807e-01 7.98201849e-01 1.19364725e-02 -1.58677066e+02] [ 1.93411004e-02 -3.57853694e-04 9.99812879e-01 6.39010460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20275509600003 meters 0.022155825160667254 Centerline is valid? [True, True] Translation: X:293.09, Y:-158.72, Z:6.39 [[ 7.99341223e-01 6.00698794e-01 -1.46481043e-02 2.93092572e+02] [-6.00588960e-01 7.99475332e-01 1.14932373e-02 -1.58717746e+02] [ 1.86147719e-02 -3.89528667e-04 9.99826654e-01 6.39238352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26275509600003 meters 0.023116511760851784 Centerline is valid? [True, True] Translation: X:293.14, Y:-158.76, Z:6.39 [[ 8.00292574e-01 5.99429714e-01 -1.46906063e-02 2.93139390e+02] [-5.99318907e-01 8.00427284e-01 1.15330668e-02 -1.58757565e+02] [ 1.86720250e-02 -4.25469608e-04 9.99825572e-01 6.39378777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32275509600004 meters 0.024091535543312437 Centerline is valid? [True, True] Translation: X:293.19, Y:-158.79, Z:6.40 [[ 8.01078094e-01 5.98384424e-01 -1.44902976e-02 2.93185799e+02] [-5.98276384e-01 8.01209012e-01 1.13791973e-02 -1.58793727e+02] [ 1.84188914e-02 -4.46422808e-04 9.99830258e-01 6.39524286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38275509600004 meters 0.022759815645851045 Centerline is valid? [True, True] Translation: X:293.24, Y:-158.83, Z:6.40 [[ 8.01078370e-01 5.98359115e-01 -1.54859213e-02 2.93236848e+02] [-5.98235732e-01 8.01227896e-01 1.21600860e-02 -1.58829898e+02] [ 1.96838504e-02 -4.76950423e-04 9.99806140e-01 6.39625579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44275509600004 meters 0.024864488987071026 Centerline is valid? [True, True] Translation: X:293.28, Y:-158.87, Z:6.40 [[ 8.00861309e-01 5.98624716e-01 -1.64199160e-02 2.93282793e+02] [-5.98485869e-01 8.01029458e-01 1.29024015e-02 -1.58871239e+02] [ 2.08765329e-02 -5.05946407e-04 9.99781933e-01 6.39684129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.502755096 meters 0.02460290088900761 Centerline is valid? [True, True] Translation: X:293.33, Y:-158.91, Z:6.40 [[ 8.00135302e-01 5.99571026e-01 -1.72651108e-02 2.93329984e+02] [-5.99417579e-01 8.00321388e-01 1.35735828e-02 -1.58906369e+02] [ 2.19559644e-02 -5.11691870e-04 9.99758808e-01 6.39629680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.562755096 meters 0.02403579010258711 Centerline is valid? [True, True] Translation: X:293.38, Y:-158.94, Z:6.40 [[ 7.99136852e-01 6.00892039e-01 -1.75798307e-02 2.93377578e+02] [-6.00733312e-01 7.99330048e-01 1.38189389e-02 -1.58941337e+02] [ 2.23557773e-02 -4.82433424e-04 9.99749962e-01 6.39672452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.622755096 meters 0.020718853203870107 Centerline is valid? [True, True] Translation: X:293.43, Y:-158.98, Z:6.40 [[ 7.97211270e-01 6.03417660e-01 -1.84748217e-02 2.93430155e+02] [-6.03243034e-01 7.97425194e-01 1.45224540e-02 -1.58975494e+02] [ 2.34953935e-02 -4.32656541e-04 9.99723852e-01 6.39866106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.682755096 meters 0.020454199271082572 Centerline is valid? [True, True] Translation: X:293.48, Y:-159.01, Z:6.40 [[ 7.95535248e-01 6.05625464e-01 -1.84787808e-02 2.93478022e+02] [-6.05451164e-01 7.95749745e-01 1.45338010e-02 -1.59012954e+02] [ 2.35065251e-02 -3.74151702e-04 9.99723613e-01 6.39974735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.742755096 meters 0.01950605493056484 Centerline is valid? [True, True] Translation: X:293.53, Y:-159.05, Z:6.40 [[ 7.94443007e-01 6.07078425e-01 -1.77790327e-02 2.93528105e+02] [-6.06917276e-01 7.94641857e-01 1.39906932e-02 -1.59049715e+02] [ 2.26214115e-02 -3.24406259e-04 9.99744050e-01 6.40250793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.802755096 meters 0.019565719905768313 Centerline is valid? [True, True] Translation: X:293.58, Y:-159.09, Z:6.40 [[ 7.94766667e-01 6.06664099e-01 -1.74532576e-02 2.93576349e+02] [-6.06508525e-01 7.94958211e-01 1.37423161e-02 -1.59089940e+02] [ 2.22115803e-02 -3.36385236e-04 9.99753236e-01 6.40472850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.862755096 meters 0.020426061956073972 Centerline is valid? [True, True] Translation: X:293.62, Y:-159.13, Z:6.41 [[ 7.95754417e-01 6.05383405e-01 -1.69068145e-02 2.93622376e+02] [-6.05236951e-01 7.95933916e-01 1.33204641e-02 -1.59130121e+02] [ 2.15206950e-02 -3.67189289e-04 9.99768336e-01 6.40634409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.922755096 meters 0.021679722267005694 Centerline is valid? [True, True] Translation: X:293.67, Y:-159.17, Z:6.41 [[ 7.97257236e-01 6.03422305e-01 -1.61993975e-02 2.93667402e+02] [-6.03287325e-01 7.97421692e-01 1.27690237e-02 -1.59169871e+02] [ 2.06228647e-02 -4.07305310e-04 9.99787243e-01 6.40866743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.982755096 meters 0.021406991619444617 Centerline is valid? [True, True] Translation: X:293.72, Y:-159.21, Z:6.41 [[ 7.97606404e-01 6.02971807e-01 -1.57805023e-02 2.93716572e+02] [-6.02843610e-01 7.97762391e-01 1.24398031e-02 -1.59207534e+02] [ 2.00899417e-02 -4.08891637e-04 9.99798093e-01 6.41090804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.042755096 meters 0.021315239818501835 Centerline is valid? [True, True] Translation: X:293.77, Y:-159.25, Z:6.41 [[ 7.97403157e-01 6.03247203e-01 -1.55246960e-02 2.93765966e+02] [-6.03123046e-01 7.97554168e-01 1.22450094e-02 -1.59245866e+02] [ 1.97685537e-02 -4.00907218e-04 9.99804503e-01 6.41263171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.102755096 meters 0.021594400406512396 Centerline is valid? [True, True] Translation: X:293.81, Y:-159.28, Z:6.41 [[ 7.96239995e-01 6.04761304e-01 -1.62983459e-02 2.93813834e+02] [-6.04624614e-01 7.96406690e-01 1.28631678e-02 -1.59283452e+02] [ 2.07592578e-02 -3.87787555e-04 9.99784428e-01 6.41292420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.162755096 meters 0.019896051718614756 Centerline is valid? [True, True] Translation: X:293.86, Y:-159.32, Z:6.41 [[ 7.94714377e-01 6.06735423e-01 -1.73546773e-02 2.93864478e+02] [-6.06580859e-01 7.94903766e-01 1.36990749e-02 -1.59319072e+02] [ 2.21070123e-02 -3.59836723e-04 9.99755545e-01 6.41362821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.222755096 meters 0.01992063739732789 Centerline is valid? [True, True] Translation: X:293.91, Y:-159.36, Z:6.41 [[ 7.94008723e-01 6.07665612e-01 -1.71070669e-02 2.93910788e+02] [-6.07515508e-01 7.94192919e-01 1.35098388e-02 -1.59355487e+02] [ 2.17957758e-02 -3.34121375e-04 9.99762388e-01 6.41470169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.282755096 meters 0.018971243227373962 Centerline is valid? [True, True] Translation: X:293.96, Y:-159.39, Z:6.42 [[ 7.92888047e-01 6.09146982e-01 -1.63859100e-02 2.93959320e+02] [-6.09009611e-01 7.93057296e-01 1.29390061e-02 -1.59392274e+02] [ 2.08767220e-02 -2.80006587e-04 9.99782018e-01 6.41735780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.342755096 meters 0.019022274368907865 Centerline is valid? [True, True] Translation: X:294.01, Y:-159.43, Z:6.42 [[ 7.93151220e-01 6.08829676e-01 -1.54132504e-02 2.94006814e+02] [-6.08708070e-01 7.93300922e-01 1.21710057e-02 -1.59431437e+02] [ 1.96374152e-02 -2.71278124e-04 9.99807131e-01 6.42001030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.402755096 meters 0.019328929389084783 Centerline is valid? [True, True] Translation: X:294.05, Y:-159.47, Z:6.42 [[ 7.93895000e-01 6.07894528e-01 -1.39632205e-02 2.94053352e+02] [-6.07794573e-01 7.94017740e-01 1.10265593e-02 -1.59472161e+02] [ 1.77900298e-02 -2.67160690e-04 9.99841709e-01 6.42361350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.462755096 meters 0.01960817037057587 Centerline is valid? [True, True] Translation: X:294.10, Y:-159.51, Z:6.42 [[ 7.94323009e-01 6.07323036e-01 -1.44805682e-02 2.94101077e+02] [-6.07215319e-01 7.94454934e-01 1.14417765e-02 -1.59512337e+02] [ 1.84530133e-02 -2.95643508e-04 9.99829685e-01 6.42409849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.522755096 meters 0.020212282536879837 Centerline is valid? [True, True] Translation: X:294.15, Y:-159.55, Z:6.43 [[ 7.95103205e-01 6.06307696e-01 -1.42081520e-02 2.94147138e+02] [-6.06203717e-01 7.95230078e-01 1.12328635e-02 -1.59551534e+02] [ 1.81093214e-02 -3.18251214e-04 9.99835962e-01 6.42650021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.582755096 meters 0.020426086591741482 Centerline is valid? [True, True] Translation: X:294.19, Y:-159.59, Z:6.43 [[ 7.95173263e-01 6.06214783e-01 -1.42519926e-02 2.94192642e+02] [-6.06110137e-01 7.95300907e-01 1.12680183e-02 -1.59588374e+02] [ 1.81654619e-02 -3.21749731e-04 9.99834943e-01 6.42738624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64275509600003 meters 0.019779374858039524 Centerline is valid? [True, True] Translation: X:294.24, Y:-159.62, Z:6.43 [[ 7.94502948e-01 6.07077553e-01 -1.48966710e-02 2.94239781e+02] [-6.06963413e-01 7.94642527e-01 1.17758224e-02 -1.59624260e+02] [ 1.89863657e-02 -3.14191368e-04 9.99819693e-01 6.42715054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70275509600003 meters 0.01945417190353622 Centerline is valid? [True, True] Translation: X:294.29, Y:-159.66, Z:6.43 [[ 7.93885827e-01 6.07878374e-01 -1.51385636e-02 2.94286780e+02] [-6.07760678e-01 7.94030096e-01 1.19651511e-02 -1.59659890e+02] [ 1.92938317e-02 -2.98340200e-04 9.99813812e-01 6.42783795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76275509600003 meters 0.018743125581273515 Centerline is valid? [True, True] Translation: X:294.34, Y:-159.70, Z:6.43 [[ 7.93025941e-01 6.09007084e-01 -1.48401141e-02 2.94335917e+02] [-6.08894214e-01 7.93164738e-01 1.17275247e-02 -1.59696178e+02] [ 1.89128008e-02 -2.64171653e-04 9.99821102e-01 6.42966405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82275509600004 meters 0.018210111542531465 Centerline is valid? [True, True] Translation: X:294.39, Y:-159.73, Z:6.43 [[ 7.92069112e-01 6.10275913e-01 -1.37779653e-02 2.94385435e+02] [-6.10178806e-01 7.92188906e-01 1.08886481e-02 -1.59733638e+02] [ 1.75598310e-02 -2.17539416e-04 9.99845791e-01 6.43153518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88275509600004 meters 0.01800133255637438 Centerline is valid? [True, True] Translation: X:294.43, Y:-159.77, Z:6.43 [[ 7.91619711e-01 6.10849175e-01 -1.41957396e-02 2.94434438e+02] [-6.10746063e-01 7.91746954e-01 1.12253262e-02 -1.59772596e+02] [ 1.80964148e-02 -2.16197369e-04 9.99836223e-01 6.43177933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.942755096 meters 0.01813810191893422 Centerline is valid? [True, True] Translation: X:294.48, Y:-159.81, Z:6.43 [[ 7.92014811e-01 6.10324410e-01 -1.47191765e-02 2.94483576e+02] [-6.10213316e-01 7.92151536e-01 1.16470361e-02 -1.59812330e+02] [ 1.87682887e-02 -2.42787570e-04 9.99823831e-01 6.43190451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.002755096 meters 0.018922071143640206 Centerline is valid? [True, True] Translation: X:294.53, Y:-159.85, Z:6.43 [[ 7.93899834e-01 6.07897813e-01 -1.35389338e-02 2.94530572e+02] [-6.07803357e-01 7.94015220e-01 1.07196144e-02 -1.59853597e+02] [ 1.72665497e-02 -2.81290707e-04 9.99850882e-01 6.43444551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.062755096 meters 0.02028969650863837 Centerline is valid? [True, True] Translation: X:294.58, Y:-159.90, Z:6.44 [[ 7.95854739e-01 6.05337647e-01 -1.34747460e-02 2.94575117e+02] [-6.05243610e-01 7.95968729e-01 1.06749838e-02 -1.59895425e+02] [ 1.71874460e-02 -3.40232540e-04 9.99852227e-01 6.43543518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.122755096 meters 0.02080358184419724 Centerline is valid? [True, True] Translation: X:294.62, Y:-159.94, Z:6.44 [[ 7.96999325e-01 6.03831014e-01 -1.34232141e-02 2.94622440e+02] [-6.03737387e-01 7.97112266e-01 1.06397039e-02 -1.59935833e+02] [ 1.71243918e-02 -3.75740628e-04 9.99853296e-01 6.43667766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.182755096 meters 0.022496487926079754 Centerline is valid? [True, True] Translation: X:294.67, Y:-159.98, Z:6.44 [[ 7.98755085e-01 6.01521777e-01 -1.27226368e-02 2.94666882e+02] [-6.01437279e-01 7.98856299e-01 1.00903064e-02 -1.59977569e+02] [ 1.62330976e-02 -4.07815507e-04 9.99868151e-01 6.43824950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.242755096 meters 0.02270975382396117 Centerline is valid? [True, True] Translation: X:294.72, Y:-160.02, Z:6.44 [[ 7.98347711e-01 6.02064562e-01 -1.26172785e-02 2.94715276e+02] [-6.01981489e-01 7.98447310e-01 1.00090207e-02 -1.60017555e+02] [ 1.61003087e-02 -3.95310708e-04 9.99870303e-01 6.43899481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.302755096 meters 0.021483944608588365 Centerline is valid? [True, True] Translation: X:294.77, Y:-160.06, Z:6.44 [[ 7.97942647e-01 6.02593735e-01 -1.29738997e-02 2.94765543e+02] [-6.02505857e-01 7.98048012e-01 1.02986332e-02 -1.60055254e+02] [ 1.65596867e-02 -4.00868053e-04 9.99862799e-01 6.43958453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.362755096 meters 0.02088645270342338 Centerline is valid? [True, True] Translation: X:294.81, Y:-160.09, Z:6.44 [[ 7.96192106e-01 6.04878141e-01 -1.41620540e-02 2.94813060e+02] [-6.04773641e-01 7.96317952e-01 1.12500134e-02 -1.60094427e+02] [ 1.80823850e-02 -3.92334874e-04 9.99836423e-01 6.43901979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.422755096 meters 0.020002261851782343 Centerline is valid? [True, True] Translation: X:294.86, Y:-160.13, Z:6.44 [[ 7.94289901e-01 6.07332037e-01 -1.58540003e-02 2.94862206e+02] [-6.07201398e-01 7.94448016e-01 1.26020569e-02 -1.60132951e+02] [ 2.02488120e-02 -3.83115368e-04 9.99794898e-01 6.43749116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.482755096 meters 0.01873652620743669 Centerline is valid? [True, True] Translation: X:294.91, Y:-160.17, Z:6.44 [[ 7.91830000e-01 6.10542778e-01 -1.55809748e-02 2.94913412e+02] [-6.10417088e-01 7.91983223e-01 1.23916323e-02 -1.60169285e+02] [ 1.99054923e-02 -3.01172904e-04 9.99801821e-01 6.43862820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.542755096 meters 0.018608382753994134 Centerline is valid? [True, True] Translation: X:294.96, Y:-160.21, Z:6.44 [[ 7.90790529e-01 6.11876846e-01 -1.60332429e-02 2.94961183e+02] [-6.11743965e-01 7.90953000e-01 1.27543634e-02 -1.60208468e+02] [ 2.04856413e-02 -2.77790203e-04 9.99790109e-01 6.43998815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.602755096 meters 0.018657395586796806 Centerline is valid? [True, True] Translation: X:295.01, Y:-160.25, Z:6.44 [[ 7.91704070e-01 6.10721497e-01 -1.49639272e-02 2.95008621e+02] [-6.10605427e-01 7.91845419e-01 1.19098639e-02 -1.60249075e+02] [ 1.91227272e-02 -2.92032565e-04 9.99817101e-01 6.44290832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.662755096 meters 0.01929803151572402 Centerline is valid? [True, True] Translation: X:295.06, Y:-160.29, Z:6.44 [[ 7.92414966e-01 6.09809176e-01 -1.45358765e-02 2.95055721e+02] [-6.09699377e-01 7.92548215e-01 1.15756948e-02 -1.60287896e+02] [ 1.85793479e-02 -3.10238961e-04 9.99827341e-01 6.44433268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.722755096 meters 0.020171779434562154 Centerline is valid? [True, True] Translation: X:295.10, Y:-160.33, Z:6.45 [[ 7.93359928e-01 6.08588278e-01 -1.41539003e-02 2.95103765e+02] [-6.08483876e-01 7.93486103e-01 1.12772911e-02 -1.60327751e+02] [ 1.80941503e-02 -3.34530713e-04 9.99836231e-01 6.44651296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.782755096 meters 0.01965145197971012 Centerline is valid? [True, True] Translation: X:295.16, Y:-160.36, Z:6.45 [[ 7.93326674e-01 6.08652582e-01 -1.32220533e-02 2.95155044e+02] [-6.08561394e-01 7.93436787e-01 1.05401765e-02 -1.60364838e+02] [ 1.69061692e-02 -3.15371964e-04 9.99857031e-01 6.44848625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.842755096 meters 0.020268308979161227 Centerline is valid? [True, True] Translation: X:295.20, Y:-160.40, Z:6.45 [[ 7.92026847e-01 6.10335147e-01 -1.35823808e-02 2.95203250e+02] [-6.10239034e-01 7.92143246e-01 1.08350968e-02 -1.60402030e+02] [ 1.73722317e-02 -2.93188614e-04 9.99849048e-01 6.44906199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.902755096 meters 0.019692937833513547 Centerline is valid? [True, True] Translation: X:295.25, Y:-160.44, Z:6.45 [[ 7.90507072e-01 6.12287965e-01 -1.42132972e-02 2.95250677e+02] [-6.12182956e-01 7.90634794e-01 1.13424240e-02 -1.60435975e+02] [ 1.81823570e-02 -2.65128083e-04 9.99834652e-01 6.44858674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.962755096 meters 0.018445459474240956 Centerline is valid? [True, True] Translation: X:295.30, Y:-160.47, Z:6.45 [[ 7.89730762e-01 6.13267289e-01 -1.51180884e-02 2.95301458e+02] [-6.13148702e-01 7.89875412e-01 1.20624219e-02 -1.60471557e+02] [ 1.93388951e-02 -2.56429339e-04 9.99812953e-01 6.44749430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.022755096 meters 0.018384224763081485 Centerline is valid? [True, True] Translation: X:295.35, Y:-160.51, Z:6.45 [[ 7.89631042e-01 6.13396821e-01 -1.50717657e-02 2.95350352e+02] [-6.13278852e-01 7.89774825e-01 1.20322671e-02 -1.60511711e+02] [ 1.92838555e-02 -2.57856456e-04 9.99814016e-01 6.44799584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.082755096 meters 0.018614225020315203 Centerline is valid? [True, True] Translation: X:295.40, Y:-160.55, Z:6.45 [[ 7.90222540e-01 6.12634421e-01 -1.50798968e-02 2.95398287e+02] [-6.12516036e-01 7.90366362e-01 1.20465804e-02 -1.60551821e+02] [ 1.92987930e-02 -2.82800727e-04 9.99813721e-01 6.44953280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14275509600003 meters 0.019544772494108333 Centerline is valid? [True, True] Translation: X:295.44, Y:-160.59, Z:6.45 [[ 7.91442328e-01 6.11066317e-01 -1.47308319e-02 2.95444058e+02] [-6.10952954e-01 7.91579342e-01 1.17742416e-02 -1.60592399e+02] [ 1.88554646e-02 -3.18787910e-04 9.99822169e-01 6.45060491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20275509600003 meters 0.020132351086619402 Centerline is valid? [True, True] Translation: X:295.49, Y:-160.63, Z:6.45 [[ 7.92229502e-01 6.10042430e-01 -1.48542956e-02 2.95491131e+02] [-6.09926861e-01 7.92368671e-01 1.18791231e-02 -1.60632459e+02] [ 1.90168476e-02 -3.50957833e-04 9.99819102e-01 6.45117713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26275509600003 meters 0.02195081412127332 Centerline is valid? [True, True] Translation: X:295.54, Y:-160.67, Z:6.45 [[ 7.92839287e-01 6.09262425e-01 -1.43235118e-02 2.95535503e+02] [-6.09154728e-01 7.92968579e-01 1.14608132e-02 -1.60672836e+02] [ 1.83407377e-02 -3.61348053e-04 9.99831729e-01 6.45279978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32275509600004 meters 0.021425727772314274 Centerline is valid? [True, True] Translation: X:295.59, Y:-160.71, Z:6.45 [[ 7.93491029e-01 6.08429262e-01 -1.36316015e-02 2.95585031e+02] [-6.08331595e-01 7.93608028e-01 1.09072330e-02 -1.60710618e+02] [ 1.74544281e-02 -3.62257682e-04 9.99847594e-01 6.45479946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38275509600004 meters 0.02112183958044817 Centerline is valid? [True, True] Translation: X:295.63, Y:-160.75, Z:6.46 [[ 7.93845452e-01 6.07967937e-01 -1.35788844e-02 2.95632949e+02] [-6.07870855e-01 7.93961489e-01 1.08709334e-02 -1.60750317e+02] [ 1.73902902e-02 -3.75633008e-04 9.99848707e-01 6.45585789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.442755096 meters 0.020764128812396934 Centerline is valid? [True, True] Translation: X:295.68, Y:-160.79, Z:6.46 [[ 7.93012417e-01 6.09031801e-01 -1.45455343e-02 2.95682517e+02] [-6.08920451e-01 7.93145711e-01 1.16518490e-02 -1.60788497e+02] [ 1.86330747e-02 -3.82987606e-04 9.99826316e-01 6.45562508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.502755096 meters 0.01958681799005669 Centerline is valid? [True, True] Translation: X:295.73, Y:-160.82, Z:6.45 [[ 7.90649409e-01 6.12076029e-01 -1.53768419e-02 2.95733798e+02] [-6.11952020e-01 7.90798851e-01 1.23248484e-02 -1.60824587e+02] [ 1.97037332e-02 -3.34744616e-04 9.99805807e-01 6.45499314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.562755096 meters 0.019226185866330254 Centerline is valid? [True, True] Translation: X:295.78, Y:-160.86, Z:6.46 [[ 7.89770090e-01 6.13206903e-01 -1.55080341e-02 2.95781023e+02] [-6.13080941e-01 7.89922273e-01 1.24323342e-02 -1.60862378e+02] [ 1.98737347e-02 -3.11005572e-04 9.99802449e-01 6.45603264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.622755096 meters 0.0186809007675747 Centerline is valid? [True, True] Translation: X:295.83, Y:-160.90, Z:6.46 [[ 7.89548792e-01 6.13504476e-01 -1.49987792e-02 2.95830727e+02] [-6.13386700e-01 7.89691187e-01 1.20243459e-02 -1.60900296e+02] [ 1.92213938e-02 -2.93756061e-04 9.99815209e-01 6.45883556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.682755096 meters 0.018816934277850774 Centerline is valid? [True, True] Translation: X:295.88, Y:-160.94, Z:6.46 [[ 7.89390658e-01 6.13719699e-01 -1.45093086e-02 2.95880512e+02] [-6.13609382e-01 7.89523939e-01 1.16394083e-02 -1.60939036e+02] [ 1.85987806e-02 -2.84992300e-04 9.99826987e-01 6.46103053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.742755096 meters 0.0194214626867062 Centerline is valid? [True, True] Translation: X:295.93, Y:-160.98, Z:6.46 [[ 7.89605303e-01 6.13455722e-01 -1.39836938e-02 2.95929269e+02] [-6.13353084e-01 7.89729065e-01 1.12249197e-02 -1.60977621e+02] [ 1.79293207e-02 -2.86314412e-04 9.99839216e-01 6.46247386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.802755096 meters 0.019292669718798023 Centerline is valid? [True, True] Translation: X:295.98, Y:-161.01, Z:6.46 [[ 7.89300347e-01 6.13862852e-01 -1.33176895e-02 2.95978725e+02] [-6.13769711e-01 7.89412646e-01 1.06965255e-02 -1.61014912e+02] [ 1.70793521e-02 -2.68776828e-04 9.99854101e-01 6.46434238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.862755096 meters 0.02017245774482486 Centerline is valid? [True, True] Translation: X:296.03, Y:-161.05, Z:6.46 [[ 7.88613857e-01 6.14724791e-01 -1.41991892e-02 2.96025761e+02] [-6.14618923e-01 7.88741629e-01 1.14114826e-02 -1.61050448e+02] [ 1.82144128e-02 -2.72162915e-04 9.99834067e-01 6.46298245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.922755096 meters 0.018615457897966824 Centerline is valid? [True, True] Translation: X:296.07, Y:-161.09, Z:6.46 [[ 7.87620937e-01 6.15978866e-01 -1.49430992e-02 2.96073910e+02] [-6.15861868e-01 7.87762636e-01 1.20078588e-02 -1.61085180e+02] [ 1.91682024e-02 -2.54756014e-04 9.99816241e-01 6.46478116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.982755096 meters 0.019520641650179926 Centerline is valid? [True, True] Translation: X:296.12, Y:-161.12, Z:6.46 [[ 7.86940381e-01 6.16822038e-01 -1.59815810e-02 2.96123569e+02] [-6.16688398e-01 7.87102605e-01 1.28416710e-02 -1.61124225e+02] [ 2.05001697e-02 -2.49973934e-04 9.99789818e-01 6.46258135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.042755096 meters 0.018606196880037187 Centerline is valid? [True, True] Translation: X:296.17, Y:-161.16, Z:6.47 [[ 7.87516968e-01 6.16063997e-01 -1.67981052e-02 2.96170047e+02] [-6.15915984e-01 7.87696050e-01 1.35067983e-02 -1.61164870e+02] [ 2.15528532e-02 -2.90611347e-04 9.99767668e-01 6.46507146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.102755096 meters 0.019260236864016376 Centerline is valid? [True, True] Translation: X:296.21, Y:-161.21, Z:6.47 [[ 7.88686934e-01 6.14556607e-01 -1.71200785e-02 2.96214443e+02] [-6.14402364e-01 7.88872651e-01 1.37722816e-02 -1.61205270e+02] [ 2.19694083e-02 -3.43401854e-04 9.99758584e-01 6.46501481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.162755096 meters 0.019410149689144916 Centerline is valid? [True, True] Translation: X:296.26, Y:-161.25, Z:6.47 [[ 7.89346417e-01 6.13712539e-01 -1.70045380e-02 2.96261544e+02] [-6.13560161e-01 7.89529472e-01 1.36800194e-02 -1.61245615e+02] [ 2.18211834e-02 -3.64967254e-04 9.99761823e-01 6.46609153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.222755096 meters 0.021997445923069483 Centerline is valid? [True, True] Translation: X:296.31, Y:-161.29, Z:6.47 [[ 7.90517313e-01 6.12223235e-01 -1.62815450e-02 2.96305017e+02] [-6.12083078e-01 7.90684865e-01 1.31053823e-02 -1.61288766e+02] [ 2.08969907e-02 -3.94373404e-04 9.99781556e-01 6.46654901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.282755096 meters 0.020186566682558513 Centerline is valid? [True, True] Translation: X:296.36, Y:-161.33, Z:6.47 [[ 7.90150605e-01 6.12704244e-01 -1.59852971e-02 2.96355221e+02] [-6.12569115e-01 7.90312195e-01 1.28730260e-02 -1.61326212e+02] [ 2.05207329e-02 -3.79529968e-04 9.99789356e-01 6.46972930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.342755096 meters 0.020520915434354327 Centerline is valid? [True, True] Translation: X:296.40, Y:-161.36, Z:6.47 [[ 7.89269543e-01 6.13818747e-01 -1.67372127e-02 2.96400845e+02] [-6.13670807e-01 7.89446901e-01 1.34807520e-02 -1.61362802e+02] [ 2.14878790e-02 -3.68808153e-04 9.99769041e-01 6.46887991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.402755096 meters 0.01964939343385182 Centerline is valid? [True, True] Translation: X:296.45, Y:-161.40, Z:6.47 [[ 7.87863491e-01 6.15609832e-01 -1.71945986e-02 2.96448701e+02] [-6.15454164e-01 7.88051031e-01 1.38471505e-02 -1.61397912e+02] [ 2.20746632e-02 -3.27177002e-04 9.99756271e-01 6.46933608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.462755096 meters 0.01821079460089391 Centerline is valid? [True, True] Translation: X:296.50, Y:-161.43, Z:6.47 [[ 7.85524473e-01 6.18570782e-01 -1.79301405e-02 2.96498183e+02] [-6.18402388e-01 7.85729041e-01 1.44347447e-02 -1.61430421e+02] [ 2.30171434e-02 -2.50803560e-04 9.99735039e-01 6.46936297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.522755096 meters 0.017090800576093967 Centerline is valid? [True, True] Translation: X:296.55, Y:-161.46, Z:6.47 [[ 7.83821568e-01 6.20709941e-01 -1.85180770e-02 2.96548117e+02] [-6.20531074e-01 7.84040263e-01 1.49014214e-02 -1.61462815e+02] [ 2.37683784e-02 -1.89013312e-04 9.99717474e-01 6.47020611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.582755096 meters 0.017682322590958036 Centerline is valid? [True, True] Translation: X:296.60, Y:-161.50, Z:6.47 [[ 7.83202763e-01 6.21504446e-01 -1.80458992e-02 2.96595991e+02] [-6.21334849e-01 7.83410619e-01 1.45192108e-02 -1.61497816e+02] [ 2.31611031e-02 -1.58939942e-04 9.99731733e-01 6.47084293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64275509600003 meters 0.017294477994387037 Centerline is valid? [True, True] Translation: X:296.64, Y:-161.53, Z:6.47 [[ 7.84742150e-01 6.19585452e-01 -1.71355138e-02 2.96640891e+02] [-6.19432127e-01 7.84929185e-01 1.37845747e-02 -1.61534305e+02] [ 2.19908868e-02 -2.03049037e-04 9.99758151e-01 6.47317562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70275509600003 meters 0.017997220382594367 Centerline is valid? [True, True] Translation: X:296.68, Y:-161.57, Z:6.48 [[ 7.86974710e-01 6.16752994e-01 -1.69277742e-02 2.96684599e+02] [-6.16602761e-01 7.87156698e-01 1.36149864e-02 -1.61574277e+02] [ 2.17218945e-02 -2.76937686e-04 9.99764013e-01 6.47500306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76275509600003 meters 0.019985058994575457 Centerline is valid? [True, True] Translation: X:296.73, Y:-161.62, Z:6.48 [[ 7.90673226e-01 6.12019185e-01 -1.63818983e-02 2.96729486e+02] [-6.11877489e-01 7.90842818e-01 1.31748409e-02 -1.61617258e+02] [ 2.10187621e-02 -3.93279175e-04 9.99779004e-01 6.47603457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82275509600004 meters 0.0212219768430811 Centerline is valid? [True, True] Translation: X:296.78, Y:-161.66, Z:6.48 [[ 7.92614864e-01 6.09514479e-01 -1.59304048e-02 2.96776191e+02] [-6.09379928e-01 7.92774809e-01 1.28142356e-02 -1.61658217e+02] [ 2.04396858e-02 -4.49084664e-04 9.99790987e-01 6.47687584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88275509600004 meters 0.02099650019818779 Centerline is valid? [True, True] Translation: X:296.82, Y:-161.70, Z:6.48 [[ 7.93435472e-01 6.08452358e-01 -1.56805712e-02 2.96824218e+02] [-6.08321647e-01 7.93590261e-01 1.26202393e-02 -1.61697277e+02] [ 2.01227629e-02 -4.74514606e-04 9.99797404e-01 6.47843735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.942755096 meters 0.02040586446886798 Centerline is valid? [True, True] Translation: X:296.87, Y:-161.73, Z:6.48 [[ 7.92353808e-01 6.09820433e-01 -1.71604839e-02 2.96873487e+02] [-6.09664011e-01 7.92539464e-01 1.38199730e-02 -1.61734981e+02] [ 2.20280626e-02 -4.88178756e-04 9.99757234e-01 6.47755380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.002755096 meters 0.021223714458587596 Centerline is valid? [True, True] Translation: X:296.92, Y:-161.77, Z:6.48 [[ 7.91059189e-01 6.11478809e-01 -1.78612897e-02 2.96921012e+02] [-6.11309574e-01 7.91260670e-01 1.43929143e-02 -1.61773089e+02] [ 2.29338981e-02 -4.66869674e-04 9.99736875e-01 6.47678873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.062755096 meters 0.020042537617923344 Centerline is valid? [True, True] Translation: X:296.97, Y:-161.81, Z:6.48 [[ 7.90250621e-01 6.12509772e-01 -1.83231003e-02 2.96971704e+02] [-6.12331792e-01 7.90462886e-01 1.47716937e-02 -1.61807780e+02] [ 2.35315375e-02 -4.53523274e-04 9.99722992e-01 6.47716472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.122755096 meters 0.02000003734557684 Centerline is valid? [True, True] Translation: X:297.02, Y:-161.85, Z:6.48 [[ 7.90367055e-01 6.12337626e-01 -1.90407304e-02 2.97020513e+02] [-6.12145304e-01 7.90596232e-01 1.53533143e-02 -1.61845845e+02] [ 2.44549417e-02 -4.79060119e-04 9.99700818e-01 6.47835095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.182755096 meters 0.021876150017933495 Centerline is valid? [True, True] Translation: X:297.07, Y:-161.89, Z:6.48 [[ 7.91881941e-01 6.10365362e-01 -1.94194649e-02 2.97066850e+02] [-6.10164497e-01 7.92119822e-01 1.56675928e-02 -1.61886025e+02] [ 2.49454990e-02 -5.57815759e-04 9.99688657e-01 6.47872426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.242755096 meters 0.02270265298794014 Centerline is valid? [True, True] Translation: X:297.11, Y:-161.93, Z:6.48 [[ 7.93325441e-01 6.08505450e-01 -1.88642851e-02 2.97113130e+02] [-6.08315231e-01 7.93549465e-01 1.52258695e-02 -1.61925776e+02] [ 2.42347679e-02 -6.03637731e-04 9.99706113e-01 6.48083478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.302755096 meters 0.024506514969734678 Centerline is valid? [True, True] Translation: X:297.16, Y:-161.97, Z:6.48 [[ 7.93974704e-01 6.07670364e-01 -1.84634181e-02 2.97159500e+02] [-6.07487891e-01 7.94189114e-01 1.49034837e-02 -1.61965309e+02] [ 2.37198510e-02 -6.16686146e-04 9.99718455e-01 6.48145657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.362755096 meters 0.02177999141961831 Centerline is valid? [True, True] Translation: X:297.21, Y:-162.00, Z:6.49 [[ 7.93146387e-01 6.08763168e-01 -1.80614023e-02 2.97209053e+02] [-6.08588778e-01 7.93351799e-01 1.45815747e-02 -1.62002358e+02] [ 2.32057716e-02 -5.73356464e-04 9.99730545e-01 6.48538022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.422755096 meters 0.02285677041625845 Centerline is valid? [True, True] Translation: X:297.25, Y:-162.04, Z:6.49 [[ 7.91638673e-01 6.10733952e-01 -1.76706222e-02 2.97254902e+02] [-6.10567336e-01 7.91835702e-01 1.42740919e-02 -1.62043002e+02] [ 2.27099021e-02 -5.10818449e-04 9.99741966e-01 6.48658413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.482755096 meters 0.020870763558888946 Centerline is valid? [True, True] Translation: X:297.30, Y:-162.08, Z:6.49 [[ 7.88689150e-01 6.14550327e-01 -1.72429429e-02 2.97301690e+02] [-6.14392463e-01 7.88877518e-01 1.39342450e-02 -1.62076604e+02] [ 2.21658648e-02 -3.95853735e-04 9.99754229e-01 6.48855545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.542755096 meters 0.018528501994383974 Centerline is valid? [True, True] Translation: X:297.35, Y:-162.11, Z:6.49 [[ 7.85443659e-01 6.18688738e-01 -1.73926480e-02 2.97349971e+02] [-6.18529187e-01 7.85636155e-01 1.40526792e-02 -1.62110263e+02] [ 2.23585275e-02 -2.79727353e-04 9.99749978e-01 6.48969330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.602755096 meters 0.01915430752207603 Centerline is valid? [True, True] Translation: X:297.40, Y:-162.15, Z:6.49 [[ 7.82972361e-01 6.21792762e-01 -1.81119471e-02 2.97397038e+02] [-6.21620620e-01 7.83181794e-01 1.46315591e-02 -1.62145935e+02] [ 2.32827447e-02 -1.97346579e-04 9.99728901e-01 6.48805709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.662755096 meters 0.016743108730682743 Centerline is valid? [True, True] Translation: X:297.44, Y:-162.18, Z:6.49 [[ 7.82515832e-01 6.22366089e-01 -1.81500447e-02 2.97443781e+02] [-6.22193425e-01 7.82726274e-01 1.46602441e-02 -1.62183354e+02] [ 2.33305557e-02 -1.79034627e-04 9.99727790e-01 6.49099232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.722755096 meters 0.018378089774286534 Centerline is valid? [True, True] Translation: X:297.49, Y:-162.22, Z:6.49 [[ 7.82708713e-01 6.22121601e-01 -1.82149563e-02 2.97489502e+02] [-6.21947667e-01 7.82920609e-01 1.47112434e-02 -1.62221053e+02] [ 2.34130470e-02 -1.85868787e-04 9.99725860e-01 6.49037804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.782755096 meters 0.019767363640170735 Centerline is valid? [True, True] Translation: X:297.53, Y:-162.26, Z:6.49 [[ 7.83609765e-01 6.20977707e-01 -1.85047114e-02 2.97533559e+02] [-6.20797935e-01 7.83828195e-01 1.49427330e-02 -1.62258414e+02] [ 2.37836186e-02 -2.21584855e-04 9.99717105e-01 6.49140060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.842755096 meters 0.01764245574954313 Centerline is valid? [True, True] Translation: X:297.58, Y:-162.30, Z:6.49 [[ 7.84176011e-01 6.20273723e-01 -1.81243476e-02 2.97579571e+02] [-6.20101142e-01 7.84385398e-01 1.46328938e-02 -1.62295052e+02] [ 2.32928731e-02 -2.35835647e-04 9.99728656e-01 6.49441440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.902755096 meters 0.020557876610927926 Centerline is valid? [True, True] Translation: X:297.62, Y:-162.33, Z:6.49 [[ 7.85793093e-01 6.18179796e-01 -1.95692311e-02 2.97624725e+02] [-6.17978011e-01 7.86036664e-01 1.57968763e-02 -1.62333529e+02] [ 2.51474429e-02 -3.19721798e-04 9.99683702e-01 6.49208658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.962755096 meters 0.01930283302348315 Centerline is valid? [True, True] Translation: X:297.67, Y:-162.37, Z:6.49 [[ 7.86816340e-01 6.16884746e-01 -1.93198819e-02 2.97671034e+02] [-6.16687738e-01 7.87053419e-01 1.55932230e-02 -1.62369863e+02] [ 2.48250005e-02 -3.54668358e-04 9.99691749e-01 6.49488449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.022755096 meters 0.020187000131060936 Centerline is valid? [True, True] Translation: X:297.72, Y:-162.41, Z:6.50 [[ 7.88918746e-01 6.14199485e-01 -1.91364787e-02 2.97718795e+02] [-6.14005404e-01 7.89150685e-01 1.54454007e-02 -1.62408724e+02] [ 2.45881224e-02 -4.35264791e-04 9.99697572e-01 6.49670544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.082755096 meters 0.020586393272019072 Centerline is valid? [True, True] Translation: X:297.76, Y:-162.45, Z:6.50 [[ 7.90400143e-01 6.12291846e-01 -1.91392150e-02 2.97764117e+02] [-6.12096967e-01 7.90631675e-01 1.54550198e-02 -1.62448959e+02] [ 2.45950522e-02 -5.00594403e-04 9.99697371e-01 6.49913315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14275509600003 meters 0.021666285766850778 Centerline is valid? [True, True] Translation: X:297.81, Y:-162.49, Z:6.50 [[ 7.91779105e-01 6.10485411e-01 -1.98345980e-02 2.97811384e+02] [-6.10275398e-01 7.92027288e-01 1.60222850e-02 -1.62488642e+02] [ 2.54909141e-02 -5.81543230e-04 9.99674885e-01 6.49902627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20275509600003 meters 0.022595734469333974 Centerline is valid? [True, True] Translation: X:297.86, Y:-162.53, Z:6.50 [[ 7.93258624e-01 6.08595115e-01 -1.87814167e-02 2.97859043e+02] [-6.08406099e-01 7.93480692e-01 1.51792816e-02 -1.62528413e+02] [ 2.41407282e-02 -6.14367569e-04 9.99708381e-01 6.50138413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26275509600003 meters 0.023297980768683356 Centerline is valid? [True, True] Translation: X:297.91, Y:-162.57, Z:6.50 [[ 7.93466904e-01 6.08342601e-01 -1.81535405e-02 2.97905327e+02] [-6.08165786e-01 7.93674311e-01 1.46787411e-02 -1.62567115e+02] [ 2.33377023e-02 -6.06733009e-04 9.99727455e-01 6.50390836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32275509600004 meters 0.02283992913693618 Centerline is valid? [True, True] Translation: X:297.95, Y:-162.60, Z:6.51 [[ 7.92565166e-01 6.09529145e-01 -1.77391768e-02 2.97952942e+02] [-6.09360569e-01 7.92763463e-01 1.43453510e-02 -1.62601277e+02] [ 2.28068807e-02 -5.60070652e-04 9.99739732e-01 6.50509607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38275509600004 meters 0.022396429031432557 Centerline is valid? [True, True] Translation: X:298.00, Y:-162.64, Z:6.51 [[ 7.91525286e-01 6.10885464e-01 -1.75120163e-02 2.97999592e+02] [-6.10721559e-01 7.91718818e-01 1.41594693e-02 -1.62636500e+02] [ 2.25144068e-02 -5.12612035e-04 9.99746387e-01 6.50682897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.442755096 meters 0.021575871742100305 Centerline is valid? [True, True] Translation: X:298.05, Y:-162.67, Z:6.51 [[ 7.90300010e-01 6.12481913e-01 -1.70821572e-02 2.98050603e+02] [-6.12326340e-01 7.90484471e-01 1.38113644e-02 -1.62672560e+02] [ 2.19623909e-02 -4.55266598e-04 9.99758694e-01 6.50795645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.502755096 meters 0.021724416556108628 Centerline is valid? [True, True] Translation: X:298.10, Y:-162.71, Z:6.51 [[ 7.89335531e-01 6.13734807e-01 -1.67035016e-02 2.98095827e+02] [-6.13586199e-01 7.89512137e-01 1.35115897e-02 -1.62710049e+02] [ 2.14801501e-02 -4.16139781e-04 9.99769188e-01 6.51039588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.562755096 meters 0.02186490492588694 Centerline is valid? [True, True] Translation: X:298.14, Y:-162.75, Z:6.51 [[ 7.89233309e-01 6.13874658e-01 -1.63917478e-02 2.98141661e+02] [-6.13731599e-01 7.89403409e-01 1.32583285e-02 -1.62746644e+02] [ 2.10786535e-02 -4.03780869e-04 9.99777739e-01 6.51106998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.622755096 meters 0.022490030221468196 Centerline is valid? [True, True] Translation: X:298.19, Y:-162.79, Z:6.51 [[ 7.89501434e-01 6.13518914e-01 -1.67937146e-02 2.98186488e+02] [-6.13368715e-01 7.89679913e-01 1.35814123e-02 -1.62785493e+02] [ 2.15941124e-02 -4.21805306e-04 9.99766731e-01 6.51150191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.682755096 meters 0.020704944118437967 Centerline is valid? [True, True] Translation: X:298.24, Y:-162.82, Z:6.51 [[ 7.89351076e-01 6.13702494e-01 -1.71501744e-02 2.98237196e+02] [-6.13545901e-01 7.89537249e-01 1.38693822e-02 -1.62823429e+02] [ 2.20523759e-02 -4.25392549e-04 9.99756726e-01 6.51337073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.742755096 meters 0.020909817424881225 Centerline is valid? [True, True] Translation: X:298.28, Y:-162.86, Z:6.51 [[ 7.89326477e-01 6.13730802e-01 -1.72688903e-02 2.98284783e+02] [-6.13571840e-01 7.89515239e-01 1.39744004e-02 -1.62862679e+02] [ 2.22105720e-02 -4.34659401e-04 9.99753220e-01 6.51367589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.802755096 meters 0.021612148078676577 Centerline is valid? [True, True] Translation: X:298.33, Y:-162.90, Z:6.51 [[ 7.89953488e-01 6.12905129e-01 -1.79105818e-02 2.98330075e+02] [-6.12733749e-01 7.90156359e-01 1.45010634e-02 -1.62903392e+02] [ 2.30399362e-02 -4.80747686e-04 9.99734430e-01 6.51458683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.862755096 meters 0.02220603243677016 Centerline is valid? [True, True] Translation: X:298.38, Y:-162.94, Z:6.52 [[ 7.90681159e-01 6.11963964e-01 -1.79836336e-02 2.98375816e+02] [-6.11790892e-01 7.90885482e-01 1.45622813e-02 -1.62943605e+02] [ 2.31345861e-02 -5.11898225e-04 9.99732229e-01 6.51578007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.922755096 meters 0.021716562268379265 Centerline is valid? [True, True] Translation: X:298.42, Y:-162.98, Z:6.52 [[ 7.88871598e-01 6.14291576e-01 -1.80958940e-02 2.98423764e+02] [-6.14116957e-01 7.89078995e-01 1.46527205e-02 -1.62977205e+02] [ 2.32801326e-02 -4.46119631e-04 9.99728881e-01 6.51596496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.982755096 meters 0.02040907803250709 Centerline is valid? [True, True] Translation: X:298.47, Y:-163.01, Z:6.52 [[ 7.87948730e-01 6.15449007e-01 -1.89556770e-02 2.98471713e+02] [-6.15257787e-01 7.88176589e-01 1.53466940e-02 -1.63012975e+02] [ 2.43855284e-02 -4.29780156e-04 9.99702536e-01 6.51621246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.042755096 meters 0.02073272760900321 Centerline is valid? [True, True] Translation: X:298.52, Y:-163.05, Z:6.52 [[ 7.87258116e-01 6.16317183e-01 -1.94367856e-02 2.98516369e+02] [-6.16116440e-01 7.87497911e-01 1.57344321e-02 -1.63049972e+02] [ 2.50038289e-02 -4.11736229e-04 9.99687271e-01 6.51665870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.102755096 meters 0.021002732751583344 Centerline is valid? [True, True] Translation: X:298.56, Y:-163.08, Z:6.52 [[ 7.87116552e-01 6.16486424e-01 -1.97995520e-02 2.98561770e+02] [-6.16278259e-01 7.87365430e-01 1.60245874e-02 -1.63083896e+02] [ 2.54684234e-02 -4.11184527e-04 9.99675543e-01 6.51705598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.162755096 meters 0.022116014253573516 Centerline is valid? [True, True] Translation: X:298.61, Y:-163.12, Z:6.52 [[ 7.88369203e-01 6.14905882e-01 -1.90985668e-02 2.98606001e+02] [-6.14711833e-01 7.88600380e-01 1.54532373e-02 -1.63121218e+02] [ 2.45634236e-02 -4.42741394e-04 9.99698176e-01 6.51960044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.222755096 meters 0.023264321758416362 Centerline is valid? [True, True] Translation: X:298.65, Y:-163.16, Z:6.52 [[ 7.89677797e-01 6.13224585e-01 -1.90941251e-02 2.98650556e+02] [-6.13030260e-01 7.89908455e-01 1.54445257e-02 -1.63159373e+02] [ 2.45535737e-02 -4.90922558e-04 9.99698395e-01 6.52089115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.282755096 meters 0.022687661185418102 Centerline is valid? [True, True] Translation: X:298.70, Y:-163.20, Z:6.52 [[ 7.92368528e-01 6.09746170e-01 -1.90190633e-02 2.98699705e+02] [-6.09552495e-01 7.92596529e-01 1.53785022e-02 -1.63197134e+02] [ 2.44514264e-02 -5.92323677e-04 9.99700844e-01 6.52320160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.342755096 meters 0.025669378983696707 Centerline is valid? [True, True] Translation: X:298.74, Y:-163.24, Z:6.52 [[ 7.94825584e-01 6.06537506e-01 -1.90930277e-02 2.98744068e+02] [-6.06341340e-01 7.95054570e-01 1.54405255e-02 -1.63238804e+02] [ 2.45452568e-02 -6.95632697e-04 9.99698478e-01 6.52440450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.402755096 meters 0.026887257059733865 Centerline is valid? [True, True] Translation: X:298.79, Y:-163.28, Z:6.53 [[ 7.96493429e-01 6.04332078e-01 -1.95181165e-02 2.98790391e+02] [-6.04126383e-01 7.96732156e-01 1.57855801e-02 -1.63279002e+02] [ 2.50904435e-02 -7.81701679e-04 9.99684880e-01 6.52557483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.462755096 meters 0.028980167112095164 Centerline is valid? [True, True] Translation: X:298.84, Y:-163.32, Z:6.53 [[ 7.97226951e-01 6.03352502e-01 -1.98732704e-02 2.98835925e+02] [-6.03138933e-01 7.97474184e-01 1.60734127e-02 -1.63316972e+02] [ 2.55463539e-02 -8.27814712e-04 9.99673296e-01 6.52566634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.522755096 meters 0.026906237303697185 Centerline is valid? [True, True] Translation: X:298.88, Y:-163.35, Z:6.53 [[ 7.96369871e-01 6.04453988e-01 -2.07461777e-02 2.98883205e+02] [-6.04221661e-01 7.96639626e-01 1.67776695e-02 -1.63352205e+02] [ 2.66685565e-02 -8.25940506e-04 9.99643990e-01 6.52844598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.582755096 meters 0.027143031321545875 Centerline is valid? [True, True] Translation: X:298.93, Y:-163.39, Z:6.53 [[ 7.94955331e-01 6.06304463e-01 -2.09980993e-02 2.98927390e+02] [-6.06067179e-01 7.95232233e-01 1.69785381e-02 -1.63389055e+02] [ 2.69925288e-02 -7.70920604e-04 9.99635338e-01 6.52968391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64275509600003 meters 0.025417528613881107 Centerline is valid? [True, True] Translation: X:298.98, Y:-163.42, Z:6.53 [[ 7.93146029e-01 6.08667039e-01 -2.10668512e-02 2.98975772e+02] [-6.08429106e-01 7.93425459e-01 1.70312745e-02 -1.63423634e+02] [ 2.70813515e-02 -6.90602264e-04 9.99632994e-01 6.53082050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70275509600003 meters 0.02553950263859173 Centerline is valid? [True, True] Translation: X:299.02, Y:-163.46, Z:6.53 [[ 7.91430521e-01 6.10881086e-01 -2.14948476e-02 2.99023170e+02] [-6.10634312e-01 7.91722116e-01 1.73731933e-02 -1.63459443e+02] [ 2.76309014e-02 -6.24183905e-04 9.99617999e-01 6.53123970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76275509600003 meters 0.023509267606338723 Centerline is valid? [True, True] Translation: X:299.07, Y:-163.49, Z:6.53 [[ 7.90417717e-01 6.12227893e-01 -2.04166444e-02 2.99069789e+02] [-6.12005913e-01 7.90681170e-01 1.64939152e-02 -1.63494857e+02] [ 2.62410912e-02 -5.41975688e-04 9.99655496e-01 6.53441855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82275509600004 meters 0.022362926580718808 Centerline is valid? [True, True] Translation: X:299.12, Y:-163.53, Z:6.54 [[ 7.90134981e-01 6.12619664e-01 -1.95923220e-02 2.99117106e+02] [-6.12415530e-01 7.90377692e-01 1.58215929e-02 -1.63530355e+02] [ 2.51779531e-02 -5.02551731e-04 9.99682859e-01 6.53682502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88275509600004 meters 0.024153172619325376 Centerline is valid? [True, True] Translation: X:299.16, Y:-163.57, Z:6.54 [[ 7.91462601e-01 6.10885308e-01 -2.01517468e-02 2.99162175e+02] [-6.10668852e-01 7.91718898e-01 1.62708195e-02 -1.63568900e+02] [ 2.58941233e-02 -5.71701028e-04 9.99664527e-01 6.53607666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.942755096 meters 0.022736506937107985 Centerline is valid? [True, True] Translation: X:299.21, Y:-163.61, Z:6.54 [[ 7.93643882e-01 6.08057699e-01 -1.98802099e-02 2.99208518e+02] [-6.07846135e-01 7.93892565e-01 1.60521664e-02 -1.63609519e+02] [ 2.55433942e-02 -6.55594932e-04 9.99673499e-01 6.53961447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.002755096 meters 0.026201475420996267 Centerline is valid? [True, True] Translation: X:299.25, Y:-163.65, Z:6.54 [[ 7.94810257e-01 6.06527126e-01 -2.00374841e-02 2.99251459e+02] [-6.06311489e-01 7.95062470e-01 1.61878866e-02 -1.63653569e+02] [ 2.57494440e-02 -7.17341504e-04 9.99668171e-01 6.54014461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.062755096 meters 0.02465195163179818 Centerline is valid? [True, True] Translation: X:299.30, Y:-163.69, Z:6.54 [[ 7.94738122e-01 6.06608081e-01 -2.04439310e-02 2.99299998e+02] [-6.06383466e-01 7.95000690e-01 1.65225463e-02 -1.63689518e+02] [ 2.62756494e-02 -7.34235639e-04 9.99654466e-01 6.54123747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.122755096 meters 0.02253308108139284 Centerline is valid? [True, True] Translation: X:299.35, Y:-163.73, Z:6.54 [[ 7.92925820e-01 6.08930215e-01 -2.17402118e-02 2.99350953e+02] [-6.08677043e-01 7.93223489e-01 1.75714045e-02 -1.63726257e+02] [ 2.79446058e-02 -7.00052465e-04 9.99609228e-01 6.54122174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.182755096 meters 0.02138921873574182 Centerline is valid? [True, True] Translation: X:299.40, Y:-163.76, Z:6.54 [[ 7.89784071e-01 6.12968257e-01 -2.26061241e-02 2.99397690e+02] [-6.12696093e-01 7.90107320e-01 1.82734916e-02 -1.63761827e+02] [ 2.90623344e-02 -5.81428667e-04 9.99577432e-01 6.54090925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.242755096 meters 0.020052844838451184 Centerline is valid? [True, True] Translation: X:299.45, Y:-163.80, Z:6.54 [[ 7.86620599e-01 6.17031320e-01 -2.23692557e-02 2.99445930e+02] [-6.16766502e-01 7.86938479e-01 1.80807338e-02 -1.63796320e+02] [ 2.87596071e-02 -4.26070064e-04 9.99586266e-01 6.54236267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.302755096 meters 0.01805668444425505 Centerline is valid? [True, True] Translation: X:299.49, Y:-163.83, Z:6.55 [[ 7.84243774e-01 6.20069671e-01 -2.18015017e-02 2.99493539e+02] [-6.19819363e-01 7.84546691e-01 1.76194990e-02 -1.63830339e+02] [ 2.80296130e-02 -3.04989498e-04 9.99607047e-01 6.54531454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.362755096 meters 0.017874226126029735 Centerline is valid? [True, True] Translation: X:299.54, Y:-163.86, Z:6.55 [[ 7.81237155e-01 6.23850306e-01 -2.18929944e-02 2.99540904e+02] [-6.23599458e-01 7.81543836e-01 1.76903546e-02 -1.63864178e+02] [ 2.81464679e-02 -1.67902926e-04 9.99603796e-01 6.54583338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.422755096 meters 0.016620399818592684 Centerline is valid? [True, True] Translation: X:299.59, Y:-163.90, Z:6.55 [[ 7.79189794e-01 6.26396860e-01 -2.21413348e-02 2.99588676e+02] [-6.26141433e-01 7.79504309e-01 1.78868195e-02 -1.63899452e+02] [ 2.84635135e-02 -7.36200394e-05 9.99594829e-01 6.54833783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.482755096 meters 0.016713171654973092 Centerline is valid? [True, True] Translation: X:299.63, Y:-163.94, Z:6.55 [[ 7.79298720e-01 6.26257834e-01 -2.22402913e-02 2.99633899e+02] [-6.26000203e-01 7.79616008e-01 1.79618019e-02 -1.63936171e+02] [ 2.85876062e-02 -7.51823471e-05 9.99591288e-01 6.54953025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.542755096 meters 0.01943109505394912 Centerline is valid? [True, True] Translation: X:299.68, Y:-163.98, Z:6.55 [[ 7.80887025e-01 6.24249262e-01 -2.29850476e-02 2.99677184e+02] [-6.23973327e-01 7.81225215e-01 1.85594002e-02 -1.63976114e+02] [ 2.95421906e-02 -1.50738187e-04 9.99563523e-01 6.55021511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.602755096 meters 0.01721902479565199 Centerline is valid? [True, True] Translation: X:299.72, Y:-164.02, Z:6.56 [[ 7.82699696e-01 6.22006103e-01 -2.21267894e-02 2.99720349e+02] [-6.21749575e-01 7.83012361e-01 1.78636061e-02 -1.64015622e+02] [ 2.84368216e-02 -2.24517144e-04 9.99595567e-01 6.55506842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.662755096 meters 0.017771355156706723 Centerline is valid? [True, True] Translation: X:299.77, Y:-164.05, Z:6.56 [[ 7.83925538e-01 6.20464589e-01 -2.20100986e-02 2.99765553e+02] [-6.20210231e-01 7.84234415e-01 1.77666078e-02 -1.64054045e+02] [ 2.82846278e-02 -2.76809244e-04 9.99599872e-01 6.55626046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.722755096 meters 0.01975149536328614 Centerline is valid? [True, True] Translation: X:299.81, Y:-164.09, Z:6.56 [[ 7.85990672e-01 6.17841147e-01 -2.21580700e-02 2.99809028e+02] [-6.17582391e-01 7.86302854e-01 1.78832639e-02 -1.64093587e+02] [ 2.84719699e-02 -3.71644752e-04 9.99594522e-01 6.55651291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.782755096 meters 0.020127071560580134 Centerline is valid? [True, True] Translation: X:299.85, Y:-164.13, Z:6.56 [[ 7.88205024e-01 6.15018558e-01 -2.20230350e-02 2.99851135e+02] [-6.14761926e-01 7.88512495e-01 1.77713411e-02 -1.64133565e+02] [ 2.82951428e-02 -4.68536885e-04 9.99599502e-01 6.55992577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.842755096 meters 0.019514994842046007 Centerline is valid? [True, True] Translation: X:299.90, Y:-164.17, Z:6.56 [[ 7.89088746e-01 6.13892230e-01 -2.18009494e-02 2.99900155e+02] [-6.13640285e-01 7.89389685e-01 1.75933276e-02 -1.64172318e+02] [ 2.80098517e-02 -5.04755994e-04 9.99607520e-01 6.56286380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.902755096 meters 0.01964018615022029 Centerline is valid? [True, True] Translation: X:299.95, Y:-164.21, Z:6.57 [[ 7.89742605e-01 6.13074786e-01 -2.11169116e-02 2.99947939e+02] [-6.12837855e-01 7.90024703e-01 1.70508619e-02 -1.64211438e+02] [ 2.71363353e-02 -5.24549313e-04 9.99631604e-01 6.56587107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.962755096 meters 0.020680344703555457 Centerline is valid? [True, True] Translation: X:299.99, Y:-164.25, Z:6.57 [[ 7.89154222e-01 6.13883863e-01 -1.95503721e-02 2.99994620e+02] [-6.13680823e-01 7.89396216e-01 1.57943533e-02 -1.64250663e+02] [ 2.51288884e-02 -4.66492148e-04 9.99684111e-01 6.56770156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.022755096 meters 0.01934032100282843 Centerline is valid? [True, True] Translation: X:300.04, Y:-164.29, Z:6.57 [[ 7.88879236e-01 6.14262037e-01 -1.87536788e-02 3.00041794e+02] [-6.14075182e-01 7.89101993e-01 1.51563306e-02 -1.64287616e+02] [ 2.41085238e-02 -4.40345739e-04 9.99709250e-01 6.57118527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.082755096 meters 0.019278491869103697 Centerline is valid? [True, True] Translation: X:300.09, Y:-164.32, Z:6.57 [[ 7.88878901e-01 6.14281999e-01 -1.81026369e-02 3.00087571e+02] [-6.14107932e-01 7.89086463e-01 1.46288074e-02 -1.64324872e+02] [ 2.32707588e-02 -4.23384619e-04 9.99729110e-01 6.57362408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14275509600003 meters 0.020707783972313286 Centerline is valid? [True, True] Translation: X:300.14, Y:-164.36, Z:6.57 [[ 7.89107281e-01 6.14004286e-01 -1.75623659e-02 3.00137111e+02] [-6.13840389e-01 7.89302580e-01 1.41920791e-02 -1.64364125e+02] [ 2.25760181e-02 -4.18583408e-04 9.99745042e-01 6.57403123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20275509600003 meters 0.01960718416045783 Centerline is valid? [True, True] Translation: X:300.19, Y:-164.40, Z:6.58 [[ 7.89358824e-01 6.13713806e-01 -1.63710655e-02 3.00185413e+02] [-6.13571158e-01 7.89528468e-01 1.32375272e-02 -1.64403396e+02] [ 2.10494755e-02 -4.04345244e-04 9.99778353e-01 6.57780989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26275509600003 meters 0.022362487373213537 Centerline is valid? [True, True] Translation: X:300.23, Y:-164.44, Z:6.58 [[ 7.90572242e-01 6.12141352e-01 -1.66881531e-02 3.00233396e+02] [-6.11992597e-01 7.90748223e-01 1.35021861e-02 -1.64442383e+02] [ 2.14613738e-02 -4.61427365e-04 9.99769572e-01 6.57667489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32275509600004 meters 0.02101684877262654 Centerline is valid? [True, True] Translation: X:300.28, Y:-164.48, Z:6.58 [[ 7.92015807e-01 6.10292192e-01 -1.59499588e-02 3.00281353e+02] [-6.10155789e-01 7.92176240e-01 1.29119257e-02 -1.64482313e+02] [ 2.05152258e-02 -4.94489580e-04 9.99789418e-01 6.58081040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38275509600004 meters 0.024184519720466712 Centerline is valid? [True, True] Translation: X:300.33, Y:-164.52, Z:6.58 [[ 7.93283350e-01 6.08649170e-01 -1.57389516e-02 3.00329733e+02] [-6.08515885e-01 7.93439286e-01 1.27481944e-02 -1.64521491e+02] [ 2.02470804e-02 -5.35528321e-04 9.99794863e-01 6.57963987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.442755096 meters 0.02296407022482366 Centerline is valid? [True, True] Translation: X:300.38, Y:-164.56, Z:6.58 [[ 7.93178881e-01 6.08802979e-01 -1.50398092e-02 3.00376178e+02] [-6.08681181e-01 7.93321290e-01 1.21881210e-02 -1.64557853e+02] [ 1.93515652e-02 -5.12911347e-04 9.99812609e-01 6.58354858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.502755096 meters 0.020953066380405446 Centerline is valid? [True, True] Translation: X:300.43, Y:-164.59, Z:6.58 [[ 7.91804565e-01 6.10578773e-01 -1.54626176e-02 3.00429672e+02] [-6.10450384e-01 7.91955384e-01 1.25299239e-02 -1.64591468e+02] [ 1.98962089e-02 -4.82090095e-04 9.99801935e-01 6.58294247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.562755096 meters 0.020792665604267083 Centerline is valid? [True, True] Translation: X:300.48, Y:-164.63, Z:6.58 [[ 7.90158737e-01 6.12706403e-01 -1.54930401e-02 3.00480912e+02] [-6.12577858e-01 7.90310494e-01 1.25574928e-02 -1.64627189e+02] [ 1.99383685e-02 -4.31719352e-04 9.99801118e-01 6.58291905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.622755096 meters 0.02067023061593856 Centerline is valid? [True, True] Translation: X:300.53, Y:-164.66, Z:6.58 [[ 7.89488426e-01 6.13571525e-01 -1.54275805e-02 3.00529534e+02] [-6.13444093e-01 7.89639040e-01 1.25112547e-02 -1.64664306e+02] [ 1.98587695e-02 -4.13532693e-04 9.99802710e-01 6.58345479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.682755096 meters 0.018787039462664926 Centerline is valid? [True, True] Translation: X:300.58, Y:-164.70, Z:6.59 [[ 7.89344006e-01 6.13744116e-01 -1.59436966e-02 3.00579584e+02] [-6.13608015e-01 7.89504896e-01 1.29315114e-02 -1.64701886e+02] [ 2.05242656e-02 -4.24230988e-04 9.99789265e-01 6.58521486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.742755096 meters 0.01915889052648741 Centerline is valid? [True, True] Translation: X:300.63, Y:-164.74, Z:6.59 [[ 7.90007459e-01 6.12897026e-01 -1.56668868e-02 3.00626865e+02] [-6.12765297e-01 7.90162666e-01 1.27142680e-02 -1.64741649e+02] [ 2.01719261e-02 -4.44242046e-04 9.99796427e-01 6.58660579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.802755096 meters 0.0210005738745628 Centerline is valid? [True, True] Translation: X:300.67, Y:-164.78, Z:6.59 [[ 7.91717616e-01 6.10702955e-01 -1.50038985e-02 3.00671505e+02] [-6.10581619e-01 7.91859625e-01 1.21827824e-02 -1.64782894e+02] [ 1.93210426e-02 -4.84218831e-04 9.99813214e-01 6.58760031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.862755096 meters 0.02221905913481081 Centerline is valid? [True, True] Translation: X:300.72, Y:-164.82, Z:6.59 [[ 7.93163759e-01 6.08837416e-01 -1.44309675e-02 3.00715668e+02] [-6.08724845e-01 7.93294863e-01 1.17185005e-02 -1.64823691e+02] [ 1.85826740e-02 -5.10201473e-04 9.99827197e-01 6.58862304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.922755096 meters 0.023301625094128597 Centerline is valid? [True, True] Translation: X:300.76, Y:-164.86, Z:6.59 [[ 7.93502751e-01 6.08385601e-01 -1.48439826e-02 3.00762656e+02] [-6.08266420e-01 7.93641401e-01 1.20535968e-02 -1.64864008e+02] [ 1.91140339e-02 -5.35466112e-04 9.99817167e-01 6.58762554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.982755096 meters 0.023632506741363492 Centerline is valid? [True, True] Translation: X:300.81, Y:-164.90, Z:6.59 [[ 7.92510796e-01 6.09662340e-01 -1.54424401e-02 3.00809940e+02] [-6.09533449e-01 7.92661056e-01 1.25469362e-02 -1.64903903e+02] [ 1.98900154e-02 -5.30898629e-04 9.99802033e-01 6.58689274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.042755096 meters 0.019839132695252427 Centerline is valid? [True, True] Translation: X:300.86, Y:-164.94, Z:6.59 [[ 7.88646574e-01 6.14683918e-01 -1.41514188e-02 3.00855530e+02] [-6.14576370e-01 7.88773441e-01 1.15041011e-02 -1.64940790e+02] [ 1.82336492e-02 -3.75542298e-04 9.99833683e-01 6.58988264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.102755096 meters 0.01570179339519003 Centerline is valid? [True, True] Translation: X:300.90, Y:-164.97, Z:6.59 [[ 7.82477224e-01 6.22519388e-01 -1.41069257e-02 3.00904871e+02] [-6.22413804e-01 7.82604354e-01 1.14665549e-02 -1.64974345e+02] [ 1.81782942e-02 -1.91972729e-04 9.99834743e-01 6.59113682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.162755096 meters 0.01417716780437507 Centerline is valid? [True, True] Translation: X:300.95, Y:-165.01, Z:6.59 [[ 7.77460345e-01 6.28777208e-01 -1.39511181e-02 3.00952006e+02] [-6.28674960e-01 7.77585507e-01 1.13390769e-02 -1.65007867e+02] [ 1.79779404e-02 -4.49640427e-05 9.99838383e-01 6.59220980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.222755096 meters 0.015367766148658833 Centerline is valid? [True, True] Translation: X:301.00, Y:-165.04, Z:6.59 [[ 7.70179629e-01 6.37689473e-01 -1.32467094e-02 3.00999483e+02] [-6.37598630e-01 7.70293523e-01 1.07645649e-02 -1.65042212e+02] [ 1.70683042e-02 1.55435198e-04 9.99854314e-01 6.59412696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.282755096 meters 0.017344808813112594 Centerline is valid? [True, True] Translation: X:301.04, Y:-165.08, Z:6.60 [[ 7.67050345e-01 6.41483384e-01 -1.15254797e-02 3.01042022e+02] [-6.41415055e-01 7.67136900e-01 9.36499861e-03 -1.65080845e+02] [ 1.48491118e-02 2.09190771e-04 9.99889724e-01 6.59744995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.342755096 meters 0.01919297917689584 Centerline is valid? [True, True] Translation: X:301.08, Y:-165.12, Z:6.60 [[ 7.67797235e-01 6.40587176e-01 -1.16394242e-02 3.01082514e+02] [-6.40517440e-01 7.67885429e-01 9.45394112e-03 -1.65123878e+02] [ 1.49938177e-02 1.96544366e-04 9.99887567e-01 6.59844162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.402755096 meters 0.01636669479290691 Centerline is valid? [True, True] Translation: X:301.13, Y:-165.16, Z:6.61 [[ 7.69519479e-01 6.38586932e-01 -6.81923418e-03 3.01126595e+02] [-6.38562918e-01 7.69549688e-01 5.53874584e-03 -1.65163392e+02] [ 8.78471025e-03 9.23372644e-05 9.99961409e-01 6.60502941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.462755096 meters 0.01523481376768713 Centerline is valid? [True, True] Translation: X:301.17, Y:-165.21, Z:6.61 [[ 7.74821007e-01 6.32162363e-01 -4.81185870e-03 3.01170673e+02] [-6.32150317e-01 7.74835948e-01 3.90255280e-03 -1.65207906e+02] [ 6.19544810e-03 1.80381110e-05 9.99980808e-01 6.60840287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.522755096 meters 0.016537056987315526 Centerline is valid? [True, True] Translation: X:301.22, Y:-165.25, Z:6.61 [[ 7.78333060e-01 6.27845126e-01 -2.85383378e-03 3.01215470e+02] [-6.27840865e-01 7.78338292e-01 2.31322204e-03 -1.65251731e+02] [ 3.67359329e-03 -8.70372384e-06 9.99993252e-01 6.61224193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.582755096 meters 0.01729830570518975 Centerline is valid? [True, True] Translation: X:301.26, Y:-165.30, Z:6.62 [[ 7.82175239e-01 6.23058283e-01 5.21570336e-04 3.01258093e+02] [-6.23058138e-01 7.82175413e-01 -4.24917479e-04 -1.65295501e+02] [-6.72707847e-04 7.39128839e-06 9.99999774e-01 6.61865257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64275509600003 meters 0.018678916988107745 Centerline is valid? [True, True] Translation: X:301.31, Y:-165.34, Z:6.62 [[ 7.83956402e-01 6.20812262e-01 2.12002450e-03 3.01305080e+02] [-6.20809851e-01 7.83959268e-01 -1.73057271e-03 -1.65336377e+02] [-2.73637361e-03 4.05614604e-05 9.99996255e-01 6.62063531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70275509600003 meters 0.018626241958538594 Centerline is valid? [True, True] Translation: X:301.35, Y:-165.37, Z:6.62 [[ 7.84851617e-01 6.19672581e-01 3.71899916e-03 3.01354170e+02] [-6.19665162e-01 7.84860425e-01 -3.03329218e-03 -1.65374264e+02] [-4.79854325e-03 7.61500537e-05 9.99988484e-01 6.61901231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76275509600003 meters 0.02147565751424622 Centerline is valid? [True, True] Translation: X:301.40, Y:-165.42, Z:6.62 [[ 7.87851941e-01 6.15854352e-01 3.56880364e-03 3.01400581e+02] [-6.15847475e-01 7.87860018e-01 -2.91203751e-03 -1.65415075e+02] [-4.60510868e-03 9.64156966e-05 9.99989392e-01 6.61707869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82275509600004 meters 0.022634581219429708 Centerline is valid? [True, True] Translation: X:301.45, Y:-165.46, Z:6.62 [[ 7.90013561e-01 6.13070041e-01 4.86817433e-03 3.01446616e+02] [-6.13057193e-01 7.90028545e-01 -3.97197544e-03 -1.65455463e+02] [-6.28109583e-03 1.53445178e-04 9.99980262e-01 6.61894947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88275509600004 meters 0.025089114170908897 Centerline is valid? [True, True] Translation: X:301.49, Y:-165.50, Z:6.62 [[ 7.92499520e-01 6.09855307e-01 4.58432051e-03 3.01491102e+02] [-6.09843886e-01 7.92512762e-01 -3.73589508e-03 -1.65496895e+02] [-5.91148795e-03 1.64975218e-04 9.99982513e-01 6.61866044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.942755096 meters 0.02557056765342217 Centerline is valid? [True, True] Translation: X:301.54, Y:-165.54, Z:6.62 [[ 7.93761770e-01 6.08215092e-01 4.08101416e-03 3.01539007e+02] [-6.08205981e-01 7.93772244e-01 -3.33317929e-03 -1.65536298e+02] [-5.26668572e-03 1.63653070e-04 9.99986118e-01 6.61646128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.002755096 meters 0.029108991991781758 Centerline is valid? [True, True] Translation: X:301.58, Y:-165.58, Z:6.61 [[ 7.95929306e-01 6.05383395e-01 2.73585467e-03 3.01584819e+02] [-6.05379286e-01 7.95933998e-01 -2.23403052e-03 -1.65577343e+02] [-3.53000473e-03 1.21900613e-04 9.99993762e-01 6.61444688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.062755096 meters 0.030454056827769697 Centerline is valid? [True, True] Translation: X:301.63, Y:-165.62, Z:6.61 [[ 7.96788493e-01 6.04258270e-01 2.00813469e-04 3.01633701e+02] [-6.04258247e-01 7.96788518e-01 -1.69896425e-04 -1.65616553e+02] [-2.62667186e-04 1.40283217e-05 9.99999965e-01 6.61042427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.122755096 meters 0.02616459444995729 Centerline is valid? [True, True] Translation: X:301.69, Y:-165.65, Z:6.60 [[ 7.97064607e-01 6.03883118e-01 -3.63210819e-03 3.01686073e+02] [-6.03875895e-01 7.97072865e-01 2.95812722e-03 -1.65650774e+02] [ 4.68141797e-03 -1.64475921e-04 9.99989029e-01 6.60294068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.182755096 meters 0.02659183398249479 Centerline is valid? [True, True] Translation: X:301.74, Y:-165.69, Z:6.60 [[ 7.97165864e-01 6.03715978e-01 -7.32139741e-03 3.01735978e+02] [-6.03686525e-01 7.97199411e-01 5.97308026e-03 -1.65688547e+02] [ 9.44265769e-03 -3.41706731e-04 9.99955359e-01 6.59833972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.242755096 meters 0.026808082649640783 Centerline is valid? [True, True] Translation: X:301.79, Y:-165.72, Z:6.59 [[ 7.97050474e-01 6.03826054e-01 -1.02293556e-02 3.01789109e+02] [-6.03768469e-01 7.97115967e-01 8.35291616e-03 -1.65722010e+02] [ 1.31976911e-02 -4.81533424e-04 9.99912791e-01 6.59326773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.302755096 meters 0.024777038290782885 Centerline is valid? [True, True] Translation: X:301.84, Y:-165.75, Z:6.59 [[ 7.95056909e-01 6.06404642e-01 -1.25666773e-02 3.01844113e+02] [-6.06317926e-01 7.95156031e-01 1.02693691e-02 -1.65752268e+02] [ 1.62198624e-02 -5.45331166e-04 9.99868301e-01 6.58850380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.362755096 meters 0.023096821557581353 Centerline is valid? [True, True] Translation: X:301.90, Y:-165.78, Z:6.59 [[ 7.93092686e-01 6.08941914e-01 -1.39189536e-02 3.01896901e+02] [-6.08835878e-01 7.93214627e-01 1.13766972e-02 -1.65784211e+02] [ 1.79684653e-02 -5.48417005e-04 9.99838404e-01 6.58659952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.422755096 meters 0.02158747525053145 Centerline is valid? [True, True] Translation: X:301.95, Y:-165.81, Z:6.58 [[ 7.89806506e-01 6.13134677e-01 -1.64787994e-02 3.01951434e+02] [-6.12986933e-01 7.89978214e-01 1.34700222e-02 -1.65809979e+02] [ 2.12768302e-02 -5.37422411e-04 9.99773478e-01 6.58223504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.482755096 meters 0.020186069311363877 Centerline is valid? [True, True] Translation: X:302.01, Y:-165.84, Z:6.58 [[ 7.88020878e-01 6.15352338e-01 -1.90943815e-02 3.02006085e+02] [-6.15154652e-01 7.88251987e-01 1.56063833e-02 -1.65836022e+02] [ 2.46546086e-02 -5.52158296e-04 9.99695876e-01 6.57888309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.542755096 meters 0.02031062971745499 Centerline is valid? [True, True] Translation: X:302.06, Y:-165.87, Z:6.58 [[ 7.87420839e-01 6.16113108e-01 -1.93147712e-02 3.02056622e+02] [-6.15911124e-01 7.87657511e-01 1.57839105e-02 -1.65867150e+02] [ 2.49380987e-02 -5.32397604e-04 9.99688855e-01 6.58004962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.602755096 meters 0.02178449219411753 Centerline is valid? [True, True] Translation: X:302.10, Y:-165.90, Z:6.58 [[ 7.87021782e-01 6.16616937e-01 -1.95004596e-02 3.02104723e+02] [-6.16411311e-01 7.87263161e-01 1.59314400e-02 -1.65901953e+02] [ 2.51755893e-02 -5.18086446e-04 9.99682910e-01 6.58026040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.662755096 meters 0.021590348377450524 Centerline is valid? [True, True] Translation: X:302.16, Y:-165.93, Z:6.58 [[ 7.87027716e-01 6.16631217e-01 -1.87967001e-02 3.02156017e+02] [-6.16440383e-01 7.87251992e-01 1.53477838e-02 -1.65931395e+02] [ 2.42616622e-02 -4.92086190e-04 9.99705521e-01 6.58218851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.722755096 meters 0.020258824367775832 Centerline is valid? [True, True] Translation: X:302.20, Y:-165.96, Z:6.59 [[ 7.87872536e-01 6.15580831e-01 -1.78075121e-02 3.02204914e+02] [-6.15409505e-01 7.88073601e-01 1.45306881e-02 -1.65964539e+02] [ 2.29784433e-02 -4.89417903e-04 9.99735841e-01 6.58565497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.782755096 meters 0.022665551240980682 Centerline is valid? [True, True] Translation: X:302.25, Y:-166.00, Z:6.59 [[ 7.88834274e-01 6.14405431e-01 -1.56988937e-02 3.02248749e+02] [-6.14272190e-01 7.88990341e-01 1.28030583e-02 -1.66004245e+02] [ 2.02525440e-02 -4.56097391e-04 9.99794792e-01 6.59030317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.842755096 meters 0.022136119481832413 Centerline is valid? [True, True] Translation: X:302.57, Y:-165.64, Z:7.82 [[ 8.08252566e-01 -5.88657267e-01 1.45055581e-02 3.02567314e+02] [-5.88539635e-01 -8.08382090e-01 -1.18107857e-02 -1.65639108e+02] [ 1.86785383e-02 1.00900200e-03 -9.99825032e-01 7.81738812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.902755096 meters 0.02325559413855917 Centerline is valid? [True, True] Translation: X:302.37, Y:-166.06, Z:6.60 [[ 8.35865028e-01 5.48733348e-01 -1.48784599e-02 3.02372858e+02] [-5.48636886e-01 8.35997318e-01 1.02981545e-02 -1.66061043e+02] [ 1.80892934e-02 -4.44995236e-04 9.99836276e-01 6.59756890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.962755096 meters 0.02239435455711609 Centerline is valid? [True, True] Translation: X:302.42, Y:-166.10, Z:6.60 [[ 8.36519052e-01 5.47761526e-01 -1.38991396e-02 3.02419521e+02] [-5.47677259e-01 8.36634402e-01 9.61754301e-03 -1.66098636e+02] [ 1.68966184e-02 -4.33015265e-04 9.99857148e-01 6.60144390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.022755096 meters 0.0223627051494399 Centerline is valid? [True, True] Translation: X:302.46, Y:-166.14, Z:6.60 [[ 8.35921975e-01 5.48661083e-01 -1.43341336e-02 3.02463789e+02] [-5.48571605e-01 8.36044755e-01 9.91774143e-03 -1.66136772e+02] [ 1.74254559e-02 -4.27159358e-04 9.99848074e-01 6.60308942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.082755096 meters 0.020670801246981185 Centerline is valid? [True, True] Translation: X:302.51, Y:-166.17, Z:6.60 [[ 8.34855943e-01 5.50269228e-01 -1.48098262e-02 3.02513156e+02] [-5.50174009e-01 8.34987193e-01 1.02443861e-02 -1.66174991e+02] [ 1.80031857e-02 -4.04605152e-04 9.99837848e-01 6.60438555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14275509600003 meters 0.02003449231596765 Centerline is valid? [True, True] Translation: X:302.56, Y:-166.22, Z:6.61 [[ 8.33035158e-01 5.53022398e-01 -1.47869542e-02 3.02559442e+02] [-5.52927790e-01 8.33166313e-01 1.02349031e-02 -1.66218168e+02] [ 1.79801227e-02 -3.49916174e-04 9.99838283e-01 6.60720815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20275509600003 meters 0.019143219939669713 Centerline is valid? [True, True] Translation: X:302.60, Y:-166.26, Z:6.61 [[ 8.30855010e-01 5.56277832e-01 -1.53272912e-02 3.02604162e+02] [-5.56176692e-01 8.30996323e-01 1.06112410e-02 -1.66260526e+02] [ 1.86397207e-02 -2.91720602e-04 9.99826223e-01 6.60989938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26275509600003 meters 0.01887260087396755 Centerline is valid? [True, True] Translation: X:302.65, Y:-166.30, Z:6.61 [[ 8.29319539e-01 5.58551509e-01 -1.57897160e-02 3.02649610e+02] [-5.58444567e-01 8.29469801e-01 1.09322833e-02 -1.66300055e+02] [ 1.92033359e-02 -2.48674965e-04 9.99815568e-01 6.61197652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32275509600004 meters 0.01756256498102546 Centerline is valid? [True, True] Translation: X:302.70, Y:-166.34, Z:6.62 [[ 8.27079889e-01 5.61875892e-01 -1.53081819e-02 3.02696075e+02] [-5.61775950e-01 8.27221527e-01 1.05984738e-02 -1.66339914e+02] [ 1.86182845e-02 -1.66016079e-04 9.99826651e-01 6.61567086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38275509600004 meters 0.017378472277787663 Centerline is valid? [True, True] Translation: X:302.74, Y:-166.38, Z:6.62 [[ 8.25188138e-01 5.64622157e-01 -1.63204230e-02 3.02743326e+02] [-5.64509069e-01 8.25349506e-01 1.13006465e-02 -1.66381457e+02] [ 1.98506485e-02 -1.12132631e-04 9.99802950e-01 6.61721617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.442755096 meters 0.017681631754993574 Centerline is valid? [True, True] Translation: X:302.79, Y:-166.42, Z:6.62 [[ 8.24641668e-01 5.65382994e-01 -1.75553339e-02 3.02788949e+02] [-5.65252153e-01 8.24828502e-01 1.21632760e-02 -1.66423921e+02] [ 2.13570492e-02 -1.07153864e-04 9.99771906e-01 6.61820547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.502755096 meters 0.017777112650953355 Centerline is valid? [True, True] Translation: X:302.84, Y:-166.46, Z:6.62 [[ 8.24309687e-01 5.65894655e-01 -1.66366597e-02 3.02838617e+02] [-5.65777121e-01 8.24477550e-01 1.15334218e-02 -1.66461025e+02] [ 2.02432542e-02 -9.44699293e-05 9.99795080e-01 6.62184210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.562755096 meters 0.018086393685509388 Centerline is valid? [True, True] Translation: X:302.89, Y:-166.50, Z:6.63 [[ 8.24424877e-01 5.65768353e-01 -1.51588983e-02 3.02889608e+02] [-5.65670653e-01 8.24564225e-01 1.05143143e-02 -1.66498524e+02] [ 1.84481515e-02 -9.33183863e-05 9.99829814e-01 6.62639009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.622755096 meters 0.01885939063401318 Centerline is valid? [True, True] Translation: X:302.94, Y:-166.54, Z:6.63 [[ 8.25813023e-01 5.63763117e-01 -1.42828175e-02 3.02937758e+02] [-5.63675969e-01 8.25936517e-01 9.91323733e-03 -1.66536251e+02] [ 1.73854181e-02 -1.35599504e-04 9.99848853e-01 6.62913560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.682755096 meters 0.01954170320137034 Centerline is valid? [True, True] Translation: X:302.99, Y:-166.57, Z:6.63 [[ 8.28343619e-01 5.60058344e-01 -1.34722330e-02 3.02986716e+02] [-5.59980276e-01 8.28453143e-01 9.35311977e-03 -1.66574069e+02] [ 1.63994066e-02 -2.03412301e-04 9.99865500e-01 6.63188214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.742755096 meters 0.02139592754440998 Centerline is valid? [True, True] Translation: X:303.04, Y:-166.61, Z:6.63 [[ 8.31391650e-01 5.55500753e-01 -1.43818710e-02 3.03035339e+02] [-5.55410989e-01 8.31515972e-01 9.99108380e-03 -1.66612205e+02] [ 1.75088100e-02 -3.18654452e-04 9.99846658e-01 6.63215363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.802755096 meters 0.02367776327764692 Centerline is valid? [True, True] Translation: X:303.08, Y:-166.65, Z:6.63 [[ 8.35180931e-01 5.49797227e-01 -1.39936267e-02 3.03083788e+02] [-5.49711346e-01 8.35298044e-01 9.72695318e-03 -1.66649685e+02] [ 1.70367009e-02 -4.31310465e-04 9.99854772e-01 6.63325195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.862755096 meters 0.025910431727712638 Centerline is valid? [True, True] Translation: X:303.13, Y:-166.69, Z:6.63 [[ 8.37515599e-01 5.46239127e-01 -1.37998910e-02 3.03131762e+02] [-5.46155117e-01 8.37629136e-01 9.59264028e-03 -1.66688220e+02] [ 1.67990662e-02 -4.97104810e-04 9.99858762e-01 6.63498292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.922755096 meters 0.027094128204491693 Centerline is valid? [True, True] Translation: X:303.18, Y:-166.72, Z:6.64 [[ 8.40024577e-01 5.42350819e-01 -1.46389874e-02 3.03182253e+02] [-5.42255582e-01 8.40151898e-01 1.01819414e-02 -1.66723425e+02] [ 1.78211572e-02 -6.15008370e-04 9.99841001e-01 6.63522972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.982755096 meters 0.02735022587239947 Centerline is valid? [True, True] Translation: X:303.23, Y:-166.76, Z:6.63 [[ 8.39656941e-01 5.42886163e-01 -1.58377715e-02 3.03234312e+02] [-5.42774760e-01 8.39806041e-01 1.10169739e-02 -1.66756538e+02] [ 1.92816189e-02 -6.54135949e-04 9.99813878e-01 6.63452471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.042755096 meters 0.02823180240193006 Centerline is valid? [True, True] Translation: X:303.29, Y:-166.79, Z:6.63 [[ 8.37684197e-01 5.45913017e-01 -1.62531382e-02 3.03285840e+02] [-5.45796133e-01 8.37841639e-01 1.13123631e-02 -1.66789230e+02] [ 1.97931222e-02 -6.05287784e-04 9.99803914e-01 6.63436647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.102755096 meters 0.02429473852682995 Centerline is valid? [True, True] Translation: X:303.34, Y:-166.82, Z:6.64 [[ 8.35554874e-01 5.49141132e-01 -1.70900712e-02 3.03340935e+02] [-5.49012550e-01 8.35729446e-01 1.18959138e-02 -1.66817244e+02] [ 2.08152113e-02 -5.57025156e-04 9.99783185e-01 6.63530446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.162755096 meters 0.02219351728564082 Centerline is valid? [True, True] Translation: X:303.39, Y:-166.85, Z:6.64 [[ 8.32962551e-01 5.53062091e-01 -1.71962906e-02 3.03394615e+02] [-5.52932717e-01 8.33139910e-01 1.19708680e-02 -1.66846911e+02] [ 2.09475493e-02 -4.62893066e-04 9.99780469e-01 6.63684837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.222755096 meters 0.021108921562439733 Centerline is valid? [True, True] Translation: X:303.45, Y:-166.88, Z:6.64 [[ 8.31172168e-01 5.55757852e-01 -1.69126091e-02 3.03447878e+02] [-5.55633235e-01 8.31344127e-01 1.17749931e-02 -1.66879683e+02] [ 2.06042432e-02 -3.89838861e-04 9.99787634e-01 6.63847112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.282755096 meters 0.021036430292316624 Centerline is valid? [True, True] Translation: X:303.50, Y:-166.92, Z:6.64 [[ 8.31085992e-01 5.55878308e-01 -1.71866426e-02 3.03499860e+02] [-5.55749490e-01 8.31263585e-01 1.19731964e-02 -1.66915640e+02] [ 2.09422703e-02 -3.99287926e-04 9.99780607e-01 6.63989999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.342755096 meters 0.022338080259980797 Centerline is valid? [True, True] Translation: X:303.55, Y:-166.95, Z:6.64 [[ 8.32208716e-01 5.54213866e-01 -1.66025124e-02 3.03548390e+02] [-5.54093170e-01 8.32374197e-01 1.15739176e-02 -1.66952508e+02] [ 2.02339285e-02 -4.32576354e-04 9.99795180e-01 6.64184494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.402755096 meters 0.02302868109546137 Centerline is valid? [True, True] Translation: X:303.60, Y:-166.99, Z:6.64 [[ 8.33398566e-01 5.52406433e-01 -1.71453558e-02 3.03598595e+02] [-5.52277188e-01 8.33574763e-01 1.19591993e-02 -1.66989620e+02] [ 2.08982746e-02 -4.97790685e-04 9.99781483e-01 6.64245899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.462755096 meters 0.02304401483849054 Centerline is valid? [True, True] Translation: X:303.65, Y:-167.03, Z:6.64 [[ 8.33476248e-01 5.52274401e-01 -1.76162081e-02 3.03649424e+02] [-5.52137768e-01 8.33662231e-01 1.22951513e-02 -1.67026075e+02] [ 2.14762646e-02 -5.21142739e-04 9.99769223e-01 6.64368438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.522755096 meters 0.023896824769210356 Centerline is valid? [True, True] Translation: X:303.70, Y:-167.06, Z:6.64 [[ 8.33232280e-01 5.52606702e-01 -1.87029448e-02 3.03699172e+02] [-5.52452565e-01 8.33441977e-01 1.30627592e-02 -1.67063509e+02] [ 2.28063876e-02 -5.51822807e-04 9.99739748e-01 6.64427062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.582755096 meters 0.023035939889288776 Centerline is valid? [True, True] Translation: X:303.75, Y:-167.10, Z:6.64 [[ 8.32227063e-01 5.54061415e-01 -2.03485564e-02 3.03749991e+02] [-5.53879160e-01 8.32475603e-01 1.42213587e-02 -1.67098737e+02] [ 2.48191829e-02 -5.64758258e-04 9.99691797e-01 6.64405211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64275509600003 meters 0.022410090101002467 Centerline is valid? [True, True] Translation: X:303.80, Y:-167.13, Z:6.64 [[ 8.30176196e-01 5.57059686e-01 -2.21808564e-02 3.03800146e+02] [-5.56843941e-01 8.30472293e-01 1.55111307e-02 -1.67133982e+02] [ 2.70612123e-02 -5.25696029e-04 9.99633640e-01 6.64277251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70275509600003 meters 0.021928404187012973 Centerline is valid? [True, True] Translation: X:303.85, Y:-167.17, Z:6.64 [[ 8.28883100e-01 5.58954979e-01 -2.28503625e-02 3.03848173e+02] [-5.58726587e-01 8.29197865e-01 1.59844209e-02 -1.67168274e+02] [ 2.78820435e-02 -4.82111284e-04 9.99611104e-01 6.64261976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76275509600003 meters 0.021216929644366233 Centerline is valid? [True, True] Translation: X:303.90, Y:-167.20, Z:6.64 [[ 8.28348203e-01 5.59738136e-01 -2.30754087e-02 3.03898870e+02] [-5.59505474e-01 8.28669419e-01 1.61436760e-02 -1.67203583e+02] [ 2.81581166e-02 -4.61767470e-04 9.99603375e-01 6.64414965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82275509600004 meters 0.020486713977716897 Centerline is valid? [True, True] Translation: X:303.95, Y:-167.24, Z:6.65 [[ 8.27937007e-01 5.60319040e-01 -2.37252223e-02 3.03949394e+02] [-5.60073032e-01 8.28276741e-01 1.66083998e-02 -1.67241495e+02] [ 2.89570524e-02 -4.62851658e-04 9.99580549e-01 6.64612559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88275509600004 meters 0.020676588207299517 Centerline is valid? [True, True] Translation: X:304.00, Y:-167.28, Z:6.65 [[ 8.27120743e-01 5.61526854e-01 -2.36404176e-02 3.03998051e+02] [-5.61282798e-01 8.27458404e-01 1.65593048e-02 -1.67278105e+02] [ 2.88599565e-02 -4.27584736e-04 9.99583373e-01 6.64669015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.942755096 meters 0.019954396945553045 Centerline is valid? [True, True] Translation: X:304.05, Y:-167.31, Z:6.65 [[ 8.25757140e-01 5.63556571e-01 -2.30029543e-02 3.04050055e+02] [-5.63326047e-01 8.26077397e-01 1.61213803e-02 -1.67312141e+02] [ 2.80875304e-02 -3.54181517e-04 9.99605405e-01 6.64900589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.002755096 meters 0.01952170311665597 Centerline is valid? [True, True] Translation: X:304.10, Y:-167.35, Z:6.65 [[ 8.25093936e-01 5.64539493e-01 -2.26970772e-02 3.04101132e+02] [-5.64315258e-01 8.25405995e-01 1.59132928e-02 -1.67346775e+02] [ 2.77179859e-02 -3.21654399e-04 9.99615731e-01 6.65082010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.062755096 meters 0.019440253141559508 Centerline is valid? [True, True] Translation: X:304.15, Y:-167.38, Z:6.65 [[ 8.25474753e-01 5.64036495e-01 -2.13134883e-02 3.04152467e+02] [-5.63838508e-01 8.25749798e-01 1.49468234e-02 -1.67383343e+02] [ 2.60301625e-02 -3.20859917e-04 9.99661106e-01 6.65355871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.122755096 meters 0.020717912754660586 Centerline is valid? [True, True] Translation: X:304.20, Y:-167.42, Z:6.65 [[ 8.27195118e-01 5.61519752e-01 -2.10666785e-02 3.04200574e+02] [-5.61325277e-01 8.27463235e-01 1.47826781e-02 -1.67421477e+02] [ 2.57326677e-02 -4.02899991e-04 9.99668779e-01 6.65459013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.182755096 meters 0.022346425977170455 Centerline is valid? [True, True] Translation: X:304.25, Y:-167.46, Z:6.65 [[ 8.29182787e-01 5.58567953e-01 -2.13950452e-02 3.04250475e+02] [-5.58366175e-01 8.29458608e-01 1.50210414e-02 -1.67458410e+02] [ 2.61365768e-02 -5.08919398e-04 9.99658252e-01 6.65497798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.242755096 meters 0.023107609881218374 Centerline is valid? [True, True] Translation: X:304.30, Y:-167.49, Z:6.66 [[ 8.30037127e-01 5.57282507e-01 -2.17847448e-02 3.04300055e+02] [-5.57072710e-01 8.30322762e-01 1.53005326e-02 -1.67493765e+02] [ 2.66150886e-02 -5.64323288e-04 9.99645596e-01 6.65558581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.302755096 meters 0.02256293759497301 Centerline is valid? [True, True] Translation: X:304.35, Y:-167.53, Z:6.66 [[ 8.30702565e-01 5.56241294e-01 -2.29972031e-02 3.04351995e+02] [-5.56007008e-01 8.31020590e-01 1.61550242e-02 -1.67527031e+02] [ 2.80972408e-02 -6.33413923e-04 9.99604994e-01 6.65654599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.362755096 meters 0.023411522393221695 Centerline is valid? [True, True] Translation: X:304.40, Y:-167.56, Z:6.66 [[ 8.30817876e-01 5.56071800e-01 -2.29305611e-02 3.04403229e+02] [-5.55838556e-01 8.31134007e-01 1.61171310e-02 -1.67562610e+02] [ 2.80206511e-02 -6.44710551e-04 9.99607137e-01 6.65762921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.422755096 meters 0.02367071153482483 Centerline is valid? [True, True] Translation: X:304.45, Y:-167.60, Z:6.66 [[ 8.30731981e-01 5.56187353e-01 -2.32379740e-02 3.04454127e+02] [-5.55947660e-01 8.31056676e-01 1.63401468e-02 -1.67596667e+02] [ 2.84002565e-02 -6.55185249e-04 9.99596417e-01 6.65847529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.482755096 meters 0.024570032527531947 Centerline is valid? [True, True] Translation: X:304.51, Y:-167.63, Z:6.66 [[ 8.31590699e-01 5.54895869e-01 -2.33983711e-02 3.04505085e+02] [-5.54652306e-01 8.31919514e-01 1.64542271e-02 -1.67631205e+02] [ 2.85959442e-02 -7.05221705e-04 9.99590804e-01 6.65963310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.542755096 meters 0.02639242692832005 Centerline is valid? [True, True] Translation: X:304.55, Y:-167.67, Z:6.66 [[ 8.33054946e-01 5.52688223e-01 -2.35623590e-02 3.04552952e+02] [-5.52440332e-01 8.33387730e-01 1.65701578e-02 -1.67666606e+02] [ 2.87947120e-02 -7.87054516e-04 9.99585036e-01 6.66004002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.602755096 meters 0.024395625187757307 Centerline is valid? [True, True] Translation: X:304.61, Y:-167.70, Z:6.66 [[ 8.33841220e-01 5.51489565e-01 -2.38344234e-02 3.04605722e+02] [-5.51235334e-01 8.34181367e-01 1.67646571e-02 -1.67700118e+02] [ 2.91277654e-02 -8.40685772e-04 9.99575343e-01 6.66255033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.662755096 meters 0.02525320948994301 Centerline is valid? [True, True] Translation: X:304.65, Y:-167.74, Z:6.66 [[ 8.35406437e-01 5.49160043e-01 -2.27888636e-02 3.04654636e+02] [-5.48926516e-01 8.35716733e-01 1.60381773e-02 -1.67737521e+02] [ 2.78525607e-02 -8.88985107e-04 9.99611647e-01 6.66469137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.722755096 meters 0.026641365867364087 Centerline is valid? [True, True] Translation: X:304.70, Y:-167.78, Z:6.67 [[ 8.37591415e-01 5.45849030e-01 -2.21236876e-02 3.04703058e+02] [-5.45627555e-01 8.37882976e-01 1.55784842e-02 -1.67775879e+02] [ 2.70405617e-02 -9.77111023e-04 9.99633860e-01 6.66661560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.782755096 meters 0.027525018066629693 Centerline is valid? [True, True] Translation: X:304.75, Y:-167.81, Z:6.67 [[ 8.38464207e-01 5.44554594e-01 -2.09300840e-02 3.04752632e+02] [-5.44355768e-01 8.38724837e-01 1.47460520e-02 -1.67813895e+02] [ 2.55846117e-02 -9.70624863e-04 9.99672189e-01 6.66928594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.842755096 meters 0.0325998626865175 Centerline is valid? [True, True] Translation: X:304.80, Y:-167.86, Z:6.67 [[ 8.39168869e-01 5.43495546e-01 -2.02039799e-02 3.04797390e+02] [-5.43309771e-01 8.39411485e-01 1.42425968e-02 -1.67856843e+02] [ 2.47002407e-02 -9.74924128e-04 9.99694427e-01 6.67052773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.902755096 meters 0.029014786288581507 Centerline is valid? [True, True] Translation: X:304.85, Y:-167.89, Z:6.67 [[ 8.38594386e-01 5.44390818e-01 -1.99522719e-02 3.04850862e+02] [-5.44209708e-01 8.38831180e-01 1.40728783e-02 -1.67889422e+02] [ 2.43977335e-02 -9.43216668e-04 9.99701886e-01 6.67248561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.962755096 meters 0.025829541200791718 Centerline is valid? [True, True] Translation: X:304.90, Y:-167.92, Z:6.67 [[ 8.36173831e-01 5.48057024e-01 -2.11381979e-02 3.04903763e+02] [-5.47854723e-01 8.36440496e-01 1.49164173e-02 -1.67922006e+02] [ 2.58558920e-02 -8.92056255e-04 9.99665283e-01 6.67276425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.022755096 meters 0.02679037539615349 Centerline is valid? [True, True] Translation: X:304.95, Y:-167.96, Z:6.67 [[ 8.34280125e-01 5.50890202e-01 -2.22858406e-02 3.04952304e+02] [-5.50666267e-01 8.34577296e-01 1.57289423e-02 -1.67957653e+02] [ 2.72641768e-02 -8.50283298e-04 9.99627902e-01 6.67222320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.082755096 meters 0.02444719934351862 Centerline is valid? [True, True] Translation: X:305.00, Y:-167.99, Z:6.67 [[ 8.31286749e-01 5.55364881e-01 -2.30692556e-02 3.05002823e+02] [-5.55126553e-01 8.31606466e-01 1.62848038e-02 -1.67990320e+02] [ 2.82285503e-02 -7.30985303e-04 9.99601228e-01 6.67299986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14275509600003 meters 0.021451707803204264 Centerline is valid? [True, True] Translation: X:305.06, Y:-168.02, Z:6.68 [[ 8.29252872e-01 5.58409973e-01 -2.27590877e-02 3.05055214e+02] [-5.58179056e-01 8.29564895e-01 1.60694065e-02 -1.68023772e+02] [ 2.78534571e-02 -6.21955382e-04 9.99611824e-01 6.67628903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20275509600003 meters 0.02262873752606395 Centerline is valid? [True, True] Translation: X:305.10, Y:-168.06, Z:6.68 [[ 8.28267031e-01 5.59827859e-01 -2.38011112e-02 3.05103125e+02] [-5.59575609e-01 8.28608712e-01 1.68148729e-02 -1.68062242e+02] [ 2.91352424e-02 -6.08683548e-04 9.99575293e-01 6.67595951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26275509600003 meters 0.020633111128106046 Centerline is valid? [True, True] Translation: X:305.16, Y:-168.10, Z:6.68 [[ 8.27656632e-01 5.60717632e-01 -2.40881153e-02 3.05156365e+02] [-5.60459409e-01 8.28006877e-01 1.70253478e-02 -1.68095374e+02] [ 2.94915378e-02 -5.90731105e-04 9.99564855e-01 6.67861386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32275509600004 meters 0.020232481871127927 Centerline is valid? [True, True] Translation: X:305.21, Y:-168.13, Z:6.68 [[ 8.27688931e-01 5.60720776e-01 -2.28745660e-02 3.05207887e+02] [-5.60487731e-01 8.28004765e-01 1.61744379e-02 -1.68132042e+02] [ 2.80095930e-02 -5.66489591e-04 9.99607494e-01 6.68303023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38275509600004 meters 0.02131643629880457 Centerline is valid? [True, True] Translation: X:305.26, Y:-168.17, Z:6.68 [[ 8.29079269e-01 5.58639692e-01 -2.34362990e-02 3.05257077e+02] [-5.58393927e-01 8.29410186e-01 1.65820609e-02 -1.68169171e+02] [ 2.87017025e-02 -6.61155933e-04 9.99587803e-01 6.68422733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.442755096 meters 0.02338528415206498 Centerline is valid? [True, True] Translation: X:305.31, Y:-168.21, Z:6.68 [[ 8.30927780e-01 5.55833849e-01 -2.46527251e-02 3.05306141e+02] [-5.55560379e-01 8.31293019e-01 1.74522916e-02 -1.68206546e+02] [ 3.01942127e-02 -8.05516635e-04 9.99543726e-01 6.68437445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.502755096 meters 0.023724017149638177 Centerline is valid? [True, True] Translation: X:305.36, Y:-168.24, Z:6.69 [[ 8.31986955e-01 5.54231095e-01 -2.50119942e-02 3.05357527e+02] [-5.53948569e-01 8.32362368e-01 1.77164106e-02 -1.68241675e+02] [ 3.06380283e-02 -8.84464085e-04 9.99530154e-01 6.68625319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.562755096 meters 0.023215797036509108 Centerline is valid? [True, True] Translation: X:305.41, Y:-168.27, Z:6.69 [[ 8.32715499e-01 5.53077042e-01 -2.62808381e-02 3.05410394e+02] [-5.52764179e-01 8.33129533e-01 1.86264314e-02 -1.68274418e+02] [ 3.21971940e-02 -9.83412209e-04 9.99481052e-01 6.68681312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.622755096 meters 0.02408074269764346 Centerline is valid? [True, True] Translation: X:305.46, Y:-168.31, Z:6.69 [[ 8.32796671e-01 5.52940975e-01 -2.65703354e-02 3.05460728e+02] [-5.52620753e-01 8.33219815e-01 1.88425855e-02 -1.68308908e+02] [ 3.25577676e-02 -1.00872367e-03 9.99469346e-01 6.68733136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.682755096 meters 0.024281500264006366 Centerline is valid? [True, True] Translation: X:305.51, Y:-168.35, Z:6.69 [[ 8.32517370e-01 5.53354222e-01 -2.67195418e-02 3.05512324e+02] [-5.53030230e-01 8.32945430e-01 1.89598307e-02 -1.68345692e+02] [ 3.27474226e-02 -1.00767400e-03 9.99463151e-01 6.68865207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.742755096 meters 0.02307027229655036 Centerline is valid? [True, True] Translation: X:305.56, Y:-168.38, Z:6.69 [[ 8.32097776e-01 5.54012490e-01 -2.61429352e-02 3.05564886e+02] [-5.53702379e-01 8.32507793e-01 1.85593855e-02 -1.68379850e+02] [ 3.20463286e-02 -9.67818024e-04 9.99485916e-01 6.69184218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.802755096 meters 0.023566276179762244 Centerline is valid? [True, True] Translation: X:305.61, Y:-168.41, Z:6.69 [[ 8.31673871e-01 5.54682715e-01 -2.54098083e-02 3.05614871e+02] [-5.54389876e-01 8.32061439e-01 1.80451508e-02 -1.68414993e+02] [ 3.11518549e-02 -9.20739936e-04 9.99514239e-01 6.69315231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.862755096 meters 0.02345253054034593 Centerline is valid? [True, True] Translation: X:305.67, Y:-168.45, Z:6.70 [[ 8.31202977e-01 5.55477501e-01 -2.33742851e-02 3.05665904e+02] [-5.55229772e-01 8.31531155e-01 1.66083852e-02 -1.68450942e+02] [ 2.86620306e-02 -8.26840247e-04 9.99588818e-01 6.69618269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.922755096 meters 0.023562527262793558 Centerline is valid? [True, True] Translation: X:305.72, Y:-168.49, Z:6.70 [[ 8.30591044e-01 5.56467933e-01 -2.14931983e-02 3.05715273e+02] [-5.56258621e-01 8.30868762e-01 1.52789983e-02 -1.68487315e+02] [ 2.63602997e-02 -7.34822336e-04 9.99652237e-01 6.69890316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.982755096 meters 0.02296824430983309 Centerline is valid? [True, True] Translation: X:305.77, Y:-168.52, Z:6.70 [[ 8.29447480e-01 5.58238302e-01 -1.96691490e-02 3.05767661e+02] [-5.58063409e-01 8.29680425e-01 1.39865373e-02 -1.68521688e+02] [ 2.41269287e-02 -6.24465751e-04 9.99708708e-01 6.70090170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.042755096 meters 0.022722795956707294 Centerline is valid? [True, True] Translation: X:305.82, Y:-168.55, Z:6.70 [[ 8.28596924e-01 5.59521249e-01 -1.90554241e-02 3.05816543e+02] [-5.59357368e-01 8.28815809e-01 1.35532202e-02 -1.68554918e+02] [ 2.33767514e-02 -5.71364699e-04 9.99726563e-01 6.70140711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.102755096 meters 0.02198170194159285 Centerline is valid? [True, True] Translation: X:305.87, Y:-168.59, Z:6.70 [[ 8.28265703e-01 5.60033342e-01 -1.84005973e-02 3.05867893e+02] [-5.59880638e-01 8.28469895e-01 1.30883731e-02 -1.68589528e+02] [ 2.25742663e-02 -5.38512407e-04 9.99745024e-01 6.70299644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.162755096 meters 0.023211491683199262 Centerline is valid? [True, True] Translation: X:305.92, Y:-168.62, Z:6.70 [[ 8.28903307e-01 5.59104525e-01 -1.79286870e-02 3.05917589e+02] [-5.58959208e-01 8.29096993e-01 1.27585227e-02 -1.68624177e+02] [ 2.19979682e-02 -5.54176940e-04 9.99757862e-01 6.70319412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.222755096 meters 0.023107437675516675 Centerline is valid? [True, True] Translation: X:305.97, Y:-168.66, Z:6.70 [[ 8.30289398e-01 5.57035753e-01 -1.81847583e-02 3.05969312e+02] [-5.56885731e-01 8.30488282e-01 1.29420154e-02 -1.68659262e+02] [ 2.23113940e-02 -6.18785745e-04 9.99750878e-01 6.70352352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.282755096 meters 0.027045168991716505 Centerline is valid? [True, True] Translation: X:306.02, Y:-168.70, Z:6.70 [[ 8.31319161e-01 5.55522473e-01 -1.74136210e-02 3.06016678e+02] [-5.55384437e-01 8.31501279e-01 1.23996116e-02 -1.68698667e+02] [ 2.13677110e-02 -6.36780612e-04 9.99771482e-01 6.70431369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.342755096 meters 0.02468261417380197 Centerline is valid? [True, True] Translation: X:306.07, Y:-168.73, Z:6.71 [[ 8.32050511e-01 5.54438330e-01 -1.70318671e-02 3.06070634e+02] [-5.54305972e-01 8.32224556e-01 1.21317197e-02 -1.68730518e+02] [ 2.09006285e-02 -6.53337942e-04 9.99781345e-01 6.70635549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.402755096 meters 0.02323025386550994 Centerline is valid? [True, True] Translation: X:306.12, Y:-168.76, Z:6.71 [[ 8.30771367e-01 5.56373149e-01 -1.63662643e-02 3.06124729e+02] [-5.56251178e-01 8.30932353e-01 1.16640844e-02 -1.68761320e+02] [ 2.00888419e-02 -5.86433537e-04 9.99798027e-01 6.70713936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.462755096 meters 0.02138581099495677 Centerline is valid? [True, True] Translation: X:306.18, Y:-168.79, Z:6.71 [[ 8.28248890e-01 5.60158231e-01 -1.50510147e-02 3.06179151e+02] [-5.60055594e-01 8.28385505e-01 1.07324941e-02 -1.68791434e+02] [ 1.84799373e-02 -4.59771319e-04 9.99829126e-01 6.70949726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.522755096 meters 0.020164434554206176 Centerline is valid? [True, True] Translation: X:306.23, Y:-168.82, Z:6.71 [[ 8.26607600e-01 5.62602812e-01 -1.40695307e-02 3.06232464e+02] [-5.62513465e-01 8.26727241e-01 1.00334628e-02 -1.68824043e+02] [ 1.72765187e-02 -3.79436200e-04 9.99850678e-01 6.71112261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.582755096 meters 0.01966403213894917 Centerline is valid? [True, True] Translation: X:306.29, Y:-168.86, Z:6.71 [[ 8.25554728e-01 5.64156420e-01 -1.36720769e-02 3.06285787e+02] [-5.64072168e-01 8.25667862e-01 9.75558939e-03 -1.68856484e+02] [ 1.67922729e-02 -3.41734869e-04 9.99858941e-01 6.71280663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64275509600003 meters 0.02027877165882876 Centerline is valid? [True, True] Translation: X:306.34, Y:-168.89, Z:6.71 [[ 8.26237984e-01 5.63150125e-01 -1.38827077e-02 3.06337255e+02] [-5.63063008e-01 8.26354523e-01 9.91219577e-03 -1.68890408e+02] [ 1.70540926e-02 -3.72993505e-04 9.99854499e-01 6.71332456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70275509600003 meters 0.02120238700839464 Centerline is valid? [True, True] Translation: X:306.39, Y:-168.93, Z:6.71 [[ 8.27357594e-01 5.61490008e-01 -1.44354704e-02 3.06387498e+02] [-5.61395546e-01 8.27483408e-01 1.03077555e-02 -1.68926187e+02] [ 1.77328139e-02 -4.24191034e-04 9.99842671e-01 6.71334265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76275509600003 meters 0.023854730515988846 Centerline is valid? [True, True] Translation: X:306.43, Y:-168.96, Z:6.71 [[ 8.29507333e-01 5.58306482e-01 -1.45415061e-02 3.06434406e+02] [-5.58210123e-01 8.29634633e-01 1.03842892e-02 -1.68963681e+02] [ 1.78617531e-02 -4.96628180e-04 9.99840343e-01 6.71409554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82275509600004 meters 0.029111283711365253 Centerline is valid? [True, True] Translation: X:306.48, Y:-169.00, Z:6.71 [[ 8.32302032e-01 5.54124488e-01 -1.48114307e-02 3.06480054e+02] [-5.54023814e-01 8.32433596e-01 1.05792801e-02 -1.69002805e+02] [ 1.81917706e-02 -5.99270981e-04 9.99834336e-01 6.71444353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88275509600004 meters 0.029438457766049482 Centerline is valid? [True, True] Translation: X:306.53, Y:-169.04, Z:6.71 [[ 8.35204668e-01 5.49694269e-01 -1.64125787e-02 3.06528483e+02] [-5.49569816e-01 8.35365559e-01 1.17217752e-02 -1.69037476e+02] [ 2.01538956e-02 -7.70223554e-04 9.99796593e-01 6.71407529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.942755096 meters 0.03695499321453999 Centerline is valid? [True, True] Translation: X:306.57, Y:-169.08, Z:6.71 [[ 8.37004304e-01 5.46920772e-01 -1.73627187e-02 3.06569797e+02] [-5.46780930e-01 8.37183903e-01 1.23986975e-02 -1.69080141e+02] [ 2.13168939e-02 -8.84159699e-04 9.99772378e-01 6.71426883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.002755096 meters 0.0365547961296215 Centerline is valid? [True, True] Translation: X:306.62, Y:-169.11, Z:6.71 [[ 8.37621240e-01 5.45931643e-01 -1.86895470e-02 3.06618572e+02] [-5.45769406e-01 8.37829151e-01 1.33442711e-02 -1.69112524e+02] [ 2.29437071e-02 -9.77261960e-04 9.99736281e-01 6.71429886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.062755096 meters 0.03792208559645666 Centerline is valid? [True, True] Translation: X:306.67, Y:-169.15, Z:6.71 [[ 8.35877398e-01 5.48579135e-01 -1.92329923e-02 3.06665454e+02] [-5.48408082e-01 8.36098122e-01 1.37297212e-02 -1.69146844e+02] [ 2.36125073e-02 -9.28835241e-04 9.99720754e-01 6.71478451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.122755096 meters 0.03400687038606523 Centerline is valid? [True, True] Translation: X:306.72, Y:-169.18, Z:6.72 [[ 8.32677778e-01 5.53431918e-01 -1.89955446e-02 3.06717132e+02] [-5.53266377e-01 8.32894054e-01 1.35577240e-02 -1.69176444e+02] [ 2.33245533e-02 -7.79619342e-04 9.99727642e-01 6.71719774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.182755096 meters 0.029048220549141916 Centerline is valid? [True, True] Translation: X:306.77, Y:-169.20, Z:6.72 [[ 8.30054752e-01 5.57369620e-01 -1.86605223e-02 3.06770953e+02] [-5.57210880e-01 8.30264220e-01 1.33176627e-02 -1.69204473e+02] [ 2.29160246e-02 -6.56543188e-04 9.99737178e-01 6.71961983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.242755096 meters 0.021656999244335073 Centerline is valid? [True, True] Translation: X:306.83, Y:-169.23, Z:6.72 [[ 8.26398530e-01 5.62807106e-01 -1.77096277e-02 3.06826367e+02] [-5.62665386e-01 8.26588127e-01 1.26385316e-02 -1.69230129e+02] [ 2.17516233e-02 -4.79869464e-04 9.99763290e-01 6.72268519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.302755096 meters 0.01973148932333106 Centerline is valid? [True, True] Translation: X:306.88, Y:-169.26, Z:6.72 [[ 8.23782539e-01 5.66629767e-01 -1.76928223e-02 3.06876428e+02] [-5.66489211e-01 8.23972430e-01 1.26257272e-02 -1.69259924e+02] [ 2.17325106e-02 -3.78060667e-04 9.99763750e-01 6.72360934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.362755096 meters 0.019022979373482685 Centerline is valid? [True, True] Translation: X:306.93, Y:-169.29, Z:6.73 [[ 8.22859680e-01 5.67988048e-01 -1.70741008e-02 3.06926165e+02] [-5.67857502e-01 8.23036737e-01 1.21814582e-02 -1.69291966e+02] [ 2.09715349e-02 -3.27974529e-04 9.99780019e-01 6.72505049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.422755096 meters 0.018101780535606137 Centerline is valid? [True, True] Translation: X:306.97, Y:-169.32, Z:6.73 [[ 8.23193203e-01 5.67541262e-01 -1.58071387e-02 3.06974931e+02] [-5.67429394e-01 8.23344897e-01 1.12722051e-02 -1.69324196e+02] [ 1.94121685e-02 -3.09767474e-04 9.99811518e-01 6.72750333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.482755096 meters 0.019865906194732736 Centerline is valid? [True, True] Translation: X:307.02, Y:-169.36, Z:6.73 [[ 8.25515807e-01 5.64161976e-01 -1.56498418e-02 3.07019957e+02] [-5.64051749e-01 8.25664047e-01 1.11582390e-02 -1.69362425e+02] [ 1.92165659e-02 -3.83982030e-04 9.99815271e-01 6.72769073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.542755096 meters 0.020772750332679474 Centerline is valid? [True, True] Translation: X:307.07, Y:-169.40, Z:6.73 [[ 8.26365325e-01 5.62914299e-01 -1.57430118e-02 3.07066995e+02] [-5.62802565e-01 8.26515167e-01 1.12228472e-02 -1.69398234e+02] [ 1.93293392e-02 -4.13964366e-04 9.99813085e-01 6.72816409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.602755096 meters 0.021557733826738208 Centerline is valid? [True, True] Translation: X:307.12, Y:-169.44, Z:6.73 [[ 8.28565965e-01 5.59655167e-01 -1.62645511e-02 3.07115718e+02] [-5.59535312e-01 8.28725430e-01 1.15929463e-02 -1.69436163e+02] [ 1.99668994e-02 -5.04930038e-04 9.99800514e-01 6.72873692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.662755096 meters 0.02644745228282938 Centerline is valid? [True, True] Translation: X:307.16, Y:-169.48, Z:6.73 [[ 8.30552722e-01 5.56679350e-01 -1.70375233e-02 3.07158419e+02] [-5.56547187e-01 8.30727233e-01 1.21446553e-02 -1.69476753e+02] [ 2.09142134e-02 -6.04590842e-04 9.99781091e-01 6.72881602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.722755096 meters 0.02716377959426598 Centerline is valid? [True, True] Translation: X:307.21, Y:-169.51, Z:6.73 [[ 8.31177693e-01 5.55725000e-01 -1.77021605e-02 3.07205582e+02] [-5.55582146e-01 8.31365924e-01 1.26166355e-02 -1.69512515e+02] [ 2.17283527e-02 -6.51661670e-04 9.99763699e-01 6.72897639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.782755096 meters 0.024452490946831267 Centerline is valid? [True, True] Translation: X:307.25, Y:-169.55, Z:6.73 [[ 8.30653526e-01 5.56506885e-01 -1.77427721e-02 3.07254620e+02] [-5.56363601e-01 8.30842758e-01 1.26433634e-02 -1.69545248e+02] [ 2.17775725e-02 -6.30821863e-04 9.99762642e-01 6.73075824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.842755096 meters 0.025055862693299024 Centerline is valid? [True, True] Translation: X:307.30, Y:-169.58, Z:6.73 [[ 8.29475112e-01 5.58279223e-01 -1.71856976e-02 3.07301563e+02] [-5.58145219e-01 8.29652934e-01 1.22443499e-02 -1.69580062e+02] [ 2.10939305e-02 -5.64268572e-04 9.99777339e-01 6.73259331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.902755096 meters 0.020350850020048886 Centerline is valid? [True, True] Translation: X:307.35, Y:-169.61, Z:6.74 [[ 8.25806314e-01 5.63725559e-01 -1.60444857e-02 3.07353398e+02] [-5.63609820e-01 8.25962068e-01 1.14294959e-02 -1.69609468e+02] [ 1.96952355e-02 -3.95720176e-04 9.99805952e-01 6.73534051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.962755096 meters 0.015961378923063877 Centerline is valid? [True, True] Translation: X:307.41, Y:-169.64, Z:6.74 [[ 8.20530055e-01 5.71376295e-01 -1.61108074e-02 3.07407178e+02] [-5.71261080e-01 8.20688177e-01 1.14757902e-02 -1.69637971e+02] [ 1.97789436e-02 -2.12753544e-04 9.99804355e-01 6.73649832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.022755096 meters 0.01462954444871853 Centerline is valid? [True, True] Translation: X:307.46, Y:-169.67, Z:6.74 [[ 8.17059567e-01 5.76326447e-01 -1.61706870e-02 3.07457164e+02] [-5.76211351e-01 8.17219565e-01 1.15178654e-02 -1.69668747e+02] [ 1.98530523e-02 -9.30487221e-05 9.99802904e-01 6.73724126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.082755096 meters 0.014457157130517487 Centerline is valid? [True, True] Translation: X:307.51, Y:-169.70, Z:6.74 [[ 8.13029394e-01 5.82015805e-01 -1.55179512e-02 3.07505844e+02] [-5.81910880e-01 8.13177472e-01 1.10511234e-02 -1.69700203e+02] [ 1.90507768e-02 4.51764924e-05 9.99818516e-01 6.73819629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14275509600003 meters 0.015139878855116369 Centerline is valid? [True, True] Translation: X:307.55, Y:-169.73, Z:6.74 [[ 8.10332319e-01 5.85761311e-01 -1.56594675e-02 3.07553257e+02] [-5.85655205e-01 8.10483601e-01 1.11495720e-02 -1.69734928e+02] [ 1.92227296e-02 1.36190082e-04 9.99815217e-01 6.73923118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20275509600003 meters 0.015436507681740404 Centerline is valid? [True, True] Translation: X:307.60, Y:-169.77, Z:6.74 [[ 8.09905831e-01 5.86339677e-01 -1.60725518e-02 3.07598853e+02] [-5.86228051e-01 8.10065280e-01 1.14417317e-02 -1.69771072e+02] [ 1.97285575e-02 1.55455506e-04 9.99805361e-01 6.73891195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26275509600003 meters 0.01517163094471303 Centerline is valid? [True, True] Translation: X:307.64, Y:-169.81, Z:6.74 [[ 8.10759331e-01 5.85154243e-01 -1.62425092e-02 3.07643820e+02] [-5.85040052e-01 8.10922003e-01 1.15603895e-02 -1.69809848e+02] [ 1.99360191e-02 1.29824809e-04 9.99801249e-01 6.73925861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32275509600004 meters 0.014659091550537448 Centerline is valid? [True, True] Translation: X:307.69, Y:-169.85, Z:6.74 [[ 8.13426809e-01 5.81446259e-01 -1.60335351e-02 3.07685135e+02] [-5.81334301e-01 8.13584812e-01 1.14098178e-02 -1.69852150e+02] [ 1.96788365e-02 3.97922622e-05 9.99806352e-01 6.74032597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38275509600004 meters 0.014946092127602813 Centerline is valid? [True, True] Translation: X:307.73, Y:-169.90, Z:6.74 [[ 8.16296227e-01 5.77404667e-01 -1.62579478e-02 3.07730558e+02] [-5.77288780e-01 8.16458111e-01 1.15679195e-02 -1.69897210e+02] [ 1.99533041e-02 -5.73181918e-05 9.99800911e-01 6.74044922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.442755096 meters 0.01576996381229008 Centerline is valid? [True, True] Translation: X:307.77, Y:-169.94, Z:6.74 [[ 8.18837525e-01 5.73824822e-01 -1.51717075e-02 3.07774590e+02] [-5.73723163e-01 8.18978054e-01 1.08018074e-02 -1.69942643e+02] [ 1.86236407e-02 -1.40565217e-04 9.99826555e-01 6.74232272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.502755096 meters 0.016969147685516692 Centerline is valid? [True, True] Translation: X:307.82, Y:-169.99, Z:6.74 [[ 8.20455593e-01 5.71516154e-01 -1.48965392e-02 3.07818774e+02] [-5.71417656e-01 8.20590792e-01 1.06119902e-02 -1.69985306e+02] [ 1.82888868e-02 -1.94521216e-04 9.99832725e-01 6.74355567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.562755096 meters 0.017162305823475454 Centerline is valid? [True, True] Translation: X:307.87, Y:-170.02, Z:6.74 [[ 8.20205840e-01 5.71866361e-01 -1.52067284e-02 3.07867873e+02] [-5.71763714e-01 8.20346773e-01 1.08364317e-02 -1.70024838e+02] [ 1.86717814e-02 -1.93449104e-04 9.99825648e-01 6.74361534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.622755096 meters 0.017339936487926703 Centerline is valid? [True, True] Translation: X:307.92, Y:-170.06, Z:6.74 [[ 8.19685587e-01 5.72593586e-01 -1.58783946e-02 3.07916915e+02] [-5.72481659e-01 8.19839343e-01 1.13226445e-02 -1.70064503e+02] [ 1.95010062e-02 -1.90918836e-04 9.99809819e-01 6.74310634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.682755096 meters 0.01680875009109855 Centerline is valid? [True, True] Translation: X:307.97, Y:-170.10, Z:6.74 [[ 8.17984407e-01 5.75011197e-01 -1.62367741e-02 3.07965543e+02] [-5.74894486e-01 8.18145527e-01 1.15856288e-02 -1.70103425e+02] [ 1.99459103e-02 -1.42431819e-04 9.99801050e-01 6.74455947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.742755096 meters 0.01652623900459022 Centerline is valid? [True, True] Translation: X:308.02, Y:-170.14, Z:6.75 [[ 8.15126264e-01 5.79115845e-01 -1.39287943e-02 3.08017751e+02] [-5.79030473e-01 8.15245261e-01 9.94360691e-03 -1.70136696e+02] [ 1.71138839e-02 -4.00988044e-05 9.99853546e-01 6.74854101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.802755096 meters 0.016722268545806513 Centerline is valid? [True, True] Translation: X:308.07, Y:-170.17, Z:6.75 [[ 8.12879248e-01 5.82289014e-01 -1.29163621e-02 3.08071139e+02] [-5.82215928e-01 8.12981860e-01 9.22546999e-03 -1.70170678e+02] [ 1.58726579e-02 2.09186102e-05 9.99874021e-01 6.75107526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.862755096 meters 0.017248900652634635 Centerline is valid? [True, True] Translation: X:308.12, Y:-170.21, Z:6.75 [[ 8.10823632e-01 5.85161695e-01 -1.22812348e-02 3.08123980e+02] [-5.85095869e-01 8.10916633e-01 8.77709886e-03 -1.70205223e+02] [ 1.50950796e-02 6.90205931e-05 9.99886060e-01 6.75332718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.922755096 meters 0.017321795756479335 Centerline is valid? [True, True] Translation: X:308.17, Y:-170.24, Z:6.75 [[ 8.10872598e-01 5.85086820e-01 -1.26112475e-02 3.08174436e+02] [-5.85017303e-01 8.10970659e-01 9.01918478e-03 -1.70243027e+02] [ 1.55043579e-02 6.43882394e-05 9.99879798e-01 6.75483543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.982755096 meters 0.017368176030797117 Centerline is valid? [True, True] Translation: X:308.22, Y:-170.28, Z:6.75 [[ 8.11709774e-01 5.83910591e-01 -1.32538555e-02 3.08224154e+02] [-5.83833545e-01 8.11817972e-01 9.48536791e-03 -1.70280913e+02] [ 1.62983249e-02 3.86796182e-05 9.99867173e-01 6.75432376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.042755096 meters 0.017355755826062146 Centerline is valid? [True, True] Translation: X:308.27, Y:-170.32, Z:6.75 [[ 8.13716403e-01 5.81057146e-01 -1.54339968e-02 3.08272526e+02] [-5.80951991e-01 8.13862760e-01 1.10540286e-02 -1.70319759e+02] [ 1.89841775e-02 -2.84332142e-05 9.99819784e-01 6.75292667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.102755096 meters 0.018184052358780237 Centerline is valid? [True, True] Translation: X:308.32, Y:-170.36, Z:6.76 [[ 8.16511474e-01 5.77137957e-01 -1.48590591e-02 3.08320495e+02] [-5.77039727e-01 8.16646658e-01 1.06484473e-02 -1.70359699e+02] [ 1.82802241e-02 -1.20312012e-04 9.99832896e-01 6.75508755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.162755096 meters 0.019050967842569627 Centerline is valid? [True, True] Translation: X:308.37, Y:-170.40, Z:6.76 [[ 8.18897296e-01 5.73772618e-01 -1.38636438e-02 3.08370132e+02] [-5.73686538e-01 8.19014620e-01 9.94024551e-03 -1.70397619e+02] [ 1.70579677e-02 -1.86654334e-04 9.99854485e-01 6.75765204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.222755096 meters 0.02200872627806859 Centerline is valid? [True, True] Translation: X:308.42, Y:-170.44, Z:6.76 [[ 8.23261102e-01 5.67503243e-01 -1.34620726e-02 3.08417111e+02] [-5.67421145e-01 8.23371102e-01 9.65778973e-03 -1.70436745e+02] [ 1.65651086e-02 -3.12217965e-04 9.99862740e-01 6.76005572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.282755096 meters 0.02272333931247576 Centerline is valid? [True, True] Translation: X:308.47, Y:-170.47, Z:6.76 [[ 8.24578561e-01 5.65590193e-01 -1.33390537e-02 3.08467930e+02] [-5.65509256e-01 8.24686371e-01 9.57448305e-03 -1.70472227e+02] [ 1.64157695e-02 -3.51555138e-04 9.99865190e-01 6.76155602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.342755096 meters 0.023008828098959242 Centerline is valid? [True, True] Translation: X:308.52, Y:-170.51, Z:6.76 [[ 8.24368191e-01 5.65872689e-01 -1.43243024e-02 3.08521239e+02] [-5.65779286e-01 8.24492546e-01 1.02879653e-02 -1.70506146e+02] [ 1.76319591e-02 -3.76677804e-04 9.99844474e-01 6.76149733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.402755096 meters 0.022339747900861958 Centerline is valid? [True, True] Translation: X:308.57, Y:-170.54, Z:6.76 [[ 8.22846177e-01 5.68069131e-01 -1.48872893e-02 3.08573730e+02] [-5.67968468e-01 8.22980766e-01 1.06994942e-02 -1.70538258e+02] [ 1.83300051e-02 -3.48526993e-04 9.99831931e-01 6.76284110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.462755096 meters 0.020846460039946366 Centerline is valid? [True, True] Translation: X:308.63, Y:-170.57, Z:6.76 [[ 8.21211317e-01 5.70423547e-01 -1.51310663e-02 3.08627428e+02] [-5.70319852e-01 8.21350646e-01 1.08803953e-02 -1.70569391e+02] [ 1.86343448e-02 -3.05556223e-04 9.99826319e-01 6.76440315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.522755096 meters 0.020337391304888642 Centerline is valid? [True, True] Translation: X:308.68, Y:-170.60, Z:6.77 [[ 8.18592957e-01 5.74155403e-01 -1.58475087e-02 3.08678701e+02] [-5.74042216e-01 8.18746308e-01 1.14024719e-02 -1.70603278e+02] [ 1.95218801e-02 -2.36844188e-04 9.99809402e-01 6.76667158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.582755096 meters 0.01901716752819195 Centerline is valid? [True, True] Translation: X:308.73, Y:-170.63, Z:6.77 [[ 8.16378117e-01 5.77289289e-01 -1.62433775e-02 3.08732845e+02] [-5.77170867e-01 8.16539679e-01 1.16937050e-02 -1.70634670e+02] [ 2.00140129e-02 -1.71280633e-04 9.99799685e-01 6.76877943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64275509600003 meters 0.018572795369705155 Centerline is valid? [True, True] Translation: X:308.79, Y:-170.67, Z:6.77 [[ 8.14244023e-01 5.80285717e-01 -1.65878680e-02 3.08786775e+02] [-5.80162694e-01 8.14412964e-01 1.19487737e-02 -1.70666323e+02] [ 2.04430774e-02 -1.05555347e-04 9.99791013e-01 6.77054670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70275509600003 meters 0.018539780296275652 Centerline is valid? [True, True] Translation: X:308.84, Y:-170.70, Z:6.77 [[ 8.13252410e-01 5.81669868e-01 -1.67535651e-02 3.08835774e+02] [-5.81544540e-01 8.13424956e-01 1.20743012e-02 -1.70698982e+02] [ 2.06510252e-02 -7.65101980e-05 9.99786742e-01 6.77308834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76275509600003 meters 0.018738435252548348 Centerline is valid? [True, True] Translation: X:308.89, Y:-170.74, Z:6.78 [[ 8.13434122e-01 5.81415271e-01 -1.67693775e-02 3.08886303e+02] [-5.81289665e-01 8.13606954e-01 1.20851042e-02 -1.70735201e+02] [ 2.06701463e-02 -8.25703230e-05 9.99786346e-01 6.77502793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82275509600004 meters 0.018940637670250313 Centerline is valid? [True, True] Translation: X:308.93, Y:-170.77, Z:6.78 [[ 8.14087758e-01 5.80495432e-01 -1.69167220e-02 3.08934103e+02] [-5.80367279e-01 8.14263496e-01 1.21975502e-02 -1.70770754e+02] [ 2.08552913e-02 -1.11964404e-04 9.99782498e-01 6.77719891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88275509600004 meters 0.0191491502639735 Centerline is valid? [True, True] Translation: X:308.98, Y:-170.81, Z:6.78 [[ 8.14502076e-01 5.79861294e-01 -1.86345761e-02 3.08984382e+02] [-5.79705600e-01 8.14715201e-01 1.34371972e-02 -1.70807325e+02] [ 2.29735830e-02 -1.42056871e-04 9.99736062e-01 6.77798633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.942755096 meters 0.019313501010255894 Centerline is valid? [True, True] Translation: X:309.03, Y:-170.84, Z:6.78 [[ 8.14914064e-01 5.79214661e-01 -2.06263237e-02 3.09034137e+02] [-5.79023457e-01 8.15175038e-01 1.48826733e-02 -1.70843793e+02] [ 2.54343268e-02 -1.84974473e-04 9.99676478e-01 6.77794323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.002755096 meters 0.020185034827330833 Centerline is valid? [True, True] Translation: X:309.08, Y:-170.88, Z:6.78 [[ 8.16300942e-01 5.77206067e-01 -2.20437986e-02 3.09081756e+02] [-5.76986753e-01 8.16598484e-01 1.59123643e-02 -1.70880664e+02] [ 2.71856458e-02 -2.70298175e-04 9.99630365e-01 6.77851205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.062755096 meters 0.020891896713267504 Centerline is valid? [True, True] Translation: X:309.13, Y:-170.92, Z:6.78 [[ 8.17812156e-01 5.75047803e-01 -2.24343695e-02 3.09128807e+02] [-5.74819834e-01 8.18119736e-01 1.61943199e-02 -1.70916843e+02] [ 2.76665085e-02 -3.48191119e-04 9.99617148e-01 6.77991030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.122755096 meters 0.021425373145209488 Centerline is valid? [True, True] Translation: X:309.18, Y:-170.96, Z:6.78 [[ 8.19813660e-01 5.72195719e-01 -2.23074389e-02 3.09177315e+02] [-5.71969203e-01 8.20116981e-01 1.61049147e-02 -1.70955141e+02] [ 2.75098726e-02 -4.43861001e-04 9.99621433e-01 6.78389777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.182755096 meters 0.02257278512531769 Centerline is valid? [True, True] Translation: X:309.23, Y:-170.99, Z:6.79 [[ 8.21355886e-01 5.70026929e-01 -2.10667909e-02 3.09225298e+02] [-5.69823982e-01 8.21625861e-01 1.52175534e-02 -1.70992793e+02] [ 2.59834354e-02 -4.94664405e-04 9.99662251e-01 6.78602829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.242755096 meters 0.02255281196603787 Centerline is valid? [True, True] Translation: X:309.28, Y:-171.03, Z:6.79 [[ 8.21096211e-01 5.70394292e-01 -2.12453218e-02 3.09276974e+02] [-5.70187784e-01 8.21370871e-01 1.53552603e-02 -1.71029481e+02] [ 2.62088413e-02 -4.94323074e-04 9.99656367e-01 6.78757851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.302755096 meters 0.0224198239212983 Centerline is valid? [True, True] Translation: X:309.33, Y:-171.06, Z:6.79 [[ 8.20424728e-01 5.71386203e-01 -2.05200456e-02 3.09326255e+02] [-5.71193706e-01 8.20681182e-01 1.48373626e-02 -1.71062164e+02] [ 2.53182796e-02 -4.52018333e-04 9.99679339e-01 6.78927583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.362755096 meters 0.021292179842471757 Centerline is valid? [True, True] Translation: X:309.38, Y:-171.09, Z:6.79 [[ 8.18804781e-01 5.73728631e-01 -1.98541938e-02 3.09376941e+02] [-5.73549150e-01 8.19045374e-01 1.43543773e-02 -1.71094020e+02] [ 2.44970029e-02 -3.66076803e-04 9.99699836e-01 6.79149768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.422755096 meters 0.020638865946870925 Centerline is valid? [True, True] Translation: X:309.43, Y:-171.13, Z:6.79 [[ 8.17008124e-01 5.76282261e-01 -1.99118482e-02 3.09426470e+02] [-5.76102528e-01 8.17250679e-01 1.43946281e-02 -1.71125185e+02] [ 2.45683403e-02 -2.89261968e-04 9.99698111e-01 6.79185347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.482755096 meters 0.019654622720362117 Centerline is valid? [True, True] Translation: X:309.48, Y:-171.16, Z:6.79 [[ 8.15439533e-01 5.78544063e-01 -1.85778287e-02 3.09477643e+02] [-5.78388241e-01 8.15651105e-01 1.34282310e-02 -1.71155053e+02] [ 2.29218498e-02 -2.04712759e-04 9.99737239e-01 6.79488781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.542755096 meters 0.01929453663720932 Centerline is valid? [True, True] Translation: X:309.53, Y:-171.19, Z:6.80 [[ 8.14726943e-01 5.79585864e-01 -1.73272770e-02 3.09528287e+02] [-5.79450592e-01 8.14911161e-01 1.25224369e-02 -1.71186218e+02] [ 2.13780188e-02 -1.62065826e-04 9.99771451e-01 6.79610856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.602755096 meters 0.01941486637573764 Centerline is valid? [True, True] Translation: X:309.58, Y:-171.22, Z:6.80 [[ 8.15464318e-01 5.78576768e-01 -1.63361538e-02 3.09576581e+02] [-5.78456363e-01 8.15627913e-01 1.18043702e-02 -1.71220566e+02] [ 2.01539574e-02 -1.76290568e-04 9.99796873e-01 6.79772167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.662755096 meters 0.020471809039370056 Centerline is valid? [True, True] Translation: X:309.62, Y:-171.26, Z:6.80 [[ 8.18133966e-01 5.74809989e-01 -1.58205529e-02 3.09622968e+02] [-5.74696394e-01 8.18286875e-01 1.14300150e-02 -1.71256965e+02] [ 1.95158376e-02 -2.59268849e-04 9.99809514e-01 6.79902446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.722755096 meters 0.021989027718853187 Centerline is valid? [True, True] Translation: X:309.67, Y:-171.29, Z:6.80 [[ 8.21136338e-01 5.70540389e-01 -1.47911696e-02 3.09670552e+02] [-5.70440431e-01 8.21269476e-01 1.06846942e-02 -1.71293552e+02] [ 1.82435857e-02 -3.36109530e-04 9.99833515e-01 6.80014624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.782755096 meters 0.023376874727867154 Centerline is valid? [True, True] Translation: X:309.72, Y:-171.33, Z:6.80 [[ 8.23370602e-01 5.67325608e-01 -1.42305001e-02 3.09718689e+02] [-5.67232611e-01 8.23493474e-01 1.02792640e-02 -1.71330025e+02] [ 1.75504137e-02 -3.91640066e-04 9.99845903e-01 6.80136802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.842755096 meters 0.0259273293087196 Centerline is valid? [True, True] Translation: X:309.77, Y:-171.37, Z:6.80 [[ 8.26267046e-01 5.63111406e-01 -1.37227239e-02 3.09765435e+02] [-5.63024344e-01 8.26380862e-01 9.91255055e-03 -1.71366260e+02] [ 1.69220667e-02 -4.64186241e-04 9.99856704e-01 6.80141553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.902755096 meters 0.030525174914710518 Centerline is valid? [True, True] Translation: X:309.81, Y:-171.41, Z:6.80 [[ 8.29268815e-01 5.58687833e-01 -1.34587123e-02 3.09810016e+02] [-5.58603520e-01 8.29377845e-01 9.72100313e-03 -1.71406260e+02] [ 1.65933640e-02 -5.43240672e-04 9.99862173e-01 6.80274779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.962755096 meters 0.03413802074624167 Centerline is valid? [True, True] Translation: X:309.86, Y:-171.44, Z:6.80 [[ 8.31212773e-01 5.55815584e-01 -1.24242826e-02 3.09856638e+02] [-5.55743410e-01 8.31305437e-01 8.97400584e-03 -1.71443037e+02] [ 1.53162659e-02 -5.54595112e-04 9.99882545e-01 6.80461110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.022755096 meters 0.03484535296057954 Centerline is valid? [True, True] Translation: X:309.90, Y:-171.48, Z:6.81 [[ 8.31569167e-01 5.55297307e-01 -1.17312032e-02 3.09904597e+02] [-5.55232917e-01 8.31651740e-01 8.47294850e-03 -1.71477159e+02] [ 1.44612810e-02 -5.32292576e-04 9.99895289e-01 6.80620034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.082755096 meters 0.028807025569423612 Centerline is valid? [True, True] Translation: X:309.96, Y:-171.50, Z:6.81 [[ 8.30602736e-01 5.56774975e-01 -1.00359911e-02 3.09958933e+02] [-5.56727969e-01 8.30663253e-01 7.24765587e-03 -1.71502798e+02] [ 1.23718424e-02 -4.32605866e-04 9.99923372e-01 6.80762919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14275509600003 meters 0.02742972568584197 Centerline is valid? [True, True] Translation: X:310.01, Y:-171.53, Z:6.81 [[ 8.28299257e-01 5.60190586e-01 -1.03367430e-02 3.10009649e+02] [-5.60141005e-01 8.28363660e-01 7.46330872e-03 -1.71532322e+02] [ 1.27434575e-02 -3.91819469e-04 9.99918722e-01 6.80777383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20275509600003 meters 0.026260798963798418 Centerline is valid? [True, True] Translation: X:310.06, Y:-171.56, Z:6.81 [[ 8.26641846e-01 5.62645069e-01 -9.68427442e-03 3.10059543e+02] [-5.62601726e-01 8.26698504e-01 6.99145939e-03 -1.71564398e+02] [ 1.19396853e-02 -3.31043386e-04 9.99928665e-01 6.80915661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26275509600003 meters 0.022965139108310984 Centerline is valid? [True, True] Translation: X:310.11, Y:-171.60, Z:6.81 [[ 8.24496790e-01 5.65781289e-01 -9.82731220e-03 3.10112892e+02] [-5.65736921e-01 8.24555305e-01 7.09124550e-03 -1.71596904e+02] [ 1.21152564e-02 -2.87035805e-04 9.99926566e-01 6.80971862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32275509600004 meters 0.021269705656090463 Centerline is valid? [True, True] Translation: X:310.17, Y:-171.63, Z:6.81 [[ 8.22419277e-01 5.68795965e-01 -9.88350871e-03 3.10166523e+02] [-5.68751254e-01 8.22478626e-01 7.13593469e-03 -1.71628294e+02] [ 1.21878655e-02 -2.47472275e-04 9.99925695e-01 6.80988837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38275509600004 meters 0.022775216682806115 Centerline is valid? [True, True] Translation: X:310.22, Y:-171.66, Z:6.81 [[ 8.21564384e-01 5.70035129e-01 -9.58721859e-03 3.10215489e+02] [-5.69993093e-01 8.21620290e-01 6.92620219e-03 -1.71664934e+02] [ 1.18252319e-02 -2.25672652e-04 9.99930054e-01 6.80959693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.442755096 meters 0.02179101431427477 Centerline is valid? [True, True] Translation: X:310.26, Y:-171.70, Z:6.81 [[ 8.21291945e-01 5.70449829e-01 -8.15679885e-03 3.10263337e+02] [-5.70419363e-01 8.21332427e-01 5.89869242e-03 -1.71699198e+02] [ 1.00643515e-02 -1.91752565e-04 9.99949335e-01 6.81423109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.502755096 meters 0.02140325929833153 Centerline is valid? [True, True] Translation: X:310.31, Y:-171.74, Z:6.81 [[ 8.21994490e-01 5.69429548e-01 -8.66302491e-03 3.10313540e+02] [-5.69395176e-01 8.22040111e-01 6.26020092e-03 -1.71736602e+02] [ 1.06860973e-02 -2.13166077e-04 9.99942879e-01 6.81366078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.562755096 meters 0.022373412554763435 Centerline is valid? [True, True] Translation: X:310.36, Y:-171.77, Z:6.81 [[ 8.22543482e-01 5.68621462e-01 -9.58401748e-03 3.10361203e+02] [-5.68579278e-01 8.22599276e-01 6.93075081e-03 -1.71774440e+02] [ 1.18247795e-02 -2.51570162e-04 9.99930053e-01 6.81442766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.622755096 meters 0.022870741985344507 Centerline is valid? [True, True] Translation: X:310.41, Y:-171.81, Z:6.81 [[ 8.23769726e-01 5.66824770e-01 -1.06357529e-02 3.10410421e+02] [-5.66772607e-01 8.23838323e-01 7.69601554e-03 -1.71812598e+02] [ 1.31244331e-02 -3.11691210e-04 9.99913822e-01 6.81400464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.682755096 meters 0.02568062752952247 Centerline is valid? [True, True] Translation: X:310.45, Y:-171.85, Z:6.81 [[ 8.25169483e-01 5.64758558e-01 -1.19622796e-02 3.10453702e+02] [-5.64692243e-01 8.25256092e-01 8.66336411e-03 -1.71853019e+02] [ 1.47646531e-02 -3.93737186e-04 9.99890919e-01 6.81480154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.742755096 meters 0.027212808852985087 Centerline is valid? [True, True] Translation: X:310.50, Y:-171.89, Z:6.82 [[ 8.26480362e-01 5.62824727e-01 -1.25911967e-02 3.10499956e+02] [-5.62751057e-01 8.26576146e-01 9.11715639e-03 -1.71890017e+02] [ 1.55389439e-02 -4.49441469e-04 9.99879162e-01 6.81573322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.802755096 meters 0.026795879314679413 Centerline is valid? [True, True] Translation: X:310.55, Y:-171.93, Z:6.82 [[ 8.26737838e-01 5.62426741e-01 -1.34427586e-02 3.10547338e+02] [-5.62342747e-01 8.26846978e-01 9.73192378e-03 -1.71925077e+02] [ 1.65885985e-02 -4.86311832e-04 9.99862281e-01 6.81592285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.862755096 meters 0.023998395980258515 Centerline is valid? [True, True] Translation: X:310.60, Y:-171.96, Z:6.82 [[ 8.25954252e-01 5.63568331e-01 -1.37952532e-02 3.10596694e+02] [-5.63480065e-01 8.26069314e-01 9.98525498e-03 -1.71957441e+02] [ 1.70232088e-02 -4.74013642e-04 9.99854982e-01 6.81771034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.922755096 meters 0.024134705526933493 Centerline is valid? [True, True] Translation: X:310.65, Y:-171.99, Z:6.82 [[ 8.23892678e-01 5.66596773e-01 -1.29981764e-02 3.10646525e+02] [-5.66518831e-01 8.23995114e-01 9.40563362e-03 -1.71993750e+02] [ 1.60396355e-02 -3.85520962e-04 9.99871282e-01 6.82007829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.982755096 meters 0.02120055003722947 Centerline is valid? [True, True] Translation: X:310.70, Y:-172.03, Z:6.82 [[ 8.21296707e-01 5.70364308e-01 -1.25010230e-02 3.10698430e+02] [-5.70292559e-01 8.21391784e-01 9.05172572e-03 -1.72026218e+02] [ 1.54310189e-02 -3.04912105e-04 9.99880888e-01 6.82155399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.042755096 meters 0.02134305990569074 Centerline is valid? [True, True] Translation: X:310.74, Y:-172.06, Z:6.82 [[ 8.19761769e-01 5.72569379e-01 -1.24478269e-02 3.10744477e+02] [-5.72498476e-01 8.19856230e-01 9.01433474e-03 -1.72062351e+02] [ 1.53667604e-02 -2.63245087e-04 9.99881890e-01 6.82392508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.102755096 meters 0.01968462898647345 Centerline is valid? [True, True] Translation: X:310.79, Y:-172.09, Z:6.82 [[ 8.18124699e-01 5.74898204e-01 -1.28075233e-02 3.10794177e+02] [-5.74823447e-01 8.18224911e-01 9.27364868e-03 -1.72094888e+02] [ 1.58108386e-02 -2.24936337e-04 9.99874976e-01 6.82376125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.162755096 meters 0.019029265688515148 Centerline is valid? [True, True] Translation: X:310.84, Y:-172.13, Z:6.83 [[ 8.16193857e-01 5.77647556e-01 -1.22836990e-02 3.10841563e+02] [-5.77579113e-01 8.16286269e-01 8.89347616e-03 -1.72127930e+02] [ 1.51643096e-02 -1.63992637e-04 9.99885002e-01 6.82545801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.222755096 meters 0.01857407979476085 Centerline is valid? [True, True] Translation: X:310.89, Y:-172.16, Z:6.83 [[ 8.14934397e-01 5.79421721e-01 -1.23449991e-02 3.10889322e+02] [-5.79352825e-01 8.15027885e-01 8.93597385e-03 -1.72161617e+02] [ 1.52392159e-02 -1.30122338e-04 9.99883868e-01 6.82695678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.282755096 meters 0.018257074486432864 Centerline is valid? [True, True] Translation: X:310.94, Y:-172.20, Z:6.83 [[ 8.13694774e-01 5.81143764e-01 -1.31430998e-02 3.10937603e+02] [-5.81065922e-01 8.13800906e-01 9.51206638e-03 -1.72195498e+02] [ 1.62237446e-02 -1.02911294e-04 9.99868381e-01 6.82669806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.342755096 meters 0.018191015848565077 Centerline is valid? [True, True] Translation: X:310.99, Y:-172.23, Z:6.83 [[ 8.13695301e-01 5.81133277e-01 -1.35672725e-02 3.10986455e+02] [-5.81050360e-01 8.13808394e-01 9.81715107e-03 -1.72232413e+02] [ 1.67462334e-02 -1.04901130e-04 9.99859766e-01 6.82618812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.402755096 meters 0.018776753785405217 Centerline is valid? [True, True] Translation: X:311.03, Y:-172.27, Z:6.83 [[ 8.15535110e-01 5.78519704e-01 -1.47457629e-02 3.11033241e+02] [-5.78421310e-01 8.15668390e-01 1.06707766e-02 -1.72273364e+02] [ 1.82009072e-02 -1.73129436e-04 9.99834335e-01 6.82610616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.462755096 meters 0.01956557956580635 Centerline is valid? [True, True] Translation: X:311.08, Y:-172.31, Z:6.83 [[ 8.17233169e-01 5.76113965e-01 -1.49213705e-02 3.11080224e+02] [-5.76012694e-01 8.17369344e-01 1.08042412e-02 -1.72313735e+02] [ 1.84207451e-02 -2.34685442e-04 9.99830296e-01 6.82734792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.522755096 meters 0.021121190721328606 Centerline is valid? [True, True] Translation: X:311.13, Y:-172.36, Z:6.83 [[ 8.19663666e-01 5.72648132e-01 -1.50197353e-02 3.11125981e+02] [-5.72544821e-01 8.19801205e-01 1.08817935e-02 -1.72355371e+02] [ 1.85446358e-02 -3.19939048e-04 9.99827982e-01 6.82828881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.582755096 meters 0.022719417818467324 Centerline is valid? [True, True] Translation: X:311.17, Y:-172.40, Z:6.83 [[ 8.21653856e-01 5.69791084e-01 -1.49352283e-02 3.11171934e+02] [-5.69688355e-01 8.21789493e-01 1.08262401e-02 -1.72397347e+02] [ 1.84423088e-02 -3.86996273e-04 9.99829851e-01 6.83033849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64275509600003 meters 0.023477548605064274 Centerline is valid? [True, True] Translation: X:311.22, Y:-172.44, Z:6.83 [[ 8.23037534e-01 5.67802243e-01 -1.44855415e-02 3.11220140e+02] [-5.67705197e-01 8.23164888e-01 1.05059871e-02 -1.72437071e+02] [ 1.78893122e-02 -4.23304548e-04 9.99839884e-01 6.83194244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70275509600003 meters 0.023255091596592635 Centerline is valid? [True, True] Translation: X:311.27, Y:-172.47, Z:6.83 [[ 8.23003246e-01 5.67838640e-01 -1.49978563e-02 3.11270115e+02] [-5.67734495e-01 8.23139771e-01 1.08839570e-02 -1.72474515e+02] [ 1.85256633e-02 -4.42731587e-04 9.99828287e-01 6.83300180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76275509600003 meters 0.022662022335147258 Centerline is valid? [True, True] Translation: X:311.32, Y:-172.51, Z:6.83 [[ 8.22351642e-01 5.68774100e-01 -1.52905410e-02 3.11319544e+02] [-5.68665870e-01 8.22493668e-01 1.11038294e-02 -1.72511634e+02] [ 1.88919437e-02 -4.36043526e-04 9.99821436e-01 6.83382472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82275509600004 meters 0.022254364993479565 Centerline is valid? [True, True] Translation: X:311.37, Y:-172.55, Z:6.84 [[ 8.21212400e-01 5.70409174e-01 -1.56066623e-02 3.11369214e+02] [-5.70296587e-01 8.21360581e-01 1.13401588e-02 -1.72548631e+02] [ 1.92872279e-02 -4.12252824e-04 9.99813899e-01 6.83532905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88275509600004 meters 0.022135032361533667 Centerline is valid? [True, True] Translation: X:311.42, Y:-172.59, Z:6.84 [[ 8.20431820e-01 5.71507471e-01 -1.64571838e-02 3.11417650e+02] [-5.71382350e-01 8.20596758e-01 1.19653530e-02 -1.72585775e+02] [ 2.03430003e-02 -4.13411943e-04 9.99792974e-01 6.83538246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.942755096 meters 0.022225231615041967 Centerline is valid? [True, True] Translation: X:311.47, Y:-172.62, Z:6.84 [[ 8.19907235e-01 5.72253999e-01 -1.66579492e-02 3.11465693e+02] [-5.72125828e-01 8.20076336e-01 1.21177518e-02 -1.72623095e+02] [ 2.05952219e-02 -4.04989401e-04 9.99787814e-01 6.83675572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.002755096 meters 0.021715228400719298 Centerline is valid? [True, True] Translation: X:311.52, Y:-172.66, Z:6.84 [[ 8.19495224e-01 5.72857919e-01 -1.61673212e-02 3.11515543e+02] [-5.72737185e-01 8.19654597e-01 1.17668647e-02 -1.72661348e+02] [ 1.99923607e-02 -3.83263381e-04 9.99800059e-01 6.83856334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.062755096 meters 0.021145197552270255 Centerline is valid? [True, True] Translation: X:311.57, Y:-172.70, Z:6.84 [[ 8.19266835e-01 5.73177855e-01 -1.64011791e-02 3.11566202e+02] [-5.73053507e-01 8.19430898e-01 1.19449408e-02 -1.72698818e+02] [ 2.02862085e-02 -3.87340624e-04 9.99794139e-01 6.83960612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.122755096 meters 0.021457019784661045 Centerline is valid? [True, True] Translation: X:311.61, Y:-172.74, Z:6.84 [[ 8.18868086e-01 5.73762120e-01 -1.58772435e-02 3.11614053e+02] [-5.73645553e-01 8.19021913e-01 1.15708456e-02 -1.72738850e+02] [ 1.96427233e-02 -3.67086031e-04 9.99806996e-01 6.84169280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.182755096 meters 0.020962282865353208 Centerline is valid? [True, True] Translation: X:311.66, Y:-172.78, Z:6.84 [[ 8.18365198e-01 5.74460460e-01 -1.65403458e-02 3.11664053e+02] [-5.74333936e-01 8.18532249e-01 1.20618669e-02 -1.72777475e+02] [ 2.04678721e-02 -3.71330189e-04 9.99790442e-01 6.84188299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.242755096 meters 0.02141695769875971 Centerline is valid? [True, True] Translation: X:311.71, Y:-172.82, Z:6.84 [[ 8.18720397e-01 5.73941182e-01 -1.69832872e-02 3.11711373e+02] [-5.73807504e-01 8.18896427e-01 1.23931122e-02 -1.72818034e+02] [ 2.10204707e-02 -4.01356032e-04 9.99778965e-01 6.84223174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.302755096 meters 0.021130479421146015 Centerline is valid? [True, True] Translation: X:311.76, Y:-172.86, Z:6.84 [[ 8.18980490e-01 5.73571445e-01 -1.69338108e-02 3.11761029e+02] [-5.73438319e-01 8.19155434e-01 1.23640385e-02 -1.72855560e+02] [ 2.09630826e-02 -4.15410326e-04 9.99780164e-01 6.84393830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.362755096 meters 0.021420600234808407 Centerline is valid? [True, True] Translation: X:311.81, Y:-172.90, Z:6.84 [[ 8.19354808e-01 5.73048200e-01 -1.65365959e-02 3.11808096e+02] [-5.72920998e-01 8.19521556e-01 1.20809655e-02 -1.72895654e+02] [ 2.04750723e-02 -4.24434126e-04 9.99790274e-01 6.84495466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.422755096 meters 0.023530529491076622 Centerline is valid? [True, True] Translation: X:311.85, Y:-172.94, Z:6.85 [[ 8.19371219e-01 5.73037600e-01 -1.60845822e-02 3.11853877e+02] [-5.72917120e-01 8.19528971e-01 1.17575242e-02 -1.72938213e+02] [ 1.99192845e-02 -4.18644439e-04 9.99801504e-01 6.84572770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.482755096 meters 0.02125476740091401 Centerline is valid? [True, True] Translation: X:311.91, Y:-172.97, Z:6.85 [[ 8.19258797e-01 5.73215089e-01 -1.54752879e-02 3.11905698e+02] [-5.73103466e-01 8.19404844e-01 1.13189502e-02 -1.72973626e+02] [ 1.91687189e-02 -4.04208398e-04 9.99816182e-01 6.84747620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.542755096 meters 0.0215563723408058 Centerline is valid? [True, True] Translation: X:311.95, Y:-173.01, Z:6.85 [[ 8.18963758e-01 5.73625199e-01 -1.58900672e-02 3.11953129e+02] [-5.73507428e-01 8.19117795e-01 1.16304984e-02 -1.73013687e+02] [ 1.96873838e-02 -4.11885152e-04 9.99806100e-01 6.84825508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.602755096 meters 0.02112004151847821 Centerline is valid? [True, True] Translation: X:312.00, Y:-173.05, Z:6.85 [[ 8.17901690e-01 5.75140604e-01 -1.58148991e-02 3.12002824e+02] [-5.75024085e-01 8.18054486e-01 1.15827508e-02 -1.73051185e+02] [ 1.95991594e-02 -3.79603615e-04 9.99807846e-01 6.84941209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.662755096 meters 0.020793772164388487 Centerline is valid? [True, True] Translation: X:312.05, Y:-173.09, Z:6.85 [[ 8.16293842e-01 5.77429184e-01 -1.54887449e-02 3.12051236e+02] [-5.77317709e-01 8.16440710e-01 1.13503188e-02 -1.73088526e+02] [ 1.91996473e-02 -3.23268622e-04 9.99815618e-01 6.85116964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.722755096 meters 0.020153028470334407 Centerline is valid? [True, True] Translation: X:312.10, Y:-173.13, Z:6.85 [[ 8.15028257e-01 5.79220238e-01 -1.52596450e-02 3.12101136e+02] [-5.79112239e-01 8.15171047e-01 1.11882828e-02 -1.73126160e+02] [ 1.89197006e-02 -2.81719420e-04 9.99820967e-01 6.85283414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.782755096 meters 0.01918648554782588 Centerline is valid? [True, True] Translation: X:312.15, Y:-173.16, Z:6.85 [[ 8.13322652e-01 5.81621446e-01 -1.49250826e-02 3.12151798e+02] [-5.81518424e-01 8.13459552e-01 1.09489770e-02 -1.73162610e+02] [ 1.85091108e-02 -2.25840490e-04 9.99828666e-01 6.85432067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.842755096 meters 0.018367516659498987 Centerline is valid? [True, True] Translation: X:312.20, Y:-173.20, Z:6.86 [[ 8.10592501e-01 5.85437146e-01 -1.42529027e-02 3.12202595e+02] [-5.85343681e-01 8.10717787e-01 1.04616481e-02 -1.73197684e+02] [ 1.76797192e-02 -1.37286950e-04 9.99843692e-01 6.85662136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.902755096 meters 0.01800484798409124 Centerline is valid? [True, True] Translation: X:312.25, Y:-173.23, Z:6.86 [[ 8.08539848e-01 5.88269620e-01 -1.42185735e-02 3.12254084e+02] [-5.88176934e-01 8.08664855e-01 1.04425410e-02 -1.73233099e+02] [ 1.76410903e-02 -8.01734969e-05 9.99844381e-01 6.85766653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.962755096 meters 0.017771258247485603 Centerline is valid? [True, True] Translation: X:312.30, Y:-173.27, Z:6.86 [[ 8.07538995e-01 5.89626487e-01 -1.48787249e-02 3.12304411e+02] [-5.89525102e-01 8.07676050e-01 1.09339681e-02 -1.73270250e+02] [ 1.84641470e-02 -5.82237560e-05 9.99829521e-01 6.85815193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.022755096 meters 0.017643616954112634 Centerline is valid? [True, True] Translation: X:312.36, Y:-173.31, Z:6.86 [[ 8.06853863e-01 5.90569413e-01 -1.46496232e-02 3.12355333e+02] [-5.90471157e-01 8.06986844e-01 1.07725054e-02 -1.73306465e+02] [ 1.81839654e-02 -4.16576570e-05 9.99834657e-01 6.85944849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.082755096 meters 0.017833207981477642 Centerline is valid? [True, True] Translation: X:312.40, Y:-173.35, Z:6.86 [[ 8.07961391e-01 5.89026123e-01 -1.57040124e-02 3.12404132e+02] [-5.88912766e-01 8.08113988e-01 1.15557753e-02 -1.73345777e+02] [ 1.94972856e-02 -8.83268771e-05 9.99809906e-01 6.86006069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14275509600003 meters 0.018411358529767604 Centerline is valid? [True, True] Translation: X:312.45, Y:-173.38, Z:6.86 [[ 8.09742582e-01 5.86574267e-01 -1.57346903e-02 3.12451821e+02] [-5.86459853e-01 8.09895429e-01 1.15860087e-02 -1.73384401e+02] [ 1.95395083e-02 -1.53920389e-04 9.99809074e-01 6.86037746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20275509600003 meters 0.018763216982227608 Centerline is valid? [True, True] Translation: X:312.50, Y:-173.42, Z:6.86 [[ 8.10979434e-01 5.84860887e-01 -1.58145942e-02 3.12500921e+02] [-5.84744858e-01 8.11133591e-01 1.16510936e-02 -1.73421771e+02] [ 1.96420175e-02 -2.01294584e-04 9.99807057e-01 6.86131410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26275509600003 meters 0.01950538379095995 Centerline is valid? [True, True] Translation: X:312.55, Y:-173.46, Z:6.86 [[ 8.12934517e-01 5.82128758e-01 -1.62351870e-02 3.12549998e+02] [-5.82005785e-01 8.13096569e-01 1.19680801e-02 -1.73460079e+02] [ 2.01677385e-02 -2.80292632e-04 9.99796571e-01 6.86249271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32275509600004 meters 0.020243947140048135 Centerline is valid? [True, True] Translation: X:312.60, Y:-173.50, Z:6.86 [[ 8.13946128e-01 5.80697451e-01 -1.67979716e-02 3.12599296e+02] [-5.80565344e-01 8.14119377e-01 1.23903496e-02 -1.73497961e+02] [ 2.08705986e-02 -3.32756884e-04 9.99782130e-01 6.86315709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38275509600004 meters 0.0215624554818387 Centerline is valid? [True, True] Translation: X:312.65, Y:-173.54, Z:6.86 [[ 8.15547606e-01 5.78406157e-01 -1.81223589e-02 3.12647710e+02] [-5.78251648e-01 8.15748818e-01 1.33752618e-02 -1.73535589e+02] [ 2.25196266e-02 -4.28878801e-04 9.99746309e-01 6.86331584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.442755096 meters 0.0229099904752663 Centerline is valid? [True, True] Translation: X:312.70, Y:-173.57, Z:6.87 [[ 8.17146954e-01 5.76152489e-01 -1.78651596e-02 3.12696924e+02] [-5.76001644e-01 8.17342076e-01 1.31923113e-02 -1.73574027e+02] [ 2.22027296e-02 -4.89695714e-04 9.99753369e-01 6.86592431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.502755096 meters 0.023664518745358194 Centerline is valid? [True, True] Translation: X:312.75, Y:-173.61, Z:6.87 [[ 8.18146504e-01 5.74735570e-01 -1.77573094e-02 3.12747282e+02] [-5.74586047e-01 8.18339015e-01 1.31198804e-02 -1.73610760e+02] [ 2.20719610e-02 -5.30882124e-04 9.99756244e-01 6.86691532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.562755096 meters 0.025182856412745667 Centerline is valid? [True, True] Translation: X:312.80, Y:-173.65, Z:6.87 [[ 8.18685832e-01 5.73950367e-01 -1.82889359e-02 3.12797305e+02] [-5.73791388e-01 8.18889886e-01 1.35202258e-02 -1.73645885e+02] [ 2.27365632e-02 -5.74783380e-04 9.99741326e-01 6.86664760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.622755096 meters 0.023433807133160182 Centerline is valid? [True, True] Translation: X:312.85, Y:-173.68, Z:6.87 [[ 8.18012918e-01 5.74913344e-01 -1.81524810e-02 3.12849879e+02] [-5.74756810e-01 8.18214119e-01 1.34262364e-02 -1.73679017e+02] [ 2.25715387e-02 -5.49572804e-04 9.99745079e-01 6.86894757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.682755096 meters 0.024567794414061556 Centerline is valid? [True, True] Translation: X:312.90, Y:-173.72, Z:6.87 [[ 8.16684634e-01 5.76789135e-01 -1.84527061e-02 3.12899148e+02] [-5.76627682e-01 8.16892913e-01 1.36559459e-02 -1.73715244e+02] [ 2.29504860e-02 -5.12259980e-04 9.99736472e-01 6.86999359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.742755096 meters 0.020388611956696806 Centerline is valid? [True, True] Translation: X:312.96, Y:-173.74, Z:6.87 [[ 8.14244189e-01 5.80233335e-01 -1.83215133e-02 3.12955453e+02] [-5.80074877e-01 8.14450184e-01 1.35659476e-02 -1.73743197e+02] [ 2.27933749e-02 -4.18144427e-04 9.99740110e-01 6.87217095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.802755096 meters 0.01928465961193446 Centerline is valid? [True, True] Translation: X:313.01, Y:-173.78, Z:6.87 [[ 8.12491453e-01 5.82667356e-01 -1.88782896e-02 3.13007535e+02] [-5.82499580e-01 8.12710660e-01 1.39864909e-02 -1.73777696e+02] [ 2.34920589e-02 -3.67308541e-04 9.99723956e-01 6.87313214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.862755096 meters 0.018553790319692072 Centerline is valid? [True, True] Translation: X:313.06, Y:-173.81, Z:6.87 [[ 8.11019353e-01 5.84699357e-01 -1.93460752e-02 3.13058380e+02] [-5.84523534e-01 8.11249997e-01 1.43415925e-02 -1.73813293e+02] [ 2.40800233e-02 -3.23072860e-04 9.99709982e-01 6.87409745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.922755096 meters 0.01867170921378394 Centerline is valid? [True, True] Translation: X:313.11, Y:-173.85, Z:6.87 [[ 8.10526912e-01 5.85349800e-01 -2.02912606e-02 3.13107718e+02] [-5.85156342e-01 8.10780799e-01 1.50515863e-02 -1.73851458e+02] [ 2.52622075e-02 -3.26155939e-04 9.99680806e-01 6.87420626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.982755096 meters 0.019678329903832247 Centerline is valid? [True, True] Translation: X:313.15, Y:-173.89, Z:6.88 [[ 8.11329950e-01 5.84235858e-01 -2.03020715e-02 3.13153727e+02] [-5.84041618e-01 8.11583838e-01 1.50685486e-02 -1.73891309e+02] [ 2.52804195e-02 -3.68310118e-04 9.99680331e-01 6.87529121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.042755096 meters 0.020241952769013156 Centerline is valid? [True, True] Translation: X:313.20, Y:-173.93, Z:6.88 [[ 8.12752193e-01 5.82272251e-01 -1.98216665e-02 3.13200416e+02] [-5.82086325e-01 8.12993754e-01 1.47195786e-02 -1.73932427e+02] [ 2.46856932e-02 -4.25448789e-04 9.99695171e-01 6.87794043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.102755096 meters 0.02032877412751394 Centerline is valid? [True, True] Translation: X:313.25, Y:-173.97, Z:6.88 [[ 8.12974450e-01 5.81953499e-01 -2.00666145e-02 3.13249757e+02] [-5.81762644e-01 8.13221941e-01 1.49097797e-02 -1.73970519e+02] [ 2.49954096e-02 -4.47263287e-04 9.99687466e-01 6.87909199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.162755096 meters 0.019344101958907903 Centerline is valid? [True, True] Translation: X:313.30, Y:-174.01, Z:6.88 [[ 8.12150378e-01 5.83088827e-01 -2.04739891e-02 3.13299720e+02] [-5.82890281e-01 8.12408295e-01 1.52211243e-02 -1.74006636e+02] [ 2.55085061e-02 -4.27752548e-04 9.99674514e-01 6.88032609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.222755096 meters 0.01907313741990879 Centerline is valid? [True, True] Translation: X:313.35, Y:-174.04, Z:6.88 [[ 8.11290769e-01 5.84267692e-01 -2.09416356e-02 3.13349007e+02] [-5.84060126e-01 8.11560903e-01 1.55778933e-02 -1.74043941e+02] [ 2.60970724e-02 -4.07026758e-04 9.99659331e-01 6.88116984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.282755096 meters 0.018627507754632493 Centerline is valid? [True, True] Translation: X:313.40, Y:-174.08, Z:6.88 [[ 8.09970528e-01 5.86084623e-01 -2.12734224e-02 3.13398873e+02] [-5.85870810e-01 8.10249767e-01 1.58338157e-02 -1.74080905e+02] [ 2.65167415e-02 -3.61446825e-04 9.99648304e-01 6.88241122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.342755096 meters 0.0177997179393367 Centerline is valid? [True, True] Translation: X:313.45, Y:-174.12, Z:6.89 [[ 8.08457602e-01 5.88196612e-01 -2.05195194e-02 3.13449527e+02] [-5.87998151e-01 8.08717913e-01 1.52811229e-02 -1.74116497e+02] [ 2.55828076e-02 -2.88700492e-04 9.99672665e-01 6.88562933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.402755096 meters 0.017439153136579018 Centerline is valid? [True, True] Translation: X:313.50, Y:-174.15, Z:6.89 [[ 8.07482380e-01 5.89572528e-01 -1.94020657e-02 3.13500160e+02] [-5.89395301e-01 8.07715407e-01 1.44568787e-02 -1.74152070e+02] [ 2.41947259e-02 -2.38188439e-04 9.99707236e-01 6.88816994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.462755096 meters 0.017424006901945534 Centerline is valid? [True, True] Translation: X:313.55, Y:-174.19, Z:6.89 [[ 8.07137565e-01 5.90059000e-01 -1.89559767e-02 3.13550171e+02] [-5.89889770e-01 8.07360097e-01 1.41326926e-02 -1.74190637e+02] [ 2.36434217e-02 -2.25090362e-04 9.99720430e-01 6.89007567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.522755096 meters 0.017993296264501808 Centerline is valid? [True, True] Translation: X:313.60, Y:-174.23, Z:6.89 [[ 8.08126081e-01 5.88699716e-01 -1.91018555e-02 3.13598981e+02] [-5.88527273e-01 8.08351761e-01 1.42505939e-02 -1.74229796e+02] [ 2.38303391e-02 -2.74313728e-04 9.99715980e-01 6.89151670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.582755096 meters 0.01885530684682267 Centerline is valid? [True, True] Translation: X:313.65, Y:-174.27, Z:6.89 [[ 8.09919234e-01 5.86256498e-01 -1.82798678e-02 3.13646930e+02] [-5.86097784e-01 8.10125426e-01 1.36448562e-02 -1.74268921e+02] [ 2.28083713e-02 -3.37441494e-04 9.99739798e-01 6.89373863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64275509600003 meters 0.01953501325178857 Centerline is valid? [True, True] Translation: X:313.70, Y:-174.31, Z:6.90 [[ 8.11627026e-01 5.83890090e-01 -1.82738332e-02 3.13695647e+02] [-5.83730703e-01 8.11832615e-01 1.36481670e-02 -1.74307839e+02] [ 2.28043232e-02 -4.10223655e-04 9.99739863e-01 6.89555703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70275509600003 meters 0.021440620325095746 Centerline is valid? [True, True] Translation: X:313.74, Y:-174.35, Z:6.90 [[ 8.12592473e-01 5.82555847e-01 -1.79487827e-02 3.13741656e+02] [-5.82401582e-01 8.12790555e-01 1.34130583e-02 -1.74347824e+02] [ 2.24024566e-02 -4.45950777e-04 9.99748934e-01 6.89654584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76275509600003 meters 0.02069890966520919 Centerline is valid? [True, True] Translation: X:313.79, Y:-174.38, Z:6.90 [[ 8.12791380e-01 5.82264259e-01 -1.83985081e-02 3.13792772e+02] [-5.82101916e-01 8.12999453e-01 1.37567860e-02 -1.74382890e+02] [ 2.29680618e-02 -4.71590220e-04 9.99736088e-01 6.89719174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82275509600004 meters 0.02083438236133066 Centerline is valid? [True, True] Translation: X:313.84, Y:-174.42, Z:6.90 [[ 8.12455681e-01 5.82751005e-01 -1.78053894e-02 3.13844263e+02] [-5.82598908e-01 8.12650641e-01 1.33209718e-02 -1.74419707e+02] [ 2.22323709e-02 -4.49298826e-04 9.99752729e-01 6.89821465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88275509600004 meters 0.020827521438888757 Centerline is valid? [True, True] Translation: X:313.89, Y:-174.46, Z:6.90 [[ 8.11972558e-01 5.83450449e-01 -1.69156373e-02 3.13894760e+02] [-5.83313162e-01 8.12148633e-01 1.26630751e-02 -1.74456540e+02] [ 2.11262885e-02 -4.14955608e-04 9.99776729e-01 6.89960931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.942755096 meters 0.020714427317944605 Centerline is valid? [True, True] Translation: X:313.94, Y:-174.49, Z:6.90 [[ 8.11331651e-01 5.84353523e-01 -1.64897922e-02 3.13944638e+02] [-5.84223107e-01 8.11499113e-01 1.23511445e-02 -1.74493243e+02] [ 2.05988865e-02 -3.87156814e-04 9.99787745e-01 6.90058248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.002755096 meters 0.01948229798659631 Centerline is valid? [True, True] Translation: X:314.00, Y:-174.53, Z:6.90 [[ 8.10258015e-01 5.85849903e-01 -1.61814726e-02 3.13997411e+02] [-5.85724488e-01 8.10419503e-01 1.21265445e-02 -1.74527194e+02] [ 2.02181159e-02 -3.47745105e-04 9.99795533e-01 6.90069488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.062755096 meters 0.0196136526877574 Centerline is valid? [True, True] Translation: X:314.05, Y:-174.56, Z:6.90 [[ 8.09691143e-01 5.86656720e-01 -1.53018288e-02 3.14046436e+02] [-5.86544670e-01 8.09835660e-01 1.14697049e-02 -1.74564197e+02] [ 1.91207460e-02 -3.11712342e-04 9.99817133e-01 6.90082256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.122755096 meters 0.01965065932685311 Centerline is valid? [True, True] Translation: X:314.10, Y:-174.60, Z:6.90 [[ 8.09205986e-01 5.87347979e-01 -1.44230283e-02 3.14096947e+02] [-5.87248481e-01 8.09334462e-01 1.08142915e-02 -1.74602041e+02] [ 1.80248062e-02 -2.81087961e-04 9.99837500e-01 6.90197425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.182755096 meters 0.019373646548498356 Centerline is valid? [True, True] Translation: X:314.15, Y:-174.64, Z:6.90 [[ 8.08663966e-01 5.88099623e-01 -1.41923932e-02 3.14148184e+02] [-5.88003274e-01 8.08788454e-01 1.06483457e-02 -1.74638553e+02] [ 1.77409318e-02 -2.65759777e-04 9.99842582e-01 6.90180124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.242755096 meters 0.01956186010609338 Centerline is valid? [True, True] Translation: X:314.20, Y:-174.68, Z:6.90 [[ 8.08057037e-01 5.88959438e-01 -1.30615804e-02 3.14198260e+02] [-5.88877845e-01 8.08162562e-01 9.80597158e-03 -1.74676469e+02] [ 1.63311998e-02 -2.32108997e-04 9.99866610e-01 6.90323370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.302755096 meters 0.020077246953447554 Centerline is valid? [True, True] Translation: X:314.25, Y:-174.71, Z:6.91 [[ 8.08721144e-01 5.88067685e-01 -1.21041029e-02 3.14247053e+02] [-5.87997430e-01 8.08811685e-01 9.09285546e-03 -1.74714623e+02] [ 1.51371543e-02 -2.36403097e-04 9.99885399e-01 6.90506786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.362755096 meters 0.020793878580137294 Centerline is valid? [True, True] Translation: X:314.30, Y:-174.75, Z:6.91 [[ 8.10617928e-01 5.85464438e-01 -1.14002967e-02 3.14296116e+02] [-5.85401794e-01 8.10698044e-01 8.56865275e-03 -1.74753121e+02] [ 1.42588397e-02 -2.72149418e-04 9.99898301e-01 6.90616744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.422755096 meters 0.022375220017632272 Centerline is valid? [True, True] Translation: X:314.34, Y:-174.79, Z:6.91 [[ 8.12381742e-01 5.83022408e-01 -1.09898061e-02 3.14342923e+02] [-5.82963905e-01 8.12456015e-01 8.26489706e-03 -1.74792867e+02] [ 1.37473543e-02 -3.07591197e-04 9.99905453e-01 6.90733744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.482755096 meters 0.024060997042421584 Centerline is valid? [True, True] Translation: X:314.39, Y:-174.83, Z:6.91 [[ 8.15000956e-01 5.79331683e-01 -1.21754975e-02 3.14390032e+02] [-5.79259366e-01 8.15091792e-01 9.16288138e-03 -1.74834037e+02] [ 1.52324956e-02 -4.14986092e-04 9.99883893e-01 6.90732731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.542755096 meters 0.02585668513799751 Centerline is valid? [True, True] Translation: X:314.44, Y:-174.87, Z:6.91 [[ 8.16682523e-01 5.76938262e-01 -1.31110097e-02 3.14438216e+02] [-5.76854066e-01 8.16787608e-01 9.86867983e-03 -1.74873415e+02] [ 1.64025292e-02 -4.96439117e-04 9.99865346e-01 6.90719999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.602755096 meters 0.024905014492029108 Centerline is valid? [True, True] Translation: X:314.49, Y:-174.91, Z:6.91 [[ 8.16894879e-01 5.76630079e-01 -1.34353191e-02 3.14489609e+02] [-5.76541604e-01 8.17005193e-01 1.01140223e-02 -1.74908598e+02] [ 1.68087750e-02 -5.16072543e-04 9.99858589e-01 6.90674859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.662755096 meters 0.024596473307695297 Centerline is valid? [True, True] Translation: X:314.54, Y:-174.95, Z:6.91 [[ 8.16014012e-01 5.77869102e-01 -1.37270687e-02 3.14538999e+02] [-5.77776807e-01 8.16129306e-01 1.03400817e-02 -1.74946986e+02] [ 1.71782768e-02 -5.06469627e-04 9.99852314e-01 6.90830590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.722755096 meters 0.025650836427797363 Centerline is valid? [True, True] Translation: X:314.59, Y:-174.99, Z:6.91 [[ 8.14100452e-01 5.80538583e-01 -1.46767431e-02 3.14586396e+02] [-5.80433438e-01 8.14232595e-01 1.10591593e-02 -1.74985294e+02] [ 1.83705513e-02 -4.84394108e-04 9.99831130e-01 6.90837250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.782755096 meters 0.022389541858580695 Centerline is valid? [True, True] Translation: X:314.64, Y:-175.02, Z:6.91 [[ 8.11681781e-01 5.83951361e-01 -1.31717028e-02 3.14638864e+02] [-5.83867038e-01 8.11788563e-01 9.93031720e-03 -1.75017004e+02] [ 1.64914599e-02 -3.69734479e-04 9.99863938e-01 6.91241096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.842755096 meters 0.021488406683817202 Centerline is valid? [True, True] Translation: X:314.69, Y:-175.05, Z:6.92 [[ 8.09938632e-01 5.86389557e-01 -1.21119612e-02 3.14688886e+02] [-5.86318534e-01 8.10029136e-01 9.13105450e-03 -1.75053397e+02] [ 1.51653964e-02 -2.94126465e-04 9.99884956e-01 6.91541957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.902755096 meters 0.020374238770371814 Centerline is valid? [True, True] Translation: X:314.74, Y:-175.09, Z:6.92 [[ 8.07432131e-01 5.89865322e-01 -1.05951015e-02 3.14740099e+02] [-5.89811223e-01 8.07501616e-01 7.99127209e-03 -1.75088987e+02] [ 1.32693358e-02 -2.03300100e-04 9.99911938e-01 6.91895201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.962755096 meters 0.019861002240474657 Centerline is valid? [True, True] Translation: X:314.79, Y:-175.12, Z:6.92 [[ 8.05223792e-01 5.92880950e-01 -1.03355710e-02 3.14789609e+02] [-5.92829658e-01 8.05290106e-01 7.80004321e-03 -1.75124816e+02] [ 1.29476301e-02 -1.53547338e-04 9.99916164e-01 6.92012101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.022755096 meters 0.01977539223211061 Centerline is valid? [True, True] Translation: X:314.84, Y:-175.16, Z:6.92 [[ 8.04199135e-01 5.94276405e-01 -9.96525881e-03 3.14838327e+02] [-5.94228782e-01 8.04260865e-01 7.52440699e-03 -1.75161783e+02] [ 1.24862452e-02 -1.29477989e-04 9.99922035e-01 6.92152221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.082755096 meters 0.01944386333466723 Centerline is valid? [True, True] Translation: X:314.89, Y:-175.20, Z:6.92 [[ 8.03730076e-01 5.94892295e-01 -1.10055576e-02 3.14888147e+02] [-5.94834204e-01 8.03805411e-01 8.31455023e-03 -1.75199098e+02] [ 1.37925886e-02 -1.36171995e-04 9.99904868e-01 6.92025813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14275509600003 meters 0.01949554136808838 Centerline is valid? [True, True] Translation: X:314.94, Y:-175.24, Z:6.92 [[ 8.03802855e-01 5.94782472e-01 -1.16095668e-02 3.14938018e+02] [-5.94717742e-01 8.03886677e-01 8.77598315e-03 -1.75238245e+02] [ 1.45525770e-02 -1.49744965e-04 9.99894094e-01 6.92025922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20275509600003 meters 0.01955878148315854 Centerline is valid? [True, True] Translation: X:314.99, Y:-175.28, Z:6.92 [[ 8.04396998e-01 5.93966441e-01 -1.22203445e-02 3.14987461e+02] [-5.93894530e-01 8.04489798e-01 9.24403855e-03 -1.75277335e+02] [ 1.53217911e-02 -1.78281136e-04 9.99882599e-01 6.92009267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26275509600003 meters 0.020303641394756124 Centerline is valid? [True, True] Translation: X:315.04, Y:-175.32, Z:6.92 [[ 8.06257542e-01 5.91439781e-01 -1.21556753e-02 3.15035508e+02] [-5.91368246e-01 8.06349138e-01 9.20137069e-03 -1.75317054e+02] [ 1.52437749e-02 -2.30194151e-04 9.99883780e-01 6.92118139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32275509600004 meters 0.021513657713612144 Centerline is valid? [True, True] Translation: X:315.08, Y:-175.36, Z:6.92 [[ 8.08388727e-01 5.88515596e-01 -1.25323039e-02 3.15082995e+02] [-5.88439117e-01 8.08485809e-01 9.49216270e-03 -1.75357235e+02] [ 1.57184757e-02 -2.98859461e-04 9.99876412e-01 6.92178807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38275509600004 meters 0.022759386580228615 Centerline is valid? [True, True] Translation: X:315.13, Y:-175.40, Z:6.92 [[ 8.09723633e-01 5.86663540e-01 -1.31730385e-02 3.15130293e+02] [-5.86578691e-01 8.09830700e-01 9.98381232e-03 -1.75395757e+02] [ 1.65250696e-02 -3.57105130e-04 9.99863388e-01 6.92222572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.442755096 meters 0.022309948666288944 Centerline is valid? [True, True] Translation: X:315.18, Y:-175.43, Z:6.92 [[ 8.10375482e-01 5.85763832e-01 -1.31267398e-02 3.15180492e+02] [-5.85679417e-01 8.10481704e-01 9.95131413e-03 -1.75432815e+02] [ 1.64681023e-02 -3.76239690e-04 9.99864321e-01 6.92366529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.502755096 meters 0.02282957032943574 Centerline is valid? [True, True] Translation: X:315.23, Y:-175.47, Z:6.93 [[ 8.10262619e-01 5.85926867e-01 -1.28138651e-02 3.15230697e+02] [-5.85846361e-01 8.10363851e-01 9.71960049e-03 -1.75469118e+02] [ 1.60788681e-02 -3.68472722e-04 9.99870659e-01 6.92529059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.562755096 meters 0.022807668005118333 Centerline is valid? [True, True] Translation: X:315.28, Y:-175.51, Z:6.93 [[ 8.09995768e-01 5.86300276e-01 -1.26032670e-02 3.15282138e+02] [-5.86222349e-01 8.10093733e-01 9.56557408e-03 -1.75505888e+02] [ 1.58181264e-02 -3.59757728e-04 9.99874821e-01 6.92750594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.622755096 meters 0.02253160323129082 Centerline is valid? [True, True] Translation: X:315.33, Y:-175.54, Z:6.93 [[ 8.09340950e-01 5.87217026e-01 -1.19746238e-02 3.15333293e+02] [-5.87146693e-01 8.09429463e-01 9.09421695e-03 -1.75541759e+02] [ 1.50328923e-02 -3.29461434e-04 9.99886945e-01 6.92998550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.682755096 meters 0.021626282544713857 Centerline is valid? [True, True] Translation: X:315.39, Y:-175.58, Z:6.93 [[ 8.08347693e-01 5.88585419e-01 -1.18832568e-02 3.15385019e+02] [-5.88516228e-01 8.08434977e-01 9.02985526e-03 -1.75576555e+02] [ 1.49216816e-02 -3.05773212e-04 9.99888619e-01 6.93174430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.742755096 meters 0.0214720949024645 Centerline is valid? [True, True] Translation: X:315.44, Y:-175.61, Z:6.93 [[ 8.07832212e-01 5.89286116e-01 -1.22061528e-02 3.15435430e+02] [-5.89213108e-01 8.07924366e-01 9.28078783e-03 -1.75612939e+02] [ 1.53306876e-02 -3.05294152e-04 9.99882431e-01 6.93289329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.802755096 meters 0.021162665329964716 Centerline is valid? [True, True] Translation: X:315.49, Y:-175.65, Z:6.93 [[ 8.07168990e-01 5.90170642e-01 -1.32979519e-02 3.15486673e+02] [-5.90084000e-01 8.07278460e-01 1.01173722e-02 -1.75648015e+02] [ 1.67061261e-02 -3.19520431e-04 9.99860392e-01 6.93256080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.862755096 meters 0.021754894156522837 Centerline is valid? [True, True] Translation: X:315.54, Y:-175.69, Z:6.93 [[ 8.07662863e-01 5.89473222e-01 -1.42133844e-02 3.15535692e+02] [-5.89374011e-01 8.07787836e-01 1.08206245e-02 -1.75686590e+02] [ 1.78598674e-02 -3.62417218e-04 9.99840434e-01 6.93280583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.922755096 meters 0.022566880939171315 Centerline is valid? [True, True] Translation: X:315.58, Y:-175.73, Z:6.93 [[ 8.08452617e-01 5.88373049e-01 -1.48836293e-02 3.15584238e+02] [-5.88263946e-01 8.08589505e-01 1.13376894e-02 -1.75725334e+02] [ 1.87055374e-02 -4.10482158e-04 9.99824952e-01 6.93349535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.982755096 meters 0.024023559748595293 Centerline is valid? [True, True] Translation: X:315.63, Y:-175.76, Z:6.93 [[ 8.09577972e-01 5.86792547e-01 -1.60628135e-02 3.15631924e+02] [-5.86665009e-01 8.09737160e-01 1.22433255e-02 -1.75763945e+02] [ 2.01909491e-02 -4.88435939e-04 9.99796023e-01 6.93333924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.042755096 meters 0.02484953691908718 Centerline is valid? [True, True] Translation: X:315.68, Y:-175.80, Z:6.93 [[ 8.10566633e-01 5.85427415e-01 -1.60148412e-02 3.15680107e+02] [-5.85300244e-01 8.10724654e-01 1.22130894e-02 -1.75803279e+02] [ 2.01335040e-02 -5.26032279e-04 9.99797162e-01 6.93474893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.102755096 meters 0.026580297875558285 Centerline is valid? [True, True] Translation: X:315.73, Y:-175.84, Z:6.94 [[ 8.12089770e-01 5.83314891e-01 -1.59356139e-02 3.15726990e+02] [-5.83188435e-01 8.12245899e-01 1.21592912e-02 -1.75844770e+02] [ 2.00363326e-02 -5.80970307e-04 9.99799084e-01 6.93666183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.162755096 meters 0.027947582145938957 Centerline is valid? [True, True] Translation: X:315.77, Y:-175.88, Z:6.94 [[ 8.12134110e-01 5.83257881e-01 -1.57616963e-02 3.15774767e+02] [-5.83134036e-01 8.12286837e-01 1.20328812e-02 -1.75884101e+02] [ 1.98212912e-02 -5.81131641e-04 9.99803370e-01 6.93768456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.222755096 meters 0.02501607266280163 Centerline is valid? [True, True] Translation: X:315.83, Y:-175.92, Z:6.94 [[ 8.10713952e-01 5.85239920e-01 -1.53988263e-02 3.15827901e+02] [-5.85121941e-01 8.10860012e-01 1.17624048e-02 -1.75917399e+02] [ 1.93701213e-02 -5.25754606e-04 9.99812243e-01 6.93950365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.282755096 meters 0.023232872444576128 Centerline is valid? [True, True] Translation: X:315.88, Y:-175.95, Z:6.94 [[ 8.08489322e-01 5.88307953e-01 -1.54521336e-02 3.15879304e+02] [-5.88189587e-01 8.08636841e-01 1.18097082e-02 -1.75952396e+02] [ 1.94429098e-02 -4.59238923e-04 9.99810863e-01 6.94087051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.342755096 meters 0.02427576232345943 Centerline is valid? [True, True] Translation: X:315.93, Y:-175.99, Z:6.94 [[ 8.06707843e-01 5.90735958e-01 -1.59212072e-02 3.15926093e+02] [-5.90610625e-01 8.06864829e-01 1.21752282e-02 -1.75991286e+02] [ 2.00386072e-02 -4.18617886e-04 9.99799119e-01 6.94198693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.402755096 meters 0.02155501854406105 Centerline is valid? [True, True] Translation: X:315.98, Y:-176.02, Z:6.94 [[ 8.04802136e-01 5.93354030e-01 -1.49839095e-02 3.15979003e+02] [-5.93243368e-01 8.04941539e-01 1.14640325e-02 -1.76024632e+02] [ 1.88634011e-02 -3.37172935e-04 9.99822013e-01 6.94467029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.462755096 meters 0.021113273028122673 Centerline is valid? [True, True] Translation: X:316.03, Y:-176.06, Z:6.95 [[ 8.03627062e-01 5.94954089e-01 -1.46005763e-02 3.16027122e+02] [-5.94849171e-01 8.03759631e-01 1.11767619e-02 -1.76060243e+02] [ 1.83850140e-02 -2.96807621e-04 9.99830937e-01 6.94648695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.522755096 meters 0.021183981812491978 Centerline is valid? [True, True] Translation: X:316.07, Y:-176.10, Z:6.95 [[ 8.03426241e-01 5.95220697e-01 -1.47850335e-02 3.16074161e+02] [-5.95113148e-01 8.03562216e-01 1.13183990e-02 -1.76097203e+02] [ 1.86176396e-02 -2.94730887e-04 9.99826633e-01 6.94755407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.582755096 meters 0.021528620766767627 Centerline is valid? [True, True] Translation: X:316.12, Y:-176.13, Z:6.95 [[ 8.03664136e-01 5.94893448e-01 -1.50247239e-02 3.16120617e+02] [-5.94782343e-01 8.03804511e-01 1.15009850e-02 -1.76133901e+02] [ 1.89188015e-02 -3.06488659e-04 9.99820976e-01 6.94887740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64275509600003 meters 0.021522792250466934 Centerline is valid? [True, True] Translation: X:316.17, Y:-176.17, Z:6.95 [[ 8.03736717e-01 5.94786188e-01 -1.53844024e-02 3.16169138e+02] [-5.94669714e-01 8.03883879e-01 1.17745712e-02 -1.76170833e+02] [ 1.93706254e-02 -3.15017067e-04 9.99812322e-01 6.94909466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70275509600003 meters 0.021044893999143086 Centerline is valid? [True, True] Translation: X:316.22, Y:-176.21, Z:6.95 [[ 8.04179002e-01 5.94185071e-01 -1.54994992e-02 3.16218111e+02] [-5.94066728e-01 8.04328286e-01 1.18630109e-02 -1.76209093e+02] [ 1.95155096e-02 -3.32247461e-04 9.99809499e-01 6.95073937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76275509600003 meters 0.022016031717579494 Centerline is valid? [True, True] Translation: X:316.27, Y:-176.25, Z:6.95 [[ 8.04848408e-01 5.93247796e-01 -1.66160358e-02 3.16265029e+02] [-5.93111427e-01 8.05019816e-01 1.27252243e-02 -1.76247545e+02] [ 2.09254493e-02 -3.86715778e-04 9.99780964e-01 6.94972037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82275509600004 meters 0.02281013503389345 Centerline is valid? [True, True] Translation: X:316.31, Y:-176.29, Z:6.95 [[ 8.05482711e-01 5.92373595e-01 -1.70624050e-02 3.16313141e+02] [-5.92229471e-01 8.05663294e-01 1.30732555e-02 -1.76286733e+02] [ 2.14908048e-02 -4.25422249e-04 9.99768955e-01 6.95017714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88275509600004 meters 0.022610063876505247 Centerline is valid? [True, True] Translation: X:316.36, Y:-176.32, Z:6.95 [[ 8.05914378e-01 5.91788455e-01 -1.69834899e-02 3.16362461e+02] [-5.91645379e-01 8.06093187e-01 1.30199280e-02 -1.76324733e+02] [ 2.13953186e-02 -4.44743881e-04 9.99770995e-01 6.95210474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.942755096 meters 0.02332773226488302 Centerline is valid? [True, True] Translation: X:316.41, Y:-176.36, Z:6.95 [[ 8.06238664e-01 5.91371917e-01 -1.60770729e-02 3.16409923e+02] [-5.91243492e-01 8.06398825e-01 1.23316291e-02 -1.76362797e+02] [ 2.02571119e-02 -4.36771419e-04 9.99794708e-01 6.95410503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.002755096 meters 0.025467498742065966 Centerline is valid? [True, True] Translation: X:316.46, Y:-176.40, Z:6.95 [[ 8.06108835e-01 5.91563323e-01 -1.55364241e-02 3.16459307e+02] [-5.91443308e-01 8.06258430e-01 1.19229592e-02 -1.76401906e+02] [ 1.95795583e-02 -4.22288713e-04 9.99808213e-01 6.95238890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.062755096 meters 0.02266874902228745 Centerline is valid? [True, True] Translation: X:316.51, Y:-176.44, Z:6.96 [[ 8.04876649e-01 5.93237678e-01 -1.55768238e-02 3.16510292e+02] [-5.93117208e-01 8.05027271e-01 1.19611865e-02 -1.76438345e+02] [ 1.96355944e-02 -3.88397427e-04 9.99807128e-01 6.95661485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.122755096 meters 0.022575571200376905 Centerline is valid? [True, True] Translation: X:316.56, Y:-176.48, Z:6.96 [[ 8.03470977e-01 5.95145401e-01 -1.53733992e-02 3.16559480e+02] [-5.95028359e-01 8.03617967e-01 1.18074401e-02 -1.76475245e+02] [ 1.93814835e-02 -3.39326921e-04 9.99812104e-01 6.95615699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.182755096 meters 0.021287341681339025 Centerline is valid? [True, True] Translation: X:316.61, Y:-176.51, Z:6.96 [[ 8.01567364e-01 5.97710878e-01 -1.52140330e-02 3.16611059e+02] [-5.97596599e-01 8.01711686e-01 1.16908849e-02 -1.76510354e+02] [ 1.91850372e-02 -2.79177438e-04 9.99815911e-01 6.95659904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.242755096 meters 0.021448097533727846 Centerline is valid? [True, True] Translation: X:316.66, Y:-176.55, Z:6.96 [[ 8.00984724e-01 5.98522872e-01 -1.39227972e-02 3.16659238e+02] [-5.98427195e-01 8.01105682e-01 1.07041473e-02 -1.76548498e+02] [ 1.75603089e-02 -2.42077990e-04 9.99845777e-01 6.95924765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.302755096 meters 0.02140119402471403 Centerline is valid? [True, True] Translation: X:316.71, Y:-176.59, Z:6.96 [[ 8.01431229e-01 5.97952151e-01 -1.26969082e-02 3.16708790e+02] [-5.97872440e-01 8.01531765e-01 9.76605219e-03 -1.76585893e+02] [ 1.60166071e-02 -2.35687736e-04 9.99871698e-01 6.96100229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.362755096 meters 0.022759168606699336 Centerline is valid? [True, True] Translation: X:316.75, Y:-176.63, Z:6.96 [[ 8.02692900e-01 5.96256840e-01 -1.27235724e-02 3.16754864e+02] [-5.96176490e-01 8.02793688e-01 9.79223760e-03 -1.76625772e+02] [ 1.60530922e-02 -2.74664888e-04 9.99871103e-01 6.96172423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.422755096 meters 0.024288474195523768 Centerline is valid? [True, True] Translation: X:316.80, Y:-176.67, Z:6.96 [[ 8.04326833e-01 5.94058300e-01 -1.23726586e-02 3.16800894e+02] [-5.93981984e-01 8.04421928e-01 9.52701810e-03 -1.76665983e+02] [ 1.56124420e-02 -3.13700001e-04 9.99878069e-01 6.96268283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.482755096 meters 0.023960270374960284 Centerline is valid? [True, True] Translation: X:316.85, Y:-176.70, Z:6.96 [[ 8.04766068e-01 5.93445097e-01 -1.32095752e-02 3.16849679e+02] [-5.93357936e-01 8.04874396e-01 1.01767976e-02 -1.76703658e+02] [ 1.66714195e-02 -3.51935123e-04 9.99860960e-01 6.96190690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.542755096 meters 0.022941881993079564 Centerline is valid? [True, True] Translation: X:316.90, Y:-176.74, Z:6.96 [[ 8.03633644e-01 5.94969065e-01 -1.35933473e-02 3.16901160e+02] [-5.94876889e-01 8.03748531e-01 1.04778859e-02 -1.76738353e+02] [ 1.71596509e-02 -3.34013455e-04 9.99852707e-01 6.96122857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.602755096 meters 0.02174689891731009 Centerline is valid? [True, True] Translation: X:316.95, Y:-176.77, Z:6.96 [[ 8.02102055e-01 5.97011439e-01 -1.44787948e-02 3.16952206e+02] [-5.96907073e-01 8.02232662e-01 1.11670422e-02 -1.76773400e+02] [ 1.82822140e-02 -3.14612480e-04 9.99832817e-01 6.96113840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.662755096 meters 0.02164618009990107 Centerline is valid? [True, True] Translation: X:317.00, Y:-176.81, Z:6.96 [[ 7.99566603e-01 6.00378281e-01 -1.54650400e-02 3.17001270e+02] [-6.00259698e-01 7.99716107e-01 1.19349399e-02 -1.76809400e+02] [ 1.95331203e-02 -2.59739046e-04 9.99809177e-01 6.96046817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.722755096 meters 0.02038783400442009 Centerline is valid? [True, True] Translation: X:317.05, Y:-176.84, Z:6.96 [[ 7.98105004e-01 6.02338513e-01 -1.47213664e-02 3.17053431e+02] [-6.02231328e-01 7.98240737e-01 1.13645754e-02 -1.76843190e+02] [ 1.85965158e-02 -2.04456495e-04 9.99827049e-01 6.96202870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.782755096 meters 0.02035213182001257 Centerline is valid? [True, True] Translation: X:317.10, Y:-176.88, Z:6.96 [[ 7.98017765e-01 6.02464638e-01 -1.42830947e-02 3.17102490e+02] [-6.02363652e-01 7.98145551e-01 1.10322752e-02 -1.76882130e+02] [ 1.80465441e-02 -2.00334479e-04 9.99837128e-01 6.96365743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.842755096 meters 0.020470835696802313 Centerline is valid? [True, True] Translation: X:317.15, Y:-176.92, Z:6.97 [[ 7.98711695e-01 6.01555155e-01 -1.38211780e-02 3.17150177e+02] [-6.01460341e-01 7.98831239e-01 1.06822382e-02 -1.76922226e+02] [ 1.74667442e-02 -2.19138141e-04 9.99847421e-01 6.96618767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.902755096 meters 0.020776764132504132 Centerline is valid? [True, True] Translation: X:317.20, Y:-176.96, Z:6.97 [[ 8.00257202e-01 5.99506404e-01 -1.34343732e-02 3.17197289e+02] [-5.99416436e-01 8.00369916e-01 1.03890790e-02 -1.76962849e+02] [ 1.69807875e-02 -2.61151211e-04 9.99855782e-01 6.96791246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.962755096 meters 0.021778849883351298 Centerline is valid? [True, True] Translation: X:317.24, Y:-177.00, Z:6.97 [[ 8.01872474e-01 5.97342962e-01 -1.34878337e-02 3.17242519e+02] [-5.97251860e-01 8.01985840e-01 1.04368460e-02 -1.77003434e+02] [ 1.70514281e-02 -3.13385726e-04 9.99854565e-01 6.96889031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.022755096 meters 0.022274753824887115 Centerline is valid? [True, True] Translation: X:317.29, Y:-177.04, Z:6.97 [[ 8.02808053e-01 5.96078386e-01 -1.37763674e-02 3.17289282e+02] [-5.95983107e-01 8.02926171e-01 1.06630693e-02 -1.77043970e+02] [ 1.74174311e-02 -3.49915659e-04 9.99848244e-01 6.96920075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.082755096 meters 0.022346462928948884 Centerline is valid? [True, True] Translation: X:317.34, Y:-177.08, Z:6.97 [[ 8.02501234e-01 5.96499699e-01 -1.34118863e-02 3.17338961e+02] [-5.96409358e-01 8.02613229e-01 1.03866407e-02 -1.77082903e+02] [ 1.69601855e-02 -3.36317492e-04 9.99856109e-01 6.97061600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14275509600003 meters 0.02170519646356867 Centerline is valid? [True, True] Translation: X:317.39, Y:-177.12, Z:6.97 [[ 8.01812511e-01 5.97427702e-01 -1.32980658e-02 3.17388532e+02] [-5.97338903e-01 8.01922714e-01 1.03051442e-02 -1.77119851e+02] [ 1.68205997e-02 -3.19341507e-04 9.99858473e-01 6.97216622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20275509600003 meters 0.020889163274062497 Centerline is valid? [True, True] Translation: X:317.44, Y:-177.16, Z:6.97 [[ 8.00338316e-01 5.99403124e-01 -1.32089106e-02 3.17438834e+02] [-5.99315683e-01 8.00447260e-01 1.02418917e-02 -1.77155661e+02] [ 1.67120582e-02 -2.80671102e-04 9.99860304e-01 6.97284089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26275509600003 meters 0.02130560233989795 Centerline is valid? [True, True] Translation: X:317.49, Y:-177.19, Z:6.97 [[ 7.98995597e-01 6.01190931e-01 -1.32476589e-02 3.17486430e+02] [-6.01103120e-01 7.99105376e-01 1.02779628e-02 -1.77193975e+02] [ 1.67652935e-02 -2.48837913e-04 9.99859422e-01 6.97467022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32275509600004 meters 0.02040553785970869 Centerline is valid? [True, True] Translation: X:317.53, Y:-177.23, Z:6.98 [[ 7.97865990e-01 6.02680221e-01 -1.36533156e-02 3.17534854e+02] [-6.02587059e-01 7.97982768e-01 1.05989817e-02 -1.77227564e+02] [ 1.72829072e-02 -2.29255763e-04 9.99850613e-01 6.97531218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38275509600004 meters 0.021067214797132548 Centerline is valid? [True, True] Translation: X:317.59, Y:-177.26, Z:6.97 [[ 7.97266698e-01 6.03452386e-01 -1.45268746e-02 3.17585967e+02] [-6.03347082e-01 7.97399002e-01 1.12752493e-02 -1.77264820e+02] [ 1.83877914e-02 -2.24633404e-04 9.99830905e-01 6.97418329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.442755096 meters 0.01925654194555162 Centerline is valid? [True, True] Translation: X:317.64, Y:-177.30, Z:6.98 [[ 7.96836785e-01 6.04030218e-01 -1.40937824e-02 3.17636016e+02] [-6.03931067e-01 7.96961387e-01 1.09460016e-02 -1.77303029e+02] [ 1.78439161e-02 -2.10503623e-04 9.99840762e-01 6.97849442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.502755096 meters 0.019738540737189173 Centerline is valid? [True, True] Translation: X:317.68, Y:-177.34, Z:6.98 [[ 7.97819621e-01 6.02736225e-01 -1.38886834e-02 3.17683716e+02] [-6.02639622e-01 7.97940464e-01 1.07936074e-02 -1.77343467e+02] [ 1.75880407e-02 -2.41480831e-04 9.99845289e-01 6.98034244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.562755096 meters 0.020204302337639448 Centerline is valid? [True, True] Translation: X:317.73, Y:-177.38, Z:6.98 [[ 7.98896490e-01 6.01320107e-01 -1.33614349e-02 3.17731074e+02] [-6.01230407e-01 7.99008172e-01 1.03894100e-02 -1.77383140e+02] [ 1.69232568e-02 -2.66762205e-04 9.99856756e-01 6.98277291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.622755096 meters 0.021595256334572138 Centerline is valid? [True, True] Translation: X:317.78, Y:-177.42, Z:6.98 [[ 8.00747475e-01 5.98865134e-01 -1.28075438e-02 3.17777294e+02] [-5.98782315e-01 8.00849833e-01 9.96411193e-03 -1.77423401e+02] [ 1.62240786e-02 -3.09806725e-04 9.99868333e-01 6.98487183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.682755096 meters 0.021468645861768783 Centerline is valid? [True, True] Translation: X:317.83, Y:-177.46, Z:6.99 [[ 8.02148488e-01 5.96986304e-01 -1.28512834e-02 3.17826143e+02] [-5.96902595e-01 8.02251350e-01 1.00031812e-02 -1.77461604e+02] [ 1.62817216e-02 -3.53072250e-04 9.99867382e-01 6.98632299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.742755096 meters 0.021736341718468 Centerline is valid? [True, True] Translation: X:317.87, Y:-177.50, Z:6.99 [[ 8.02774806e-01 5.96141863e-01 -1.29418056e-02 3.17874484e+02] [-5.96056764e-01 8.02879030e-01 1.00795330e-02 -1.77501156e+02] [ 1.63995359e-02 -3.77544382e-04 9.99865447e-01 6.98791843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.802755096 meters 0.022097594669598642 Centerline is valid? [True, True] Translation: X:317.92, Y:-177.54, Z:6.99 [[ 8.02656949e-01 5.96288869e-01 -1.34687548e-02 3.17923511e+02] [-5.96196612e-01 8.02769848e-01 1.04962589e-02 -1.77538528e+02] [ 1.70711126e-02 -3.94869142e-04 9.99854200e-01 6.98881966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.862755096 meters 0.021011230659438874 Centerline is valid? [True, True] Translation: X:317.98, Y:-177.57, Z:6.99 [[ 8.01671059e-01 5.97594344e-01 -1.43008280e-02 3.17975153e+02] [-5.97490409e-01 8.01798506e-01 1.11520241e-02 -1.77574102e+02] [ 1.81307691e-02 -3.95647394e-04 9.99835546e-01 6.98884066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.922755096 meters 0.021445091018469174 Centerline is valid? [True, True] Translation: X:318.02, Y:-177.61, Z:6.99 [[ 8.00728954e-01 5.98834711e-01 -1.51700837e-02 3.18022758e+02] [-5.98717927e-01 8.00872546e-01 1.18325298e-02 -1.77612302e+02] [ 1.92350331e-02 -3.92048178e-04 9.99814913e-01 6.98945547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.982755096 meters 0.020500938491998764 Centerline is valid? [True, True] Translation: X:318.07, Y:-177.65, Z:6.99 [[ 7.99894241e-01 5.99938325e-01 -1.55951971e-02 3.18072825e+02] [-5.99815028e-01 8.00046163e-01 1.21683704e-02 -1.77648906e+02] [ 1.97771494e-02 -3.79175809e-04 9.99804341e-01 6.99025503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.042755096 meters 0.0194385508321758 Centerline is valid? [True, True] Translation: X:318.12, Y:-177.68, Z:6.99 [[ 7.98698776e-01 6.01508398e-01 -1.63680199e-02 3.18124196e+02] [-6.01372751e-01 7.98866394e-01 1.27788785e-02 -1.77684289e+02] [ 2.07624638e-02 -3.63193463e-04 9.99784371e-01 6.99110091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.102755096 meters 0.018959874416820538 Centerline is valid? [True, True] Translation: X:318.17, Y:-177.72, Z:6.99 [[ 7.98452704e-01 6.01836799e-01 -1.63017205e-02 3.18174136e+02] [-6.01702164e-01 7.98619019e-01 1.27345215e-02 -1.77722012e+02] [ 2.06829677e-02 -3.59132628e-04 9.99786020e-01 6.99224847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.162755096 meters 0.019323233170314473 Centerline is valid? [True, True] Translation: X:318.22, Y:-177.76, Z:6.99 [[ 7.98861107e-01 6.01312624e-01 -1.56224069e-02 3.18221448e+02] [-6.01188722e-01 7.99013765e-01 1.22116314e-02 -1.77762682e+02] [ 1.98255263e-02 -3.63382535e-04 9.99803389e-01 6.99468868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.222755096 meters 0.019846066895657734 Centerline is valid? [True, True] Translation: X:318.27, Y:-177.80, Z:7.00 [[ 7.98894545e-01 6.01280111e-01 -1.51569990e-02 3.18270046e+02] [-6.01163347e-01 7.99038234e-01 1.18545238e-02 -1.77801697e+02] [ 1.92389111e-02 -3.58682167e-04 9.99814851e-01 6.99623915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.282755096 meters 0.019965750963528782 Centerline is valid? [True, True] Translation: X:318.32, Y:-177.84, Z:7.00 [[ 7.99168117e-01 6.00925030e-01 -1.48131226e-02 3.18319490e+02] [-6.00813314e-01 7.99305308e-01 1.15924960e-02 -1.77839519e+02] [ 1.88064285e-02 -3.64431938e-04 9.99823077e-01 6.99758119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.342755096 meters 0.019911669894869578 Centerline is valid? [True, True] Translation: X:318.37, Y:-177.88, Z:7.00 [[ 7.99085614e-01 6.01045620e-01 -1.43646774e-02 3.18368872e+02] [-6.00940474e-01 7.99214637e-01 1.12476653e-02 -1.77878106e+02] [ 1.82408204e-02 -3.55531462e-04 9.99833559e-01 6.99945413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.402755096 meters 0.01988691126304149 Centerline is valid? [True, True] Translation: X:318.42, Y:-177.92, Z:7.00 [[ 7.98253054e-01 6.02153755e-01 -1.42448805e-02 3.18418013e+02] [-6.02050402e-01 7.98380075e-01 1.11610865e-02 -1.77915209e+02] [ 1.80935189e-02 -3.33235317e-04 9.99836243e-01 6.99968738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.462755096 meters 0.019277945409722077 Centerline is valid? [True, True] Translation: X:318.47, Y:-177.95, Z:7.00 [[ 7.97392399e-01 6.03291603e-01 -1.43039868e-02 3.18467327e+02] [-6.03187507e-01 7.97520623e-01 1.12110296e-02 -1.77950894e+02] [ 1.81712445e-02 -3.11603658e-04 9.99834841e-01 6.99952744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.522755096 meters 0.01899013572002445 Centerline is valid? [True, True] Translation: X:318.51, Y:-177.99, Z:7.00 [[ 7.96534296e-01 6.04419237e-01 -1.45086398e-02 3.18514057e+02] [-6.04312327e-01 7.96666368e-01 1.13714411e-02 -1.77985769e+02] [ 1.84316632e-02 -2.89992923e-04 9.99830080e-01 6.99957241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.582755096 meters 0.019190710643719282 Centerline is valid? [True, True] Translation: X:318.56, Y:-178.02, Z:7.00 [[ 7.96570640e-01 6.04379523e-01 -1.41635665e-02 3.18559335e+02] [-6.04277669e-01 7.96696499e-01 1.10989236e-02 -1.78021493e+02] [ 1.79920260e-02 -2.82349701e-04 9.99838091e-01 6.99986264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64275509600003 meters 0.018170275557926722 Centerline is valid? [True, True] Translation: X:318.61, Y:-178.06, Z:7.00 [[ 7.96627048e-01 6.04310862e-01 -1.39186362e-02 3.18610447e+02] [-6.04212541e-01 7.96748584e-01 1.09041200e-02 -1.78057703e+02] [ 1.76791318e-02 -2.76702388e-04 9.99843674e-01 7.00027720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70275509600003 meters 0.01837246332850745 Centerline is valid? [True, True] Translation: X:318.66, Y:-178.10, Z:7.00 [[ 7.97235783e-01 6.03518492e-01 -1.34363452e-02 3.18658970e+02] [-6.03426640e-01 7.97348948e-01 1.05330373e-02 -1.78096712e+02] [ 1.70703385e-02 -2.89465580e-04 9.99854249e-01 7.00085531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76275509600003 meters 0.01884978848426402 Centerline is valid? [True, True] Translation: X:318.71, Y:-178.14, Z:7.00 [[ 7.98088032e-01 6.02403934e-01 -1.28449626e-02 3.18706915e+02] [-6.02319754e-01 7.98191336e-01 1.00749866e-02 -1.78136201e+02] [ 1.63219494e-02 -3.03951527e-04 9.99866742e-01 7.00217828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82275509600004 meters 0.020266320641016182 Centerline is valid? [True, True] Translation: X:318.75, Y:-178.18, Z:7.00 [[ 7.99594624e-01 6.00430009e-01 -1.14995988e-02 3.18753485e+02] [-6.00362268e-01 7.99677252e-01 9.02443721e-03 -1.78176225e+02] [ 1.46145105e-02 -3.11966277e-04 9.99893154e-01 7.00418928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88275509600004 meters 0.021102373827852315 Centerline is valid? [True, True] Translation: X:318.80, Y:-178.21, Z:7.00 [[ 8.00812183e-01 5.98807248e-01 -1.13898416e-02 3.18801316e+02] [-5.98740561e-01 8.00893103e-01 8.94300224e-03 -1.78214981e+02] [ 1.44771801e-02 -3.42105020e-04 9.99895142e-01 7.00398954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.942755096 meters 0.02143087311986463 Centerline is valid? [True, True] Translation: X:318.85, Y:-178.25, Z:7.00 [[ 8.01064851e-01 5.98473577e-01 -1.11571448e-02 3.18849515e+02] [-5.98409492e-01 8.01142471e-01 8.76470726e-03 -1.78253743e+02] [ 1.41839083e-02 -3.44557541e-04 9.99899344e-01 7.00471468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.002755096 meters 0.021263438446225073 Centerline is valid? [True, True] Translation: X:318.90, Y:-178.29, Z:7.00 [[ 8.00036537e-01 5.99850725e-01 -1.09839871e-02 3.18899214e+02] [-5.99788676e-01 8.00111871e-01 8.63351973e-03 -1.78291002e+02] [ 1.39672415e-02 -3.19060146e-04 9.99902402e-01 7.00458463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.062755096 meters 0.020277308719887383 Centerline is valid? [True, True] Translation: X:318.95, Y:-178.33, Z:7.00 [[ 7.99021349e-01 6.01198434e-01 -1.11949414e-02 3.18949179e+02] [-6.01134040e-01 7.99099712e-01 8.80435894e-03 -1.78327975e+02] [ 1.42390413e-02 -3.05210394e-04 9.99898573e-01 7.00443548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.122755096 meters 0.01898724071065314 Centerline is valid? [True, True] Translation: X:319.00, Y:-178.36, Z:7.01 [[ 7.97189429e-01 6.03631681e-01 -1.08539602e-02 3.18999484e+02] [-6.03571309e-01 7.97263274e-01 8.54086735e-03 -1.78364831e+02] [ 1.38090019e-02 -2.57550216e-04 9.99904618e-01 7.00553385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.182755096 meters 0.01863039357466383 Centerline is valid? [True, True] Translation: X:319.05, Y:-178.40, Z:7.01 [[ 7.95137765e-01 6.06340164e-01 -1.03702163e-02 3.19047838e+02] [-6.06285214e-01 7.95205360e-01 8.16549770e-03 -1.78402280e+02] [ 1.31975208e-02 -2.05386786e-04 9.99912888e-01 7.00642641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.242755096 meters 0.01835194245759158 Centerline is valid? [True, True] Translation: X:319.10, Y:-178.44, Z:7.01 [[ 7.94211538e-01 6.07570022e-01 -9.31137567e-03 3.19096946e+02] [-6.07525793e-01 7.94266102e-01 7.33286547e-03 -1.78439845e+02] [ 1.18509393e-02 -1.66945468e-04 9.99929761e-01 7.00807484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.302755096 meters 0.01850566128604563 Centerline is valid? [True, True] Translation: X:319.15, Y:-178.48, Z:7.01 [[ 7.94332848e-01 6.07419108e-01 -8.79511129e-03 3.19145788e+02] [-6.07379603e-01 7.94381521e-01 6.92940633e-03 -1.78480305e+02] [ 1.11957277e-02 -1.62283860e-04 9.99937313e-01 7.00899953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.362755096 meters 0.01852492257491296 Centerline is valid? [True, True] Translation: X:319.19, Y:-178.52, Z:7.01 [[ 7.95316261e-01 6.06135981e-01 -8.43903706e-03 3.19193962e+02] [-6.06099493e-01 7.95361013e-01 6.65301304e-03 -1.78520246e+02] [ 1.07447117e-02 -1.76353372e-04 9.99942258e-01 7.00891499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.422755096 meters 0.01903644012550792 Centerline is valid? [True, True] Translation: X:319.24, Y:-178.56, Z:7.01 [[ 7.95773298e-01 6.05542859e-01 -7.91862022e-03 3.19241208e+02] [-6.05510671e-01 7.95812676e-01 6.24597000e-03 -1.78560769e+02] [ 1.00839409e-02 -1.75567106e-04 9.99949140e-01 7.01007356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.482755096 meters 0.019732908458239856 Centerline is valid? [True, True] Translation: X:319.29, Y:-178.60, Z:7.01 [[ 7.95596888e-01 6.05777425e-01 -7.70087773e-03 3.19288604e+02] [-6.05746964e-01 7.95634138e-01 6.07733617e-03 -1.78600215e+02] [ 9.80859428e-03 -1.70326439e-04 9.99951880e-01 7.01066481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.542755096 meters 0.018805266428434858 Centerline is valid? [True, True] Translation: X:319.34, Y:-178.64, Z:7.01 [[ 7.95111019e-01 6.06415502e-01 -7.66198772e-03 3.19338872e+02] [-6.06385345e-01 7.95147918e-01 6.04991494e-03 -1.78638522e+02] [ 9.76117580e-03 -1.64236966e-04 9.99952345e-01 7.01036394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.602755096 meters 0.018451323005525714 Centerline is valid? [True, True] Translation: X:319.39, Y:-178.68, Z:7.01 [[ 7.94045079e-01 6.07799425e-01 -8.50132498e-03 3.19386898e+02] [-6.07762315e-01 7.94090569e-01 6.71839346e-03 -1.78677858e+02] [ 1.08342577e-02 -1.67922304e-04 9.99941294e-01 7.00959238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.662755096 meters 0.01822597030352464 Centerline is valid? [True, True] Translation: X:319.44, Y:-178.72, Z:7.01 [[ 7.93335267e-01 6.08718543e-01 -8.99384370e-03 3.19435039e+02] [-6.08677016e-01 7.93386228e-01 7.11210890e-03 -1.78717202e+02] [ 1.14648643e-02 -1.67940866e-04 9.99934262e-01 7.00991183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.722755096 meters 0.018040430403203408 Centerline is valid? [True, True] Translation: X:319.48, Y:-178.75, Z:7.01 [[ 7.92160377e-01 6.10243357e-01 -9.21856405e-03 3.19483703e+02] [-6.10199780e-01 7.92214000e-01 7.29430702e-03 -1.78753669e+02] [ 1.17543779e-02 -1.53095243e-04 9.99930903e-01 7.00979057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.782755096 meters 0.01794122956286621 Centerline is valid? [True, True] Translation: X:319.53, Y:-178.79, Z:7.01 [[ 7.91422159e-01 6.11188476e-01 -9.98060106e-03 3.19531358e+02] [-6.11137388e-01 7.91485074e-01 7.90384254e-03 -1.78790081e+02] [ 1.27302342e-02 -1.55757670e-04 9.99918955e-01 7.00995850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.842755096 meters 0.01738252352897813 Centerline is valid? [True, True] Translation: X:319.58, Y:-178.83, Z:7.01 [[ 7.91054901e-01 6.11662585e-01 -1.00511478e-02 3.19581213e+02] [-6.11610846e-01 7.91118740e-01 7.95695498e-03 -1.78828150e+02] [ 1.28186230e-02 -1.46997229e-04 9.99917827e-01 7.01040556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.902755096 meters 0.017343061830010817 Centerline is valid? [True, True] Translation: X:319.63, Y:-178.87, Z:7.01 [[ 7.90888169e-01 6.11885855e-01 -9.57101773e-03 3.19630848e+02] [-6.11838901e-01 7.90946067e-01 7.58141681e-03 -1.78866228e+02] [ 1.22091205e-02 -1.40131887e-04 9.99925456e-01 7.01144529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.962755096 meters 0.017533101250643807 Centerline is valid? [True, True] Translation: X:319.68, Y:-178.90, Z:7.01 [[ 7.90768478e-01 6.12045885e-01 -9.22222766e-03 3.19680846e+02] [-6.12002248e-01 7.90822241e-01 7.30970211e-03 -1.78903883e+02] [ 1.17670158e-02 -1.36257948e-04 9.99930757e-01 7.01223450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.022755096 meters 0.01871402169673594 Centerline is valid? [True, True] Translation: X:319.73, Y:-178.94, Z:7.01 [[ 7.91581437e-01 6.11002896e-01 -8.61912573e-03 3.19727974e+02] [-6.10964669e-01 7.91628347e-01 6.83620735e-03 -1.78942372e+02] [ 1.10000867e-02 -1.45433537e-04 9.99939487e-01 7.01449029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.082755096 meters 0.018343801496932828 Centerline is valid? [True, True] Translation: X:319.78, Y:-178.98, Z:7.01 [[ 7.92133280e-01 6.10284334e-01 -8.82601446e-03 3.19778619e+02] [-6.10244165e-01 7.92182432e-01 7.00377845e-03 -1.78979076e+02] [ 1.12661099e-02 -1.61902173e-04 9.99936522e-01 7.01399773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14275509600003 meters 0.018552642500693276 Centerline is valid? [True, True] Translation: X:319.83, Y:-179.02, Z:7.01 [[ 7.92420636e-01 6.09905087e-01 -9.23690255e-03 3.19829300e+02] [-6.09861017e-01 7.92474449e-01 7.33398559e-03 -1.79016804e+02] [ 1.17930444e-02 -1.78374739e-04 9.99930444e-01 7.01378600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20275509600003 meters 0.018724885370439235 Centerline is valid? [True, True] Translation: X:319.88, Y:-179.06, Z:7.01 [[ 7.93083506e-01 6.09038485e-01 -9.52241162e-03 3.19877849e+02] [-6.08991519e-01 7.93140645e-01 7.56619801e-03 -1.79055266e+02] [ 1.21607175e-02 -2.01558925e-04 9.99926035e-01 7.01360688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26275509600003 meters 0.0192386865071824 Centerline is valid? [True, True] Translation: X:319.93, Y:-179.10, Z:7.01 [[ 7.93541890e-01 6.08433914e-01 -9.97202936e-03 3.19925459e+02] [-6.08382296e-01 7.93604512e-01 7.92845616e-03 -1.79095213e+02] [ 1.27377891e-02 -2.24755962e-04 9.99918846e-01 7.01405061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32275509600004 meters 0.02031469081448029 Centerline is valid? [True, True] Translation: X:319.97, Y:-179.14, Z:7.01 [[ 7.94008819e-01 6.07819137e-01 -1.02904052e-02 3.19971180e+02] [-6.07764051e-01 7.94075460e-01 8.18670141e-03 -1.79135316e+02] [ 1.31473920e-02 -2.46174789e-04 9.99913539e-01 7.01476772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38275509600004 meters 0.020516349425462287 Centerline is valid? [True, True] Translation: X:320.02, Y:-179.17, Z:7.02 [[ 7.93779245e-01 6.08115786e-01 -1.04738196e-02 3.20016962e+02] [-6.08058664e-01 7.93848303e-01 8.33865865e-03 -1.79172818e+02] [ 1.33854939e-02 -2.50357379e-04 9.99910379e-01 7.01631634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.442755096 meters 0.019361484136370496 Centerline is valid? [True, True] Translation: X:320.07, Y:-179.21, Z:7.02 [[ 7.92498991e-01 6.09794532e-01 -9.79680147e-03 3.20067759e+02] [-6.09744704e-01 7.92559516e-01 7.79806191e-03 -1.79209273e+02] [ 1.25197637e-02 -2.06408390e-04 9.99921603e-01 7.01753038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.502755096 meters 0.018387976911735642 Centerline is valid? [True, True] Translation: X:320.12, Y:-179.25, Z:7.02 [[ 7.90138900e-01 6.12844483e-01 -1.01073415e-02 3.20117056e+02] [-6.12791608e-01 7.90203526e-01 8.05193350e-03 -1.79245026e+02] [ 1.29214399e-02 -1.68451865e-04 9.99916501e-01 7.01849977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.562755096 meters 0.018067431416461874 Centerline is valid? [True, True] Translation: X:320.16, Y:-179.28, Z:7.02 [[ 7.88969230e-01 6.14355085e-01 -9.76640668e-03 3.20163277e+02] [-6.14305824e-01 7.89029663e-01 7.78106262e-03 -1.79279570e+02] [ 1.24863200e-02 -1.39458490e-04 9.99922033e-01 7.01965818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.622755096 meters 0.017373779064104332 Centerline is valid? [True, True] Translation: X:320.21, Y:-179.32, Z:7.02 [[ 7.87709435e-01 6.15958752e-01 -1.04240825e-02 3.20213924e+02] [-6.15902813e-01 7.87778396e-01 8.30197836e-03 -1.79316576e+02] [ 1.33255433e-02 -1.19324928e-04 9.99911204e-01 7.01939284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.682755096 meters 0.018094244067643653 Centerline is valid? [True, True] Translation: X:320.26, Y:-179.36, Z:7.02 [[ 7.88119382e-01 6.15415906e-01 -1.14500513e-02 3.20261387e+02] [-6.15348339e-01 7.88202539e-01 9.12022693e-03 -1.79357077e+02] [ 1.46376922e-02 -1.42057560e-04 9.99892853e-01 7.01947494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.742755096 meters 0.018006475529488197 Centerline is valid? [True, True] Translation: X:320.31, Y:-179.40, Z:7.02 [[ 7.89100493e-01 6.14157808e-01 -1.14279676e-02 3.20310225e+02] [-6.14090288e-01 7.89183222e-01 9.10824900e-03 -1.79395766e+02] [ 1.46126626e-02 -1.69519834e-04 9.99893215e-01 7.01984090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.802755096 meters 0.01933174433236612 Centerline is valid? [True, True] Translation: X:320.36, Y:-179.44, Z:7.02 [[ 7.91216158e-01 6.11445374e-01 -1.05615513e-02 3.20356202e+02] [-6.11387402e-01 7.91286618e-01 8.42218244e-03 -1.79435553e+02] [ 1.35069187e-02 -2.06567406e-04 9.99908756e-01 7.02251647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.862755096 meters 0.020109081291748484 Centerline is valid? [True, True] Translation: X:320.40, Y:-179.47, Z:7.02 [[ 7.92693600e-01 6.09516180e-01 -1.12642170e-02 3.20404323e+02] [-6.09449968e-01 7.92773586e-01 8.98760726e-03 -1.79473999e+02] [ 1.44080657e-02 -2.59442083e-04 9.99896165e-01 7.02272208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.922755096 meters 0.02083375630506027 Centerline is valid? [True, True] Translation: X:320.45, Y:-179.51, Z:7.02 [[ 7.93425320e-01 6.08560994e-01 -1.13920071e-02 3.20451426e+02] [-6.08493087e-01 7.93507048e-01 9.09548720e-03 -1.79512843e+02] [ 1.45747967e-02 -2.84632257e-04 9.99893741e-01 7.02260740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.982755096 meters 0.02144435357652297 Centerline is valid? [True, True] Translation: X:320.50, Y:-179.55, Z:7.02 [[ 7.93915752e-01 6.07910899e-01 -1.19213009e-02 3.20497021e+02] [-6.07836444e-01 7.94005190e-01 9.51922039e-03 -1.79549332e+02] [ 1.52524126e-02 -3.11257871e-04 9.99883627e-01 7.02260731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.042755096 meters 0.021770050723060718 Centerline is valid? [True, True] Translation: X:320.54, Y:-179.59, Z:7.02 [[ 7.93921548e-01 6.07890668e-01 -1.25503088e-02 3.20542871e+02] [-6.07808159e-01 7.94020672e-01 1.00206738e-02 -1.79585097e+02] [ 1.60566787e-02 -3.27448750e-04 9.99871030e-01 7.02231027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.102755096 meters 0.01991905756594081 Centerline is valid? [True, True] Translation: X:320.60, Y:-179.62, Z:7.02 [[ 7.92885652e-01 6.09226829e-01 -1.32292587e-02 3.20595545e+02] [-6.09135385e-01 7.92995947e-01 1.05598741e-02 -1.79619200e+02] [ 1.69241072e-02 -3.14363056e-04 9.99856728e-01 7.02231726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.162755096 meters 0.021098244254716573 Centerline is valid? [True, True] Translation: X:320.64, Y:-179.66, Z:7.02 [[ 7.91993962e-01 6.10381384e-01 -1.34212237e-02 3.20642625e+02] [-6.10287323e-01 7.92107617e-01 1.07194610e-02 -1.79658244e+02] [ 1.71740130e-02 -2.98945711e-04 9.99852471e-01 7.02304053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.222755096 meters 0.019576670365453786 Centerline is valid? [True, True] Translation: X:320.69, Y:-179.69, Z:7.02 [[ 7.91409993e-01 6.11127374e-01 -1.39124674e-02 3.20694345e+02] [-6.11026307e-01 7.91532213e-01 1.11179037e-02 -1.79693683e+02] [ 1.78066214e-02 -2.97936530e-04 9.99841405e-01 7.02299278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.282755096 meters 0.020049543999686864 Centerline is valid? [True, True] Translation: X:320.74, Y:-179.73, Z:7.02 [[ 7.91939970e-01 6.10450959e-01 -1.34428769e-02 3.20742457e+02] [-6.10356401e-01 7.92053996e-01 1.07485970e-02 -1.79732816e+02] [ 1.72089757e-02 -3.07297646e-04 9.99851867e-01 7.02440334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.342755096 meters 0.020604751218172835 Centerline is valid? [True, True] Translation: X:320.79, Y:-179.77, Z:7.03 [[ 7.92528083e-01 6.09698707e-01 -1.29121646e-02 3.20789659e+02] [-6.09611264e-01 7.92633198e-01 1.03304982e-02 -1.79772510e+02] [ 1.65331017e-02 -3.15808938e-04 9.99863269e-01 7.02657661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.402755096 meters 0.02044946605121602 Centerline is valid? [True, True] Translation: X:320.84, Y:-179.81, Z:7.03 [[ 7.92410731e-01 6.09842064e-01 -1.33375445e-02 3.20838941e+02] [-6.09748778e-01 7.92522904e-01 1.06711976e-02 -1.79811907e+02] [ 1.70780546e-02 -3.23420031e-04 9.99854107e-01 7.02758366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.462755096 meters 0.02057272437234099 Centerline is valid? [True, True] Translation: X:320.89, Y:-179.85, Z:7.03 [[ 7.91501608e-01 6.11030389e-01 -1.29254808e-02 3.20885619e+02] [-6.10942814e-01 7.91607085e-01 1.03489526e-02 -1.79848816e+02] [ 1.65554267e-02 -2.94483026e-04 9.99862906e-01 7.02893256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.522755096 meters 0.020514379227364044 Centerline is valid? [True, True] Translation: X:320.93, Y:-179.89, Z:7.03 [[ 7.91171227e-01 6.11460767e-01 -1.27992074e-02 3.20931963e+02] [-6.11374955e-01 7.91274700e-01 1.02475952e-02 -1.79885760e+02] [ 1.63936914e-02 -2.82487598e-04 9.99865575e-01 7.03000096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.582755096 meters 0.019866236438041262 Centerline is valid? [True, True] Translation: X:320.98, Y:-179.93, Z:7.03 [[ 7.90749811e-01 6.12009053e-01 -1.26355177e-02 3.20980563e+02] [-6.11925537e-01 7.90850712e-01 1.01137767e-02 -1.79925431e+02] [ 1.61825311e-02 -2.65471053e-04 9.99869019e-01 7.03133899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64275509600003 meters 0.02016995510828213 Centerline is valid? [True, True] Translation: X:321.03, Y:-179.97, Z:7.03 [[ 7.89943847e-01 6.13024275e-01 -1.37824833e-02 3.21027386e+02] [-6.12924918e-01 7.90064025e-01 1.10400254e-02 -1.79965394e+02] [ 1.76568478e-02 -2.73372688e-04 9.99844068e-01 7.03141184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70275509600003 meters 0.018965657765906863 Centerline is valid? [True, True] Translation: X:321.08, Y:-180.00, Z:7.03 [[ 7.87842163e-01 6.15737096e-01 -1.31359755e-02 3.21078263e+02] [-6.15647158e-01 7.87951639e-01 1.05257417e-02 -1.79998465e+02] [ 1.68316030e-02 -2.05497154e-04 9.99858317e-01 7.03256367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76275509600003 meters 0.018817142665051405 Centerline is valid? [True, True] Translation: X:321.12, Y:-180.03, Z:7.03 [[ 7.87008726e-01 6.16800021e-01 -1.32287374e-02 3.21124543e+02] [-6.16708954e-01 7.87119876e-01 1.06002675e-02 -1.80033008e+02] [ 1.69508474e-02 -1.84222195e-04 9.99856307e-01 7.03346033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82275509600004 meters 0.01806563798102899 Centerline is valid? [True, True] Translation: X:321.17, Y:-180.07, Z:7.03 [[ 7.84656350e-01 6.19781956e-01 -1.35918667e-02 3.21174064e+02] [-6.19686306e-01 7.84774052e-01 1.08889804e-02 -1.80065523e+02] [ 1.74153379e-02 -1.21413948e-04 9.99848334e-01 7.03381122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88275509600004 meters 0.01805781339814056 Centerline is valid? [True, True] Translation: X:321.22, Y:-180.10, Z:7.03 [[ 7.83787161e-01 6.20876198e-01 -1.37997364e-02 3.21220288e+02] [-6.20777801e-01 7.83908628e-01 1.10537005e-02 -1.80100889e+02] [ 1.76807120e-02 -9.71784599e-05 9.99843679e-01 7.03488684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.942755096 meters 0.01801841183405784 Centerline is valid? [True, True] Translation: X:321.27, Y:-180.14, Z:7.04 [[ 7.83657968e-01 6.21022581e-01 -1.45307352e-02 3.21267637e+02] [-6.20913554e-01 7.83792667e-01 1.16367829e-02 -1.80136656e+02] [ 1.86157887e-02 -9.69272315e-05 9.99826706e-01 7.03519755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.002755096 meters 0.018246441406451312 Centerline is valid? [True, True] Translation: X:321.31, Y:-180.17, Z:7.04 [[ 7.84865768e-01 6.19493804e-01 -1.45997482e-02 3.21313038e+02] [-6.19383492e-01 7.85001535e-01 1.16910655e-02 -1.80173747e+02] [ 1.87033674e-02 -1.33074118e-04 9.99825068e-01 7.03572889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.062755096 meters 0.019335019425216614 Centerline is valid? [True, True] Translation: X:321.36, Y:-180.21, Z:7.04 [[ 7.86864730e-01 6.16937119e-01 -1.52475328e-02 3.21360023e+02] [-6.16816356e-01 7.87012421e-01 1.22078545e-02 -1.80213800e+02] [ 1.95314763e-02 -2.01002481e-04 9.99809222e-01 7.03587194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.122755096 meters 0.02023302249069649 Centerline is valid? [True, True] Translation: X:321.40, Y:-180.26, Z:7.04 [[ 7.90846168e-01 6.11822478e-01 -1.53490713e-02 3.21404791e+02] [-6.11699112e-01 7.90995036e-01 1.22902398e-02 -1.80257381e+02] [ 1.96604842e-02 -3.30675769e-04 9.99806659e-01 7.03832530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.182755096 meters 0.022712454412823158 Centerline is valid? [True, True] Translation: X:321.45, Y:-180.30, Z:7.04 [[ 7.94589558e-01 6.06941675e-01 -1.57872406e-02 3.21447366e+02] [-6.06810156e-01 7.94746240e-01 1.26431372e-02 -1.80301213e+02] [ 2.02204970e-02 -4.66246835e-04 9.99795436e-01 7.03962696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.242755096 meters 0.022766673252142405 Centerline is valid? [True, True] Translation: X:321.50, Y:-180.34, Z:7.04 [[ 7.95321159e-01 6.05986240e-01 -1.56502747e-02 3.21496272e+02] [-6.05856779e-01 7.95474977e-01 1.25349214e-02 -1.80339517e+02] [ 2.00453918e-02 -4.87463208e-04 9.99798952e-01 7.04215209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.302755096 meters 0.02331262166364126 Centerline is valid? [True, True] Translation: X:321.54, Y:-180.38, Z:7.04 [[ 7.95330584e-01 6.05965030e-01 -1.59888634e-02 3.21542946e+02] [-6.05829761e-01 7.95491124e-01 1.28129764e-02 -1.80377355e+02] [ 2.04832145e-02 -5.04022725e-04 9.99790070e-01 7.04366507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.362755096 meters 0.022793165451101296 Centerline is valid? [True, True] Translation: X:321.59, Y:-180.41, Z:7.04 [[ 7.94345063e-01 6.07246752e-01 -1.63494032e-02 3.21590237e+02] [-6.07105579e-01 7.94513153e-01 1.31021413e-02 -1.80412551e+02] [ 2.09460487e-02 -4.81807375e-04 9.99780491e-01 7.04482501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.422755096 meters 0.021875753990552964 Centerline is valid? [True, True] Translation: X:321.64, Y:-180.45, Z:7.05 [[ 7.93321076e-01 6.08575254e-01 -1.66682674e-02 3.21637486e+02] [-6.08428858e-01 7.93496033e-01 1.33555195e-02 -1.80447084e+02] [ 2.13540427e-02 -4.53760217e-04 9.99771873e-01 7.04610688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.482755096 meters 0.020780737407037463 Centerline is valid? [True, True] Translation: X:321.69, Y:-180.48, Z:7.05 [[ 7.92347533e-01 6.09835927e-01 -1.68976294e-02 3.21687008e+02] [-6.09685804e-01 7.92527578e-01 1.35372655e-02 -1.80480559e+02] [ 2.16473481e-02 -4.23974131e-04 9.99765579e-01 7.04676443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.542755096 meters 0.020603299383459506 Centerline is valid? [True, True] Translation: X:321.74, Y:-180.52, Z:7.05 [[ 7.92509987e-01 6.09651109e-01 -1.59199675e-02 3.21735987e+02] [-6.09517838e-01 7.92669769e-01 1.27531377e-02 -1.80516703e+02] [ 2.03942415e-02 -4.03484831e-04 9.99791934e-01 7.04913296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.602755096 meters 0.0206414377302389 Centerline is valid? [True, True] Translation: X:321.78, Y:-180.56, Z:7.05 [[ 7.92893076e-01 6.09169227e-01 -1.52781798e-02 3.21784690e+02] [-6.09046389e-01 7.93040159e-01 1.22394037e-02 -1.80555529e+02] [ 1.95720782e-02 -3.99418180e-04 9.99808369e-01 7.05116425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.662755096 meters 0.0215157741125914 Centerline is valid? [True, True] Translation: X:321.83, Y:-180.60, Z:7.05 [[ 7.93198068e-01 6.08785863e-01 -1.47172632e-02 3.21831177e+02] [-6.08671689e-01 7.93334490e-01 1.17967055e-02 -1.80595015e+02] [ 1.88573801e-02 -3.99142547e-04 9.99822104e-01 7.05230591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.722755096 meters 0.021054844292723286 Centerline is valid? [True, True] Translation: X:321.88, Y:-180.63, Z:7.05 [[ 7.93027081e-01 6.09011653e-01 -1.45895636e-02 3.21879596e+02] [-6.08899416e-01 7.93161177e-01 1.16982302e-02 -1.80634652e+02] [ 1.86962340e-02 -3.93436568e-04 9.99825133e-01 7.05353850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.782755096 meters 0.020347372850957352 Centerline is valid? [True, True] Translation: X:321.93, Y:-180.67, Z:7.06 [[ 7.91609611e-01 6.10845704e-01 -1.48912663e-02 3.21927133e+02] [-6.10728970e-01 7.91749578e-01 1.19469653e-02 -1.80672403e+02] [ 1.90879062e-02 -3.62804798e-04 9.99817743e-01 7.05554791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.842755096 meters 0.019633495492695996 Centerline is valid? [True, True] Translation: X:321.97, Y:-180.71, Z:7.06 [[ 7.89408769e-01 6.13681749e-01 -1.51164626e-02 3.21973068e+02] [-6.13561978e-01 7.89553432e-01 1.21275496e-02 -1.80708516e+02] [ 1.93777108e-02 -2.98707342e-04 9.99812190e-01 7.05637291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.902755096 meters 0.01857886604380297 Centerline is valid? [True, True] Translation: X:322.02, Y:-180.74, Z:7.06 [[ 7.88002377e-01 6.15464539e-01 -1.59892276e-02 3.22020926e+02] [-6.15330946e-01 7.88164532e-01 1.28256737e-02 -1.80744748e+02] [ 2.04958895e-02 -2.67994792e-04 9.99789901e-01 7.05669299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.962755096 meters 0.01783690007828827 Centerline is valid? [True, True] Translation: X:322.07, Y:-180.78, Z:7.06 [[ 7.85928630e-01 6.18099137e-01 -1.64208986e-02 3.22066740e+02] [-6.17958831e-01 7.86100131e-01 1.31707030e-02 -1.80782268e+02] [ 2.10492707e-02 -2.03793275e-04 9.99778419e-01 7.05794054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.022755096 meters 0.01770180545513465 Centerline is valid? [True, True] Translation: X:322.11, Y:-180.82, Z:7.06 [[ 7.84523970e-01 6.19839096e-01 -1.79342214e-02 3.22111584e+02] [-6.19672248e-01 7.84728913e-01 1.43818766e-02 -1.80819555e+02] [ 2.29879515e-02 -1.69587567e-04 9.99735728e-01 7.05632141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.082755096 meters 0.019077020840553807 Centerline is valid? [True, True] Translation: X:322.16, Y:-180.86, Z:7.05 [[ 7.84700088e-01 6.19562466e-01 -1.97008384e-02 3.22155651e+02] [-6.19361119e-01 7.84947332e-01 1.57952454e-02 -1.80856885e+02] [ 2.52502617e-02 -1.92597102e-04 9.99681143e-01 7.05423269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14275509600003 meters 0.017441322469254512 Centerline is valid? [True, True] Translation: X:322.20, Y:-180.89, Z:7.06 [[ 7.83941839e-01 6.20524106e-01 -1.96220914e-02 3.22203516e+02] [-6.20324751e-01 7.84187355e-01 1.57288003e-02 -1.80892002e+02] [ 2.51474957e-02 -1.58395734e-04 9.99683739e-01 7.05692983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20275509600003 meters 0.017656740536158073 Centerline is valid? [True, True] Translation: X:322.25, Y:-180.93, Z:7.06 [[ 7.84063740e-01 6.20325154e-01 -2.09941484e-02 3.22249381e+02] [-6.20096988e-01 7.84344741e-01 1.68241670e-02 -1.80927815e+02] [ 2.69031039e-02 -1.72811139e-04 9.99638031e-01 7.05602884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26275509600003 meters 0.01764400236328001 Centerline is valid? [True, True] Translation: X:322.29, Y:-180.97, Z:7.06 [[ 7.85826739e-01 6.18082986e-01 -2.12075411e-02 3.22294979e+02] [-6.17849419e-01 7.86112817e-01 1.69922040e-02 -1.80965053e+02] [ 2.71741121e-02 -2.49861293e-04 9.99630684e-01 7.05826204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32275509600004 meters 0.01939991083113019 Centerline is valid? [True, True] Translation: X:322.34, Y:-181.01, Z:7.06 [[ 7.89982231e-01 6.12785167e-01 -2.05527102e-02 3.22337394e+02] [-6.12564075e-01 7.90249432e-01 1.64647769e-02 -1.81005272e+02] [ 2.63311386e-02 -4.17029250e-04 9.99653188e-01 7.06007880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38275509600004 meters 0.02091214002628484 Centerline is valid? [True, True] Translation: X:322.38, Y:-181.05, Z:7.06 [[ 7.93552951e-01 6.08211487e-01 -1.87750136e-02 3.22383127e+02] [-6.08025758e-01 7.93774854e-01 1.50385628e-02 -1.81045422e+02] [ 2.40497603e-02 -5.18204049e-04 9.99710628e-01 7.06396540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.442755096 meters 0.022140103977693875 Centerline is valid? [True, True] Translation: X:322.43, Y:-181.08, Z:7.07 [[ 7.95289485e-01 6.05961397e-01 -1.80394233e-02 3.22429029e+02] [-6.05789364e-01 7.95493852e-01 1.44491326e-02 -1.81083146e+02] [ 2.31058669e-02 -5.63152406e-04 9.99732865e-01 7.06556637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.502755096 meters 0.02213373329468809 Centerline is valid? [True, True] Translation: X:322.48, Y:-181.12, Z:7.07 [[ 7.95410336e-01 6.05795721e-01 -1.82740918e-02 3.22476496e+02] [-6.05619159e-01 7.95620019e-01 1.46362743e-02 -1.81121175e+02] [ 2.34058256e-02 -5.74703724e-04 9.99725881e-01 7.06625254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.562755096 meters 0.02238260430250019 Centerline is valid? [True, True] Translation: X:322.52, Y:-181.16, Z:7.07 [[ 7.94543427e-01 6.06926390e-01 -1.84688690e-02 3.22521560e+02] [-6.06746352e-01 7.94757861e-01 1.47921125e-02 -1.81157999e+02] [ 2.36560022e-02 -5.47056874e-04 9.99720008e-01 7.06616379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.622755096 meters 0.020682743801574942 Centerline is valid? [True, True] Translation: X:322.57, Y:-181.19, Z:7.07 [[ 7.93325860e-01 6.08520379e-01 -1.83583063e-02 3.22569870e+02] [-6.08342973e-01 7.93538092e-01 1.47011494e-02 -1.81193828e+02] [ 2.35139643e-02 -4.94655360e-04 9.99723386e-01 7.06760894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.682755096 meters 0.019533904791706972 Centerline is valid? [True, True] Translation: X:322.62, Y:-181.23, Z:7.07 [[ 7.92185558e-01 6.10014475e-01 -1.80106166e-02 3.22619448e+02] [-6.09844111e-01 7.92390147e-01 1.44227232e-02 -1.81230805e+02] [ 2.30695050e-02 -4.41804583e-04 9.99733766e-01 7.06901494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.742755096 meters 0.01893459871192494 Centerline is valid? [True, True] Translation: X:322.67, Y:-181.27, Z:7.07 [[ 7.90781176e-01 6.11865930e-01 -1.68882907e-02 3.22666007e+02] [-6.11716527e-01 7.90961409e-01 1.35255666e-02 -1.81267727e+02] [ 2.16338196e-02 -3.64916953e-04 9.99765895e-01 7.07092096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.802755096 meters 0.018718593839151903 Centerline is valid? [True, True] Translation: X:322.71, Y:-181.31, Z:7.07 [[ 7.90254055e-01 6.12599891e-01 -1.48290916e-02 3.22711759e+02] [-6.12484848e-01 7.90393119e-01 1.18755218e-02 -1.81305473e+02] [ 1.89957554e-02 -3.02085368e-04 9.99819519e-01 7.07394481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.862755096 meters 0.019175400879134476 Centerline is valid? [True, True] Translation: X:322.76, Y:-181.34, Z:7.08 [[ 7.90497113e-01 6.12302536e-01 -1.41393117e-02 3.22756161e+02] [-6.12197923e-01 7.90623500e-01 1.13218485e-02 -1.81343113e+02] [ 1.81112687e-02 -2.93831294e-04 9.99835934e-01 7.07537267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.922755096 meters 0.01880403623580807 Centerline is valid? [True, True] Translation: X:322.80, Y:-181.38, Z:7.08 [[ 7.90562397e-01 6.12230254e-01 -1.36092883e-02 3.22803780e+02] [-6.12133373e-01 7.90679478e-01 1.08948497e-02 -1.81382128e+02] [ 1.74307416e-02 -2.82358972e-04 9.99848033e-01 7.07575867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.982755096 meters 0.018439447832008925 Centerline is valid? [True, True] Translation: X:322.85, Y:-181.42, Z:7.08 [[ 7.89825452e-01 6.13184618e-01 -1.34305775e-02 3.22851974e+02] [-6.13090388e-01 7.89939591e-01 1.07526129e-02 -1.81420820e+02] [ 1.72026817e-02 -2.58529401e-04 9.99851989e-01 7.07646573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.042755096 meters 0.018286315619163402 Centerline is valid? [True, True] Translation: X:322.90, Y:-181.46, Z:7.08 [[ 7.88748835e-01 6.14548619e-01 -1.43272611e-02 3.22898509e+02] [-6.14441582e-01 7.88878910e-01 1.14720307e-02 -1.81455429e+02] [ 1.83525948e-02 -2.45285855e-04 9.99831547e-01 7.07602822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.102755096 meters 0.01847133422647989 Centerline is valid? [True, True] Translation: X:322.94, Y:-181.49, Z:7.08 [[ 7.88810312e-01 6.14461064e-01 -1.46932895e-02 3.22944086e+02] [-6.14348517e-01 7.88947107e-01 1.17627484e-02 -1.81491322e+02] [ 1.88199791e-02 -2.51776616e-04 9.99822857e-01 7.07599449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.162755096 meters 0.01874940594945169 Centerline is valid? [True, True] Translation: X:322.99, Y:-181.53, Z:7.08 [[ 7.89837140e-01 6.13141508e-01 -1.46555190e-02 3.22989469e+02] [-6.13029362e-01 7.89973046e-01 1.17298214e-02 -1.81528764e+02] [ 1.87695054e-02 -2.80385089e-04 9.99823798e-01 7.07733839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.222755096 meters 0.020600602498518906 Centerline is valid? [True, True] Translation: X:323.03, Y:-181.57, Z:7.08 [[ 7.92656488e-01 6.09494004e-01 -1.45860153e-02 3.23032733e+02] [-6.09382334e-01 7.92790595e-01 1.16723588e-02 -1.81568169e+02] [ 1.86778885e-02 -3.63710873e-04 9.99825487e-01 7.07859685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.282755096 meters 0.02171341482084798 Centerline is valid? [True, True] Translation: X:323.08, Y:-181.61, Z:7.08 [[ 7.95225225e-01 6.06152117e-01 -1.40161233e-02 3.23080719e+02] [-6.06048529e-01 7.95348623e-01 1.12137690e-02 -1.81607686e+02] [ 1.79449542e-02 -4.23021039e-04 9.99838887e-01 7.08011974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.342755096 meters 0.022539689078912187 Centerline is valid? [True, True] Translation: X:323.13, Y:-181.65, Z:7.08 [[ 7.96049080e-01 6.05060501e-01 -1.44101596e-02 3.23128946e+02] [-6.04950792e-01 7.96179362e-01 1.15309309e-02 -1.81647290e+02] [ 1.84499825e-02 -4.61749440e-04 9.99829678e-01 7.08071518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.402755096 meters 0.02381400717069355 Centerline is valid? [True, True] Translation: X:323.17, Y:-181.69, Z:7.08 [[ 7.96345481e-01 6.04671535e-01 -1.43600089e-02 3.23173971e+02] [-6.04562405e-01 7.96474802e-01 1.14972890e-02 -1.81685115e+02] [ 1.83894686e-02 -4.74292675e-04 9.99830787e-01 7.08247120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.462755096 meters 0.021683156002661262 Centerline is valid? [True, True] Translation: X:323.23, Y:-181.72, Z:7.08 [[ 7.95052715e-01 6.06376561e-01 -1.40942035e-02 3.23225294e+02] [-6.06271726e-01 7.95177518e-01 1.12831300e-02 -1.81718040e+02] [ 1.80492193e-02 -4.25766057e-04 9.99837009e-01 7.08421217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.522755096 meters 0.019882164472749594 Centerline is valid? [True, True] Translation: X:323.28, Y:-181.75, Z:7.08 [[ 7.92625580e-01 6.09538428e-01 -1.44081816e-02 3.23275236e+02] [-6.09429390e-01 7.92756441e-01 1.15344889e-02 -1.81750974e+02] [ 1.84528930e-02 -3.61761666e-04 9.99829665e-01 7.08472275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.582755096 meters 0.018711533646191374 Centerline is valid? [True, True] Translation: X:323.32, Y:-181.79, Z:7.09 [[ 7.90356849e-01 6.12466392e-01 -1.48650360e-02 3.23322880e+02] [-6.12350865e-01 7.90496570e-01 1.18991990e-02 -1.81785503e+02] [ 1.90386194e-02 -3.01995755e-04 9.99818703e-01 7.08526863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64275509600003 meters 0.0175212412662645 Centerline is valid? [True, True] Translation: X:323.37, Y:-181.82, Z:7.08 [[ 7.87340365e-01 6.16321414e-01 -1.55905285e-02 3.23371171e+02] [-6.16195128e-01 7.87494678e-01 1.24778510e-02 -1.81818434e+02] [ 1.99678250e-02 -2.17508076e-04 9.99800599e-01 7.08492868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70275509600003 meters 0.01692098351626104 Centerline is valid? [True, True] Translation: X:323.42, Y:-181.85, Z:7.08 [[ 7.85795763e-01 6.18272857e-01 -1.62386461e-02 3.23418313e+02] [-6.18136312e-01 7.85963513e-01 1.29944476e-02 -1.81854178e+02] [ 2.07970976e-02 -1.73285051e-04 9.99783702e-01 7.08477017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76275509600003 meters 0.016838363677422075 Centerline is valid? [True, True] Translation: X:323.46, Y:-181.89, Z:7.09 [[ 7.85736007e-01 6.18380653e-01 -1.49764915e-02 3.23462498e+02] [-6.18264564e-01 7.85878708e-01 1.19827228e-02 -1.81892770e+02] [ 1.91795898e-02 -1.55822783e-04 9.99816043e-01 7.08716616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82275509600004 meters 0.017293111429481776 Centerline is valid? [True, True] Translation: X:323.51, Y:-181.93, Z:7.09 [[ 7.86298988e-01 6.17683413e-01 -1.41810800e-02 3.23505550e+02] [-6.17579245e-01 7.86426840e-01 1.13446275e-02 -1.81931851e+02] [ 1.81597702e-02 -1.62328471e-04 9.99835085e-01 7.08981721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88275509600004 meters 0.017840018473877037 Centerline is valid? [True, True] Translation: X:323.55, Y:-181.97, Z:7.09 [[ 7.88060461e-01 6.15450887e-01 -1.34505272e-02 3.23548477e+02] [-6.15356885e-01 7.88175213e-01 1.07581987e-02 -1.81972576e+02] [ 1.72225151e-02 -2.01236535e-04 9.99851661e-01 7.09143354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.942755096 meters 0.018354542757370564 Centerline is valid? [True, True] Translation: X:323.59, Y:-182.01, Z:7.09 [[ 7.88237357e-01 6.15237028e-01 -1.28556963e-02 3.23592757e+02] [-6.15151149e-01 7.88342160e-01 1.02811626e-02 -1.82008544e+02] [ 1.64600393e-02 -1.95800054e-04 9.99864505e-01 7.09241717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.002755096 meters 0.01763180075355949 Centerline is valid? [True, True] Translation: X:323.64, Y:-182.04, Z:7.09 [[ 7.87429696e-01 6.16264661e-01 -1.31278638e-02 3.23639460e+02] [-6.16175321e-01 7.87539102e-01 1.04946371e-02 -1.82043676e+02] [ 1.68061800e-02 -1.74723173e-04 9.99858751e-01 7.09254270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.062755096 meters 0.0177484536763644 Centerline is valid? [True, True] Translation: X:323.69, Y:-182.08, Z:7.09 [[ 7.87475608e-01 6.16198323e-01 -1.34830423e-02 3.23685589e+02] [-6.16104104e-01 7.87591007e-01 1.07767765e-02 -1.82080841e+02] [ 1.72597545e-02 -1.79490928e-04 9.99851023e-01 7.09302200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.122755096 meters 0.017870812694144048 Centerline is valid? [True, True] Translation: X:323.73, Y:-182.12, Z:7.09 [[ 7.88343063e-01 6.15070758e-01 -1.42540417e-02 3.23733462e+02] [-6.14965305e-01 7.88471887e-01 1.13910829e-02 -1.82118591e+02] [ 1.82452331e-02 -2.14340090e-04 9.99833519e-01 7.09221559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.182755096 meters 0.018319673858051198 Centerline is valid? [True, True] Translation: X:323.78, Y:-182.16, Z:7.09 [[ 7.89183924e-01 6.13965438e-01 -1.53354594e-02 3.23781653e+02] [-6.13843166e-01 7.89332867e-01 1.22552953e-02 -1.82155124e+02] [ 1.96291099e-02 -2.58115039e-04 9.99807297e-01 7.09142843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.242755096 meters 0.01867948893416771 Centerline is valid? [True, True] Translation: X:323.83, Y:-182.19, Z:7.09 [[ 7.89511618e-01 6.13543336e-01 -1.53616377e-02 3.23828056e+02] [-6.13420569e-01 7.89661005e-01 1.22761009e-02 -1.82191514e+02] [ 1.96624062e-02 -2.68979799e-04 9.99806640e-01 7.09261200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.302755096 meters 0.019051161767743595 Centerline is valid? [True, True] Translation: X:323.87, Y:-182.23, Z:7.09 [[ 7.89912553e-01 6.13026176e-01 -1.53969457e-02 3.23873589e+02] [-6.12902785e-01 7.90062547e-01 1.23023043e-02 -1.82226713e+02] [ 1.97061847e-02 -2.80913714e-04 9.99805775e-01 7.09391177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.362755096 meters 0.019309470131853867 Centerline is valid? [True, True] Translation: X:323.92, Y:-182.26, Z:7.10 [[ 7.90372892e-01 6.12445680e-01 -1.48654061e-02 3.23920334e+02] [-6.12330603e-01 7.90512624e-01 1.18753425e-02 -1.82262754e+02] [ 1.90242934e-02 -2.83405702e-04 9.99818982e-01 7.09649548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.422755096 meters 0.019212208163060112 Centerline is valid? [True, True] Translation: X:323.97, Y:-182.30, Z:7.10 [[ 7.90409899e-01 6.12413894e-01 -1.41920696e-02 3.23966439e+02] [-6.12309032e-01 7.90537254e-01 1.13357708e-02 -1.82297684e+02] [ 1.81615433e-02 -2.69973079e-04 9.99835029e-01 7.09870648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.482755096 meters 0.019260978334624212 Centerline is valid? [True, True] Translation: X:324.01, Y:-182.33, Z:7.10 [[ 7.90285204e-01 6.12605723e-01 -1.27876412e-02 3.24012300e+02] [-6.12520649e-01 7.90388621e-01 1.02119001e-02 -1.82332307e+02] [ 1.63630746e-02 -2.37619254e-04 9.99866088e-01 7.10161286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.542755096 meters 0.0195196217539364 Centerline is valid? [True, True] Translation: X:324.06, Y:-182.37, Z:7.10 [[ 7.90300186e-01 6.12599420e-01 -1.21476672e-02 3.24057884e+02] [-6.12522688e-01 7.90393510e-01 9.69827833e-03 -1.82368668e+02] [ 1.55425970e-02 -2.23829394e-04 9.99879181e-01 7.10414108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.602755096 meters 0.019547688379516436 Centerline is valid? [True, True] Translation: X:324.10, Y:-182.40, Z:7.11 [[ 7.90380681e-01 6.12505156e-01 -1.16538673e-02 3.24103880e+02] [-6.12434555e-01 7.90466563e-01 9.30203296e-03 -1.82404719e+02] [ 1.49095356e-02 -2.14916117e-04 9.99888824e-01 7.10631328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.662755096 meters 0.01890377224512341 Centerline is valid? [True, True] Translation: X:324.15, Y:-182.44, Z:7.11 [[ 7.89748428e-01 6.13322693e-01 -1.15193272e-02 3.24152428e+02] [-6.13253833e-01 7.89832410e-01 9.19241176e-03 -1.82438861e+02] [ 1.47362527e-02 -1.95421167e-04 9.99891396e-01 7.10739612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.722755096 meters 0.0187607428876848 Centerline is valid? [True, True] Translation: X:324.20, Y:-182.47, Z:7.11 [[ 7.88408495e-01 6.15051018e-01 -1.11485718e-02 3.24199000e+02] [-6.14986709e-01 7.88487299e-01 8.89531020e-03 -1.82472943e+02] [ 1.42615769e-02 -1.56914625e-04 9.99898286e-01 7.10864439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.782755096 meters 0.01784875909495297 Centerline is valid? [True, True] Translation: X:324.25, Y:-182.51, Z:7.11 [[ 7.87786018e-01 6.15828117e-01 -1.22033112e-02 3.24247546e+02] [-6.15751190e-01 7.87880515e-01 9.73473450e-03 -1.82507171e+02] [ 1.56096743e-02 -1.54684348e-04 9.99878150e-01 7.10789253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.842755096 meters 0.01785918485128375 Centerline is valid? [True, True] Translation: X:324.29, Y:-182.54, Z:7.11 [[ 7.87979985e-01 6.15565931e-01 -1.28890408e-02 3.24293078e+02] [-6.15480108e-01 7.88085374e-01 1.02800597e-02 -1.82542533e+02] [ 1.64857191e-02 -1.67533027e-04 9.99864087e-01 7.10769901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.902755096 meters 0.01811835221951448 Centerline is valid? [True, True] Translation: X:324.34, Y:-182.58, Z:7.11 [[ 7.88519084e-01 6.14863736e-01 -1.34253773e-02 3.24339076e+02] [-6.14770568e-01 7.88633344e-01 1.07050554e-02 -1.82579292e+02] [ 1.71698505e-02 -1.87613642e-04 9.99852570e-01 7.10761530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.962755096 meters 0.018389138766745257 Centerline is valid? [True, True] Translation: X:324.39, Y:-182.62, Z:7.11 [[ 7.88929104e-01 6.14336393e-01 -1.34782955e-02 3.24385169e+02] [-6.14242442e-01 7.89044205e-01 1.07455172e-02 -1.82616141e+02] [ 1.72363333e-02 -1.98510155e-04 9.99851424e-01 7.10821520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.022755096 meters 0.018523008768183684 Centerline is valid? [True, True] Translation: X:324.43, Y:-182.65, Z:7.11 [[ 7.89728728e-01 6.13310176e-01 -1.33852335e-02 3.24431206e+02] [-6.13217398e-01 7.89842124e-01 1.06696450e-02 -1.82653130e+02] [ 1.71160231e-02 -2.18067150e-04 9.99853486e-01 7.10922160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.082755096 meters 0.019058981223892907 Centerline is valid? [True, True] Translation: X:324.48, Y:-182.69, Z:7.11 [[ 7.90847550e-01 6.11852912e-01 -1.40059750e-02 3.24475411e+02] [-6.11751135e-01 7.90971521e-01 1.11625418e-02 -1.82689864e+02] [ 1.79081610e-02 -2.59697698e-04 9.99839602e-01 7.11005913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14275509600003 meters 0.019318693828306796 Centerline is valid? [True, True] Translation: X:324.52, Y:-182.73, Z:7.11 [[ 7.91666626e-01 6.10794651e-01 -1.39229302e-02 3.24521096e+02] [-6.10693953e-01 7.91788997e-01 1.10941159e-02 -1.82726861e+02] [ 1.78002496e-02 -2.80192015e-04 9.99841524e-01 7.11053729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20275509600003 meters 0.019981048675051988 Centerline is valid? [True, True] Translation: X:324.57, Y:-182.76, Z:7.11 [[ 7.92812387e-01 6.09309272e-01 -1.38104934e-02 3.24565771e+02] [-6.09210001e-01 7.92932604e-01 1.10027360e-02 -1.82764918e+02] [ 1.76548596e-02 -3.09614730e-04 9.99844093e-01 7.11224541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26275509600003 meters 0.02067706288426043 Centerline is valid? [True, True] Translation: X:324.61, Y:-182.80, Z:7.11 [[ 7.92686827e-01 6.09458258e-01 -1.44300268e-02 3.24610318e+02] [-6.09349940e-01 7.92818094e-01 1.14943726e-02 -1.82802291e+02] [ 1.84457267e-02 -3.18501773e-04 9.99829812e-01 7.11263811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32275509600004 meters 0.019756193207998415 Centerline is valid? [True, True] Translation: X:324.66, Y:-182.84, Z:7.11 [[ 7.92327600e-01 6.09892511e-01 -1.57511911e-02 3.24657922e+02] [-6.09763587e-01 7.92484078e-01 1.25440942e-02 -1.82836864e+02] [ 2.01331172e-02 -3.34529238e-04 9.99797252e-01 7.11187836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38275509600004 meters 0.020007433895963704 Centerline is valid? [True, True] Translation: X:324.70, Y:-182.87, Z:7.11 [[ 7.92617842e-01 6.09487994e-01 -1.67732481e-02 3.24704020e+02] [-6.09341753e-01 7.92795214e-01 1.33557673e-02 -1.82873944e+02] [ 2.14379306e-02 -3.65379090e-04 9.99770114e-01 7.11189160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.442755096 meters 0.020311756649285178 Centerline is valid? [True, True] Translation: X:324.75, Y:-182.91, Z:7.11 [[ 7.93723646e-01 6.08048676e-01 -1.67206674e-02 3.24748653e+02] [-6.07903077e-01 7.93899645e-01 1.33117575e-02 -1.82911640e+02] [ 2.13687284e-02 -4.01311570e-04 9.99771582e-01 7.11334466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.502755096 meters 0.021356987107013392 Centerline is valid? [True, True] Translation: X:324.79, Y:-182.95, Z:7.11 [[ 7.94780943e-01 6.06665533e-01 -1.67387004e-02 3.24792325e+02] [-6.06519361e-01 7.94957068e-01 1.33238732e-02 -1.82950137e+02] [ 2.13896829e-02 -4.37214628e-04 9.99771119e-01 7.11496200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.562755096 meters 0.022271002889759535 Centerline is valid? [True, True] Translation: X:324.84, Y:-182.99, Z:7.12 [[ 7.96303320e-01 6.04695280e-01 -1.56410077e-02 3.24836188e+02] [-6.04567317e-01 7.96456785e-01 1.24478170e-02 -1.82989524e+02] [ 1.99845229e-02 -4.56195913e-04 9.99800185e-01 7.11757090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.622755096 meters 0.022497893157830982 Centerline is valid? [True, True] Translation: X:324.88, Y:-183.03, Z:7.12 [[ 7.96704725e-01 6.04192142e-01 -1.46094893e-02 3.24881138e+02] [-6.04080450e-01 7.96838544e-01 1.16251654e-02 -1.83027422e+02] [ 1.86652378e-02 -4.36517300e-04 9.99825694e-01 7.12026169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.682755096 meters 0.022151634446159717 Centerline is valid? [True, True] Translation: X:324.93, Y:-183.06, Z:7.12 [[ 7.95199776e-01 6.06200873e-01 -1.33348231e-02 3.24927241e+02] [-6.06108129e-01 7.95311497e-01 1.06093875e-02 -1.83062502e+02] [ 1.70367581e-02 -3.54237855e-04 9.99854801e-01 7.12344100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.742755096 meters 0.02068815772815724 Centerline is valid? [True, True] Translation: X:324.98, Y:-183.10, Z:7.12 [[ 7.93259423e-01 6.08740644e-01 -1.32028886e-02 3.24976029e+02] [-6.08650112e-01 7.93369234e-01 1.05023488e-02 -1.83096070e+02] [ 1.68679722e-02 -2.95147538e-04 9.99857682e-01 7.12492349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.802755096 meters 0.018646900476095088 Centerline is valid? [True, True] Translation: X:325.03, Y:-183.13, Z:7.13 [[ 7.89526199e-01 6.13570683e-01 -1.33939314e-02 3.25026338e+02] [-6.13478232e-01 7.89639778e-01 1.06526444e-02 -1.83127323e+02] [ 1.71125313e-02 -1.93656536e-04 9.99853551e-01 7.12633362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.862755096 meters 0.017543448547537865 Centerline is valid? [True, True] Translation: X:325.08, Y:-183.16, Z:7.13 [[ 7.86126776e-01 6.17910302e-01 -1.38402106e-02 3.25076195e+02] [-6.17812288e-01 7.86248592e-01 1.10058414e-02 -1.83159358e+02] [ 1.76824689e-02 -1.01334471e-04 9.99843648e-01 7.12678217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.922755096 meters 0.017245203105470598 Centerline is valid? [True, True] Translation: X:325.12, Y:-183.19, Z:7.13 [[ 7.84587154e-01 6.19845998e-01 -1.46265819e-02 3.25123939e+02] [-6.19736900e-01 7.84723477e-01 1.16292272e-02 -1.83193592e+02] [ 1.86861521e-02 -5.95097285e-05 9.99825397e-01 7.12625156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.982755096 meters 0.017317638624192142 Centerline is valid? [True, True] Translation: X:325.17, Y:-183.23, Z:7.13 [[ 7.84736431e-01 6.19666990e-01 -1.41970198e-02 3.25169461e+02] [-6.19564209e-01 7.84864840e-01 1.12859742e-02 -1.83230139e+02] [ 1.81362873e-02 -6.05498082e-05 9.99835522e-01 7.12803579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.042755096 meters 0.01778270736452286 Centerline is valid? [True, True] Translation: X:325.21, Y:-183.27, Z:7.13 [[ 7.87595230e-01 6.16045718e-01 -1.34695225e-02 3.25212756e+02] [-6.15952714e-01 7.87710388e-01 1.07050970e-02 -1.83270359e+02] [ 1.72049119e-02 -1.34694402e-04 9.99851975e-01 7.13079231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.102755096 meters 0.02005378797034704 Centerline is valid? [True, True] Translation: X:325.25, Y:-183.31, Z:7.13 [[ 7.92748671e-01 6.09420947e-01 -1.24761782e-02 3.25253804e+02] [-6.09340353e-01 7.92846797e-01 9.91416102e-03 -1.83312882e+02] [ 1.59335953e-02 -2.57199131e-04 9.99873019e-01 7.13327241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.162755096 meters 0.022578035064015168 Centerline is valid? [True, True] Translation: X:325.30, Y:-183.35, Z:7.13 [[ 7.97529391e-01 6.03163280e-01 -1.18712951e-02 3.25298311e+02] [-6.03089639e-01 7.97617657e-01 9.43193719e-03 -1.83353131e+02] [ 1.51577528e-02 -3.62792041e-04 9.99885049e-01 7.13419406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.222755096 meters 0.02593921000504657 Centerline is valid? [True, True] Translation: X:325.34, Y:-183.39, Z:7.14 [[ 8.00050586e-01 5.99821156e-01 -1.15602791e-02 3.25341122e+02] [-5.99750983e-01 8.00133994e-01 9.18420701e-03 -1.83393505e+02] [ 1.47586540e-02 -4.14541427e-04 9.99890999e-01 7.13602173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.282755096 meters 0.026261272337211684 Centerline is valid? [True, True] Translation: X:325.39, Y:-183.43, Z:7.14 [[ 8.03041924e-01 5.95801515e-01 -1.20093021e-02 3.25389804e+02] [-5.95725357e-01 8.03131558e-01 9.53936981e-03 -1.83430556e+02] [ 1.53286204e-02 -5.06268130e-04 9.99882382e-01 7.13646005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.342755096 meters 0.02668723553705838 Centerline is valid? [True, True] Translation: X:325.44, Y:-183.47, Z:7.14 [[ 8.04854128e-01 5.93346079e-01 -1.22581998e-02 3.25438269e+02] [-5.93266440e-01 8.04947273e-01 9.73752013e-03 -1.83468746e+02] [ 1.56449238e-02 -5.64904737e-04 9.99877451e-01 7.13753385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.402755096 meters 0.026314660249214392 Centerline is valid? [True, True] Translation: X:325.49, Y:-183.51, Z:7.14 [[ 8.04676294e-01 5.93574913e-01 -1.28407224e-02 3.25489140e+02] [-5.93487513e-01 8.04778526e-01 1.02027708e-02 -1.83505590e+02] [ 1.63900464e-02 -5.89119359e-04 9.99865501e-01 7.13862522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.462755096 meters 0.02621236358931812 Centerline is valid? [True, True] Translation: X:325.54, Y:-183.54, Z:7.14 [[ 8.04094825e-01 5.94350492e-01 -1.33793156e-02 3.25538577e+02] [-5.94255578e-01 8.04205899e-01 1.06385900e-02 -1.83544059e+02] [ 1.70827757e-02 -6.03702303e-04 9.99853896e-01 7.13986893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.522755096 meters 0.02762532976925579 Centerline is valid? [True, True] Translation: X:325.59, Y:-183.58, Z:7.14 [[ 8.03230088e-01 5.95519171e-01 -1.33545021e-02 3.25585905e+02] [-5.95424737e-01 8.03340887e-01 1.06207717e-02 -1.83582818e+02] [ 1.70530907e-02 -5.79322439e-04 9.99854418e-01 7.14086642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.582755096 meters 0.02567898515009265 Centerline is valid? [True, True] Translation: X:325.64, Y:-183.62, Z:7.14 [[ 8.02505096e-01 5.96471659e-01 -1.43920138e-02 3.25638111e+02] [-5.96362014e-01 8.02633908e-01 1.14524356e-02 -1.83616752e+02] [ 1.83825715e-02 -6.07787593e-04 9.99830842e-01 7.14128811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64275509600003 meters 0.02525777970129029 Centerline is valid? [True, True] Translation: X:325.69, Y:-183.65, Z:7.14 [[ 8.02156393e-01 5.96937520e-01 -1.45161384e-02 3.25685869e+02] [-5.96825926e-01 8.02287497e-01 1.15579236e-02 -1.83651878e+02] [ 1.85454746e-02 -6.07654593e-04 9.99827833e-01 7.14239351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70275509600003 meters 0.02481399053656611 Centerline is valid? [True, True] Translation: X:325.73, Y:-183.69, Z:7.14 [[ 8.01065141e-01 5.98409917e-01 -1.41495611e-02 3.25734436e+02] [-5.98304135e-01 8.01189902e-01 1.12651432e-02 -1.83687044e+02] [ 1.80776589e-02 -5.58372577e-04 9.99836430e-01 7.14384927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76275509600003 meters 0.02423151948410099 Centerline is valid? [True, True] Translation: X:325.78, Y:-183.72, Z:7.15 [[ 7.99842828e-01 6.00052579e-01 -1.37241739e-02 3.25781721e+02] [-5.99953317e-01 7.99960404e-01 1.09256596e-02 -1.83722175e+02] [ 1.75347660e-02 -5.04946826e-04 9.99846127e-01 7.14544648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82275509600004 meters 0.02236696403171231 Centerline is valid? [True, True] Translation: X:325.83, Y:-183.75, Z:7.15 [[ 7.96648228e-01 6.04278416e-01 -1.41136877e-02 3.25831943e+02] [-6.04174133e-01 7.96773128e-01 1.12338626e-02 -1.83754439e+02] [ 1.80337878e-02 -4.22311668e-04 9.99837289e-01 7.14558205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88275509600004 meters 0.020637744610544947 Centerline is valid? [True, True] Translation: X:325.88, Y:-183.79, Z:7.15 [[ 7.93382798e-01 6.08552602e-01 -1.44036986e-02 3.25879635e+02] [-6.08444707e-01 7.93513466e-01 1.14637784e-02 -1.83788239e+02] [ 1.84058410e-02 -3.31310374e-04 9.99830543e-01 7.14600748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.942755096 meters 0.019485839880045597 Centerline is valid? [True, True] Translation: X:325.93, Y:-183.82, Z:7.15 [[ 7.91188694e-01 6.11375286e-01 -1.55148312e-02 3.25926988e+02] [-6.11250688e-01 7.91340748e-01 1.23457516e-02 -1.83823839e+02] [ 1.98254055e-02 -2.84367844e-04 9.99803417e-01 7.14589679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.002755096 meters 0.018794846151993314 Centerline is valid? [True, True] Translation: X:325.97, Y:-183.86, Z:7.15 [[ 7.90231796e-01 6.12589933e-01 -1.63487729e-02 3.25973155e+02] [-6.12451991e-01 7.90400851e-01 1.30020438e-02 -1.83860894e+02] [ 2.08870051e-02 -2.61789912e-04 9.99781808e-01 7.14583448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.062755096 meters 0.018429871292502408 Centerline is valid? [True, True] Translation: X:326.02, Y:-183.90, Z:7.15 [[ 7.90615934e-01 6.12097853e-01 -1.62069117e-02 3.26017812e+02] [-6.11962325e-01 7.90781984e-01 1.28827683e-02 -1.83898672e+02] [ 2.07016486e-02 -2.67302488e-04 9.99785662e-01 7.14755753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.122755096 meters 0.019412366776469802 Centerline is valid? [True, True] Translation: X:326.06, Y:-183.94, Z:7.15 [[ 7.92096351e-01 6.10191433e-01 -1.58046358e-02 3.26058392e+02] [-6.10062213e-01 7.92253950e-01 1.25608681e-02 -1.83941053e+02] [ 2.01858193e-02 -3.07606690e-04 9.99796198e-01 7.14951183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.182755096 meters 0.02000351051814422 Centerline is valid? [True, True] Translation: X:326.10, Y:-183.98, Z:7.15 [[ 7.93916913e-01 6.07825888e-01 -1.56085064e-02 3.26100609e+02] [-6.07699462e-01 7.94070248e-01 1.24017883e-02 -1.83982494e+02] [ 1.99323786e-02 -3.60708469e-04 9.99801265e-01 7.15033768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.242755096 meters 0.020962986346480725 Centerline is valid? [True, True] Translation: X:326.14, Y:-184.02, Z:7.15 [[ 7.95223941e-01 6.06110992e-01 -1.57591123e-02 3.26142018e+02] [-6.05981818e-01 7.95379973e-01 1.25194187e-02 -1.84024822e+02] [ 2.01226396e-02 -4.06005964e-04 9.99797437e-01 7.15152579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.302755096 meters 0.021440430607816748 Centerline is valid? [True, True] Translation: X:326.18, Y:-184.06, Z:7.15 [[ 7.95910351e-01 6.05206259e-01 -1.58775543e-02 3.26184880e+02] [-6.05074997e-01 7.96068589e-01 1.26114903e-02 -1.84064919e+02] [ 2.02721751e-02 -4.30504566e-04 9.99794406e-01 7.15207634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.362755096 meters 0.02162023433764757 Centerline is valid? [True, True] Translation: X:326.23, Y:-184.11, Z:7.15 [[ 7.96054128e-01 6.04986101e-01 -1.70188813e-02 3.26227454e+02] [-6.04835286e-01 7.96235895e-01 1.35157702e-02 -1.84105639e+02] [ 2.17278973e-02 -4.65664710e-04 9.99763813e-01 7.15117970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.422755096 meters 0.02093799715037318 Centerline is valid? [True, True] Translation: X:326.27, Y:-184.15, Z:7.15 [[ 7.94743211e-01 6.06677672e-01 -1.80397142e-02 3.26271129e+02] [-6.06508709e-01 7.94947801e-01 1.43241016e-02 -1.84145288e+02] [ 2.30307438e-02 -4.42738712e-04 9.99734659e-01 7.15010882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.482755096 meters 0.01847513392811968 Centerline is valid? [True, True] Translation: X:326.32, Y:-184.18, Z:7.15 [[ 7.90918968e-01 6.11663279e-01 -1.77544171e-02 3.26322948e+02] [-6.11500874e-01 7.91118163e-01 1.40972768e-02 -1.84179718e+02] [ 2.26686284e-02 -2.92962001e-04 9.99742991e-01 7.15240143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.542755096 meters 0.018255004605194053 Centerline is valid? [True, True] Translation: X:326.37, Y:-184.22, Z:7.15 [[ 7.89104048e-01 6.13971564e-01 -1.88074534e-02 3.26368086e+02] [-6.13789814e-01 7.89328106e-01 1.49400522e-02 -1.84217218e+02] [ 2.40180188e-02 -2.45432299e-04 9.99711496e-01 7.15207297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.602755096 meters 0.017635701004983607 Centerline is valid? [True, True] Translation: X:326.41, Y:-184.26, Z:7.15 [[ 7.88242272e-01 6.15063688e-01 -1.92556659e-02 3.26413781e+02] [-6.14873540e-01 7.88477402e-01 1.52943490e-02 -1.84255497e+02] [ 2.45896561e-02 -2.15852914e-04 9.99697605e-01 7.15426619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.662755096 meters 0.01782877513834533 Centerline is valid? [True, True] Translation: X:326.46, Y:-184.29, Z:7.16 [[ 7.88707000e-01 6.14498944e-01 -1.82295255e-02 3.26460560e+02] [-6.14328394e-01 7.88917613e-01 1.44784201e-02 -1.84293354e+02] [ 2.32785676e-02 -2.20316133e-04 9.99728993e-01 7.15758250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.722755096 meters 0.01833907037096058 Centerline is valid? [True, True] Translation: X:326.51, Y:-184.33, Z:7.16 [[ 7.89843874e-01 6.13067237e-01 -1.71818999e-02 3.26505318e+02] [-6.12915396e-01 7.90030696e-01 1.36461083e-02 -1.84330929e+02] [ 2.19402102e-02 -2.47244090e-04 9.99759254e-01 7.15979744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.782755096 meters 0.01846698138441527 Centerline is valid? [True, True] Translation: X:326.55, Y:-184.37, Z:7.16 [[ 7.90547460e-01 6.12174954e-01 -1.66294737e-02 3.26553205e+02] [-6.12032531e-01 7.90722301e-01 1.32069829e-02 -1.84371053e+02] [ 2.12342799e-02 -2.62967940e-04 9.99774493e-01 7.16233862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.842755096 meters 0.01909814336883105 Centerline is valid? [True, True] Translation: X:326.60, Y:-184.41, Z:7.16 [[ 7.91438910e-01 6.11031617e-01 -1.62731425e-02 3.26598442e+02] [-6.10894848e-01 7.91606138e-01 1.29308521e-02 -1.84411537e+02] [ 2.07830789e-02 -2.92800629e-04 9.99783966e-01 7.16410351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.902755096 meters 0.019587978916940748 Centerline is valid? [True, True] Translation: X:326.65, Y:-184.45, Z:7.16 [[ 7.92485546e-01 6.09661965e-01 -1.67017006e-02 3.26645014e+02] [-6.09517525e-01 7.92661449e-01 1.32745883e-02 -1.84448607e+02] [ 2.13318058e-02 -3.39940140e-04 9.99772393e-01 7.16432453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.962755096 meters 0.020565597323169028 Centerline is valid? [True, True] Translation: X:326.69, Y:-184.49, Z:7.16 [[ 7.93576052e-01 6.08217738e-01 -1.75565571e-02 3.26688838e+02] [-6.08057808e-01 7.93770134e-01 1.39526527e-02 -1.84485695e+02] [ 2.24221216e-02 -3.97089433e-04 9.99748514e-01 7.16437775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.022755096 meters 0.020740958766340627 Centerline is valid? [True, True] Translation: X:326.73, Y:-184.52, Z:7.17 [[ 7.93678064e-01 6.08070769e-01 -1.80296874e-02 3.26734103e+02] [-6.07902122e-01 7.93882719e-01 1.43261814e-02 -1.84522922e+02] [ 2.30247894e-02 -4.10090666e-04 9.99734810e-01 7.16544816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.082755096 meters 0.020177454772830134 Centerline is valid? [True, True] Translation: X:326.78, Y:-184.56, Z:7.17 [[ 7.93828261e-01 6.07889336e-01 -1.75284617e-02 3.26780893e+02] [-6.07729938e-01 7.94021658e-01 1.39258440e-02 -1.84559208e+02] [ 2.23833503e-02 -4.02157600e-04 9.99749381e-01 7.16743111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14275509600003 meters 0.02050328445086017 Centerline is valid? [True, True] Translation: X:326.83, Y:-184.60, Z:7.17 [[ 7.93892292e-01 6.07797701e-01 -1.78040247e-02 3.26825068e+02] [-6.07633282e-01 7.94091800e-01 1.41424251e-02 -1.84595906e+02] [ 2.27337635e-02 -4.09244344e-04 9.99741471e-01 7.16794179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20275509600003 meters 0.01967033316292144 Centerline is valid? [True, True] Translation: X:326.88, Y:-184.63, Z:7.17 [[ 7.93995599e-01 6.07656355e-01 -1.80206297e-02 3.26875813e+02] [-6.07487883e-01 7.94199962e-01 1.43140679e-02 -1.84633938e+02] [ 2.30100178e-02 -4.17992705e-04 9.99735147e-01 7.16876663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26275509600003 meters 0.021145648290974 Centerline is valid? [True, True] Translation: X:326.92, Y:-184.67, Z:7.17 [[ 7.93841159e-01 6.07847630e-01 -1.83704208e-02 3.26922622e+02] [-6.07672394e-01 7.94053572e-01 1.46008832e-02 -1.84674039e+02] [ 2.34622105e-02 -4.27584464e-04 9.99724633e-01 7.16857971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32275509600004 meters 0.020659031726933827 Centerline is valid? [True, True] Translation: X:326.97, Y:-184.71, Z:7.17 [[ 7.93133582e-01 6.08748463e-01 -1.90900549e-02 3.26970502e+02] [-6.08559412e-01 7.93363178e-01 1.51759403e-02 -1.84709211e+02] [ 2.43836770e-02 -4.19115279e-04 9.99702586e-01 7.16899828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38275509600004 meters 0.01933292285289325 Centerline is valid? [True, True] Translation: X:327.02, Y:-184.74, Z:7.17 [[ 7.92993348e-01 6.08923966e-01 -1.93171592e-02 3.27019167e+02] [-6.08730588e-01 7.93228487e-01 1.53505670e-02 -1.84743903e+02] [ 2.46702491e-02 -4.13951806e-04 9.99695557e-01 7.17070761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.442755096 meters 0.018839681048550185 Centerline is valid? [True, True] Translation: X:327.07, Y:-184.78, Z:7.17 [[ 7.92495299e-01 6.09556399e-01 -1.98039690e-02 3.27068015e+02] [-6.09353371e-01 7.92742602e-01 1.57364702e-02 -1.84779092e+02] [ 2.52917161e-02 -4.03463391e-04 9.99680032e-01 7.17105177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.502755096 meters 0.01897566689039911 Centerline is valid? [True, True] Translation: X:327.12, Y:-184.81, Z:7.17 [[ 7.92770347e-01 6.09211221e-01 -1.94130179e-02 3.27115434e+02] [-6.09016035e-01 7.93007896e-01 1.54255014e-02 -1.84814580e+02] [ 2.47920651e-02 -4.06040927e-04 9.99692547e-01 7.17218413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.562755096 meters 0.020223134160556835 Centerline is valid? [True, True] Translation: X:327.16, Y:-184.85, Z:7.17 [[ 7.94118224e-01 6.07456281e-01 -1.93161542e-02 3.27158684e+02] [-6.07262560e-01 7.94352981e-01 1.53468533e-02 -1.84852661e+02] [ 2.46663871e-02 -4.57238651e-04 9.99695634e-01 7.17289825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.622755096 meters 0.01982825295461562 Centerline is valid? [True, True] Translation: X:327.21, Y:-184.89, Z:7.17 [[ 7.94779841e-01 6.06585014e-01 -1.94839762e-02 3.27207883e+02] [-6.06387649e-01 7.95018479e-01 1.54802032e-02 -1.84891134e+02] [ 2.48801804e-02 -4.88510936e-04 9.99690321e-01 7.17471251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.682755096 meters 0.02040241275736989 Centerline is valid? [True, True] Translation: X:327.26, Y:-184.93, Z:7.18 [[ 7.95272496e-01 6.05938200e-01 -1.95078043e-02 3.27255633e+02] [-6.05739932e-01 7.95511553e-01 1.55081752e-02 -1.84931017e+02] [ 2.49156795e-02 -5.16569198e-04 9.99689423e-01 7.17506571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.742755096 meters 0.020355245246390315 Centerline is valid? [True, True] Translation: X:327.30, Y:-184.97, Z:7.18 [[ 7.95369036e-01 6.05812655e-01 -1.94711217e-02 3.27304938e+02] [-6.05614864e-01 7.95607158e-01 1.54882613e-02 -1.84970263e+02] [ 2.48743485e-02 -5.26882734e-04 9.99690447e-01 7.17664379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.802755096 meters 0.02026703710490288 Centerline is valid? [True, True] Translation: X:327.35, Y:-185.01, Z:7.18 [[ 7.94559960e-01 6.06878124e-01 -1.93238622e-02 3.27353058e+02] [-6.06683392e-01 7.94794750e-01 1.53807384e-02 -1.85008502e+02] [ 2.46927379e-02 -4.97452650e-04 9.99694964e-01 7.17801228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.862755096 meters 0.02087962752640037 Centerline is valid? [True, True] Translation: X:327.40, Y:-185.05, Z:7.18 [[ 7.93801125e-01 6.07883765e-01 -1.88971382e-02 3.27398443e+02] [-6.07697691e-01 7.94025891e-01 1.50466262e-02 -1.85045258e+02] [ 2.41514168e-02 -4.60281587e-04 9.99708206e-01 7.17863431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.922755096 meters 0.019926683021647625 Centerline is valid? [True, True] Translation: X:327.45, Y:-185.08, Z:7.18 [[ 7.93383060e-01 6.08419280e-01 -1.92171889e-02 3.27445499e+02] [-6.08227054e-01 7.93615636e-01 1.52994717e-02 -1.85080156e+02] [ 2.45595552e-02 -4.49927477e-04 9.99698267e-01 7.17983520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.982755096 meters 0.019832642633242966 Centerline is valid? [True, True] Translation: X:327.49, Y:-185.12, Z:7.18 [[ 7.93588937e-01 6.08160431e-01 -1.89073956e-02 3.27491830e+02] [-6.07974337e-01 7.93814014e-01 1.50504930e-02 -1.85116460e+02] [ 2.41620699e-02 -4.48693468e-04 9.99707954e-01 7.18085537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.042755096 meters 0.0207074745209585 Centerline is valid? [True, True] Translation: X:327.54, Y:-185.15, Z:7.18 [[ 7.94717830e-01 6.06693167e-01 -1.86272003e-02 3.27537352e+02] [-6.06512200e-01 7.94935952e-01 1.48251273e-02 -1.85154240e+02] [ 2.38017346e-02 -4.84168757e-04 9.99716581e-01 7.18169019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.102755096 meters 0.020981876563665413 Centerline is valid? [True, True] Translation: X:327.58, Y:-185.19, Z:7.18 [[ 7.95903402e-01 6.05129322e-01 -1.88753501e-02 3.27584997e+02] [-6.04943060e-01 7.96127009e-01 1.50226202e-02 -1.85193351e+02] [ 2.41178039e-02 -5.38042474e-04 9.99708979e-01 7.18300398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.162755096 meters 0.021572549009147155 Centerline is valid? [True, True] Translation: X:327.63, Y:-185.23, Z:7.18 [[ 7.96620472e-01 6.04175072e-01 -1.91912758e-02 3.27632111e+02] [-6.03982091e-01 7.96851394e-01 1.52803588e-02 -1.85231832e+02] [ 2.45246068e-02 -5.81459754e-04 9.99699058e-01 7.18425475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.222755096 meters 0.021722201595401905 Centerline is valid? [True, True] Translation: X:327.68, Y:-185.27, Z:7.19 [[ 7.96462441e-01 6.04400258e-01 -1.86522799e-02 3.27678147e+02] [-6.04218030e-01 7.96680624e-01 1.48511287e-02 -1.85268045e+02] [ 2.38359360e-02 -5.58322338e-04 9.99715728e-01 7.18507609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.282755096 meters 0.02080959009112646 Centerline is valid? [True, True] Translation: X:327.73, Y:-185.30, Z:7.19 [[ 7.95619641e-01 6.05519289e-01 -1.83242320e-02 3.27726923e+02] [-6.05343759e-01 7.95830463e-01 1.45879021e-02 -1.85302737e+02] [ 2.34162382e-02 -5.13961920e-04 9.99725670e-01 7.18640411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.342755096 meters 0.021023479934566394 Centerline is valid? [True, True] Translation: X:327.77, Y:-185.34, Z:7.19 [[ 7.94594326e-01 6.06863479e-01 -1.83459822e-02 3.27773023e+02] [-6.06687926e-01 7.94805947e-01 1.46036898e-02 -1.85338416e+02] [ 2.34439417e-02 -4.73723162e-04 9.99725041e-01 7.18606576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.402755096 meters 0.01970106875881392 Centerline is valid? [True, True] Translation: X:327.82, Y:-185.37, Z:7.19 [[ 7.94187235e-01 6.07377774e-01 -1.89440276e-02 3.27821719e+02] [-6.07190789e-01 7.94413002e-01 1.50774004e-02 -1.85373831e+02] [ 2.42070597e-02 -4.71639888e-04 9.99706855e-01 7.18754884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.462755096 meters 0.01988057653608764 Centerline is valid? [True, True] Translation: X:327.87, Y:-185.41, Z:7.19 [[ 7.93857965e-01 6.07817208e-01 -1.86486653e-02 3.27865862e+02] [-6.07636148e-01 7.94076847e-01 1.48415901e-02 -1.85410750e+02] [ 2.38294472e-02 -4.50511326e-04 9.99715937e-01 7.18912308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.522755096 meters 0.01869699502660844 Centerline is valid? [True, True] Translation: X:327.92, Y:-185.45, Z:7.19 [[ 7.93251782e-01 6.08626039e-01 -1.80542389e-02 3.27915810e+02] [-6.08456567e-01 7.93457104e-01 1.43676978e-02 -1.85448143e+02] [ 2.30698191e-02 -4.11981662e-04 9.99733771e-01 7.19152960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.582755096 meters 0.01977176483990154 Centerline is valid? [True, True] Translation: X:327.96, Y:-185.49, Z:7.19 [[ 7.92564815e-01 6.09550619e-01 -1.70016641e-02 3.27961900e+02] [-6.09400385e-01 7.92747064e-01 1.35374940e-02 -1.85488007e+02] [ 2.17298071e-02 -3.68520752e-04 9.99763812e-01 7.19293835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64275509600003 meters 0.019881839853697354 Centerline is valid? [True, True] Translation: X:328.01, Y:-185.53, Z:7.19 [[ 7.93330013e-01 6.08570578e-01 -1.64116411e-02 3.28006908e+02] [-6.08430261e-01 7.93499655e-01 1.30734074e-02 -1.85526619e+02] [ 2.09787226e-02 -3.86187418e-04 9.99779848e-01 7.19488320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70275509600003 meters 0.01930814470161715 Centerline is valid? [True, True] Translation: X:328.06, Y:-185.57, Z:7.20 [[ 7.93746800e-01 6.08034009e-01 -1.61450266e-02 3.28055195e+02] [-6.07898125e-01 7.93910882e-01 1.28600072e-02 -1.85566195e+02] [ 2.06370341e-02 -3.93058140e-04 9.99786956e-01 7.19655006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76275509600003 meters 0.01965311867253772 Centerline is valid? [True, True] Translation: X:328.10, Y:-185.61, Z:7.20 [[ 7.93997635e-01 6.07710501e-01 -1.59906797e-02 3.28102979e+02] [-6.07576987e-01 7.94158538e-01 1.27444287e-02 -1.85607102e+02] [ 2.04440580e-02 -4.03477284e-04 9.99790917e-01 7.19737250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82275509600004 meters 0.01941664885618561 Centerline is valid? [True, True] Translation: X:328.15, Y:-185.65, Z:7.20 [[ 7.93238900e-01 6.08697787e-01 -1.60950850e-02 3.28151470e+02] [-6.08562555e-01 7.93402076e-01 1.28359782e-02 -1.85646511e+02] [ 2.05831054e-02 -3.87131127e-04 9.99788070e-01 7.19829178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88275509600004 meters 0.018647337844945065 Centerline is valid? [True, True] Translation: X:328.20, Y:-185.68, Z:7.20 [[ 7.92092587e-01 6.10183426e-01 -1.62947972e-02 3.28201378e+02] [-6.10044975e-01 7.92260095e-01 1.30027268e-02 -1.85684123e+02] [ 2.08437659e-02 -3.58804378e-04 9.99782681e-01 7.19900021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.942755096 meters 0.017746701126719406 Centerline is valid? [True, True] Translation: X:328.25, Y:-185.72, Z:7.20 [[ 7.89952151e-01 6.12924378e-01 -1.73004503e-02 3.28250568e+02] [-6.12768777e-01 7.90141513e-01 1.38136086e-02 -1.85721389e+02] [ 2.21365014e-02 -3.10914011e-04 9.99754909e-01 7.19900238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.002755096 meters 0.017168553782911707 Centerline is valid? [True, True] Translation: X:328.30, Y:-185.76, Z:7.20 [[ 7.87805138e-01 6.15661838e-01 -1.79879440e-02 3.28298170e+02] [-6.15494183e-01 7.88010431e-01 1.43691400e-02 -1.85756477e+02] [ 2.30212186e-02 -2.48607416e-04 9.99734946e-01 7.19959794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.062755096 meters 0.016573732880233324 Centerline is valid? [True, True] Translation: X:328.35, Y:-185.79, Z:7.20 [[ 7.86083645e-01 6.17845643e-01 -1.84191324e-02 3.28346880e+02] [-6.17670495e-01 7.86299387e-01 1.47116442e-02 -1.85789636e+02] [ 2.35724778e-02 -1.87628279e-04 9.99722113e-01 7.20028524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.122755096 meters 0.01641536357407812 Centerline is valid? [True, True] Translation: X:328.39, Y:-185.83, Z:7.20 [[ 7.85544390e-01 6.18520230e-01 -1.87812819e-02 3.28394043e+02] [-6.18338377e-01 7.85768857e-01 1.49984797e-02 -1.85825011e+02] [ 2.40346095e-02 -1.68784245e-04 9.99711113e-01 7.20229030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.182755096 meters 0.016722151587211357 Centerline is valid? [True, True] Translation: X:328.44, Y:-185.86, Z:7.20 [[ 7.86299954e-01 6.17562314e-01 -1.86861088e-02 3.28439810e+02] [-6.17382089e-01 7.86521933e-01 1.49199703e-02 -1.85860825e+02] [ 2.39110458e-02 -1.95103056e-04 9.99714071e-01 7.20371364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.242755096 meters 0.016847256637158064 Centerline is valid? [True, True] Translation: X:328.49, Y:-185.90, Z:7.21 [[ 7.86730316e-01 6.17023291e-01 -1.83757730e-02 3.28485736e+02] [-6.16848921e-01 7.86944862e-01 1.46694564e-02 -1.85897748e+02] [ 2.35121165e-02 -2.05830327e-04 9.99723531e-01 7.20507876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.302755096 meters 0.01765358964944479 Centerline is valid? [True, True] Translation: X:328.53, Y:-185.94, Z:7.21 [[ 7.88470503e-01 6.14809419e-01 -1.79901400e-02 3.28529306e+02] [-6.14641770e-01 7.88675668e-01 1.43591887e-02 -1.85935131e+02] [ 2.30165502e-02 -2.64305263e-04 9.99735049e-01 7.20735619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.362755096 meters 0.018963124022870124 Centerline is valid? [True, True] Translation: X:328.57, Y:-185.97, Z:7.21 [[ 7.90583650e-01 6.12108731e-01 -1.73318555e-02 3.28573479e+02] [-6.11952549e-01 7.90773542e-01 1.38305501e-02 -1.85973259e+02] [ 2.21713733e-02 -3.27933647e-04 9.99754131e-01 7.20923974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.422755096 meters 0.020966125825688662 Centerline is valid? [True, True] Translation: X:328.62, Y:-186.01, Z:7.21 [[ 7.92871990e-01 6.09125835e-01 -1.78808318e-02 3.28616375e+02] [-6.08958929e-01 7.93073477e-01 1.42647490e-02 -1.86011674e+02] [ 2.28698406e-02 -4.21427731e-04 9.99738362e-01 7.20998211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.482755096 meters 0.019916185179824755 Centerline is valid? [True, True] Translation: X:328.67, Y:-186.05, Z:7.21 [[ 7.94073497e-01 6.07550928e-01 -1.81425070e-02 3.28665231e+02] [-6.07378701e-01 7.94280584e-01 1.44730183e-02 -1.86049347e+02] [ 2.32033368e-02 -4.73267934e-04 9.99730654e-01 7.21222518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.542755096 meters 0.0212226905112565 Centerline is valid? [True, True] Translation: X:328.71, Y:-186.09, Z:7.21 [[ 7.95667760e-01 6.05477943e-01 -1.75862332e-02 3.28711300e+02] [-6.05315447e-01 7.95861914e-01 1.40364940e-02 -1.86090269e+02] [ 2.24950007e-02 -5.23167128e-04 9.99746819e-01 7.21494084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.602755096 meters 0.021747353106429782 Centerline is valid? [True, True] Translation: X:328.76, Y:-186.13, Z:7.22 [[ 7.96086908e-01 6.04930052e-01 -1.74718871e-02 3.28759197e+02] [-6.04769422e-01 7.96278432e-01 1.39500642e-02 -1.86130072e+02] [ 2.23513000e-02 -5.39000409e-04 9.99750033e-01 7.21656869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.662755096 meters 0.022125576979529268 Centerline is valid? [True, True] Translation: X:328.81, Y:-186.17, Z:7.22 [[ 7.96262079e-01 6.04704928e-01 -1.72815163e-02 3.28807223e+02] [-6.04547555e-01 7.96449404e-01 1.38058329e-02 -1.86169462e+02] [ 2.21123086e-02 -5.45562770e-04 9.99755344e-01 7.21894010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.722755096 meters 0.02218237049955612 Centerline is valid? [True, True] Translation: X:328.85, Y:-186.21, Z:7.22 [[ 7.95709218e-01 6.05407245e-01 -1.81358100e-02 3.28854083e+02] [-6.05233955e-01 7.95915672e-01 1.44949472e-02 -1.86205742e+02] [ 2.32099215e-02 -5.57355135e-04 9.99730458e-01 7.21979436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.782755096 meters 0.020358612817862602 Centerline is valid? [True, True] Translation: X:328.90, Y:-186.24, Z:7.22 [[ 7.93742043e-01 6.07971958e-01 -1.85382836e-02 3.28904339e+02] [-6.07791602e-01 7.93958347e-01 1.48159496e-02 -1.86241111e+02] [ 2.37263069e-02 -4.92629000e-04 9.99718370e-01 7.22111175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.842755096 meters 0.020174188668454468 Centerline is valid? [True, True] Translation: X:328.95, Y:-186.28, Z:7.22 [[ 7.91979629e-01 6.10255203e-01 -1.88905839e-02 3.28950127e+02] [-6.10068568e-01 7.92204771e-01 1.50977635e-02 -1.86276971e+02] [ 2.41786994e-02 -4.32569641e-04 9.99707559e-01 7.22196780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.902755096 meters 0.01780444014269549 Centerline is valid? [True, True] Translation: X:329.00, Y:-186.31, Z:7.22 [[ 7.88606844e-01 6.14619141e-01 -1.85083088e-02 3.29000696e+02] [-6.14441246e-01 7.88823952e-01 1.47894547e-02 -1.86308110e+02] [ 2.36896792e-02 -2.90796819e-04 9.99719318e-01 7.22485457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.962755096 meters 0.01706690863845602 Centerline is valid? [True, True] Translation: X:329.05, Y:-186.34, Z:7.23 [[ 7.87106655e-01 6.16591675e-01 -1.66679709e-02 3.29048923e+02] [-6.16447885e-01 7.87283090e-01 1.33169345e-02 -1.86342271e+02] [ 2.13335225e-02 -2.06912324e-04 9.99772393e-01 7.22841036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.022755096 meters 0.017211600920446598 Centerline is valid? [True, True] Translation: X:329.09, Y:-186.38, Z:7.23 [[ 7.87658049e-01 6.15895800e-01 -1.63450750e-02 3.29094220e+02] [-6.15757422e-01 7.87827592e-01 1.30568770e-02 -1.86379924e+02] [ 2.09187768e-02 -2.19752961e-04 9.99781154e-01 7.23072174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.082755096 meters 0.01806074505068978 Centerline is valid? [True, True] Translation: X:329.14, Y:-186.42, Z:7.23 [[ 7.89778569e-01 6.13198782e-01 -1.53969190e-02 3.29138902e+02] [-6.13075517e-01 7.89928591e-01 1.22976370e-02 -1.86419637e+02] [ 1.97033625e-02 -2.72936054e-04 9.99805833e-01 7.23306209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14275509600003 meters 0.021619611806422055 Centerline is valid? [True, True] Translation: X:329.18, Y:-186.46, Z:7.24 [[ 7.93269288e-01 6.08718886e-01 -1.36071561e-02 3.29182277e+02] [-6.08621967e-01 7.93385910e-01 1.08673367e-02 -1.86460975e+02] [ 1.74108790e-02 -3.39110362e-04 9.99848362e-01 7.23558107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20275509600003 meters 0.02207371528710467 Centerline is valid? [True, True] Translation: X:329.23, Y:-186.50, Z:7.24 [[ 7.96638564e-01 6.04328632e-01 -1.24057437e-02 3.29230749e+02] [-6.04247549e-01 7.96735055e-01 9.90714143e-03 -1.86499992e+02] [ 1.58712601e-02 -3.96270717e-04 9.99873965e-01 7.23762709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26275509600003 meters 0.023993018564018625 Centerline is valid? [True, True] Translation: X:329.28, Y:-186.54, Z:7.24 [[ 7.98902591e-01 6.01346201e-01 -1.17216553e-02 3.29277646e+02] [-6.01273472e-01 7.98988461e-01 9.36225261e-03 -1.86540438e+02] [ 1.49954223e-02 -4.31607501e-04 9.99887469e-01 7.23962032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32275509600004 meters 0.024048385315182986 Centerline is valid? [True, True] Translation: X:329.33, Y:-186.58, Z:7.24 [[ 7.99199734e-01 6.00947242e-01 -1.19246310e-02 3.29327354e+02] [-6.00871917e-01 7.99288566e-01 9.52511340e-03 -1.86577568e+02] [ 1.52553118e-02 -4.47292217e-04 9.99883531e-01 7.23975304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38275509600004 meters 0.02470273105631274 Centerline is valid? [True, True] Translation: X:329.38, Y:-186.61, Z:7.24 [[ 7.98446630e-01 6.01920488e-01 -1.32175985e-02 3.29376408e+02] [-6.01827954e-01 7.98555881e-01 1.05649874e-02 -1.86613470e+02] [ 1.69142734e-02 -4.80858296e-04 9.99856828e-01 7.23840855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.442755096 meters 0.023077347527264733 Centerline is valid? [True, True] Translation: X:329.43, Y:-186.65, Z:7.24 [[ 7.96895554e-01 6.03956784e-01 -1.39168386e-02 3.29425984e+02] [-6.03854461e-01 7.97016931e-01 1.11265996e-02 -1.86645381e+02] [ 1.78119413e-02 -4.62992702e-04 9.99841248e-01 7.23781518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.502755096 meters 0.02285071570810224 Centerline is valid? [True, True] Translation: X:329.47, Y:-186.68, Z:7.24 [[ 7.94749584e-01 6.06766217e-01 -1.44172391e-02 3.29474873e+02] [-6.06656898e-01 7.94880234e-01 1.15247756e-02 -1.86677873e+02] [ 1.84528229e-02 -4.12993074e-04 9.99829647e-01 7.23766702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.562755096 meters 0.021423264844082725 Centerline is valid? [True, True] Translation: X:329.52, Y:-186.71, Z:7.24 [[ 7.93605512e-01 6.08259365e-01 -1.45202017e-02 3.29523866e+02] [-6.08148762e-01 7.93738245e-01 1.16052613e-02 -1.86710468e+02] [ 1.85842483e-02 -3.79556595e-04 9.99827226e-01 7.23850470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.622755096 meters 0.020895187394548927 Centerline is valid? [True, True] Translation: X:329.57, Y:-186.74, Z:7.24 [[ 7.92813396e-01 6.09296375e-01 -1.43124857e-02 3.29572409e+02] [-6.09189113e-01 7.92942499e-01 1.14375751e-02 -1.86743535e+02] [ 1.83178512e-02 -3.48852307e-04 9.99832153e-01 7.24031219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.682755096 meters 0.01965573547033705 Centerline is valid? [True, True] Translation: X:329.62, Y:-186.77, Z:7.24 [[ 7.92796030e-01 6.09346565e-01 -1.30850599e-02 3.29621543e+02] [-6.09257009e-01 7.92903945e-01 1.04514047e-02 -1.86774856e+02] [ 1.67437231e-02 -3.13667700e-04 9.99859765e-01 7.24285408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.742755096 meters 0.019788782607188943 Centerline is valid? [True, True] Translation: X:329.67, Y:-186.81, Z:7.24 [[ 7.93019060e-01 6.09076805e-01 -1.20920250e-02 3.29669774e+02] [-6.09000331e-01 7.93111190e-01 9.65594517e-03 -1.86809203e+02] [ 1.54715326e-02 -2.93301317e-04 9.99880266e-01 7.24450802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.802755096 meters 0.019577499799483766 Centerline is valid? [True, True] Translation: X:329.72, Y:-186.84, Z:7.25 [[ 7.93127012e-01 6.08944003e-01 -1.16937734e-02 3.29716503e+02] [-6.08872491e-01 7.93213162e-01 9.33647899e-03 -1.86844611e+02] [ 1.49610479e-02 -2.84996735e-04 9.99888037e-01 7.24632207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.862755096 meters 0.02017098435681064 Centerline is valid? [True, True] Translation: X:329.76, Y:-186.88, Z:7.25 [[ 7.93073305e-01 6.09021951e-01 -1.12692434e-02 3.29761775e+02] [-6.08955557e-01 7.93153320e-01 8.99669473e-03 -1.86879017e+02] [ 1.44174224e-02 -2.72570041e-04 9.99896026e-01 7.24802684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.922755096 meters 0.020074630463502344 Centerline is valid? [True, True] Translation: X:329.81, Y:-186.91, Z:7.25 [[ 7.93304775e-01 6.08722288e-01 -1.11673820e-02 3.29808806e+02] [-6.08657117e-01 7.93383326e-01 8.91135976e-03 -1.86914731e+02] [ 1.42845580e-02 -2.72317731e-04 9.99897933e-01 7.24880184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.982755096 meters 0.019758730833659602 Centerline is valid? [True, True] Translation: X:329.86, Y:-186.95, Z:7.25 [[ 7.93237244e-01 6.08794352e-01 -1.20046140e-02 3.29855471e+02] [-6.08719076e-01 7.93328023e-01 9.57778426e-03 -1.86951409e+02] [ 1.53544976e-02 -2.90017660e-04 9.99882071e-01 7.24785175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.042755096 meters 0.020288317865857438 Centerline is valid? [True, True] Translation: X:329.90, Y:-186.99, Z:7.25 [[ 7.93379441e-01 6.08577320e-01 -1.35169511e-02 3.29897720e+02] [-6.08481883e-01 7.93494510e-01 1.07824747e-02 -1.86989576e+02] [ 1.72875960e-02 -3.29773858e-04 9.99850504e-01 7.24598509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.102755096 meters 0.02020847894337228 Centerline is valid? [True, True] Translation: X:329.94, Y:-187.03, Z:7.25 [[ 7.93573403e-01 6.08296428e-01 -1.47210529e-02 3.29942907e+02] [-6.08183247e-01 7.93709849e-01 1.17394027e-02 -1.87027765e+02] [ 1.88252814e-02 -3.62979963e-04 9.99822723e-01 7.24552402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.162755096 meters 0.020206422999730727 Centerline is valid? [True, True] Translation: X:329.99, Y:-187.06, Z:7.25 [[ 7.93584062e-01 6.08274854e-01 -1.50346041e-02 3.29988036e+02] [-6.08156834e-01 7.93726380e-01 1.19874598e-02 -1.87064469e+02] [ 1.92250322e-02 -3.69659831e-04 9.99815114e-01 7.24657454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.222755096 meters 0.02079262783256594 Centerline is valid? [True, True] Translation: X:330.03, Y:-187.10, Z:7.25 [[ 7.94189300e-01 6.07483451e-01 -1.50735586e-02 3.30031295e+02] [-6.07364731e-01 7.94332239e-01 1.20156807e-02 -1.87104209e+02] [ 1.92727407e-02 -3.87577188e-04 9.99814188e-01 7.24795600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.282755096 meters 0.021179012442616132 Centerline is valid? [True, True] Translation: X:330.07, Y:-187.14, Z:7.25 [[ 7.94258938e-01 6.07407805e-01 -1.44394568e-02 3.30073627e+02] [-6.07298883e-01 7.94390094e-01 1.15084916e-02 -1.87142225e+02] [ 1.84609090e-02 -3.71656337e-04 9.99829514e-01 7.25044895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.342755096 meters 0.01968923825328107 Centerline is valid? [True, True] Translation: X:330.12, Y:-187.18, Z:7.25 [[ 7.93886724e-01 6.07901060e-01 -1.41481658e-02 3.30121400e+02] [-6.07796622e-01 7.94012707e-01 1.12733182e-02 -1.87177016e+02] [ 1.80868855e-02 -3.50530276e-04 9.99836357e-01 7.25209552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.402755096 meters 0.019067836793996335 Centerline is valid? [True, True] Translation: X:330.17, Y:-187.21, Z:7.25 [[ 7.92381550e-01 6.09878372e-01 -1.34108265e-02 3.30167106e+02] [-6.09784848e-01 7.92494977e-01 1.06841406e-02 -1.87213971e+02] [ 1.71440389e-02 -2.88197161e-04 9.99852989e-01 7.25405935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.462755096 meters 0.019055177442230523 Centerline is valid? [True, True] Translation: X:330.21, Y:-187.25, Z:7.26 [[ 7.91384307e-01 6.11166889e-01 -1.36349670e-02 3.30210747e+02] [-6.11070435e-01 7.91501715e-01 1.08609282e-02 -1.87251984e+02] [ 1.74299394e-02 -2.63242959e-04 9.99848052e-01 7.25533594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.522755096 meters 0.01768623880899827 Centerline is valid? [True, True] Translation: X:330.26, Y:-187.29, Z:7.26 [[ 7.88825199e-01 6.14469656e-01 -1.34850439e-02 3.30257185e+02] [-6.14375829e-01 7.88940433e-01 1.07393517e-02 -1.87287699e+02] [ 1.72379021e-02 -1.86586242e-04 9.99851399e-01 7.25669617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.582755096 meters 0.017012278699899103 Centerline is valid? [True, True] Translation: X:330.30, Y:-187.32, Z:7.26 [[ 7.86497252e-01 6.17451575e-01 -1.32523666e-02 3.30302471e+02] [-6.17361408e-01 7.86608885e-01 1.05524171e-02 -1.87324213e+02] [ 1.69400359e-02 -1.17947301e-04 9.99856500e-01 7.25808785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64275509600003 meters 0.016826454879186485 Centerline is valid? [True, True] Translation: X:330.35, Y:-187.36, Z:7.26 [[ 7.85575212e-01 6.18625010e-01 -1.32167942e-02 3.30347266e+02] [-6.18535528e-01 7.85686380e-01 1.05219689e-02 -1.87362675e+02] [ 1.68934083e-02 -9.07411297e-05 9.99857292e-01 7.26020330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70275509600003 meters 0.016837818047617543 Centerline is valid? [True, True] Translation: X:330.39, Y:-187.40, Z:7.26 [[ 7.85863237e-01 6.18245989e-01 -1.38155778e-02 3.30390351e+02] [-6.18148188e-01 7.85984660e-01 1.09968680e-02 -1.87402995e+02] [ 1.76576018e-02 -1.01959844e-04 9.99844087e-01 7.26101303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76275509600003 meters 0.01754523022998681 Centerline is valid? [True, True] Translation: X:330.43, Y:-187.45, Z:7.26 [[ 7.87562702e-01 6.16081375e-01 -1.37378738e-02 3.30431172e+02] [-6.15984372e-01 7.87682498e-01 1.09332413e-02 -1.87445042e+02] [ 1.75568490e-02 -1.48297497e-04 9.99845856e-01 7.26178922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82275509600004 meters 0.018243677910119244 Centerline is valid? [True, True] Translation: X:330.47, Y:-187.49, Z:7.26 [[ 7.89125948e-01 6.14065151e-01 -1.42908983e-02 3.30473824e+02] [-6.13959893e-01 7.89255314e-01 1.13709515e-02 -1.87486632e+02] [ 1.82616725e-02 -1.99074549e-04 9.99833222e-01 7.26226977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88275509600004 meters 0.01889545202656882 Centerline is valid? [True, True] Translation: X:330.52, Y:-187.53, Z:7.26 [[ 7.90148434e-01 6.12740512e-01 -1.46464193e-02 3.30516323e+02] [-6.12629758e-01 7.90284133e-01 1.16520138e-02 -1.87526382e+02] [ 1.87144937e-02 -2.33988110e-04 9.99824841e-01 7.26290155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.942755096 meters 0.018560854090480288 Centerline is valid? [True, True] Translation: X:330.56, Y:-187.57, Z:7.26 [[ 7.90769042e-01 6.11917314e-01 -1.55410077e-02 3.30563823e+02] [-6.11792492e-01 7.90921696e-01 1.23618968e-02 -1.87566743e+02] [ 1.98561789e-02 -2.67533466e-04 9.99802811e-01 7.26402388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.002755096 meters 0.01792717260011418 Centerline is valid? [True, True] Translation: X:330.61, Y:-187.60, Z:7.26 [[ 7.88789426e-01 6.14467916e-01 -1.55055410e-02 3.30610951e+02] [-6.14344028e-01 7.88941783e-01 1.23400825e-02 -1.87599918e+02] [ 1.98155539e-02 -2.07990023e-04 9.99803631e-01 7.26476365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.062755096 meters 0.017062255642710182 Centerline is valid? [True, True] Translation: X:330.66, Y:-187.63, Z:7.26 [[ 7.87185326e-01 6.16478534e-01 -1.71312350e-02 3.30658304e+02] [-6.16327842e-01 7.87371696e-01 1.36310054e-02 -1.87634762e+02] [ 2.18918718e-02 -1.71670322e-04 9.99760330e-01 7.26419206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.122755096 meters 0.016844469161557483 Centerline is valid? [True, True] Translation: X:330.71, Y:-187.67, Z:7.27 [[ 7.86465450e-01 6.17403239e-01 -1.68919024e-02 3.30705709e+02] [-6.17256987e-01 7.86646821e-01 1.34384569e-02 -1.87670243e+02] [ 2.15849081e-02 -1.42237276e-04 9.99767009e-01 7.26564545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.182755096 meters 0.017054604035585192 Centerline is valid? [True, True] Translation: X:330.75, Y:-187.70, Z:7.27 [[ 7.87007336e-01 6.16699446e-01 -1.73564524e-02 3.30752427e+02] [-6.16544919e-01 7.87198683e-01 1.38056986e-02 -1.87704115e+02] [ 2.21769431e-02 -1.64153512e-04 9.99754048e-01 7.26554032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.242755096 meters 0.017741439404612216 Centerline is valid? [True, True] Translation: X:330.80, Y:-187.74, Z:7.27 [[ 7.89662968e-01 6.13304427e-01 -1.70316461e-02 3.30796285e+02] [-6.13154893e-01 7.89846577e-01 1.35448019e-02 -1.87742968e+02] [ 2.17594743e-02 -2.52791304e-04 9.99763203e-01 7.26687019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.302755096 meters 0.01870338523618745 Centerline is valid? [True, True] Translation: X:330.84, Y:-187.78, Z:7.27 [[ 7.91942442e-01 6.10360048e-01 -1.69640836e-02 3.30840948e+02] [-6.10211064e-01 7.92124045e-01 1.34890740e-02 -1.87782049e+02] [ 2.16708504e-02 -3.30898744e-04 9.99765105e-01 7.26767807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.362755096 meters 0.019806243193054057 Centerline is valid? [True, True] Translation: X:330.89, Y:-187.82, Z:7.27 [[ 7.94635494e-01 6.06856867e-01 -1.67085076e-02 3.30888898e+02] [-6.06711560e-01 7.94811025e-01 1.32859660e-02 -1.87821646e+02] [ 2.13427858e-02 -4.20255480e-04 9.99772128e-01 7.26913721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.422755096 meters 0.021243113280584782 Centerline is valid? [True, True] Translation: X:330.94, Y:-187.86, Z:7.27 [[ 7.95750406e-01 6.05389833e-01 -1.68654029e-02 3.30935826e+02] [-6.05241286e-01 7.95928973e-01 1.34185046e-02 -1.87860398e+02] [ 2.15470891e-02 -4.70142376e-04 9.99767724e-01 7.26971229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.482755096 meters 0.021007544395140295 Centerline is valid? [True, True] Translation: X:330.98, Y:-187.90, Z:7.27 [[ 7.95693524e-01 6.05484870e-01 -1.61210387e-02 3.30983946e+02] [-6.05349044e-01 7.95856688e-01 1.28322256e-02 -1.87898309e+02] [ 2.05997549e-02 -4.51663417e-04 9.99787701e-01 7.27121702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.542755096 meters 0.02081531244156184 Centerline is valid? [True, True] Translation: X:331.03, Y:-187.93, Z:7.27 [[ 7.95147896e-01 6.06208963e-01 -1.58277208e-02 3.31031843e+02] [-6.06078161e-01 7.95305295e-01 1.25996173e-02 -1.87934718e+02] [ 2.02258710e-02 -4.25723275e-04 9.99795346e-01 7.27231161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.602755096 meters 0.02003241426032945 Centerline is valid? [True, True] Translation: X:331.08, Y:-187.97, Z:7.27 [[ 7.94621531e-01 6.06895358e-01 -1.59576539e-02 3.31081769e+02] [-6.06762534e-01 7.94781640e-01 1.27032612e-02 -1.87971936e+02] [ 2.03924006e-02 -4.11778402e-04 9.99791969e-01 7.27289207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.662755096 meters 0.021220243126162767 Centerline is valid? [True, True] Translation: X:331.13, Y:-188.01, Z:7.27 [[ 7.94471271e-01 6.07108554e-01 -1.53167340e-02 3.31128530e+02] [-6.06986092e-01 7.94618806e-01 1.21998654e-02 -1.88012429e+02] [ 1.95776075e-02 -3.95398128e-04 9.99808262e-01 7.27441674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.722755096 meters 0.02005914795473453 Centerline is valid? [True, True] Translation: X:331.18, Y:-188.05, Z:7.28 [[ 7.93943119e-01 6.07819674e-01 -1.44764556e-02 3.31178105e+02] [-6.07710276e-01 7.94075004e-01 1.15372396e-02 -1.88048937e+02] [ 1.85079528e-02 -3.62421168e-04 9.99828647e-01 7.27620718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.782755096 meters 0.019467700583222523 Centerline is valid? [True, True] Translation: X:331.23, Y:-188.09, Z:7.28 [[ 7.92945817e-01 6.09114467e-01 -1.47138520e-02 3.31226376e+02] [-6.09001655e-01 7.93082248e-01 1.17274039e-02 -1.88086561e+02] [ 1.88126262e-02 -3.38435607e-04 9.99822970e-01 7.27759836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.842755096 meters 0.018843080657934 Centerline is valid? [True, True] Translation: X:331.27, Y:-188.12, Z:7.28 [[ 7.91149812e-01 6.11434399e-01 -1.51641395e-02 3.31271799e+02] [-6.11314985e-01 7.91295072e-01 1.20871580e-02 -1.88122454e+02] [ 1.93898131e-02 -2.92687083e-04 9.99811957e-01 7.27714355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.902755096 meters 0.01804609743074864 Centerline is valid? [True, True] Translation: X:331.32, Y:-188.16, Z:7.28 [[ 7.89479108e-01 6.13576087e-01 -1.57201613e-02 3.31319872e+02] [-6.13448226e-01 7.89635564e-01 1.25279624e-02 -1.88159527e+02] [ 2.01000565e-02 -2.47059536e-04 9.99797943e-01 7.27726333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.962755096 meters 0.017229305881257446 Centerline is valid? [True, True] Translation: X:331.37, Y:-188.20, Z:7.28 [[ 7.87002857e-01 6.16734093e-01 -1.62960827e-02 3.31367665e+02] [-6.16597368e-01 7.87171537e-01 1.29868171e-02 -1.88195687e+02] [ 2.08372253e-02 -1.72540443e-04 9.99782867e-01 7.27725232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.022755096 meters 0.0168891057352341 Centerline is valid? [True, True] Translation: X:331.41, Y:-188.23, Z:7.28 [[ 7.85354355e-01 6.18852973e-01 -1.54769421e-02 3.31412535e+02] [-6.18730080e-01 7.85506834e-01 1.23329658e-02 -1.88231488e+02] [ 1.97895364e-02 -1.09698807e-04 9.99804162e-01 7.27966543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.082755096 meters 0.016808852611643627 Centerline is valid? [True, True] Translation: X:331.46, Y:-188.27, Z:7.28 [[ 7.84871268e-01 6.19469333e-01 -1.53244434e-02 3.31461269e+02] [-6.19349005e-01 7.85020852e-01 1.22095373e-02 -1.88270680e+02] [ 1.95934415e-02 -9.17361917e-05 9.99808026e-01 7.28130466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14275509600003 meters 0.016944678541923944 Centerline is valid? [True, True] Translation: X:331.50, Y:-188.31, Z:7.28 [[ 7.85081813e-01 6.19218089e-01 -1.46801322e-02 3.31504846e+02] [-6.19107502e-01 7.85219045e-01 1.17026521e-02 -1.88311928e+02] [ 1.87736133e-02 -9.89592916e-05 9.99823755e-01 7.28435406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20275509600003 meters 0.016807941169945113 Centerline is valid? [True, True] Translation: X:331.55, Y:-188.35, Z:7.29 [[ 7.85046519e-01 6.19286104e-01 -1.36632852e-02 3.31552345e+02] [-6.19190318e-01 7.85165405e-01 1.08920458e-02 -1.88348744e+02] [ 1.74732315e-02 -9.05887276e-05 9.99847327e-01 7.28664416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26275509600003 meters 0.016805000484823588 Centerline is valid? [True, True] Translation: X:331.60, Y:-188.39, Z:7.29 [[ 7.84811232e-01 6.19576435e-01 -1.40132624e-02 3.31598942e+02] [-6.19475724e-01 7.84936325e-01 1.11710698e-02 -1.88385299e+02] [ 1.79208503e-02 -8.63051850e-05 9.99839405e-01 7.28683360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32275509600004 meters 0.016965344965788384 Centerline is valid? [True, True] Translation: X:331.65, Y:-188.42, Z:7.29 [[ 7.85447451e-01 6.18774736e-01 -1.37886991e-02 3.31645127e+02] [-6.18677120e-01 7.85568467e-01 1.09911755e-02 -1.88422550e+02] [ 1.76330290e-02 -1.02238170e-04 9.99844521e-01 7.28831747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38275509600004 meters 0.017140122591177386 Centerline is valid? [True, True] Translation: X:331.69, Y:-188.46, Z:7.29 [[ 7.86177005e-01 6.17856051e-01 -1.34021027e-02 3.31690472e+02] [-6.17763711e-01 7.86291222e-01 1.06823023e-02 -1.88458490e+02] [ 1.71380809e-02 -1.18847741e-04 9.99853125e-01 7.29018995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.442755096 meters 0.017723294771078153 Centerline is valid? [True, True] Translation: X:331.74, Y:-188.50, Z:7.29 [[ 7.88599467e-01 6.14751344e-01 -1.38443075e-02 3.31735496e+02] [-6.14652376e-01 7.88720957e-01 1.10321253e-02 -1.88495897e+02] [ 1.77013093e-02 -1.90491664e-04 9.99843301e-01 7.29023283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.502755096 meters 0.01886283363454474 Centerline is valid? [True, True] Translation: X:331.78, Y:-188.54, Z:7.29 [[ 7.91922957e-01 6.10460992e-01 -1.39787903e-02 3.31782144e+02] [-6.10359458e-01 7.92046270e-01 1.11372296e-02 -1.88536384e+02] [ 1.78706929e-02 -2.87740917e-04 9.99840265e-01 7.29047855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.562755096 meters 0.02046615778491318 Centerline is valid? [True, True] Translation: X:331.83, Y:-188.58, Z:7.29 [[ 7.94291986e-01 6.07372310e-01 -1.41108986e-02 3.31828560e+02] [-6.07268249e-01 7.94417235e-01 1.12485701e-02 -1.88578113e+02] [ 1.80420111e-02 -3.65548416e-04 9.99837163e-01 7.29090478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.622755096 meters 0.02164954228648076 Centerline is valid? [True, True] Translation: X:331.88, Y:-188.62, Z:7.29 [[ 7.96563134e-01 6.04379595e-01 -1.45766785e-02 3.31875900e+02] [-6.04267921e-01 7.96696366e-01 1.16266762e-02 -1.88617372e+02] [ 1.86401126e-02 -4.53162418e-04 9.99826155e-01 7.29170895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.682755096 meters 0.021887657191064013 Centerline is valid? [True, True] Translation: X:331.92, Y:-188.66, Z:7.29 [[ 7.96170280e-01 6.04894528e-01 -1.46797427e-02 3.31923451e+02] [-6.04781239e-01 7.96305474e-01 1.17151408e-02 -1.88655622e+02] [ 1.87759840e-02 -4.49213986e-04 9.99823615e-01 7.29276272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.742755096 meters 0.02158843843106979 Centerline is valid? [True, True] Translation: X:331.97, Y:-188.69, Z:7.29 [[ 7.94906156e-01 6.06549023e-01 -1.49159757e-02 3.31970451e+02] [-6.06432277e-01 7.95045978e-01 1.19074020e-02 -1.88692371e+02] [ 1.90813095e-02 -4.19738053e-04 9.99817847e-01 7.29396159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.802755096 meters 0.020132868713153503 Centerline is valid? [True, True] Translation: X:332.02, Y:-188.73, Z:7.30 [[ 7.93632995e-01 6.08230948e-01 -1.42050637e-02 3.32020595e+02] [-6.08125345e-01 7.93760029e-01 1.13393250e-02 -1.88728789e+02] [ 1.81723402e-02 -3.60803146e-04 9.99834804e-01 7.29592823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.862755096 meters 0.0193017424143622 Centerline is valid? [True, True] Translation: X:332.07, Y:-188.76, Z:7.30 [[ 7.91683818e-01 6.10776397e-01 -1.37450365e-02 3.32068453e+02] [-6.10677794e-01 7.91803072e-01 1.09785010e-02 -1.88763302e+02] [ 1.75887715e-02 -2.97713015e-04 9.99845261e-01 7.29750231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.922755096 meters 0.01846551955428795 Centerline is valid? [True, True] Translation: X:332.11, Y:-188.80, Z:7.30 [[ 7.89927714e-01 6.13042893e-01 -1.38786909e-02 3.32114175e+02] [-6.12942735e-01 7.90049587e-01 1.10839560e-02 -1.88798556e+02] [ 1.77597945e-02 -2.48681215e-04 9.99842251e-01 7.29928316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.982755096 meters 0.017879195855077527 Centerline is valid? [True, True] Translation: X:332.16, Y:-188.83, Z:7.30 [[ 7.88807987e-01 6.14469391e-01 -1.44681596e-02 3.32161250e+02] [-6.14360826e-01 7.88940630e-01 1.15523839e-02 -1.88834721e+02] [ 1.85131053e-02 -2.23942200e-04 9.99828593e-01 7.29997058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.042755096 meters 0.017634128644250492 Centerline is valid? [True, True] Translation: X:332.21, Y:-188.87, Z:7.30 [[ 7.88927569e-01 6.14310948e-01 -1.46747809e-02 3.32206577e+02] [-6.14199298e-01 7.89064007e-01 1.17139365e-02 -1.88870856e+02] [ 1.87753408e-02 -2.28207309e-04 9.99823702e-01 7.30073458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.102755096 meters 0.018290902602311136 Centerline is valid? [True, True] Translation: X:332.25, Y:-188.91, Z:7.30 [[ 7.90213719e-01 6.12639675e-01 -1.53266955e-02 3.32250588e+02] [-6.12517625e-01 7.90362292e-01 1.22314168e-02 -1.88910289e+02] [ 1.96070934e-02 -2.77562213e-04 9.99807724e-01 7.30057735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.162755096 meters 0.01919754207993648 Centerline is valid? [True, True] Translation: X:332.30, Y:-188.95, Z:7.30 [[ 7.92426585e-01 6.09764205e-01 -1.57391852e-02 3.32296108e+02] [-6.09634955e-01 7.92582795e-01 1.25592817e-02 -1.88951900e+02] [ 2.01328078e-02 -3.57151271e-04 9.99797251e-01 7.30059334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.222755096 meters 0.0200216090170151 Centerline is valid? [True, True] Translation: X:332.34, Y:-188.99, Z:7.30 [[ 7.93476936e-01 6.08379113e-01 -1.64075186e-02 3.32342895e+02] [-6.08238204e-01 7.93646447e-01 1.30997733e-02 -1.88992838e+02] [ 2.09913973e-02 -4.14688282e-04 9.99779570e-01 7.30121073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.282755096 meters 0.020702079137254425 Centerline is valid? [True, True] Translation: X:332.39, Y:-189.03, Z:7.30 [[ 7.94209670e-01 6.07410715e-01 -1.68292480e-02 3.32390359e+02] [-6.07262085e-01 7.94387823e-01 1.34441889e-02 -1.89033159e+02] [ 2.15350941e-02 -4.57740656e-04 9.99767988e-01 7.30212680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.342755096 meters 0.020876826492672255 Centerline is valid? [True, True] Translation: X:332.44, Y:-189.07, Z:7.30 [[ 7.94006817e-01 6.07685314e-01 -1.64843300e-02 3.32436192e+02] [-6.07542646e-01 7.94177789e-01 1.31747427e-02 -1.89069975e+02] [ 2.10975864e-02 -4.45902094e-04 9.99777322e-01 7.30360187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.402755096 meters 0.020400771269780592 Centerline is valid? [True, True] Translation: X:332.48, Y:-189.11, Z:7.30 [[ 7.92715028e-01 6.09354454e-01 -1.70303742e-02 3.32481535e+02] [-6.09202599e-01 7.92897836e-01 1.36093709e-02 -1.89106020e+02] [ 2.17962776e-02 -4.13404653e-04 9.99762347e-01 7.30435881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.462755096 meters 0.018040332707057405 Centerline is valid? [True, True] Translation: X:332.53, Y:-189.14, Z:7.31 [[ 7.90455998e-01 6.12261637e-01 -1.77483155e-02 3.32532503e+02] [-6.12097485e-01 7.90655151e-01 1.41810102e-02 -1.89140599e+02] [ 2.27152856e-02 -3.45765307e-04 9.99741915e-01 7.30506858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.522755096 meters 0.017405755394104504 Centerline is valid? [True, True] Translation: X:332.58, Y:-189.18, Z:7.31 [[ 7.88836901e-01 6.14352601e-01 -1.75278735e-02 3.32579381e+02] [-6.14193004e-01 7.89031560e-01 1.40054084e-02 -1.89175366e+02] [ 2.24343045e-02 -2.82485646e-04 9.99748279e-01 7.30623410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.582755096 meters 0.016806690985254984 Centerline is valid? [True, True] Translation: X:332.63, Y:-189.21, Z:7.31 [[ 7.87823731e-01 6.15669771e-01 -1.68671901e-02 3.32625779e+02] [-6.15522326e-01 7.88004238e-01 1.34754356e-02 -1.89211500e+02] [ 2.15878356e-02 -2.34135881e-04 9.99766928e-01 7.30939460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64275509600003 meters 0.0167875772665856 Centerline is valid? [True, True] Translation: X:332.67, Y:-189.25, Z:7.31 [[ 7.88324667e-01 6.15048948e-01 -1.60938095e-02 3.32672681e+02] [-6.14914620e-01 7.88488893e-01 1.28559516e-02 -1.89251301e+02] [ 2.05968295e-02 -2.38345043e-04 9.99787834e-01 7.31296386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70275509600003 meters 0.01699073751779308 Centerline is valid? [True, True] Translation: X:332.72, Y:-189.29, Z:7.32 [[ 7.89307906e-01 6.13794089e-01 -1.58065173e-02 3.32719763e+02] [-6.13664232e-01 7.89466113e-01 1.26279953e-02 -1.89291976e+02] [ 2.02296986e-02 -2.67482237e-04 9.99795323e-01 7.31558016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76275509600003 meters 0.018585577894035796 Centerline is valid? [True, True] Translation: X:332.76, Y:-189.33, Z:7.32 [[ 7.90271082e-01 6.12545934e-01 -1.60964856e-02 3.32764891e+02] [-6.12410860e-01 7.90434933e-01 1.28668767e-02 -1.89333967e+02] [ 2.06047775e-02 -3.10657969e-04 9.99787651e-01 7.31708523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82275509600004 meters 0.017678971332267555 Centerline is valid? [True, True] Translation: X:332.81, Y:-189.37, Z:7.32 [[ 7.90596880e-01 6.12106072e-01 -1.68145526e-02 3.32813971e+02] [-6.11958473e-01 7.90775594e-01 1.34457177e-02 -1.89371455e+02] [ 2.15267432e-02 -3.40334526e-04 9.99768215e-01 7.31952885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88275509600004 meters 0.018060240940074274 Centerline is valid? [True, True] Translation: X:332.86, Y:-189.41, Z:7.32 [[ 7.90721357e-01 6.11909242e-01 -1.80780590e-02 3.32861669e+02] [-6.11738364e-01 7.90927896e-01 1.44650208e-02 -1.89411180e+02] [ 2.31497211e-02 -3.78758569e-04 9.99731938e-01 7.32087524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.942755096 meters 0.0182052747723921 Centerline is valid? [True, True] Translation: X:332.91, Y:-189.45, Z:7.32 [[ 7.90555645e-01 6.12101710e-01 -1.87954470e-02 3.32910629e+02] [-6.11916831e-01 7.90778945e-01 1.50482977e-02 -1.89451398e+02] [ 2.40741326e-02 -3.95266325e-04 9.99710098e-01 7.32179022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.002755096 meters 0.018032018656744735 Centerline is valid? [True, True] Translation: X:332.96, Y:-189.49, Z:7.32 [[ 7.89351172e-01 6.13569638e-01 -2.13782051e-02 3.32959930e+02] [-6.13330648e-01 7.89640509e-01 1.71284195e-02 -1.89490831e+02] [ 2.73905749e-02 -4.08429624e-04 9.99624724e-01 7.32183825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.062755096 meters 0.01758014814737346 Centerline is valid? [True, True] Translation: X:333.01, Y:-189.53, Z:7.32 [[ 7.87402389e-01 6.15993319e-01 -2.34458878e-02 3.33009996e+02] [-6.15706551e-01 7.87751292e-01 1.87974659e-02 -1.89528421e+02] [ 3.00486418e-02 -3.65382885e-04 9.99548371e-01 7.32239405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.122755096 meters 0.017180242520949345 Centerline is valid? [True, True] Translation: X:333.06, Y:-189.57, Z:7.32 [[ 7.86358527e-01 6.17283452e-01 -2.45236177e-02 3.33059355e+02] [-6.16969949e-01 7.86740761e-01 1.96737619e-02 -1.89566860e+02] [ 3.14380173e-02 -3.40295218e-04 9.99505645e-01 7.32400301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.182755096 meters 0.017245656451553106 Centerline is valid? [True, True] Translation: X:333.11, Y:-189.61, Z:7.33 [[ 7.86087810e-01 6.17610648e-01 -2.49608291e-02 3.33105268e+02] [-6.17285780e-01 7.86483931e-01 2.00322914e-02 -1.89605973e+02] [ 3.20034474e-02 -3.39175239e-04 9.99487701e-01 7.32566500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.242755096 meters 0.017791533515820267 Centerline is valid? [True, True] Translation: X:333.15, Y:-189.65, Z:7.33 [[ 7.87207423e-01 6.16213842e-01 -2.41862564e-02 3.33150963e+02] [-6.15908188e-01 7.87578793e-01 1.94100313e-02 -1.89645098e+02] [ 3.10093125e-02 -3.83207342e-04 9.99519022e-01 7.32723374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.302755096 meters 0.018451955328160883 Centerline is valid? [True, True] Translation: X:333.20, Y:-189.68, Z:7.33 [[ 7.88469617e-01 6.14636253e-01 -2.31935278e-02 3.33199318e+02] [-6.14354405e-01 7.88810555e-01 1.86164791e-02 -1.89683657e+02] [ 2.97376625e-02 -4.29482205e-04 9.99557646e-01 7.32943464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.362755096 meters 0.019484929821993076 Centerline is valid? [True, True] Translation: X:333.25, Y:-189.72, Z:7.33 [[ 7.90274777e-01 6.12325123e-01 -2.28849394e-02 3.33246957e+02] [-6.12049456e-01 7.90605891e-01 1.83790264e-02 -1.89722649e+02] [ 2.93469075e-02 -5.17766333e-04 9.99569153e-01 7.33117054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.422755096 meters 0.02125185567180605 Centerline is valid? [True, True] Translation: X:333.29, Y:-189.76, Z:7.33 [[ 7.91104255e-01 6.11262072e-01 -2.26436963e-02 3.33293652e+02] [-6.10991469e-01 7.91428055e-01 1.81950078e-02 -1.89762231e+02] [ 2.90427747e-02 -5.59042850e-04 9.99578013e-01 7.33048638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.482755096 meters 0.021575638674881884 Centerline is valid? [True, True] Translation: X:333.34, Y:-189.80, Z:7.33 [[ 7.92412856e-01 6.09536300e-01 -2.33958361e-02 3.33343168e+02] [-6.09246349e-01 7.92757891e-01 1.88098841e-02 -1.89799702e+02] [ 3.00125409e-02 -6.51366295e-04 9.99549310e-01 7.33102464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.542755096 meters 0.022550859938645147 Centerline is valid? [True, True] Translation: X:333.39, Y:-189.84, Z:7.33 [[ 7.93428285e-01 6.08222746e-01 -2.31656507e-02 3.33391492e+02] [-6.07937607e-01 7.93766085e-01 1.86351402e-02 -1.89838001e+02] [ 2.97224240e-02 -7.02377065e-04 9.99557944e-01 7.33149942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.602755096 meters 0.02308766086522246 Centerline is valid? [True, True] Translation: X:333.44, Y:-189.88, Z:7.33 [[ 7.93490247e-01 6.08127202e-01 -2.35485507e-02 3.33440277e+02] [-6.07832199e-01 7.93839266e-01 1.89535769e-02 -1.89876087e+02] [ 3.02199499e-02 -7.25911094e-04 9.99543009e-01 7.33158494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.662755096 meters 0.024377046221967513 Centerline is valid? [True, True] Translation: X:333.49, Y:-189.92, Z:7.33 [[ 7.94488557e-01 6.06813572e-01 -2.37743909e-02 3.33486006e+02] [-6.06512053e-01 7.94843800e-01 1.91432378e-02 -1.89915002e+02] [ 3.05133037e-02 -7.89628741e-04 9.99534049e-01 7.33153498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.722755096 meters 0.023807950389596537 Centerline is valid? [True, True] Translation: X:333.53, Y:-189.95, Z:7.33 [[ 7.95525194e-01 6.05478879e-01 -2.31299236e-02 3.33534751e+02] [-6.05192749e-01 7.95860949e-01 1.86302459e-02 -1.89953149e+02] [ 2.96884233e-02 -8.22767951e-04 9.99558863e-01 7.33386965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.782755096 meters 0.025146686784976335 Centerline is valid? [True, True] Translation: X:333.58, Y:-189.99, Z:7.34 [[ 7.95686828e-01 6.05307055e-01 -2.20417870e-02 3.33581584e+02] [-6.05046866e-01 7.95991666e-01 1.77639420e-02 -1.89992937e+02] [ 2.82977181e-02 -7.98220498e-04 9.99599221e-01 7.33595961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.842755096 meters 0.024163212451072266 Centerline is valid? [True, True] Translation: X:333.63, Y:-190.03, Z:7.34 [[ 7.94862822e-01 6.06419095e-01 -2.11890213e-02 3.33631072e+02] [-6.06178778e-01 7.95144853e-01 1.70865907e-02 -1.90030204e+02] [ 2.72099761e-02 -7.37160648e-04 9.99629468e-01 7.33843575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.902755096 meters 0.02293710043291152 Centerline is valid? [True, True] Translation: X:333.68, Y:-190.06, Z:7.34 [[ 7.92508481e-01 6.09501235e-01 -2.09416489e-02 3.33681238e+02] [-6.09267404e-01 7.92784869e-01 1.68932190e-02 -1.90062766e+02] [ 2.68986603e-02 -6.28955233e-04 9.99637968e-01 7.33878169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.962755096 meters 0.022339473060241147 Centerline is valid? [True, True] Translation: X:333.73, Y:-190.10, Z:7.34 [[ 7.91274895e-01 6.11081890e-01 -2.15165976e-02 3.33729122e+02] [-6.10835676e-01 7.91567165e-01 1.73551519e-02 -1.90097630e+02] [ 2.76372512e-02 -5.89590564e-04 9.99617844e-01 7.33879216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.022755096 meters 0.021500377343555213 Centerline is valid? [True, True] Translation: X:333.78, Y:-190.13, Z:7.34 [[ 7.89949076e-01 6.12790247e-01 -2.16465081e-02 3.33777941e+02] [-6.12541767e-01 7.90245425e-01 1.74571439e-02 -1.90131355e+02] [ 2.78036215e-02 -5.30864367e-04 9.99613264e-01 7.33935114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.082755096 meters 0.021250586127331217 Centerline is valid? [True, True] Translation: X:333.83, Y:-190.17, Z:7.34 [[ 7.89441822e-01 6.13455781e-01 -2.12982281e-02 3.33825731e+02] [-6.13215550e-01 7.89728914e-01 1.71735654e-02 -1.90166245e+02] [ 2.73550495e-02 -4.97126132e-04 9.99625657e-01 7.34077016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14275509600003 meters 0.021163174189218748 Centerline is valid? [True, True] Translation: X:333.87, Y:-190.20, Z:7.34 [[ 7.89646254e-01 6.13212737e-01 -2.07106748e-02 3.33870772e+02] [-6.12985577e-01 7.89917653e-01 1.66968036e-02 -1.90202165e+02] [ 2.65984203e-02 -4.89223539e-04 9.99646080e-01 7.34272169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20275509600003 meters 0.021733268169077825 Centerline is valid? [True, True] Translation: X:333.91, Y:-190.24, Z:7.34 [[ 7.89859192e-01 6.12964387e-01 -1.99277793e-02 3.33913273e+02] [-6.12754099e-01 7.90110393e-01 1.60617628e-02 -1.90240047e+02] [ 2.55904341e-02 -4.75702508e-04 9.99672398e-01 7.34433641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26275509600003 meters 0.02221522755477803 Centerline is valid? [True, True] Translation: X:333.96, Y:-190.28, Z:7.35 [[ 7.90329605e-01 6.12376950e-01 -1.93283907e-02 3.33957573e+02] [-6.12179039e-01 7.90565775e-01 1.55749796e-02 -1.90278173e+02] [ 2.48181227e-02 -4.76931861e-04 9.99691869e-01 7.34543698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32275509600004 meters 0.02181709095465186 Centerline is valid? [True, True] Translation: X:334.00, Y:-190.31, Z:7.35 [[ 7.90906189e-01 6.11628303e-01 -1.94478777e-02 3.34003402e+02] [-6.11427771e-01 7.91145099e-01 1.56688600e-02 -1.90314523e+02] [ 2.49696113e-02 -5.01625855e-04 9.99688085e-01 7.34706043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38275509600004 meters 0.023829167587195867 Centerline is valid? [True, True] Translation: X:334.04, Y:-190.36, Z:7.35 [[ 7.93287941e-01 6.08553210e-01 -1.89005897e-02 3.34043437e+02] [-6.08362993e-01 7.93512857e-01 1.52254488e-02 -1.90356920e+02] [ 2.42633567e-02 -5.79745561e-04 9.99705433e-01 7.34953314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.442755096 meters 0.023554701406473817 Centerline is valid? [True, True] Translation: X:334.09, Y:-190.40, Z:7.35 [[ 7.93860332e-01 6.07805929e-01 -1.89136310e-02 3.34089273e+02] [-6.07615299e-01 7.94085381e-01 1.52334267e-02 -1.90395109e+02] [ 2.42780049e-02 -6.01001617e-04 9.99705065e-01 7.35105082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.502755096 meters 0.022984983629175674 Centerline is valid? [True, True] Translation: X:334.14, Y:-190.43, Z:7.35 [[ 7.93978571e-01 6.07655983e-01 -1.87679558e-02 3.34138860e+02] [-6.07468203e-01 7.94200129e-01 1.51174598e-02 -1.90434622e+02] [ 2.40917278e-02 -6.02002738e-04 9.99709571e-01 7.35182347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.562755096 meters 0.02313848454456157 Centerline is valid? [True, True] Translation: X:334.19, Y:-190.47, Z:7.35 [[ 7.93780029e-01 6.07914783e-01 -1.87851586e-02 3.34186842e+02] [-6.07726543e-01 7.94002050e-01 1.51391428e-02 -1.90472968e+02] [ 2.41187632e-02 -6.00909685e-04 9.99708920e-01 7.35260946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.622755096 meters 0.023506783633009704 Centerline is valid? [True, True] Translation: X:334.23, Y:-190.51, Z:7.35 [[ 7.94031810e-01 6.07594289e-01 -1.85111855e-02 3.34232440e+02] [-6.07411398e-01 7.94247327e-01 1.49189995e-02 -1.90510841e+02] [ 2.37671586e-02 -6.02255105e-04 9.99717340e-01 7.35434876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.682755096 meters 0.023136214478109082 Centerline is valid? [True, True] Translation: X:334.28, Y:-190.55, Z:7.36 [[ 7.94445974e-01 6.07061351e-01 -1.82239056e-02 3.34280408e+02] [-6.06883934e-01 7.94654733e-01 1.46882961e-02 -1.90549742e+02] [ 2.33984098e-02 -6.09262172e-04 9.99726034e-01 7.35643090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.742755096 meters 0.02407364875325578 Centerline is valid? [True, True] Translation: X:334.33, Y:-190.59, Z:7.36 [[ 7.96258450e-01 6.04711865e-01 -1.72058562e-02 3.34328348e+02] [-6.04553005e-01 7.96444061e-01 1.38752030e-02 -1.90589257e+02] [ 2.20940019e-02 -6.46395566e-04 9.99755689e-01 7.35789224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.802755096 meters 0.02553400456845156 Centerline is valid? [True, True] Translation: X:334.38, Y:-190.63, Z:7.36 [[ 7.97840859e-01 6.02655511e-01 -1.60093475e-02 3.34376069e+02] [-6.02517428e-01 7.98001190e-01 1.29170262e-02 -1.90629018e+02] [ 2.05599954e-02 -6.59820378e-04 9.99788403e-01 7.36034121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.862755096 meters 0.02669312718870612 Centerline is valid? [True, True] Translation: X:334.42, Y:-190.67, Z:7.36 [[ 7.99204068e-01 6.00871414e-01 -1.50466416e-02 3.34423798e+02] [-6.00749005e-01 7.99345418e-01 1.21464212e-02 -1.90668164e+02] [ 1.93259013e-02 -6.68214316e-04 9.99813014e-01 7.36218332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.922755096 meters 0.02782890469038592 Centerline is valid? [True, True] Translation: X:334.47, Y:-190.71, Z:7.36 [[ 7.99638901e-01 6.00293933e-01 -1.49940614e-02 3.34470605e+02] [-6.00172207e-01 7.99779174e-01 1.21076093e-02 -1.90706950e+02] [ 1.92600625e-02 -6.82696518e-04 9.99814275e-01 7.36390790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.982755096 meters 0.02785548669581095 Centerline is valid? [True, True] Translation: X:334.52, Y:-190.74, Z:7.36 [[ 7.98975249e-01 6.01177152e-01 -1.49861149e-02 3.34518954e+02] [-6.01055595e-01 7.99115504e-01 1.21071697e-02 -1.90743886e+02] [ 1.92541906e-02 -6.65840727e-04 9.99814399e-01 7.36478795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.042755096 meters 0.0237009277209124 Centerline is valid? [True, True] Translation: X:334.57, Y:-190.77, Z:7.37 [[ 7.97037682e-01 6.03759644e-01 -1.43256769e-02 3.34573382e+02] [-6.03648981e-01 7.97166206e-01 1.15735983e-02 -1.90774984e+02] [ 1.84076171e-02 -5.76913690e-04 9.99830399e-01 7.36558806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.102755096 meters 0.02346137254393339 Centerline is valid? [True, True] Translation: X:334.62, Y:-190.81, Z:7.37 [[ 7.94993308e-01 6.06452816e-01 -1.41640863e-02 3.34623000e+02] [-6.06345037e-01 7.95119313e-01 1.14443950e-02 -1.90811032e+02] [ 1.82026242e-02 -5.09894033e-04 9.99834188e-01 7.36631393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.162755096 meters 0.024392531246950674 Centerline is valid? [True, True] Translation: X:334.67, Y:-190.85, Z:7.37 [[ 7.93686349e-01 6.08170034e-01 -1.38271311e-02 3.34668299e+02] [-6.08067473e-01 7.93806648e-01 1.11782626e-02 -1.90848393e+02] [ 1.77743529e-02 -4.64205736e-04 9.99841916e-01 7.36778997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.222755096 meters 0.021596338793143974 Centerline is valid? [True, True] Translation: X:334.72, Y:-190.88, Z:7.37 [[ 7.92650627e-01 6.09527105e-01 -1.34793166e-02 3.34718770e+02] [-6.09429860e-01 7.92765117e-01 1.08956733e-02 -1.90883839e+02] [ 1.73271402e-02 -4.21764245e-04 9.99849785e-01 7.36898509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.282755096 meters 0.021839577303557935 Centerline is valid? [True, True] Translation: X:334.76, Y:-190.92, Z:7.37 [[ 7.92221242e-01 6.10068442e-01 -1.42127046e-02 3.34763838e+02] [-6.09960394e-01 7.92348603e-01 1.14895055e-02 -1.90920724e+02] [ 1.82708014e-02 -4.33043377e-04 9.99832981e-01 7.36829938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.342755096 meters 0.021902068962874364 Centerline is valid? [True, True] Translation: X:334.81, Y:-190.96, Z:7.37 [[ 7.92300239e-01 6.09949001e-01 -1.49179905e-02 3.34809042e+02] [-6.09829971e-01 7.92440539e-01 1.20581277e-02 -1.90958688e+02] [ 1.91764634e-02 -4.56219752e-04 9.99816011e-01 7.36776418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.402755096 meters 0.022097023556558765 Centerline is valid? [True, True] Translation: X:334.86, Y:-191.00, Z:7.37 [[ 7.93153389e-01 6.08826161e-01 -1.54404084e-02 3.34855147e+02] [-6.08698472e-01 7.93303508e-01 1.24785569e-02 -1.90999005e+02] [ 1.98462021e-02 -4.98856726e-04 9.99802920e-01 7.36757661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.462755096 meters 0.02200921110288698 Centerline is valid? [True, True] Translation: X:334.90, Y:-191.04, Z:7.37 [[ 7.93262048e-01 6.08683025e-01 -1.55015831e-02 3.34902735e+02] [-6.08554263e-01 7.93413335e-01 1.25295238e-02 -1.91039924e+02] [ 1.99256711e-02 -5.05641219e-04 9.99801336e-01 7.36868079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.522755096 meters 0.0230467395779307 Centerline is valid? [True, True] Translation: X:334.95, Y:-191.08, Z:7.37 [[ 7.93000313e-01 6.09022397e-01 -1.55635096e-02 3.34948426e+02] [-6.08892506e-01 7.93152863e-01 1.25877550e-02 -1.91081329e+02] [ 2.00104670e-02 -5.05589298e-04 9.99799643e-01 7.36896030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.582755096 meters 0.021797177625061448 Centerline is valid? [True, True] Translation: X:335.00, Y:-191.12, Z:7.37 [[ 7.91736907e-01 6.10654488e-01 -1.59300123e-02 3.34995259e+02] [-6.10518611e-01 7.91897004e-01 1.28903235e-02 -1.91118763e+02] [ 2.04864629e-02 -4.80175905e-04 9.99790015e-01 7.36952942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64275509600003 meters 0.02127930921810174 Centerline is valid? [True, True] Translation: X:335.04, Y:-191.16, Z:7.37 [[ 7.90105378e-01 6.12753536e-01 -1.63277394e-02 3.35040561e+02] [-6.12611262e-01 7.90273949e-01 1.32109055e-02 -1.91155334e+02] [ 2.09984161e-02 -4.35450441e-04 9.99779414e-01 7.36960342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70275509600003 meters 0.019498792080539618 Centerline is valid? [True, True] Translation: X:335.09, Y:-191.19, Z:7.37 [[ 7.87303668e-01 6.16338467e-01 -1.67280756e-02 3.35087335e+02] [-6.16189991e-01 7.87481285e-01 1.35322052e-02 -1.91190747e+02] [ 2.15134651e-02 -3.46281997e-04 9.99768499e-01 7.36965399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76275509600003 meters 0.01817545566528367 Centerline is valid? [True, True] Translation: X:335.13, Y:-191.23, Z:7.37 [[ 7.85164303e-01 6.19078436e-01 -1.60905720e-02 3.35134283e+02] [-6.18941679e-01 7.85329117e-01 1.30144063e-02 -1.91226952e+02] [ 2.06933330e-02 -2.59321611e-04 9.99785836e-01 7.37162959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82275509600004 meters 0.017149160630075704 Centerline is valid? [True, True] Translation: X:335.18, Y:-191.26, Z:7.37 [[ 7.83830843e-01 6.20775285e-01 -1.57243550e-02 3.35180736e+02] [-6.20645091e-01 7.83988522e-01 1.27148411e-02 -1.91263367e+02] [ 2.02207729e-02 -2.07040857e-04 9.99795518e-01 7.37385177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88275509600004 meters 0.01707569554923629 Centerline is valid? [True, True] Translation: X:335.23, Y:-191.30, Z:7.38 [[ 7.84028355e-01 6.20548834e-01 -1.47879465e-02 3.35226746e+02] [-6.20433681e-01 7.84167779e-01 1.19558645e-02 -1.91301518e+02] [ 1.90154289e-02 -1.98796731e-04 9.99819171e-01 7.37543119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.942755096 meters 0.017419276659607928 Centerline is valid? [True, True] Translation: X:335.27, Y:-191.34, Z:7.38 [[ 7.84784916e-01 6.19615252e-01 -1.37686631e-02 3.35272700e+02] [-6.19515298e-01 7.84905662e-01 1.11309493e-02 -1.91338806e+02] [ 1.77040075e-02 -2.05503709e-04 9.99843251e-01 7.37770643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.002755096 meters 0.01774483844009448 Centerline is valid? [True, True] Translation: X:335.32, Y:-191.38, Z:7.38 [[ 7.85401397e-01 6.18845191e-01 -1.32391553e-02 3.35318237e+02] [-6.18752681e-01 7.85512943e-01 1.07021278e-02 -1.91375591e+02] [ 1.70224882e-02 -2.13703291e-04 9.99855084e-01 7.37991721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.062755096 meters 0.018183503124211024 Centerline is valid? [True, True] Translation: X:335.36, Y:-191.41, Z:7.38 [[ 7.86227406e-01 6.17797806e-01 -1.31276753e-02 3.35363636e+02] [-6.17706730e-01 7.86336961e-01 1.06103424e-02 -1.91412501e+02] [ 1.68778225e-02 -2.33088617e-04 9.99857532e-01 7.38081082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.122755096 meters 0.01869056078540626 Centerline is valid? [True, True] Translation: X:335.41, Y:-191.45, Z:7.38 [[ 7.86954048e-01 6.16871055e-01 -1.31691901e-02 3.35409633e+02] [-6.16779300e-01 7.87064189e-01 1.06422231e-02 -1.91448796e+02] [ 1.69298773e-02 -2.52456740e-04 9.99856647e-01 7.38084038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.182755096 meters 0.018965398513854356 Centerline is valid? [True, True] Translation: X:335.46, Y:-191.48, Z:7.38 [[ 7.87150575e-01 6.16589856e-01 -1.45231667e-02 3.35456694e+02] [-6.16478252e-01 7.87284491e-01 1.17343847e-02 -1.91483730e+02] [ 1.86691665e-02 -2.83511247e-04 9.99825676e-01 7.37913931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.242755096 meters 0.019119489007927905 Centerline is valid? [True, True] Translation: X:335.50, Y:-191.52, Z:7.38 [[ 7.87477508e-01 6.16158144e-01 -1.51101353e-02 3.35503201e+02] [-6.16037311e-01 7.87622403e-01 1.22057797e-02 -1.91519125e+02] [ 1.94217716e-02 -3.03369828e-04 9.99811334e-01 7.37916785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.302755096 meters 0.02023955830197505 Centerline is valid? [True, True] Translation: X:335.55, Y:-191.56, Z:7.38 [[ 7.88503432e-01 6.14813269e-01 -1.63395906e-02 3.35548276e+02] [-6.14671729e-01 7.88672627e-01 1.31967090e-02 -1.91555667e+02] [ 2.10000996e-02 -3.62165954e-04 9.99779408e-01 7.37945025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.362755096 meters 0.021220227776170407 Centerline is valid? [True, True] Translation: X:335.59, Y:-191.59, Z:7.38 [[ 7.89605500e-01 6.13398916e-01 -1.62765107e-02 3.35593395e+02] [-6.13258217e-01 7.89773140e-01 1.31433140e-02 -1.91592609e+02] [ 2.09168456e-02 -3.96329078e-04 9.99781140e-01 7.38115586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.422755096 meters 0.021693638500633376 Centerline is valid? [True, True] Translation: X:335.64, Y:-191.63, Z:7.38 [[ 7.89858307e-01 6.13065344e-01 -1.65752674e-02 3.35638344e+02] [-6.12919411e-01 7.90032098e-01 1.33820611e-02 -1.91628439e+02] [ 2.12990712e-02 -4.10628942e-04 9.99773065e-01 7.38224724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.482755096 meters 0.02003459544457935 Centerline is valid? [True, True] Translation: X:335.69, Y:-191.66, Z:7.38 [[ 7.89597143e-01 6.13417186e-01 -1.59908833e-02 3.35687119e+02] [-6.13281481e-01 7.89758955e-01 1.29080239e-02 -1.91661861e+02] [ 2.05469469e-02 -3.85226185e-04 9.99788815e-01 7.38457647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.542755096 meters 0.019674906386515773 Centerline is valid? [True, True] Translation: X:335.73, Y:-191.70, Z:7.39 [[ 7.89343866e-01 6.13761859e-01 -1.52525972e-02 3.35733679e+02] [-6.13638497e-01 7.89491135e-01 1.23102389e-02 -1.91698209e+02] [ 1.95973454e-02 -3.57430755e-04 9.99807890e-01 7.38657630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.602755096 meters 0.020597245947777072 Centerline is valid? [True, True] Translation: X:335.78, Y:-191.74, Z:7.39 [[ 7.89461138e-01 6.13602764e-01 -1.55807521e-02 3.35777070e+02] [-6.13474048e-01 7.89614788e-01 1.25729794e-02 -1.91735651e+02] [ 2.00176072e-02 -3.67491568e-04 9.99799560e-01 7.38755510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.662755096 meters 0.02273538495921439 Centerline is valid? [True, True] Translation: X:335.82, Y:-191.77, Z:7.39 [[ 7.89970549e-01 6.12952163e-01 -1.53680874e-02 3.35819722e+02] [-6.12826877e-01 7.90119931e-01 1.23981430e-02 -1.91774574e+02] [ 1.97421007e-02 -3.76190843e-04 9.99805035e-01 7.38888093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.722755096 meters 0.01985319189277745 Centerline is valid? [True, True] Translation: X:335.87, Y:-191.81, Z:7.39 [[ 7.90338143e-01 6.12469387e-01 -1.57120915e-02 3.35868694e+02] [-6.12338380e-01 7.90494209e-01 1.26733446e-02 -1.91807404e+02] [ 2.01823530e-02 -3.95110997e-04 9.99796237e-01 7.39015068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.782755096 meters 0.019947527405639594 Centerline is valid? [True, True] Translation: X:335.91, Y:-191.84, Z:7.39 [[ 7.90640201e-01 6.12071631e-01 -1.60122042e-02 3.35914677e+02] [-6.11935534e-01 7.90802219e-01 1.29133084e-02 -1.91844798e+02] [ 2.05663563e-02 -4.11343983e-04 9.99788406e-01 7.39084946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.842755096 meters 0.021375671814013883 Centerline is valid? [True, True] Translation: X:335.96, Y:-191.88, Z:7.39 [[ 7.92232200e-01 6.09986852e-01 -1.68576914e-02 3.35957901e+02] [-6.09835579e-01 7.92411384e-01 1.35928173e-02 -1.91883476e+02] [ 2.16496664e-02 -4.88247551e-04 9.99765499e-01 7.39026322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.902755096 meters 0.021508282448374397 Centerline is valid? [True, True] Translation: X:336.01, Y:-191.92, Z:7.39 [[ 7.94015028e-01 6.07624740e-01 -1.82293898e-02 3.36005513e+02] [-6.07447238e-01 7.94224036e-01 1.46981133e-02 -1.91923201e+02] [ 2.34091568e-02 -5.97130381e-04 9.99725790e-01 7.39027380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.962755096 meters 0.021998826301512776 Centerline is valid? [True, True] Translation: X:336.05, Y:-191.96, Z:7.39 [[ 7.94469755e-01 6.07016297e-01 -1.86821769e-02 3.36052787e+02] [-6.06829489e-01 7.94689127e-01 1.50718907e-02 -1.91963552e+02] [ 2.39954061e-02 -6.37265449e-04 9.99711866e-01 7.39128934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.022755096 meters 0.02174172926802611 Centerline is valid? [True, True] Translation: X:336.10, Y:-192.00, Z:7.39 [[ 7.92955736e-01 6.08998346e-01 -1.84990592e-02 3.36100890e+02] [-6.08815572e-01 7.93171282e-01 1.49304007e-02 -1.91997134e+02] [ 2.37655118e-02 -5.76631525e-04 9.99717394e-01 7.39261226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.082755096 meters 0.02031469561298362 Centerline is valid? [True, True] Translation: X:336.15, Y:-192.03, Z:7.39 [[ 7.91257594e-01 6.11175299e-01 -1.93952026e-02 3.36149575e+02] [-6.10975082e-01 7.91495084e-01 1.56518611e-02 -1.92031892e+02] [ 2.49172384e-02 -5.34668380e-04 9.99689374e-01 7.39330763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14275509600003 meters 0.019586032199034133 Centerline is valid? [True, True] Translation: X:336.20, Y:-192.07, Z:7.39 [[ 7.89701836e-01 6.13181543e-01 -1.94783503e-02 3.36196711e+02] [-6.12980259e-01 7.89941880e-01 1.57171713e-02 -1.92065920e+02] [ 2.50242440e-02 -4.72034776e-04 9.99686733e-01 7.39437900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20275509600003 meters 0.019605842140584497 Centerline is valid? [True, True] Translation: X:336.24, Y:-192.10, Z:7.40 [[ 7.89719172e-01 6.13165930e-01 -1.92658215e-02 3.36243940e+02] [-6.12969091e-01 7.89954003e-01 1.55424056e-02 -1.92099769e+02] [ 2.47491863e-02 -4.64782563e-04 9.99693584e-01 7.39573514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26275509600003 meters 0.021584630594236986 Centerline is valid? [True, True] Translation: X:336.29, Y:-192.14, Z:7.40 [[ 7.90923281e-01 6.11616975e-01 -1.91060044e-02 3.36287812e+02] [-6.11423023e-01 7.91153853e-01 1.54099863e-02 -1.92137918e+02] [ 2.45407982e-02 -5.06266009e-04 9.99698701e-01 7.39661746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32275509600004 meters 0.02085515335783914 Centerline is valid? [True, True] Translation: X:336.33, Y:-192.17, Z:7.40 [[ 7.92016432e-01 6.10192586e-01 -1.93643808e-02 3.36333640e+02] [-6.09992999e-01 7.92252927e-01 1.56154380e-02 -1.92174728e+02] [ 2.48699118e-02 -5.55546827e-04 9.99690542e-01 7.39865849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38275509600004 meters 0.022426357042461754 Centerline is valid? [True, True] Translation: X:336.38, Y:-192.21, Z:7.40 [[ 7.93768478e-01 6.07931840e-01 -1.87211324e-02 3.36378194e+02] [-6.07744721e-01 7.93988988e-01 1.50943915e-02 -1.92212931e+02] [ 2.40407341e-02 -6.03782782e-04 9.99710797e-01 7.40045339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.442755096 meters 0.024003936109080252 Centerline is valid? [True, True] Translation: X:336.42, Y:-192.25, Z:7.40 [[ 7.95376998e-01 6.05861848e-01 -1.75171851e-02 3.36424152e+02] [-6.05697570e-01 7.95569629e-01 1.41215901e-02 -1.92249999e+02] [ 2.24918731e-02 -6.21871445e-04 9.99746832e-01 7.40285165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.502755096 meters 0.025051956235332067 Centerline is valid? [True, True] Translation: X:336.47, Y:-192.29, Z:7.41 [[ 7.96002430e-01 6.05072090e-01 -1.63675433e-02 3.36467112e+02] [-6.04928548e-01 7.96170462e-01 1.31926874e-02 -1.92288378e+02] [ 2.10138814e-02 -6.00217019e-04 9.99779004e-01 7.40722330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.562755096 meters 0.022811923954080902 Centerline is valid? [True, True] Translation: X:336.52, Y:-192.32, Z:7.41 [[ 7.95323396e-01 6.05981642e-01 -1.57144743e-02 3.36515547e+02] [-6.05849570e-01 7.95478439e-01 1.26630165e-02 -1.92322015e+02] [ 2.01740810e-02 -5.50585812e-04 9.99796331e-01 7.40976410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.622755096 meters 0.022999472249788783 Centerline is valid? [True, True] Translation: X:336.57, Y:-192.36, Z:7.41 [[ 7.92990403e-01 6.09031791e-01 -1.57002887e-02 3.36565059e+02] [-6.08900592e-01 7.93145671e-01 1.26496164e-02 -1.92355404e+02] [ 2.01566346e-02 -4.71109350e-04 9.99796723e-01 7.40916625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.682755096 meters 0.018430561791651853 Centerline is valid? [True, True] Translation: X:336.61, Y:-192.39, Z:7.41 [[ 7.88560811e-01 6.14776190e-01 -1.49024500e-02 3.36614555e+02] [-6.14659034e-01 7.88701554e-01 1.20054418e-02 -1.92387553e+02] [ 1.91342453e-02 -3.07095419e-04 9.99816876e-01 7.41212200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.742755096 meters 0.01666236802038309 Centerline is valid? [True, True] Translation: X:336.66, Y:-192.42, Z:7.41 [[ 7.86761110e-01 6.17062301e-01 -1.55265075e-02 3.36663380e+02] [-6.16935594e-01 7.86914258e-01 1.25069539e-02 -1.92421520e+02] [ 1.99355999e-02 -2.61129858e-04 9.99801232e-01 7.41256094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.802755096 meters 0.016405944837839442 Centerline is valid? [True, True] Translation: X:336.71, Y:-192.46, Z:7.41 [[ 7.85961299e-01 6.18072795e-01 -1.58384306e-02 3.36709951e+02] [-6.17941184e-01 7.86120832e-01 1.27565833e-02 -1.92457667e+02] [ 2.03354173e-02 -2.38962175e-04 9.99793185e-01 7.41330134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.862755096 meters 0.016982180765474798 Centerline is valid? [True, True] Translation: X:336.75, Y:-192.50, Z:7.41 [[ 7.87329347e-01 6.16319412e-01 -1.62136025e-02 3.36754851e+02] [-6.16181164e-01 7.87496221e-01 1.30566119e-02 -1.92495927e+02] [ 2.08151941e-02 -2.89337218e-04 9.99783299e-01 7.41455862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.922755096 meters 0.018638830244652984 Centerline is valid? [True, True] Translation: X:336.80, Y:-192.54, Z:7.42 [[ 7.90500227e-01 6.12290156e-01 -1.44967325e-02 3.36798292e+02] [-6.12178990e-01 7.90633063e-01 1.16723549e-02 -1.92535367e+02] [ 1.86084640e-02 -3.52404123e-04 9.99826785e-01 7.41697485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.982755096 meters 0.020853004747801735 Centerline is valid? [True, True] Translation: X:336.84, Y:-192.58, Z:7.42 [[ 7.94130728e-01 6.07617664e-01 -1.25364125e-02 3.36842158e+02] [-6.07533972e-01 7.94229573e-01 1.00924666e-02 -1.92575982e+02] [ 1.60891506e-02 -3.98441375e-04 9.99870482e-01 7.42013063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.042755096 meters 0.022502633115243732 Centerline is valid? [True, True] Translation: X:336.89, Y:-192.62, Z:7.42 [[ 7.96015689e-01 6.05158220e-01 -1.19395092e-02 3.36886223e+02] [-6.05082041e-01 7.96105111e-01 9.61127287e-03 -1.92615791e+02] [ 1.53214451e-02 -4.26341414e-04 9.99882529e-01 7.42193267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.102755096 meters 0.022106698100546933 Centerline is valid? [True, True] Translation: X:336.93, Y:-192.65, Z:7.42 [[ 7.95693357e-01 6.05587114e-01 -1.16759976e-02 3.36932887e+02] [-6.05514322e-01 7.95778914e-01 9.39813060e-03 -1.92651767e+02] [ 1.49828995e-02 -4.08046307e-04 9.99887667e-01 7.42275892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.162755096 meters 0.019844689755270352 Centerline is valid? [True, True] Translation: X:336.98, Y:-192.69, Z:7.42 [[ 7.93409800e-01 6.08564452e-01 -1.22555379e-02 3.36983842e+02] [-6.08484641e-01 7.93504362e-01 9.86248240e-03 -1.92686630e+02] [ 1.57267789e-02 -3.67683638e-04 9.99876259e-01 7.42267700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.222755096 meters 0.018920546105892753 Centerline is valid? [True, True] Translation: X:337.03, Y:-192.72, Z:7.42 [[ 7.91441263e-01 6.11106247e-01 -1.30338769e-02 3.37031549e+02] [-6.11016298e-01 7.91548508e-01 1.04901292e-02 -1.92721951e+02] [ 1.67275293e-02 -3.38409935e-04 9.99860028e-01 7.42297708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.282755096 meters 0.017978414111115643 Centerline is valid? [True, True] Translation: X:337.08, Y:-192.76, Z:7.42 [[ 7.88838503e-01 6.14438267e-01 -1.41220673e-02 3.37078781e+02] [-6.14333252e-01 7.88964849e-01 1.13632118e-02 -1.92755666e+02] [ 1.81238068e-02 -2.88083496e-04 9.99835709e-01 7.42241463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.342755096 meters 0.017086047440107888 Centerline is valid? [True, True] Translation: X:337.13, Y:-192.79, Z:7.42 [[ 7.87880924e-01 6.15666014e-01 -1.41070279e-02 3.37125856e+02] [-6.15561475e-01 7.88007166e-01 1.13480001e-02 -1.92791283e+02] [ 1.81030171e-02 -2.57129931e-04 9.99836094e-01 7.42288969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.402755096 meters 0.017426694822743467 Centerline is valid? [True, True] Translation: X:337.17, Y:-192.83, Z:7.42 [[ 7.87937218e-01 6.15561694e-01 -1.54512929e-02 3.37169153e+02] [-6.15436306e-01 7.88088651e-01 1.24270533e-02 -1.92827713e+02] [ 1.98266066e-02 -2.82451174e-04 9.99803394e-01 7.42207627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.462755096 meters 0.01856257426681699 Centerline is valid? [True, True] Translation: X:337.21, Y:-192.87, Z:7.42 [[ 7.89076401e-01 6.14114930e-01 -1.48757029e-02 3.37212038e+02] [-6.13998515e-01 7.89216549e-01 1.19609232e-02 -1.92867273e+02] [ 1.90855324e-02 -3.04422683e-04 9.99817808e-01 7.42381532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.522755096 meters 0.019894189759261438 Centerline is valid? [True, True] Translation: X:337.26, Y:-192.91, Z:7.43 [[ 7.90803592e-01 6.11911388e-01 -1.39331288e-02 3.37255993e+02] [-6.11808951e-01 7.90926256e-01 1.12011292e-02 -1.92907118e+02] [ 1.78741759e-02 -3.33480266e-04 9.99840189e-01 7.42604055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.582755096 meters 0.020705247006253598 Centerline is valid? [True, True] Translation: X:337.30, Y:-192.95, Z:7.43 [[ 7.91774344e-01 6.10651863e-01 -1.40602230e-02 3.37299852e+02] [-6.10547462e-01 7.91899092e-01 1.12971180e-02 -1.92945722e+02] [ 1.80328840e-02 -3.60334714e-04 9.99837329e-01 7.42653840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64275509600003 meters 0.020102889089710637 Centerline is valid? [True, True] Translation: X:337.35, Y:-192.98, Z:7.43 [[ 7.92349129e-01 6.09901044e-01 -1.42679340e-02 3.37345594e+02] [-6.09793454e-01 7.92477489e-01 1.14618102e-02 -1.92982983e+02] [ 1.82975865e-02 -3.81262604e-04 9.99832512e-01 7.42670660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70275509600003 meters 0.019784467068169987 Centerline is valid? [True, True] Translation: X:337.39, Y:-193.02, Z:7.43 [[ 7.92444388e-01 6.09775068e-01 -1.43617009e-02 3.37391473e+02] [-6.09666072e-01 7.92574424e-01 1.15352846e-02 -1.93019430e+02] [ 1.84166458e-02 -3.85229831e-04 9.99830325e-01 7.42762922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76275509600003 meters 0.019497841417589933 Centerline is valid? [True, True] Translation: X:337.44, Y:-193.06, Z:7.43 [[ 7.91431166e-01 6.11073113e-01 -1.50452745e-02 3.37436606e+02] [-6.10953768e-01 7.91574073e-01 1.20822533e-02 -1.93055883e+02] [ 1.92925894e-02 -3.70304676e-04 9.99813812e-01 7.42713830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82275509600004 meters 0.018595464293825845 Centerline is valid? [True, True] Translation: X:337.48, Y:-193.09, Z:7.43 [[ 7.90025847e-01 6.12887125e-01 -1.51173393e-02 3.37482940e+02] [-6.12767011e-01 7.90170403e-01 1.21377137e-02 -1.93091550e+02] [ 1.93843225e-02 -3.25700735e-04 9.99812053e-01 7.42750926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88275509600004 meters 0.017430963432354955 Centerline is valid? [True, True] Translation: X:337.53, Y:-193.13, Z:7.43 [[ 7.88195950e-01 6.15234277e-01 -1.52946913e-02 3.37529121e+02] [-6.15111808e-01 7.88344285e-01 1.22781359e-02 -1.93128478e+02] [ 1.96114125e-02 -2.69631807e-04 9.99807641e-01 7.42854131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.942755096 meters 0.017213441401968958 Centerline is valid? [True, True] Translation: X:337.57, Y:-193.17, Z:7.43 [[ 7.87437775e-01 6.16218577e-01 -1.47110659e-02 3.37573684e+02] [-6.16105483e-01 7.87575146e-01 1.18077774e-02 -1.93166976e+02] [ 1.88622417e-02 -2.34321586e-04 9.99822065e-01 7.42957665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.002755096 meters 0.017250864379290253 Centerline is valid? [True, True] Translation: X:337.62, Y:-193.21, Z:7.43 [[ 7.87559989e-01 6.16077815e-01 -1.40495284e-02 3.37617930e+02] [-6.15974672e-01 7.87685264e-01 1.12751068e-02 -1.93205186e+02] [ 1.80129496e-02 -2.25669377e-04 9.99837728e-01 7.43115242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.062755096 meters 0.017017225328354812 Centerline is valid? [True, True] Translation: X:337.66, Y:-193.24, Z:7.43 [[ 7.87648251e-01 6.15973272e-01 -1.36806994e-02 3.37662165e+02] [-6.15875504e-01 7.87767021e-01 1.09765401e-02 -1.93243411e+02] [ 1.75384591e-02 -2.20044963e-04 9.99846165e-01 7.43286294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.122755096 meters 0.01708775073869074 Centerline is valid? [True, True] Translation: X:337.71, Y:-193.28, Z:7.43 [[ 7.87947013e-01 6.15591805e-01 -1.36467927e-02 3.37705614e+02] [-6.15494494e-01 7.88065149e-01 1.09475824e-02 -1.93283060e+02] [ 1.74938037e-02 -2.26589090e-04 9.99846946e-01 7.43377807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.182755096 meters 0.01707677020043555 Centerline is valid? [True, True] Translation: X:337.75, Y:-193.32, Z:7.43 [[ 7.88078580e-01 6.15425728e-01 -1.35398065e-02 3.37751182e+02] [-6.15329943e-01 7.88194850e-01 1.08599661e-02 -1.93322416e+02] [ 1.73555083e-02 -2.27058296e-04 9.99849356e-01 7.43402273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.242755096 meters 0.017259614787175886 Centerline is valid? [True, True] Translation: X:337.80, Y:-193.36, Z:7.43 [[ 7.88329546e-01 6.15090607e-01 -1.41446988e-02 3.37795206e+02] [-6.14986035e-01 7.88456395e-01 1.13441908e-02 -1.93360914e+02] [ 1.81301834e-02 -2.44168542e-04 9.99835605e-01 7.43415669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.302755096 meters 0.01723379575941767 Centerline is valid? [True, True] Translation: X:337.84, Y:-193.40, Z:7.43 [[ 7.88389491e-01 6.14983644e-01 -1.53989637e-02 3.37839966e+02] [-6.14859722e-01 7.88539819e-01 1.23480976e-02 -1.93402443e+02] [ 1.97365741e-02 -2.66907870e-04 9.99805179e-01 7.43346743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.362755096 meters 0.017212669289340905 Centerline is valid? [True, True] Translation: X:337.88, Y:-193.44, Z:7.43 [[ 7.87755017e-01 6.15782126e-01 -1.59501217e-02 3.37884320e+02] [-6.15649343e-01 7.87916434e-01 1.27898214e-02 -1.93439017e+02] [ 2.04431064e-02 -2.55564020e-04 9.99790985e-01 7.43378010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.422755096 meters 0.01680841393657968 Centerline is valid? [True, True] Translation: X:337.93, Y:-193.48, Z:7.44 [[ 7.87051690e-01 6.16694135e-01 -1.54266345e-02 3.37929948e+02] [-6.16570146e-01 7.87202829e-01 1.23677142e-02 -1.93476160e+02] [ 1.97709872e-02 -2.22428102e-04 9.99804510e-01 7.43580769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.482755096 meters 0.01642806555541136 Centerline is valid? [True, True] Translation: X:337.98, Y:-193.51, Z:7.44 [[ 7.86726662e-01 6.17109951e-01 -1.53775087e-02 3.37976216e+02] [-6.16986868e-01 7.86876906e-01 1.23264086e-02 -1.93512869e+02] [ 1.97069559e-02 -2.09793390e-04 9.99805777e-01 7.43756045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.542755096 meters 0.016341005341468807 Centerline is valid? [True, True] Translation: X:338.02, Y:-193.55, Z:7.44 [[ 7.86467373e-01 6.17445809e-01 -1.51573259e-02 3.38023003e+02] [-6.17326325e-01 7.86613395e-01 1.21480480e-02 -1.93549327e+02] [ 1.94237169e-02 -1.97027147e-04 9.99811322e-01 7.43881845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.602755096 meters 0.01613614642309649 Centerline is valid? [True, True] Translation: X:338.07, Y:-193.58, Z:7.44 [[ 7.85592328e-01 6.18571749e-01 -1.46179832e-02 3.38070708e+02] [-6.18460829e-01 7.85728303e-01 1.17148573e-02 -1.93582618e+02] [ 1.87322429e-02 -1.62452070e-04 9.99824523e-01 7.44036562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.662755096 meters 0.01571933044470342 Centerline is valid? [True, True] Translation: X:338.12, Y:-193.62, Z:7.44 [[ 7.84157590e-01 6.20388469e-01 -1.46636339e-02 3.38119467e+02] [-6.20277216e-01 7.84294673e-01 1.17491138e-02 -1.93615502e+02] [ 1.87896247e-02 -1.17638738e-04 9.99823452e-01 7.44158659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.722755096 meters 0.015520006096367433 Centerline is valid? [True, True] Translation: X:338.17, Y:-193.65, Z:7.44 [[ 7.83771019e-01 6.20868680e-01 -1.50024230e-02 3.38166554e+02] [-6.20752352e-01 7.83914581e-01 1.20186173e-02 -1.93649868e+02] [ 1.92226012e-02 -1.07054523e-04 9.99815223e-01 7.44174918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.782755096 meters 0.015692979958845558 Centerline is valid? [True, True] Translation: X:338.21, Y:-193.68, Z:7.44 [[ 7.84152368e-01 6.20388312e-01 -1.49467845e-02 3.38214441e+02] [-6.20272812e-01 7.84294797e-01 1.19712127e-02 -1.93684864e+02] [ 1.91494857e-02 -1.16170733e-04 9.99816625e-01 7.44328293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.842755096 meters 0.01593509502748926 Centerline is valid? [True, True] Translation: X:338.26, Y:-193.72, Z:7.44 [[ 7.85363182e-01 6.18857840e-01 -1.48204677e-02 3.38260635e+02] [-6.18744047e-01 7.85502993e-01 1.18681597e-02 -1.93721997e+02] [ 1.89862254e-02 -1.50739503e-04 9.99819734e-01 7.44492046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.902755096 meters 0.01714653931939482 Centerline is valid? [True, True] Translation: X:338.31, Y:-193.76, Z:7.45 [[ 7.88555945e-01 6.14788674e-01 -1.46426812e-02 3.38305043e+02] [-6.14676925e-01 7.88691845e-01 1.17239586e-02 -1.93762478e+02] [ 1.87563202e-02 -2.44478985e-04 9.99824055e-01 7.44518831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.962755096 meters 0.019989099575919943 Centerline is valid? [True, True] Translation: X:338.35, Y:-193.81, Z:7.45 [[ 7.91510422e-01 6.10981833e-01 -1.45757550e-02 3.38345986e+02] [-6.10870473e-01 7.91644548e-01 1.16694306e-02 -1.93805841e+02] [ 1.86686270e-02 -3.32577578e-04 9.99825671e-01 7.44620028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.022755096 meters 0.019647544595917252 Centerline is valid? [True, True] Translation: X:338.39, Y:-193.84, Z:7.45 [[ 7.92655797e-01 6.09492648e-01 -1.46799314e-02 3.38392168e+02] [-6.09379460e-01 7.92791635e-01 1.17514911e-02 -1.93842777e+02] [ 1.88005742e-02 -3.69238869e-04 9.99823185e-01 7.44722938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.082755096 meters 0.019412023016959407 Centerline is valid? [True, True] Translation: X:338.44, Y:-193.88, Z:7.45 [[ 7.92273535e-01 6.09996974e-01 -1.43644511e-02 3.38437903e+02] [-6.09888706e-01 7.92403667e-01 1.14976064e-02 -1.93879061e+02] [ 1.83959488e-02 -3.48532761e-04 9.99830719e-01 7.44862609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14275509600003 meters 0.018091228729624525 Centerline is valid? [True, True] Translation: X:338.49, Y:-193.92, Z:7.45 [[ 7.90662509e-01 6.12077594e-01 -1.46224493e-02 3.38488021e+02] [-6.11965791e-01 7.90797652e-01 1.17023198e-02 -1.93916312e+02] [ 1.87261263e-02 -3.04146772e-04 9.99824604e-01 7.45027418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20275509600003 meters 0.01689726671929429 Centerline is valid? [True, True] Translation: X:338.54, Y:-193.95, Z:7.45 [[ 7.88019839e-01 6.15460408e-01 -1.52715324e-02 3.38538200e+02] [-6.15338948e-01 7.88167767e-01 1.22291063e-02 -1.93953193e+02] [ 1.95630603e-02 -2.39609690e-04 9.99808596e-01 7.45131635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26275509600003 meters 0.016544593103306613 Centerline is valid? [True, True] Translation: X:338.59, Y:-193.99, Z:7.45 [[ 7.86568726e-01 6.17284554e-01 -1.64139884e-02 3.38585171e+02] [-6.17144486e-01 7.86739941e-01 1.31510101e-02 -1.93987809e+02] [ 2.10314556e-02 -2.14370826e-04 9.99778791e-01 7.45087572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32275509600004 meters 0.01656985118399279 Centerline is valid? [True, True] Translation: X:338.63, Y:-194.02, Z:7.45 [[ 7.86449847e-01 6.17422972e-01 -1.68970675e-02 3.38631042e+02] [-6.17274610e-01 7.86631316e-01 1.35362071e-02 -1.94023614e+02] [ 2.16493277e-02 -2.15417249e-04 9.99765603e-01 7.45150085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38275509600004 meters 0.0165939710057301 Centerline is valid? [True, True] Translation: X:338.68, Y:-194.06, Z:7.45 [[ 7.86570395e-01 6.17265762e-01 -1.70291819e-02 3.38677130e+02] [-6.17115095e-01 7.86754683e-01 1.36392400e-02 -1.94059071e+02] [ 2.18168245e-02 -2.19257203e-04 9.99761961e-01 7.45324929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.442755096 meters 0.016726270466436953 Centerline is valid? [True, True] Translation: X:338.72, Y:-194.10, Z:7.46 [[ 7.87064690e-01 6.16633785e-01 -1.70865148e-02 3.38723251e+02] [-6.16482020e-01 7.87250100e-01 1.36820663e-02 -1.94096321e+02] [ 2.18881848e-02 -2.35142084e-04 9.99760397e-01 7.45572462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.502755096 meters 0.01717772164194313 Centerline is valid? [True, True] Translation: X:338.77, Y:-194.13, Z:7.46 [[ 7.88479184e-01 6.14824845e-01 -1.70583143e-02 3.38768962e+02] [-6.14673205e-01 7.88663635e-01 1.36573050e-02 -1.94133855e+02] [ 2.18501226e-02 -2.83211975e-04 9.99761217e-01 7.45788476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.562755096 meters 0.017258323041121123 Centerline is valid? [True, True] Translation: X:338.82, Y:-194.17, Z:7.46 [[ 7.88893208e-01 6.14295936e-01 -1.69708568e-02 3.38815702e+02] [-6.14145765e-01 7.89075672e-01 1.35854107e-02 -1.94171593e+02] [ 2.17367529e-02 -2.94858378e-04 9.99763685e-01 7.45933358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.622755096 meters 0.017851124952680552 Centerline is valid? [True, True] Translation: X:338.86, Y:-194.21, Z:7.46 [[ 7.89758597e-01 6.13180037e-01 -1.70763388e-02 3.38861243e+02] [-6.13027735e-01 7.89943122e-01 1.36696808e-02 -1.94210418e+02] [ 2.18713118e-02 -3.27478657e-04 9.99760741e-01 7.46031948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.682755096 meters 0.018271591676973255 Centerline is valid? [True, True] Translation: X:338.91, Y:-194.25, Z:7.46 [[ 7.90556167e-01 6.12153182e-01 -1.70126133e-02 3.38905408e+02] [-6.12001805e-01 7.90739121e-01 1.36174064e-02 -1.94248950e+02] [ 2.17884776e-02 -3.53574538e-04 9.99762540e-01 7.46157681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.742755096 meters 0.018378010653540316 Centerline is valid? [True, True] Translation: X:338.95, Y:-194.29, Z:7.46 [[ 7.91032274e-01 6.11516994e-01 -1.77456600e-02 3.38952965e+02] [-6.11352168e-01 7.91231204e-01 1.42024391e-02 -1.94288001e+02] [ 2.27259528e-02 -3.85740022e-04 9.99741658e-01 7.46236253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.802755096 meters 0.018874202457487447 Centerline is valid? [True, True] Translation: X:339.00, Y:-194.33, Z:7.46 [[ 7.91260131e-01 6.11216786e-01 -1.79288972e-02 3.38997669e+02] [-6.11048447e-01 7.91463127e-01 1.43497128e-02 -1.94325620e+02] [ 2.29608464e-02 -3.98930852e-04 9.99736285e-01 7.46335294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.862755096 meters 0.01801928209782782 Centerline is valid? [True, True] Translation: X:339.05, Y:-194.36, Z:7.46 [[ 7.90436853e-01 6.12263099e-01 -1.85332012e-02 3.39045938e+02] [-6.12083496e-01 7.90654003e-01 1.48338153e-02 -1.94364553e+02] [ 2.37355475e-02 -3.81327685e-04 9.99718199e-01 7.46434983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.922755096 meters 0.018341432296099604 Centerline is valid? [True, True] Translation: X:339.09, Y:-194.40, Z:7.46 [[ 7.90319666e-01 6.12378679e-01 -1.96768403e-02 3.39092001e+02] [-6.12176084e-01 7.90564474e-01 1.57561007e-02 -1.94403005e+02] [ 2.52045110e-02 -4.06665242e-04 9.99682233e-01 7.46459757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.982755096 meters 0.018487367941795497 Centerline is valid? [True, True] Translation: X:339.14, Y:-194.44, Z:7.47 [[ 7.90684088e-01 6.11908396e-01 -1.96669323e-02 3.39138872e+02] [-6.11705879e-01 7.90928529e-01 1.57473625e-02 -1.94439981e+02] [ 2.51910812e-02 -4.20810830e-04 9.99682566e-01 7.46537158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.042755096 meters 0.01850220361977757 Centerline is valid? [True, True] Translation: X:339.19, Y:-194.48, Z:7.47 [[ 7.91085484e-01 6.11394507e-01 -1.95067820e-02 3.39186336e+02] [-6.11195142e-01 7.91325830e-01 1.56182051e-02 -1.94477601e+02] [ 2.49851053e-02 -4.32884942e-04 9.99687730e-01 7.46748892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.102755096 meters 0.019205379505638654 Centerline is valid? [True, True] Translation: X:339.23, Y:-194.51, Z:7.47 [[ 7.91140979e-01 6.11338037e-01 -1.90198691e-02 3.39230974e+02] [-6.11148504e-01 7.91369462e-01 1.52276267e-02 -1.94514610e+02] [ 2.43609710e-02 -4.23234913e-04 9.99703138e-01 7.46912805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.162755096 meters 0.018269142684979842 Centerline is valid? [True, True] Translation: X:339.28, Y:-194.55, Z:7.47 [[ 7.90945158e-01 6.11597277e-01 -1.88289063e-02 3.39280651e+02] [-6.11411653e-01 7.91169137e-01 1.50727363e-02 -1.94550451e+02] [ 2.41152941e-02 -4.09495088e-04 9.99709100e-01 7.47158222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.222755096 meters 0.01888178440602149 Centerline is valid? [True, True] Translation: X:339.33, Y:-194.59, Z:7.47 [[ 7.91495084e-01 6.10877313e-01 -1.90903272e-02 3.39325642e+02] [-6.10686276e-01 7.91725152e-01 1.52825212e-02 -1.94587540e+02] [ 2.44500377e-02 -4.37839553e-04 9.99700957e-01 7.47182971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.282755096 meters 0.020110501005735793 Centerline is valid? [True, True] Translation: X:339.37, Y:-194.63, Z:7.47 [[ 7.92736234e-01 6.09260093e-01 -1.92718289e-02 3.39369059e+02] [-6.09064980e-01 7.92970301e-01 1.54256502e-02 -1.94625764e+02] [ 2.46802210e-02 -4.90675720e-04 9.99695277e-01 7.47269365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.342755096 meters 0.019745639120794738 Centerline is valid? [True, True] Translation: X:339.42, Y:-194.66, Z:7.47 [[ 7.92840407e-01 6.09128856e-01 -1.91344134e-02 3.39415247e+02] [-6.08936549e-01 7.93071118e-01 1.53128014e-02 -1.94661781e+02] [ 2.45024199e-02 -4.88964063e-04 9.99699651e-01 7.47427477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.402755096 meters 0.020714140541775953 Centerline is valid? [True, True] Translation: X:339.46, Y:-194.70, Z:7.48 [[ 7.92536770e-01 6.09555093e-01 -1.81123221e-02 3.39458928e+02] [-6.09382950e-01 7.92743582e-01 1.44925246e-02 -1.94699006e+02] [ 2.31924193e-02 -4.48518371e-04 9.99730919e-01 7.47621050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.462755096 meters 0.01902925868825101 Centerline is valid? [True, True] Translation: X:339.51, Y:-194.73, Z:7.48 [[ 7.91864424e-01 6.10437781e-01 -1.77890133e-02 3.39508166e+02] [-6.10272010e-01 7.92064104e-01 1.42312750e-02 -1.94733731e+02] [ 2.27773468e-02 -4.13103520e-04 9.99740477e-01 7.47728122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.522755096 meters 0.018783646761713714 Centerline is valid? [True, True] Translation: X:339.55, Y:-194.77, Z:7.48 [[ 7.91272735e-01 6.11211124e-01 -1.75619273e-02 3.39554276e+02] [-6.11049789e-01 7.91467507e-01 1.40478112e-02 -1.94770348e+02] [ 2.24858733e-02 -3.84438060e-04 9.99747087e-01 7.47814043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.582755096 meters 0.018189305483308417 Centerline is valid? [True, True] Translation: X:339.60, Y:-194.81, Z:7.48 [[ 7.90396528e-01 6.12344379e-01 -1.75410820e-02 3.39601045e+02] [-6.12183756e-01 7.90591069e-01 1.40288932e-02 -1.94806118e+02] [ 2.24583366e-02 -3.50023022e-04 9.99747718e-01 7.47952975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64275509600003 meters 0.017757613561120766 Centerline is valid? [True, True] Translation: X:339.65, Y:-194.84, Z:7.48 [[ 7.89824357e-01 6.13073966e-01 -1.78268773e-02 3.39649050e+02] [-6.12908299e-01 7.90025444e-01 1.42553517e-02 -1.94840956e+02] [ 2.28232717e-02 -3.32982939e-04 9.99739460e-01 7.47975118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70275509600003 meters 0.017830169311666515 Centerline is valid? [True, True] Translation: X:339.70, Y:-194.88, Z:7.48 [[ 7.89979836e-01 6.12858025e-01 -1.83548518e-02 3.39697349e+02] [-6.12682357e-01 7.90192964e-01 1.46768346e-02 -1.94879227e+02] [ 2.34986906e-02 -3.48709493e-04 9.99723807e-01 7.47953614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76275509600003 meters 0.018506785889128474 Centerline is valid? [True, True] Translation: X:339.74, Y:-194.92, Z:7.48 [[ 7.90873383e-01 6.11701253e-01 -1.84626562e-02 3.39743665e+02] [-6.11523177e-01 7.91088761e-01 1.47639968e-02 -1.94918682e+02] [ 2.36367552e-02 -3.86109868e-04 9.99720538e-01 7.48089799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82275509600004 meters 0.018982262169170407 Centerline is valid? [True, True] Translation: X:339.79, Y:-194.96, Z:7.48 [[ 7.92145574e-01 6.10090643e-01 -1.71696473e-02 3.39791051e+02] [-6.09936233e-01 7.92331524e-01 1.37312860e-02 -1.94958957e+02] [ 2.19813819e-02 -4.04787449e-04 9.99758298e-01 7.48338811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88275509600004 meters 0.019902352572030678 Centerline is valid? [True, True] Translation: X:339.84, Y:-195.00, Z:7.48 [[ 7.92186715e-01 6.10050112e-01 -1.67053790e-02 3.39838855e+02] [-6.09903766e-01 7.92362733e-01 1.33676990e-02 -1.94998556e+02] [ 2.13916860e-02 -4.01039980e-04 9.99771091e-01 7.48426203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.942755096 meters 0.01919803980366136 Centerline is valid? [True, True] Translation: X:339.89, Y:-195.04, Z:7.49 [[ 7.91583922e-01 6.10823564e-01 -1.70137533e-02 3.39887130e+02] [-6.10671781e-01 7.91766645e-01 1.36219058e-02 -1.95036357e+02] [ 2.17915034e-02 -3.93062585e-04 9.99762460e-01 7.48575405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.002755096 meters 0.018756624623110372 Centerline is valid? [True, True] Translation: X:339.93, Y:-195.07, Z:7.49 [[ 7.89964650e-01 6.12926022e-01 -1.66596345e-02 3.39932551e+02] [-6.12780947e-01 7.90140230e-01 1.33389588e-02 -1.95071781e+02] [ 2.13392424e-02 -3.28599325e-04 9.99772238e-01 7.48664148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.062755096 meters 0.017818114550656624 Centerline is valid? [True, True] Translation: X:339.98, Y:-195.11, Z:7.49 [[ 7.88104669e-01 6.15320540e-01 -1.64822344e-02 3.39980539e+02] [-6.15179114e-01 7.88276960e-01 1.31943632e-02 -1.95106234e+02] [ 2.11113283e-02 -2.59012899e-04 9.99777098e-01 7.48702046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.122755096 meters 0.017527383991694928 Centerline is valid? [True, True] Translation: X:340.03, Y:-195.14, Z:7.49 [[ 7.87473444e-01 6.16132639e-01 -1.63139993e-02 3.40027137e+02] [-6.15994302e-01 7.87642379e-01 1.30576712e-02 -1.95142793e+02] [ 2.08948546e-02 -2.33238732e-04 9.99781651e-01 7.48808427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.182755096 meters 0.01774274089540024 Centerline is valid? [True, True] Translation: X:340.07, Y:-195.18, Z:7.49 [[ 7.87549418e-01 6.16042290e-01 -1.60564847e-02 3.40070218e+02] [-6.15908312e-01 7.87713047e-01 1.28494259e-02 -1.95180252e+02] [ 2.05636922e-02 -2.30235486e-04 9.99788518e-01 7.48976188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.242755096 meters 0.018067937559867152 Centerline is valid? [True, True] Translation: X:340.11, Y:-195.22, Z:7.49 [[ 7.87775779e-01 6.15767948e-01 -1.54646624e-02 3.40114497e+02] [-6.15643676e-01 7.87927524e-01 1.23725964e-02 -1.95215388e+02] [ 1.98036814e-02 -2.26110121e-04 9.99803862e-01 7.49164264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.302755096 meters 0.0177863302595923 Centerline is valid? [True, True] Translation: X:340.16, Y:-195.25, Z:7.49 [[ 7.88278788e-01 6.15150683e-01 -1.43592642e-02 3.40161751e+02] [-6.15043492e-01 7.88409530e-01 1.14854285e-02 -1.95250819e+02] [ 1.83862499e-02 -2.22147659e-04 9.99830934e-01 7.49422914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.362755096 meters 0.01830545398855941 Centerline is valid? [True, True] Translation: X:340.21, Y:-195.29, Z:7.50 [[ 7.88668600e-01 6.14663577e-01 -1.38031551e-02 3.40206762e+02] [-6.14564483e-01 7.88789349e-01 1.10389775e-02 -1.95287873e+02] [ 1.76730391e-02 -2.23166048e-04 9.99843795e-01 7.49635221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.422755096 meters 0.017985040769020945 Centerline is valid? [True, True] Translation: X:340.26, Y:-195.32, Z:7.50 [[ 7.89709190e-01 6.13349023e-01 -1.27424877e-02 3.40256047e+02] [-6.13264448e-01 7.89811954e-01 1.01879140e-02 -1.95324805e+02] [ 1.63129162e-02 -2.30974676e-04 9.99866909e-01 7.49883234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.482755096 meters 0.018315282837272594 Centerline is valid? [True, True] Translation: X:340.30, Y:-195.36, Z:7.50 [[ 7.90142385e-01 6.12796987e-01 -1.24444252e-02 3.40303816e+02] [-6.12716157e-01 7.90240339e-01 9.95571394e-03 -1.95361969e+02] [ 1.59349183e-02 -2.41531147e-04 9.99873002e-01 7.50052337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.542755096 meters 0.018610936001913967 Centerline is valid? [True, True] Translation: X:340.35, Y:-195.40, Z:7.50 [[ 7.90232205e-01 6.12690921e-01 -1.19539902e-02 3.40350595e+02] [-6.12616320e-01 7.90322580e-01 9.56368213e-03 -1.95397972e+02] [ 1.53070896e-02 -2.34320150e-04 9.99882812e-01 7.50192903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.602755096 meters 0.01836834793344058 Centerline is valid? [True, True] Translation: X:340.40, Y:-195.43, Z:7.50 [[ 7.89467329e-01 6.13673652e-01 -1.20824400e-02 3.40397756e+02] [-6.13597579e-01 7.89559752e-01 9.66486790e-03 -1.95432894e+02] [ 1.54708831e-02 -2.16341514e-04 9.99880295e-01 7.50318099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.662755096 meters 0.01827709944982433 Centerline is valid? [True, True] Translation: X:340.45, Y:-195.47, Z:7.50 [[ 7.88943116e-01 6.14341853e-01 -1.23631123e-02 3.40445134e+02] [-6.14262312e-01 7.89039951e-01 9.88776805e-03 -1.95468398e+02] [ 1.58294593e-02 -2.06692574e-04 9.99874685e-01 7.50365924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.722755096 meters 0.01800394270516528 Centerline is valid? [True, True] Translation: X:340.49, Y:-195.50, Z:7.50 [[ 7.88682498e-01 6.14668127e-01 -1.27675799e-02 3.40491906e+02] [-6.14583365e-01 7.88785808e-01 1.02095998e-02 -1.95503603e+02] [ 1.63464014e-02 -2.05390454e-04 9.99866368e-01 7.50473045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.782755096 meters 0.017924843529037823 Centerline is valid? [True, True] Translation: X:340.54, Y:-195.54, Z:7.51 [[ 7.89019897e-01 6.14248597e-01 -1.20938979e-02 3.40538287e+02] [-6.14172517e-01 7.89112552e-01 9.66948314e-03 -1.95539098e+02] [ 1.54829131e-02 -2.01674903e-04 9.99880112e-01 7.50737029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.842755096 meters 0.01868233392405049 Centerline is valid? [True, True] Translation: X:340.58, Y:-195.57, Z:7.51 [[ 7.90047701e-01 6.12943772e-01 -1.11607556e-02 3.40583974e+02] [-6.12878867e-01 7.90126501e-01 8.92220172e-03 -1.95574809e+02] [ 1.42872167e-02 -2.08773716e-04 9.99897911e-01 7.50948302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.902755096 meters 0.01904051652433252 Centerline is valid? [True, True] Translation: X:340.63, Y:-195.61, Z:7.51 [[ 7.91334188e-01 6.11295025e-01 -1.04209331e-02 3.40630557e+02] [-6.11238318e-01 7.91402770e-01 8.32915011e-03 -1.95610583e+02] [ 1.33387234e-02 -2.21467607e-04 9.99911011e-01 7.51143027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.962755096 meters 0.020517287623099064 Centerline is valid? [True, True] Translation: X:340.68, Y:-195.65, Z:7.51 [[ 7.93623273e-01 6.08322572e-01 -1.02834731e-02 3.40676119e+02] [-6.08267121e-01 7.93689850e-01 8.21781356e-03 -1.95648334e+02] [ 1.31609697e-02 -2.66749526e-04 9.99913355e-01 7.51327416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.022755096 meters 0.021341315720739263 Centerline is valid? [True, True] Translation: X:340.72, Y:-195.68, Z:7.51 [[ 7.95388291e-01 6.06009311e-01 -1.04967842e-02 3.40724604e+02] [-6.05951351e-01 7.95457491e-01 8.38691610e-03 -1.95684169e+02] [ 1.34322949e-02 -3.10314285e-04 9.99909735e-01 7.51439858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.082755096 meters 0.021978638116261537 Centerline is valid? [True, True] Translation: X:340.78, Y:-195.72, Z:7.51 [[ 7.96904806e-01 6.03998183e-01 -1.13545412e-02 3.40775658e+02] [-6.03930180e-01 7.96985607e-01 9.07080987e-03 -1.95719570e+02] [ 1.45281586e-02 -3.71221860e-04 9.99894392e-01 7.51451315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14275509600003 meters 0.02278660818422507 Centerline is valid? [True, True] Translation: X:340.82, Y:-195.76, Z:7.51 [[ 7.97757825e-01 6.02856316e-01 -1.21125668e-02 3.40823495e+02] [-6.02778685e-01 7.97849661e-01 9.68372453e-03 -1.95755051e+02] [ 1.55019018e-02 -4.24069923e-04 9.99879748e-01 7.51418021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20275509600003 meters 0.023594478702298763 Centerline is valid? [True, True] Translation: X:340.87, Y:-195.79, Z:7.51 [[ 7.98608814e-01 6.01702966e-01 -1.33230170e-02 3.40871529e+02] [-6.01608897e-01 7.98719789e-01 1.06505540e-02 -1.95789253e+02] [ 1.70498273e-02 -4.90380757e-04 9.99854521e-01 7.51381096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26275509600003 meters 0.02494261027859037 Centerline is valid? [True, True] Translation: X:340.92, Y:-195.82, Z:7.51 [[ 7.98319181e-01 6.02074906e-01 -1.38669763e-02 3.40918959e+02] [-6.01973088e-01 7.98439451e-01 1.10834975e-02 -1.95823657e+02] [ 1.77450367e-02 -5.00622137e-04 9.99842419e-01 7.51397869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32275509600004 meters 0.02476959916037164 Centerline is valid? [True, True] Translation: X:340.97, Y:-195.86, Z:7.52 [[ 7.98174279e-01 6.02272320e-01 -1.36335509e-02 3.40967564e+02] [-6.02173954e-01 7.98290559e-01 1.08955414e-02 -1.95856635e+02] [ 1.74456180e-02 -4.86771666e-04 9.99847695e-01 7.51605116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38275509600004 meters 0.02557267899858739 Centerline is valid? [True, True] Translation: X:341.01, Y:-195.89, Z:7.52 [[ 7.98289785e-01 6.02129963e-01 -1.31501620e-02 3.41012606e+02] [-6.02038455e-01 7.98397949e-01 1.05077313e-02 -1.95891274e+02] [ 1.68260822e-02 -4.71311369e-04 9.99858320e-01 7.51852255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.442755096 meters 0.023825349172334944 Centerline is valid? [True, True] Translation: X:341.06, Y:-195.92, Z:7.52 [[ 7.98505096e-01 6.01853855e-01 -1.27102059e-02 3.41062893e+02] [-6.01768406e-01 7.98606116e-01 1.01517193e-02 -1.95920771e+02] [ 1.62602996e-02 -4.57599208e-04 9.99867688e-01 7.51982610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.502755096 meters 0.02486484236995911 Centerline is valid? [True, True] Translation: X:341.11, Y:-195.96, Z:7.52 [[ 7.98319496e-01 6.02085863e-01 -1.33639466e-02 3.41110908e+02] [-6.01991572e-01 7.98431207e-01 1.06655822e-02 -1.95955373e+02] [ 1.70917883e-02 -4.69558984e-04 9.99853814e-01 7.52052618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.562755096 meters 0.025697858876124618 Centerline is valid? [True, True] Translation: X:341.16, Y:-195.99, Z:7.52 [[ 7.98077366e-01 6.02407992e-01 -1.33090319e-02 3.41157049e+02] [-6.02314549e-01 7.98188199e-01 1.06199482e-02 -1.95989966e+02] [ 1.70206539e-02 -4.59316735e-04 9.99855033e-01 7.52147443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.622755096 meters 0.024227742074651 Centerline is valid? [True, True] Translation: X:341.21, Y:-196.02, Z:7.52 [[ 7.97137513e-01 6.03642450e-01 -1.36959271e-02 3.41206773e+02] [-6.03543716e-01 7.97255038e-01 1.09264573e-02 -1.96021634e+02] [ 1.75148203e-02 -4.43798214e-04 9.99846505e-01 7.52228849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.682755096 meters 0.022394890657980445 Centerline is valid? [True, True] Translation: X:341.26, Y:-196.05, Z:7.52 [[ 7.95499309e-01 6.05777515e-01 -1.46441765e-02 3.41256378e+02] [-6.05665139e-01 7.95633978e-01 1.16753069e-02 -1.96053325e+02] [ 1.87240428e-02 -4.18231420e-04 9.99824602e-01 7.52192769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.742755096 meters 0.020679787881913936 Centerline is valid? [True, True] Translation: X:341.31, Y:-196.09, Z:7.52 [[ 7.93401313e-01 6.08519377e-01 -1.47825802e-02 3.41306161e+02] [-6.08405480e-01 7.93538937e-01 1.17782205e-02 -1.96086135e+02] [ 1.88978284e-02 -3.51052789e-04 9.99821358e-01 7.52270688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.802755096 meters 0.020037248150594704 Centerline is valid? [True, True] Translation: X:341.35, Y:-196.12, Z:7.52 [[ 7.92663127e-01 6.09488701e-01 -1.44461342e-02 3.41353894e+02] [-6.09380212e-01 7.92794692e-01 1.15036307e-02 -1.96120865e+02] [ 1.84641514e-02 -3.15315549e-04 9.99829473e-01 7.52315584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.862755096 meters 0.019992230353234025 Centerline is valid? [True, True] Translation: X:341.40, Y:-196.16, Z:7.52 [[ 7.92255654e-01 6.10022600e-01 -1.42620267e-02 3.41397780e+02] [-6.09917074e-01 7.92383961e-01 1.13499730e-02 -1.96158117e+02] [ 1.82247413e-02 -2.93426710e-04 9.99833873e-01 7.52423320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.922755096 meters 0.020465155773347007 Centerline is valid? [True, True] Translation: X:341.44, Y:-196.20, Z:7.53 [[ 7.92977778e-01 6.09101573e-01 -1.34728195e-02 3.41441613e+02] [-6.09007324e-01 7.93092168e-01 1.07188278e-02 -1.96197476e+02] [ 1.72140425e-02 -2.94746534e-04 9.99851784e-01 7.52628950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.982755096 meters 0.020855506358676622 Centerline is valid? [True, True] Translation: X:341.75, Y:-195.84, Z:8.72 [[ 8.18043216e-01 -5.74930172e-01 1.61429272e-02 3.41749400e+02] [-5.74792259e-01 -8.18201795e-01 -1.26365248e-02 -1.95836453e+02] [ 2.04732914e-02 1.05839383e-03 -9.99789840e-01 8.71940552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.042755096 meters 0.020436914926123605 Centerline is valid? [True, True] Translation: X:341.57, Y:-196.25, Z:7.53 [[ 8.39987999e-01 5.42444506e-01 -1.31954328e-02 3.41566546e+02] [-5.42371591e-01 8.40091576e-01 8.89945982e-03 -1.96252004e+02] [ 1.59128350e-02 -3.18611592e-04 9.99873332e-01 7.52831075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.102755096 meters 0.02108497685897456 Centerline is valid? [True, True] Translation: X:341.61, Y:-196.29, Z:7.53 [[ 8.39772964e-01 5.42773915e-01 -1.33358993e-02 3.41613809e+02] [-5.42699507e-01 8.39878788e-01 8.99259763e-03 -1.96287642e+02] [ 1.60814864e-02 -3.14354378e-04 9.99870635e-01 7.52880606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.162755096 meters 0.019541698573231014 Centerline is valid? [True, True] Translation: X:341.66, Y:-196.32, Z:7.53 [[ 8.39156949e-01 5.43731772e-01 -1.30910111e-02 3.41663835e+02] [-5.43660206e-01 8.39259004e-01 8.82636151e-03 -1.96319161e+02] [ 1.57859221e-02 -2.89640824e-04 9.99875353e-01 7.52883619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.222755096 meters 0.019168357699527357 Centerline is valid? [True, True] Translation: X:341.71, Y:-196.35, Z:7.53 [[ 8.38234137e-01 5.45154968e-01 -1.30227401e-02 3.41710918e+02] [-5.45084343e-01 8.38335251e-01 8.77877048e-03 -1.96352250e+02] [ 1.57032124e-02 -2.60173359e-04 9.99876663e-01 7.52991604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.282755096 meters 0.019245481179414867 Centerline is valid? [True, True] Translation: X:341.76, Y:-196.38, Z:7.53 [[ 8.38000533e-01 5.45516528e-01 -1.29160347e-02 3.41758058e+02] [-5.45447128e-01 8.38100027e-01 8.70487966e-03 -1.96384942e+02] [ 1.55735847e-02 -2.49679792e-04 9.99878693e-01 7.53077245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.342755096 meters 0.01968615071999948 Centerline is valid? [True, True] Translation: X:341.80, Y:-196.42, Z:7.53 [[ 8.38495910e-01 5.44762212e-01 -1.25992297e-02 3.41804815e+02] [-5.44696117e-01 8.38590524e-01 8.48956896e-03 -1.96421638e+02] [ 1.51903910e-02 -2.55717377e-04 9.99884587e-01 7.53214837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.402755096 meters 0.020543885856343744 Centerline is valid? [True, True] Translation: X:341.85, Y:-196.46, Z:7.53 [[ 8.38609856e-01 5.44607022e-01 -1.16919479e-02 3.41850681e+02] [-5.44550097e-01 8.38691322e-01 7.87769470e-03 -1.96457655e+02] [ 1.40961831e-02 -2.39461042e-04 9.99900615e-01 7.53407599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.462755096 meters 0.019246594959663466 Centerline is valid? [True, True] Translation: X:341.90, Y:-196.49, Z:7.53 [[ 8.38316644e-01 5.45055812e-01 -1.18053560e-02 3.41900313e+02] [-5.44997879e-01 8.38399731e-01 7.95003530e-03 -1.96489582e+02] [ 1.42308202e-02 -2.30752945e-04 9.99898710e-01 7.53411189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.522755096 meters 0.018783875300543457 Centerline is valid? [True, True] Translation: X:341.95, Y:-196.52, Z:7.54 [[ 8.37838225e-01 5.45793274e-01 -1.16966084e-02 3.41948963e+02] [-5.45736499e-01 8.37919838e-01 7.87517409e-03 -1.96524706e+02] [ 1.40990373e-02 -2.14855740e-04 9.99900581e-01 7.53517827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.582755096 meters 0.018452768865119144 Centerline is valid? [True, True] Translation: X:342.00, Y:-196.56, Z:7.54 [[ 8.37007840e-01 5.47071657e-01 -1.14227189e-02 3.41996253e+02] [-5.47017637e-01 8.37085758e-01 7.69012952e-03 -1.96560757e+02] [ 1.37688472e-02 -1.88269996e-04 9.99905187e-01 7.53698680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64275509600003 meters 0.018006393615918298 Centerline is valid? [True, True] Translation: X:342.05, Y:-196.60, Z:7.54 [[ 8.36281762e-01 5.48186527e-01 -1.11511094e-02 3.42047706e+02] [-5.48135178e-01 8.36356088e-01 7.50472569e-03 -1.96595983e+02] [ 1.34402878e-02 -1.63749855e-04 9.99909662e-01 7.53828283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70275509600003 meters 0.017494685089798238 Centerline is valid? [True, True] Translation: X:342.10, Y:-196.63, Z:7.54 [[ 8.34920082e-01 5.50255847e-01 -1.12676424e-02 3.42098838e+02] [-5.50203545e-01 8.34996099e-01 7.58780019e-03 -1.96631447e+02] [ 1.35836688e-02 -1.35709984e-04 9.99907729e-01 7.53878519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76275509600003 meters 0.017052502543306036 Centerline is valid? [True, True] Translation: X:342.15, Y:-196.67, Z:7.54 [[ 8.33751906e-01 5.52006333e-01 -1.21148230e-02 3.42149139e+02] [-5.51945975e-01 8.33839909e-01 8.16374108e-03 -1.96668792e+02] [ 1.46082597e-02 -1.19806902e-04 9.99893287e-01 7.53841430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82275509600004 meters 0.017103663595625148 Centerline is valid? [True, True] Translation: X:342.20, Y:-196.71, Z:7.54 [[ 8.33539561e-01 5.52304778e-01 -1.30855604e-02 3.42197881e+02] [-5.52234291e-01 8.33642259e-01 8.82451425e-03 -1.96706245e+02] [ 1.57824975e-02 -1.29286558e-04 9.99875440e-01 7.53823598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88275509600004 meters 0.01743875214589553 Centerline is valid? [True, True] Translation: X:342.25, Y:-196.75, Z:7.54 [[ 8.34620965e-01 5.50662402e-01 -1.33702766e-02 3.42245290e+02] [-5.50588590e-01 8.34728035e-01 9.01730999e-03 -1.96745824e+02] [ 1.61260383e-02 -1.64514252e-04 9.99869953e-01 7.53882589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.942755096 meters 0.017967257096598997 Centerline is valid? [True, True] Translation: X:342.29, Y:-196.78, Z:7.54 [[ 8.35624935e-01 5.49137945e-01 -1.33598160e-02 3.42292872e+02] [-5.49064042e-01 8.35731703e-01 9.01101852e-03 -1.96784913e+02] [ 1.61135140e-02 -1.94437172e-04 9.99870150e-01 7.54022677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.002755096 meters 0.018740711840428463 Centerline is valid? [True, True] Translation: X:342.34, Y:-196.83, Z:7.54 [[ 8.36470726e-01 5.47849086e-01 -1.33455490e-02 3.42339422e+02] [-5.47775174e-01 8.36577152e-01 9.00154983e-03 -1.96825573e+02] [ 1.60960722e-02 -2.19172491e-04 9.99870426e-01 7.54140757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.062755096 meters 0.018781997654960327 Centerline is valid? [True, True] Translation: X:342.39, Y:-196.86, Z:7.54 [[ 8.36383866e-01 5.47981487e-01 -1.33536186e-02 3.42386604e+02] [-5.47907412e-01 8.36490431e-01 9.01258358e-03 -1.96862511e+02] [ 1.61089031e-02 -2.21432883e-04 9.99870219e-01 7.54215001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.122755096 meters 0.01872098088774011 Centerline is valid? [True, True] Translation: X:342.43, Y:-196.90, Z:7.54 [[ 8.36372091e-01 5.47990473e-01 -1.37173962e-02 3.42434272e+02] [-5.47912323e-01 8.36484543e-01 9.25725144e-03 -1.96899177e+02] [ 1.65472755e-02 -2.26576342e-04 9.99863059e-01 7.54275787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.182755096 meters 0.018519994634370252 Centerline is valid? [True, True] Translation: X:342.48, Y:-196.94, Z:7.54 [[ 8.36086457e-01 5.48416234e-01 -1.41092477e-02 3.42483017e+02] [-5.48333624e-01 8.36205467e-01 9.52116437e-03 -1.96938720e+02] [ 1.70197912e-02 -2.23941632e-04 9.99855128e-01 7.54370061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.242755096 meters 0.018143122103964442 Centerline is valid? [True, True] Translation: X:342.53, Y:-196.98, Z:7.54 [[ 8.35093976e-01 5.49923896e-01 -1.42042315e-02 3.42532326e+02] [-5.49840278e-01 8.35214744e-01 9.59165716e-03 -1.96976864e+02] [ 1.71382651e-02 -1.99876516e-04 9.99853109e-01 7.54449117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.302755096 meters 0.017490673370008303 Centerline is valid? [True, True] Translation: X:342.58, Y:-197.01, Z:7.54 [[ 8.33379709e-01 5.52489868e-01 -1.52710883e-02 3.42580826e+02] [-5.52393530e-01 8.33519598e-01 1.03183430e-02 -1.97013272e+02] [ 1.84295313e-02 -1.63447295e-04 9.99830148e-01 7.54440772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.362755096 meters 0.01676060607045799 Centerline is valid? [True, True] Translation: X:342.63, Y:-197.05, Z:7.55 [[ 8.32159511e-01 5.54337674e-01 -1.48421921e-02 3.42630999e+02] [-5.54246958e-01 8.32291853e-01 1.00289699e-02 -1.97045535e+02] [ 1.79124714e-02 -1.19462876e-04 9.99839552e-01 7.54588176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.422755096 meters 0.016093011430036226 Centerline is valid? [True, True] Translation: X:342.69, Y:-197.08, Z:7.55 [[ 8.29264753e-01 5.58660700e-01 -1.47712956e-02 3.42685161e+02] [-5.58571550e-01 8.29396300e-01 9.98004237e-03 -1.97076089e+02] [ 1.78267154e-02 -2.52718933e-05 9.99841091e-01 7.54672409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.482755096 meters 0.016038905785695137 Centerline is valid? [True, True] Translation: X:342.74, Y:-197.11, Z:7.55 [[ 8.28247313e-01 5.60128726e-01 -1.61925653e-02 3.42737913e+02] [-5.60021735e-01 8.28405583e-01 1.09474535e-02 -1.97111128e+02] [ 1.95459947e-02 9.89560063e-07 9.99808959e-01 7.54679717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.542755096 meters 0.016063324974566213 Centerline is valid? [True, True] Translation: X:342.79, Y:-197.15, Z:7.55 [[ 8.29063281e-01 5.58901992e-01 -1.68119121e-02 3.42789115e+02] [-5.58786244e-01 8.29233720e-01 1.13741379e-02 -1.97147193e+02] [ 2.02980327e-02 -3.56148564e-05 9.99793973e-01 7.54741067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.602755096 meters 0.016327029666628422 Centerline is valid? [True, True] Translation: X:342.84, Y:-197.18, Z:7.55 [[ 8.30989411e-01 5.56015612e-01 -1.74137454e-02 3.42839051e+02] [-5.55890625e-01 8.31171839e-01 1.17892920e-02 -1.97183751e+02] [ 2.10288452e-02 -1.16638963e-04 9.99778863e-01 7.54784415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.662755096 meters 0.017484102904764535 Centerline is valid? [True, True] Translation: X:342.89, Y:-197.22, Z:7.55 [[ 8.34190257e-01 5.51185145e-01 -1.79318369e-02 3.42887412e+02] [-5.51051331e-01 8.34382929e-01 1.21473506e-02 -1.97223342e+02] [ 2.16574578e-02 -2.51838916e-04 9.99765418e-01 7.54904449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.722755096 meters 0.019073548383045483 Centerline is valid? [True, True] Translation: X:342.94, Y:-197.26, Z:7.55 [[ 8.36515059e-01 5.47654313e-01 -1.78131621e-02 3.42937088e+02] [-5.47521310e-01 8.36704627e-01 1.20740199e-02 -1.97259655e+02] [ 2.15167442e-02 -3.47013587e-04 9.99768428e-01 7.55028063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.782755096 meters 0.021368069758402712 Centerline is valid? [True, True] Translation: X:342.99, Y:-197.30, Z:7.55 [[ 8.38206472e-01 5.45059466e-01 -1.78910294e-02 3.42985520e+02] [-5.44924564e-01 8.38397281e-01 1.21333886e-02 -1.97297345e+02] [ 2.16132087e-02 -4.21023488e-04 9.99766319e-01 7.55129423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.842755096 meters 0.01997587643490623 Centerline is valid? [True, True] Translation: X:343.04, Y:-197.33, Z:7.55 [[ 8.38272747e-01 5.44949555e-01 -1.81324040e-02 3.43038922e+02] [-5.44810811e-01 8.38468719e-01 1.23039674e-02 -1.97330907e+02] [ 2.19084951e-02 -4.35350842e-04 9.99759885e-01 7.55348783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.902755096 meters 0.019009246393978257 Centerline is valid? [True, True] Translation: X:343.09, Y:-197.36, Z:7.55 [[ 8.36842029e-01 5.47136187e-01 -1.83687475e-02 3.43092645e+02] [-5.46994139e-01 8.37043512e-01 1.24728100e-02 -1.97361592e+02] [ 2.21997666e-02 -3.90174356e-04 9.99753479e-01 7.55437874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.962755096 meters 0.018019233213625724 Centerline is valid? [True, True] Translation: X:343.15, Y:-197.39, Z:7.56 [[ 8.34208024e-01 5.51158677e-01 -1.79188657e-02 3.43146403e+02] [-5.51024272e-01 8.34400403e-01 1.21745140e-02 -1.97392182e+02] [ 2.16615978e-02 -2.82347327e-04 9.99765320e-01 7.55586079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.022755096 meters 0.01744135648773109 Centerline is valid? [True, True] Translation: X:343.20, Y:-197.42, Z:7.56 [[ 8.32234775e-01 5.54137829e-01 -1.77917182e-02 3.43197613e+02] [-5.54005853e-01 8.32424905e-01 1.20951537e-02 -1.97424844e+02] [ 2.15126516e-02 -2.09291543e-04 9.99768554e-01 7.55689736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.082755096 meters 0.0164411178111336 Centerline is valid? [True, True] Translation: X:343.25, Y:-197.46, Z:7.56 [[ 8.30766282e-01 5.56338222e-01 -1.77529632e-02 3.43250445e+02] [-5.56207182e-01 8.30955930e-01 1.20752931e-02 -1.97457096e+02] [ 2.14698771e-02 -1.57420739e-04 9.99769483e-01 7.55862268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14275509600003 meters 0.016580937916798568 Centerline is valid? [True, True] Translation: X:343.30, Y:-197.49, Z:7.56 [[ 8.31133876e-01 5.55809258e-01 -1.71040581e-02 3.43302067e+02] [-5.55687372e-01 8.31309834e-01 1.16406380e-02 -1.97493092e+02] [ 2.06887460e-02 -1.70419443e-04 9.99785950e-01 7.55985812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20275509600003 meters 0.017245334676741508 Centerline is valid? [True, True] Translation: X:343.35, Y:-197.53, Z:7.56 [[ 8.32867590e-01 5.53231474e-01 -1.63252604e-02 3.43351591e+02] [-5.53119800e-01 8.33027541e-01 1.11176924e-02 -1.97531176e+02] [ 1.97500489e-02 -2.29740913e-04 9.99804922e-01 7.56163373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26275509600003 meters 0.01814287078461343 Centerline is valid? [True, True] Translation: X:343.40, Y:-197.57, Z:7.56 [[ 8.34134917e-01 5.51326242e-01 -1.60721692e-02 3.43400489e+02] [-5.51217528e-01 8.34289697e-01 1.09516392e-02 -1.97568735e+02] [ 1.94467712e-02 -2.75883265e-04 9.99810856e-01 7.56308563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32275509600004 meters 0.01912046092565933 Centerline is valid? [True, True] Translation: X:343.45, Y:-197.61, Z:7.56 [[ 8.35275664e-01 5.49601118e-01 -1.59115253e-02 3.43449865e+02] [-5.49494141e-01 8.35427143e-01 1.08479550e-02 -1.97605882e+02] [ 1.92549683e-02 -3.17742877e-04 9.99814555e-01 7.56410541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38275509600004 meters 0.02038991015091186 Centerline is valid? [True, True] Translation: X:343.50, Y:-197.64, Z:7.56 [[ 8.36453041e-01 5.47801446e-01 -1.61209821e-02 3.43499394e+02] [-5.47691176e-01 8.36608295e-01 1.09970990e-02 -1.97642936e+02] [ 1.95111740e-02 -3.69237282e-04 9.99809571e-01 7.56428433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.442755096 meters 0.01987160746023382 Centerline is valid? [True, True] Translation: X:343.55, Y:-197.68, Z:7.56 [[ 8.37077073e-01 5.46803858e-01 -1.75360904e-02 3.43551502e+02] [-5.46673004e-01 8.37260624e-01 1.19697135e-02 -1.97677298e+02] [ 2.12273635e-02 -4.33065502e-04 9.99774580e-01 7.56382842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.502755096 meters 0.019957813144790285 Centerline is valid? [True, True] Translation: X:343.60, Y:-197.71, Z:7.56 [[ 8.36876007e-01 5.47085282e-01 -1.83369463e-02 3.43603181e+02] [-5.46942092e-01 8.37076753e-01 1.25243034e-02 -1.97712901e+02] [ 2.22012935e-02 -4.52041263e-04 9.99753419e-01 7.56363808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.562755096 meters 0.020003470836460324 Centerline is valid? [True, True] Translation: X:343.65, Y:-197.75, Z:7.57 [[ 8.37381284e-01 5.46310635e-01 -1.83650449e-02 3.43653809e+02] [-5.46166633e-01 8.37582509e-01 1.25519064e-02 -1.97748652e+02] [ 2.22394803e-02 -4.80356771e-04 9.99752557e-01 7.56509485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.622755096 meters 0.020919747022345187 Centerline is valid? [True, True] Translation: X:343.70, Y:-197.79, Z:7.57 [[ 8.38280038e-01 5.44944945e-01 -1.79327690e-02 3.43703436e+02] [-5.44807172e-01 8.38471673e-01 1.22637647e-02 -1.97785430e+02] [ 2.17191954e-02 -5.10567945e-04 9.99763980e-01 7.56718377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.682755096 meters 0.021240619360150446 Centerline is valid? [True, True] Translation: X:343.75, Y:-197.82, Z:7.57 [[ 8.37958737e-01 5.45458144e-01 -1.73368920e-02 3.43753999e+02] [-5.45329339e-01 8.38137922e-01 1.18632414e-02 -1.97821259e+02] [ 2.10016083e-02 -4.86590941e-04 9.99779323e-01 7.56931906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.742755096 meters 0.020187264023682153 Centerline is valid? [True, True] Translation: X:343.81, Y:-197.86, Z:7.57 [[ 8.36061316e-01 5.48392889e-01 -1.63313955e-02 3.43806350e+02] [-5.48279023e-01 8.36220715e-01 1.11816715e-02 -1.97855415e+02] [ 1.97886004e-02 -3.94401437e-04 9.99804109e-01 7.57214789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.802755096 meters 0.018760651865477217 Centerline is valid? [True, True] Translation: X:343.86, Y:-197.89, Z:7.57 [[ 8.33669211e-01 5.52025442e-01 -1.62344624e-02 3.43859423e+02] [-5.51913538e-01 8.33827209e-01 1.11189834e-02 -1.97887259e+02] [ 1.96746982e-02 -3.09534559e-04 9.99806386e-01 7.57382424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.862755096 meters 0.017791952132970065 Centerline is valid? [True, True] Translation: X:343.91, Y:-197.92, Z:7.58 [[ 8.31944311e-01 5.54627625e-01 -1.60268675e-02 3.43911968e+02] [-5.54518925e-01 8.32098633e-01 1.09830262e-02 -1.97919746e+02] [ 1.94274243e-02 -2.50064834e-04 9.99811239e-01 7.57522232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.922755096 meters 0.01692254766166907 Centerline is valid? [True, True] Translation: X:343.96, Y:-197.95, Z:7.58 [[ 8.30338511e-01 5.57034714e-01 -1.58203919e-02 3.43964662e+02] [-5.56929114e-01 8.30489187e-01 1.08476804e-02 -1.97953032e+02] [ 1.91811990e-02 -1.96409939e-04 9.99816005e-01 7.57711224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.982755096 meters 0.016646503331344716 Centerline is valid? [True, True] Translation: X:344.02, Y:-197.99, Z:7.58 [[ 8.29098872e-01 5.58879233e-01 -1.57817500e-02 3.44015555e+02] [-5.58774368e-01 8.29249044e-01 1.08272019e-02 -1.97986288e+02] [ 1.91380994e-02 -1.58383511e-04 9.99816837e-01 7.57859106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.042755096 meters 0.016724097944583405 Centerline is valid? [True, True] Translation: X:344.07, Y:-198.02, Z:7.58 [[ 8.29392656e-01 5.58427964e-01 -1.63104576e-02 3.44067848e+02] [-5.58315840e-01 8.29552999e-01 1.11912843e-02 -1.98021999e+02] [ 1.97799151e-02 -1.75582212e-04 9.99804343e-01 7.57897461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.102755096 meters 0.01793308336641382 Centerline is valid? [True, True] Translation: X:344.12, Y:-198.06, Z:7.58 [[ 8.31346895e-01 5.55488841e-01 -1.71606389e-02 3.44115480e+02] [-5.55363930e-01 8.31523948e-01 1.17825378e-02 -1.98061436e+02] [ 2.08145505e-02 -2.64976299e-04 9.99783319e-01 7.57955172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.162755096 meters 0.018642553253485055 Centerline is valid? [True, True] Translation: X:344.17, Y:-198.10, Z:7.58 [[ 8.33064410e-01 5.52890965e-01 -1.77558248e-02 3.44165274e+02] [-5.52756503e-01 8.33253539e-01 1.21978755e-02 -1.98099109e+02] [ 2.15391990e-02 -3.46968363e-04 9.99767944e-01 7.58099443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.222755096 meters 0.02091779832422867 Centerline is valid? [True, True] Translation: X:344.21, Y:-198.14, Z:7.58 [[ 8.35350688e-01 5.49408711e-01 -1.84200010e-02 3.44213342e+02] [-5.49262984e-01 8.35553623e-01 1.26616745e-02 -1.98137465e+02] [ 2.23473329e-02 -4.59513753e-04 9.99750162e-01 7.58131108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.282755096 meters 0.021108450849065086 Centerline is valid? [True, True] Translation: X:344.26, Y:-198.17, Z:7.58 [[ 8.36349830e-01 5.47886376e-01 -1.84249786e-02 3.44262782e+02] [-5.47740049e-01 8.36552606e-01 1.26718824e-02 -1.98174291e+02] [ 2.23562156e-02 -5.06028043e-04 9.99749941e-01 7.58362159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.342755096 meters 0.021120925661081327 Centerline is valid? [True, True] Translation: X:344.31, Y:-198.21, Z:7.59 [[ 8.35928438e-01 5.48502717e-01 -1.91941847e-02 3.44313202e+02] [-5.48343895e-01 8.36148613e-01 1.32086936e-02 -1.98211267e+02] [ 2.32941952e-02 -5.16508574e-04 9.99728520e-01 7.58631887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.402755096 meters 0.02042519988804722 Centerline is valid? [True, True] Translation: X:344.37, Y:-198.24, Z:7.59 [[ 8.34897011e-01 5.50034238e-01 -2.02316247e-02 3.44365365e+02] [-5.49857998e-01 8.35141952e-01 1.39320532e-02 -1.98244476e+02] [ 2.45593848e-02 -5.07308886e-04 9.99698244e-01 7.58700660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.462755096 meters 0.019316467093823054 Centerline is valid? [True, True] Translation: X:344.42, Y:-198.28, Z:7.59 [[ 8.32990609e-01 5.52854214e-01 -2.18829319e-02 3.44418401e+02] [-5.52648743e-01 8.33277865e-01 1.50786846e-02 -1.98276735e+02] [ 2.65708771e-02 -4.66827896e-04 9.99646823e-01 7.58925533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.522755096 meters 0.0193245415646199 Centerline is valid? [True, True] Translation: X:344.47, Y:-198.31, Z:7.59 [[ 8.31382004e-01 5.55238853e-01 -2.26666946e-02 3.44469089e+02] [-5.55019022e-01 8.31690836e-01 1.56281581e-02 -1.98311384e+02] [ 2.75290428e-02 -4.12522767e-04 9.99620919e-01 7.59217157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.582755096 meters 0.018718546657077294 Centerline is valid? [True, True] Translation: X:344.52, Y:-198.34, Z:7.60 [[ 8.30605769e-01 5.56431917e-01 -2.18535521e-02 3.44522188e+02] [-5.56227817e-01 8.30893127e-01 1.50740596e-02 -1.98344627e+02] [ 2.65456542e-02 -3.65047303e-04 9.99647535e-01 7.59566122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64275509600003 meters 0.018795707473433308 Centerline is valid? [True, True] Translation: X:344.57, Y:-198.38, Z:7.60 [[ 8.30441949e-01 5.56705265e-01 -2.11049063e-02 3.44574135e+02] [-5.56514875e-01 8.30710014e-01 1.45625217e-02 -1.98379505e+02] [ 2.56390895e-02 -3.48134627e-04 9.99671204e-01 7.59834475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70275509600003 meters 0.01949790581769395 Centerline is valid? [True, True] Translation: X:344.62, Y:-198.42, Z:7.60 [[ 8.30985875e-01 5.55927289e-01 -2.01822836e-02 3.44623955e+02] [-5.55752737e-01 8.31230845e-01 1.39347684e-02 -1.98415478e+02] [ 2.45228547e-02 -3.63236376e-04 9.99699204e-01 7.60156727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76275509600003 meters 0.02029230607378404 Centerline is valid? [True, True] Translation: X:344.67, Y:-198.45, Z:7.60 [[ 8.31929969e-01 5.54538225e-01 -1.94906258e-02 3.44674170e+02] [-5.54374863e-01 8.32158158e-01 1.34651895e-02 -1.98451436e+02] [ 2.36862455e-02 -3.96981691e-04 9.99719363e-01 7.60408078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82275509600004 meters 0.02152040188452617 Centerline is valid? [True, True] Translation: X:344.73, Y:-198.49, Z:7.61 [[ 8.33137772e-01 5.52732936e-01 -1.91769169e-02 3.44725085e+02] [-5.52574139e-01 8.33358327e-01 1.32559146e-02 -1.98487422e+02] [ 2.33082240e-02 -4.47334772e-04 9.99728226e-01 7.60508977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.882755096 meters 0.021190730182902268 Centerline is valid? [True, True] Translation: X:344.78, Y:-198.52, Z:7.61 [[ 8.33895968e-01 5.51582650e-01 -1.93415588e-02 3.44776552e+02] [-5.51420624e-01 8.34120100e-01 1.33773917e-02 -1.98521423e+02] [ 2.35119201e-02 -4.90018586e-04 9.99723437e-01 7.60634343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.942755096 meters 0.02438170650696405 Centerline is valid? [True, True] Translation: X:344.82, Y:-198.56, Z:7.61 [[ 8.35490047e-01 5.49141581e-01 -1.99976399e-02 3.44823657e+02] [-5.48967473e-01 8.35729132e-01 1.38394776e-02 -1.98561249e+02] [ 2.43124429e-02 -5.84691926e-04 9.99704238e-01 7.60599860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.002755096 meters 0.02301097343891389 Centerline is valid? [True, True] Translation: X:344.88, Y:-198.59, Z:7.61 [[ 8.36735390e-01 5.47248104e-01 -1.98342942e-02 3.44875831e+02] [-5.47076116e-01 8.36970192e-01 1.37339251e-02 -1.98594135e+02] [ 2.41165775e-02 -6.40792546e-04 9.99708948e-01 7.60715155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.062755096 meters 0.024132544094283278 Centerline is valid? [True, True] Translation: X:344.93, Y:-198.63, Z:7.61 [[ 8.36553033e-01 5.47517977e-01 -2.00770625e-02 3.44925352e+02] [-5.47341631e-01 8.36793670e-01 1.39101754e-02 -1.98630680e+02] [ 2.44164299e-02 -6.47587343e-04 9.99701665e-01 7.60710562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.122755096 meters 0.022302414131188917 Centerline is valid? [True, True] Translation: X:344.98, Y:-198.66, Z:7.61 [[ 8.34706824e-01 5.50283596e-01 -2.12716462e-02 3.44979063e+02] [-5.50086325e-01 8.34977602e-01 1.47458404e-02 -1.98663223e+02] [ 2.58757422e-02 -6.07211950e-04 9.99664983e-01 7.60675039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.182755096 meters 0.021823077253797576 Centerline is valid? [True, True] Translation: X:345.03, Y:-198.70, Z:7.61 [[ 8.33702060e-01 5.51789861e-01 -2.16523689e-02 3.45031070e+02] [-5.51585840e-01 8.33982985e-01 1.50146942e-02 -1.98697584e+02] [ 2.63426633e-02 -5.74641398e-04 9.99652807e-01 7.60698213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.242755096 meters 0.020587707982249147 Centerline is valid? [True, True] Translation: X:345.08, Y:-198.73, Z:7.61 [[ 8.31045486e-01 5.55757973e-01 -2.22817400e-02 3.45083078e+02] [-5.55543120e-01 8.31344006e-01 1.54591690e-02 -1.98729721e+02] [ 2.71153474e-02 -4.68805270e-04 9.99632201e-01 7.60699047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.302755096 meters 0.019634331916491873 Centerline is valid? [True, True] Translation: X:345.13, Y:-198.76, Z:7.61 [[ 8.29071458e-01 5.58685655e-01 -2.26021378e-02 3.45134206e+02] [-5.58465518e-01 8.29379402e-01 1.56867084e-02 -1.98763773e+02] [ 2.75096865e-02 -3.82887629e-04 9.99621464e-01 7.60820953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.362755096 meters 0.019138288913079213 Centerline is valid? [True, True] Translation: X:345.19, Y:-198.80, Z:7.61 [[ 8.28650148e-01 5.59319984e-01 -2.23626464e-02 3.45186386e+02] [-5.59104536e-01 8.28951762e-01 1.55272004e-02 -1.98799089e+02] [ 2.72222286e-02 -3.63559802e-04 9.99629340e-01 7.61028120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.422755096 meters 0.01982979741744936 Centerline is valid? [True, True] Translation: X:345.24, Y:-198.84, Z:7.61 [[ 8.28917384e-01 5.58913368e-01 -2.26233806e-02 3.45235366e+02] [-5.58692445e-01 8.29225962e-01 1.57180107e-02 -1.98835948e+02] [ 2.75449008e-02 -3.89420499e-04 9.99620491e-01 7.61085348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.482755096 meters 0.021139303609204036 Centerline is valid? [True, True] Translation: X:345.28, Y:-198.87, Z:7.61 [[ 8.30508401e-01 5.56556285e-01 -2.23807354e-02 3.45280224e+02] [-5.56339099e-01 8.30809776e-01 1.55538798e-02 -1.98872443e+02] [ 2.72507433e-02 -4.66349671e-04 9.99628521e-01 7.61269974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.542755096 meters 0.020501282383230495 Centerline is valid? [True, True] Translation: X:345.33, Y:-198.91, Z:7.62 [[ 8.31366042e-01 5.55316344e-01 -2.13134488e-02 3.45331199e+02] [-5.55118963e-01 8.31639059e-01 1.48125460e-02 -1.98907706e+02] [ 2.59507454e-02 -4.83148161e-04 9.99663106e-01 7.61628195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.602755096 meters 0.021890396140115148 Centerline is valid? [True, True] Translation: X:345.38, Y:-198.95, Z:7.62 [[ 8.32922667e-01 5.53014843e-01 -2.03571592e-02 3.45380428e+02] [-5.52833896e-01 8.33171228e-01 1.41558415e-02 -1.98945437e+02] [ 2.47893898e-02 -5.36593606e-04 9.99692552e-01 7.61801358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.662755096 meters 0.022538965335789553 Centerline is valid? [True, True] Translation: X:345.43, Y:-198.98, Z:7.62 [[ 8.34387920e-01 5.50822498e-01 -1.97831874e-02 3.45430349e+02] [-5.50650809e-01 8.34622205e-01 1.37644592e-02 -1.98982409e+02] [ 2.40932612e-02 -5.91270303e-04 9.99709540e-01 7.61926932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.722755096 meters 0.022123807233761308 Centerline is valid? [True, True] Translation: X:345.48, Y:-199.02, Z:7.62 [[ 8.34233217e-01 5.51061609e-01 -1.96479933e-02 3.45482398e+02] [-5.50892127e-01 8.34464354e-01 1.36786627e-02 -1.99017886e+02] [ 2.39333359e-02 -5.87269965e-04 9.99713384e-01 7.62012971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.782755096 meters 0.021846955027368293 Centerline is valid? [True, True] Translation: X:345.53, Y:-199.05, Z:7.62 [[ 8.32579469e-01 5.53548074e-01 -1.98986905e-02 3.45533513e+02] [-5.53374727e-01 8.32817056e-01 1.38622708e-02 -1.99051738e+02] [ 2.42454022e-02 -5.30009623e-04 9.99705897e-01 7.62041043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.842755096 meters 0.021010476293975157 Centerline is valid? [True, True] Translation: X:345.59, Y:-199.08, Z:7.62 [[ 8.29846434e-01 5.57630157e-01 -2.00873935e-02 3.45586339e+02] [-5.57454512e-01 8.30089411e-01 1.40013187e-02 -1.99083115e+02] [ 2.44818901e-02 -4.21136246e-04 9.99700185e-01 7.61953548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.902755096 meters 0.018694183718360714 Centerline is valid? [True, True] Translation: X:345.64, Y:-199.11, Z:7.62 [[ 8.27526519e-01 5.61048490e-01 -2.06022306e-02 3.45640270e+02] [-5.60864625e-01 8.27782871e-01 1.43663192e-02 -1.99113657e+02] [ 2.51143752e-02 -3.33447770e-04 9.99684529e-01 7.62019824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.962755096 meters 0.019076643788208253 Centerline is valid? [True, True] Translation: X:345.69, Y:-199.15, Z:7.62 [[ 8.26856464e-01 5.62059582e-01 -1.99352593e-02 3.45688442e+02] [-5.61887704e-01 8.27096694e-01 1.39020814e-02 -1.99147646e+02] [ 2.43021852e-02 -2.93648801e-04 9.99704615e-01 7.62096881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.022755096 meters 0.018290504351032327 Centerline is valid? [True, True] Translation: X:345.74, Y:-199.18, Z:7.62 [[ 8.26993741e-01 5.61894256e-01 -1.88731674e-02 3.45741291e+02] [-5.61740152e-01 8.27209021e-01 1.31619427e-02 -1.99181318e+02] [ 2.30076743e-02 -2.83028331e-04 9.99735248e-01 7.62367387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.082755096 meters 0.018508237377115027 Centerline is valid? [True, True] Translation: X:345.79, Y:-199.22, Z:7.63 [[ 8.28633192e-01 5.59510409e-01 -1.77520430e-02 3.45790841e+02] [-5.59373357e-01 8.28823256e-01 1.23877978e-02 -1.99218754e+02] [ 2.16444079e-02 -3.34920597e-04 9.99765676e-01 7.62584193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14275509600003 meters 0.021546829031557135 Centerline is valid? [True, True] Translation: X:345.84, Y:-199.26, Z:7.63 [[ 8.30249227e-01 5.57163720e-01 -1.59628101e-02 3.45836254e+02] [-5.57052351e-01 8.30402589e-01 1.11453430e-02 -1.99260929e+02] [ 1.94653396e-02 -3.61291505e-04 9.99810467e-01 7.62883051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20275509600003 meters 0.020346187447574444 Centerline is valid? [True, True] Translation: X:345.89, Y:-199.29, Z:7.63 [[ 8.30770389e-01 5.56411328e-01 -1.50663199e-02 3.45888073e+02] [-5.56311894e-01 8.30906916e-01 1.05249239e-02 -1.99294368e+02] [ 1.83748963e-02 -3.62222210e-04 9.99831102e-01 7.63134013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26275509600003 meters 0.021143744323396448 Centerline is valid? [True, True] Translation: X:345.94, Y:-199.33, Z:7.63 [[ 8.31074969e-01 5.55998470e-01 -1.34200239e-02 3.45937653e+02] [-5.55919446e-01 8.31183247e-01 9.37977124e-03 -1.99330585e+02] [ 1.63696375e-02 -3.34840854e-04 9.99865952e-01 7.63338892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32275509600004 meters 0.02098042730185756 Centerline is valid? [True, True] Translation: X:345.99, Y:-199.37, Z:7.63 [[ 8.31331028e-01 5.55619486e-01 -1.32555444e-02 3.45987964e+02] [-5.55542261e-01 8.31436630e-01 9.26966171e-03 -1.99367539e+02] [ 1.61715499e-02 -3.42142283e-04 9.99869173e-01 7.63470587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.382755096 meters 0.020658209057381006 Centerline is valid? [True, True] Translation: X:346.04, Y:-199.40, Z:7.63 [[ 8.31305487e-01 5.55638750e-01 -1.40273693e-02 3.46039480e+02] [-5.55552169e-01 8.31423746e-01 9.81539526e-03 -1.99403943e+02] [ 1.71165018e-02 -3.66656521e-04 9.99853435e-01 7.63367399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.442755096 meters 0.020994861714976137 Centerline is valid? [True, True] Translation: X:346.09, Y:-199.44, Z:7.63 [[ 8.31114552e-01 5.55893311e-01 -1.52061686e-02 3.46090000e+02] [-5.55791463e-01 8.31253552e-01 1.06480931e-02 -1.99441432e+02] [ 1.85593854e-02 -3.98326494e-04 9.99827680e-01 7.63338402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.502755096 meters 0.021043957356407256 Centerline is valid? [True, True] Translation: X:346.14, Y:-199.48, Z:7.63 [[ 8.30867011e-01 5.56243196e-01 -1.59222211e-02 3.46141592e+02] [-5.56131442e-01 8.31019455e-01 1.11573174e-02 -1.99478080e+02] [ 1.94378573e-02 -4.15399191e-04 9.99810981e-01 7.63398789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.562755096 meters 0.020638519561958772 Centerline is valid? [True, True] Translation: X:346.19, Y:-199.51, Z:7.64 [[ 8.29807893e-01 5.57815124e-01 -1.61600814e-02 3.46193858e+02] [-5.57700152e-01 8.29965140e-01 1.13316396e-02 -1.99512236e+02] [ 1.97332642e-02 -3.90604138e-04 9.99805204e-01 7.63506091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.622755096 meters 0.01982385684316597 Centerline is valid? [True, True] Translation: X:346.25, Y:-199.55, Z:7.64 [[ 8.28130036e-01 5.60284198e-01 -1.68005993e-02 3.46247093e+02] [-5.60160292e-01 8.28300365e-01 1.17878508e-02 -1.99545148e+02] [ 2.05204890e-02 -3.50844717e-04 9.99789371e-01 7.63588338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.682755096 meters 0.019571624509533463 Centerline is valid? [True, True] Translation: X:346.30, Y:-199.58, Z:7.64 [[ 8.27209918e-01 5.61621904e-01 -1.74524775e-02 3.46298139e+02] [-5.61488346e-01 8.27393936e-01 1.22520622e-02 -1.99579190e+02] [ 2.13211005e-02 -3.35664679e-04 9.99772623e-01 7.63616752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.742755096 meters 0.01947149823988073 Centerline is valid? [True, True] Translation: X:346.35, Y:-199.61, Z:7.64 [[ 8.26764984e-01 5.62250597e-01 -1.82736807e-02 3.46348162e+02] [-5.62104250e-01 8.26966839e-01 1.28319777e-02 -1.99611817e+02] [ 2.23265151e-02 -3.37316278e-04 9.99750675e-01 7.63656942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.802755096 meters 0.019046909702391097 Centerline is valid? [True, True] Translation: X:346.40, Y:-199.65, Z:7.64 [[ 8.26474270e-01 5.62686338e-01 -1.80101800e-02 3.46400441e+02] [-5.62544278e-01 8.26670419e-01 1.26472748e-02 -1.99645652e+02] [ 2.20049318e-02 -3.21123479e-04 9.99757811e-01 7.63880869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.862755096 meters 0.019542439296954678 Centerline is valid? [True, True] Translation: X:346.45, Y:-199.68, Z:7.64 [[ 8.26325943e-01 5.62921433e-01 -1.74612582e-02 3.46448670e+02] [-5.62787833e-01 8.26510353e-01 1.22674783e-02 -1.99678995e+02] [ 2.13375371e-02 -3.09951892e-04 9.99772281e-01 7.63992576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.922755096 meters 0.018998185688610916 Centerline is valid? [True, True] Translation: X:346.50, Y:-199.71, Z:7.64 [[ 8.26447011e-01 5.62730080e-01 -1.78940110e-02 3.46499956e+02] [-5.62589755e-01 8.26640644e-01 1.25703620e-02 -1.99712439e+02] [ 2.18656376e-02 -3.21750855e-04 9.99760867e-01 7.64095953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.982755096 meters 0.01981941390493003 Centerline is valid? [True, True] Translation: X:346.55, Y:-199.75, Z:7.64 [[ 8.26827378e-01 5.62176310e-01 -1.77280149e-02 3.46546618e+02] [-5.62038436e-01 8.27017342e-01 1.24543832e-02 -1.99747627e+02] [ 2.16629349e-02 -3.33799221e-04 9.99765275e-01 7.64156654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.042755096 meters 0.019323353960543115 Centerline is valid? [True, True] Translation: X:346.60, Y:-199.78, Z:7.64 [[ 8.27278324e-01 5.61489624e-01 -1.84384658e-02 3.46596823e+02] [-5.61340335e-01 8.27483697e-01 1.29521743e-02 -1.99781442e+02] [ 2.25300413e-02 -3.64798472e-04 9.99746100e-01 7.64236281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.102755096 meters 0.019341951815441974 Centerline is valid? [True, True] Translation: X:346.65, Y:-199.82, Z:7.64 [[ 8.27312641e-01 5.61442751e-01 -1.83257091e-02 3.46645748e+02] [-5.61295271e-01 8.27515502e-01 1.28729679e-02 -1.99816160e+02] [ 2.23922428e-02 -3.63835223e-04 9.99749196e-01 7.64366483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.162755096 meters 0.019813547720582185 Centerline is valid? [True, True] Translation: X:346.69, Y:-199.85, Z:7.65 [[ 8.27405940e-01 5.61305733e-01 -1.83107552e-02 3.46693604e+02] [-5.61158467e-01 8.27608445e-01 1.28621957e-02 -1.99850932e+02] [ 2.23737598e-02 -3.67021799e-04 9.99749609e-01 7.64504882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.222755096 meters 0.018522951248524027 Centerline is valid? [True, True] Translation: X:346.75, Y:-199.88, Z:7.65 [[ 8.26880631e-01 5.62096945e-01 -1.77608270e-02 3.46746096e+02] [-5.61958577e-01 8.27071286e-01 1.24757836e-02 -1.99884895e+02] [ 2.17020699e-02 -3.35134735e-04 9.99764426e-01 7.64755486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.282755096 meters 0.018780600062811157 Centerline is valid? [True, True] Translation: X:346.80, Y:-199.92, Z:7.65 [[ 8.26731778e-01 5.62319099e-01 -1.76578198e-02 3.46796497e+02] [-5.62182223e-01 8.26920262e-01 1.24108243e-02 -1.99921398e+02] [ 2.15804525e-02 -3.33510438e-04 9.99767059e-01 7.64834451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.342755096 meters 0.019324921001597897 Centerline is valid? [True, True] Translation: X:346.85, Y:-199.96, Z:7.65 [[ 8.27242680e-01 5.61515300e-01 -1.92383788e-02 3.46846141e+02] [-5.61352393e-01 8.27466261e-01 1.35306534e-02 -1.99958075e+02] [ 2.35167782e-02 -3.93624011e-04 9.99723365e-01 7.64697645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.402755096 meters 0.01851391041661722 Centerline is valid? [True, True] Translation: X:346.90, Y:-199.99, Z:7.65 [[ 8.26667251e-01 5.62340557e-01 -1.98583462e-02 3.46898008e+02] [-5.62167007e-01 8.26905646e-01 1.39753121e-02 -1.99993616e+02] [ 2.42798634e-02 -3.89225831e-04 9.99705125e-01 7.64729979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.462755096 meters 0.018307682226736684 Centerline is valid? [True, True] Translation: X:346.95, Y:-200.03, Z:7.65 [[ 8.25397518e-01 5.64195257e-01 -2.00661276e-02 3.46948931e+02] [-5.64018394e-01 8.25641322e-01 1.41300799e-02 -2.00028183e+02] [ 2.45395481e-02 -3.45267806e-04 9.99698800e-01 7.64806421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.522755096 meters 0.01745164644483655 Centerline is valid? [True, True] Translation: X:347.00, Y:-200.06, Z:7.65 [[ 8.23996654e-01 5.66239118e-01 -2.00692551e-02 3.46999829e+02] [-5.66062709e-01 8.24240971e-01 1.41361617e-02 -2.00062062e+02] [ 2.45463501e-02 -2.87693019e-04 9.99698652e-01 7.65007294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.582755096 meters 0.016548520562732528 Centerline is valid? [True, True] Translation: X:347.05, Y:-200.09, Z:7.65 [[ 8.22049995e-01 5.69065308e-01 -1.99619782e-02 3.47047476e+02] [-5.68891607e-01 8.22292305e-01 1.40607764e-02 -2.00094120e+02] [ 2.44160811e-02 -2.02459303e-04 9.99701863e-01 7.65142391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64275509600003 meters 0.015792955381393678 Centerline is valid? [True, True] Translation: X:347.10, Y:-200.13, Z:7.65 [[ 8.20311388e-01 5.71587439e-01 -1.94171763e-02 3.47096058e+02] [-5.71423857e-01 8.20541154e-01 1.36744468e-02 -2.00126927e+02] [ 2.37487343e-02 -1.21866708e-04 9.99717952e-01 7.65350950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70275509600003 meters 0.015526402522036617 Centerline is valid? [True, True] Translation: X:347.14, Y:-200.16, Z:7.66 [[ 8.19729867e-01 5.72468504e-01 -1.79654471e-02 3.47143343e+02] [-5.72328726e-01 8.19926707e-01 1.26500903e-02 -2.00160472e+02] [ 2.19721282e-02 -8.75153827e-05 9.99758580e-01 7.65656669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76275509600003 meters 0.015508233844176525 Centerline is valid? [True, True] Translation: X:347.19, Y:-200.20, Z:7.66 [[ 8.20147936e-01 5.71904632e-01 -1.68064027e-02 3.47190931e+02] [-5.71782234e-01 8.20320110e-01 1.18319001e-02 -2.00196048e+02] [ 2.05533486e-02 -9.43059271e-05 9.99788753e-01 7.65913056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82275509600004 meters 0.016070497154780948 Centerline is valid? [True, True] Translation: X:347.24, Y:-200.23, Z:7.66 [[ 8.21626031e-01 5.69787211e-01 -1.65287705e-02 3.47236492e+02] [-5.69668414e-01 8.21792257e-01 1.16354936e-02 -2.00233270e+02] [ 2.02129710e-02 -1.44105924e-04 9.99795687e-01 7.66011961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.882755096 meters 0.016624455092009296 Centerline is valid? [True, True] Translation: X:347.28, Y:-200.27, Z:7.66 [[ 8.23249750e-01 5.67438198e-01 -1.65450887e-02 3.47284653e+02] [-5.67318700e-01 8.23415964e-01 1.16465597e-02 -2.00272366e+02] [ 2.02321930e-02 -2.01689116e-04 9.99795288e-01 7.66111368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.942755096 meters 0.017708034552786786 Centerline is valid? [True, True] Translation: X:347.33, Y:-200.31, Z:7.66 [[ 8.25444435e-01 5.64256796e-01 -1.59922719e-02 3.47332486e+02] [-5.64144429e-01 8.25599292e-01 1.12637123e-02 -2.00312173e+02] [ 1.95588346e-02 -2.75617537e-04 9.99808670e-01 7.66210369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.002755096 meters 0.018503918621329503 Centerline is valid? [True, True] Translation: X:347.38, Y:-200.35, Z:7.66 [[ 8.26416921e-01 5.62839683e-01 -1.57023703e-02 3.47381371e+02] [-5.62730976e-01 8.26566026e-01 1.10658194e-02 -2.00350526e+02] [ 1.92073281e-02 -3.08770212e-04 9.99815475e-01 7.66284791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.062755096 meters 0.019493214322858544 Centerline is valid? [True, True] Translation: X:347.43, Y:-200.39, Z:7.66 [[ 8.27305823e-01 5.61541308e-01 -1.53764314e-02 3.47429721e+02] [-5.61436730e-01 8.27448636e-01 1.08421573e-02 -2.00388724e+02] [ 1.88115264e-02 -3.36886528e-04 9.99822991e-01 7.66362765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.122755096 meters 0.01948972071701086 Centerline is valid? [True, True] Translation: X:347.48, Y:-200.42, Z:7.66 [[ 8.26951326e-01 5.62053312e-01 -1.57346228e-02 3.47480355e+02] [-5.61943830e-01 8.27100938e-01 1.10982019e-02 -2.00422648e+02] [ 1.92519025e-02 -3.35698590e-04 9.99814609e-01 7.66391998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.182755096 meters 0.01873261859617611 Centerline is valid? [True, True] Translation: X:347.53, Y:-200.45, Z:7.66 [[ 8.25781636e-01 5.63765544e-01 -1.59091542e-02 3.47529240e+02] [-5.63653873e-01 8.25934816e-01 1.12245398e-02 -2.00453022e+02] [ 1.94679332e-02 -3.01762439e-04 9.99810436e-01 7.66411009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.242755096 meters 0.017304485501010627 Centerline is valid? [True, True] Translation: X:347.58, Y:-200.49, Z:7.66 [[ 8.24972920e-01 5.64941608e-01 -1.61449821e-02 3.47582379e+02] [-5.64826860e-01 8.25130840e-01 1.13892713e-02 -2.00485911e+02] [ 1.97559958e-02 -2.76720838e-04 9.99804793e-01 7.66436968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.302755096 meters 0.016824561551271842 Centerline is valid? [True, True] Translation: X:347.64, Y:-200.52, Z:7.66 [[ 8.24442339e-01 5.65697627e-01 -1.67637935e-02 3.47635162e+02] [-5.65573921e-01 8.24612709e-01 1.18330164e-02 -2.00520100e+02] [ 2.05175464e-02 -2.74475313e-04 9.99789455e-01 7.66395847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.362755096 meters 0.01691192216552909 Centerline is valid? [True, True] Translation: X:347.69, Y:-200.56, Z:7.66 [[ 8.24087765e-01 5.66203365e-01 -1.71203401e-02 3.47686105e+02] [-5.66074276e-01 8.24265536e-01 1.20929539e-02 -2.00555591e+02] [ 2.09587775e-02 -2.74271232e-04 9.99780303e-01 7.66428439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.422755096 meters 0.016884263350618576 Centerline is valid? [True, True] Translation: X:347.74, Y:-200.59, Z:7.67 [[ 8.23869998e-01 5.66528265e-01 -1.68508637e-02 3.47737425e+02] [-5.66403124e-01 8.24042264e-01 1.19099835e-02 -2.00591206e+02] [ 2.06331662e-02 -2.67896265e-04 9.99787078e-01 7.66565021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.482755096 meters 0.016913306863603598 Centerline is valid? [True, True] Translation: X:347.79, Y:-200.63, Z:7.67 [[ 8.24183609e-01 5.66079649e-01 -1.65894399e-02 3.47788674e+02] [-5.65958114e-01 8.24350503e-01 1.17329105e-02 -2.00628125e+02] [ 2.03172750e-02 -2.81144416e-04 9.99793543e-01 7.66748886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.542755096 meters 0.018302467985393506 Centerline is valid? [True, True] Translation: X:347.84, Y:-200.67, Z:7.67 [[ 8.26129591e-01 5.63248524e-01 -1.61554385e-02 3.47837265e+02] [-5.63132575e-01 8.26287468e-01 1.14334614e-02 -2.00666972e+02] [ 1.97889166e-02 -3.47867066e-04 9.99804120e-01 7.66841944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.602755096 meters 0.019791108911376202 Centerline is valid? [True, True] Translation: X:347.89, Y:-200.71, Z:7.67 [[ 8.27406491e-01 5.61410403e-01 -1.47261109e-02 3.47885066e+02] [-5.61313673e-01 8.27537449e-01 1.04274374e-02 -2.00705763e+02] [ 1.80404801e-02 -3.61762027e-04 9.99837192e-01 7.67014648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.662755096 meters 0.020050104886652407 Centerline is valid? [True, True] Translation: X:347.94, Y:-200.74, Z:7.67 [[ 8.28811995e-01 5.59359054e-01 -1.37158825e-02 3.47935002e+02] [-5.59274781e-01 8.28925390e-01 9.71681720e-03 -2.00743167e+02] [ 1.68046329e-02 -3.82467485e-04 9.99858719e-01 7.67155445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.722755096 meters 0.020711415138734583 Centerline is valid? [True, True] Translation: X:347.98, Y:-200.78, Z:7.67 [[ 8.29116764e-01 5.58911166e-01 -1.35535819e-02 3.47984514e+02] [-5.58828723e-01 8.29227445e-01 9.60744520e-03 -2.00780797e+02] [ 1.66087105e-02 -3.91562989e-04 9.99861989e-01 7.67261846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.782755096 meters 0.019285899601311468 Centerline is valid? [True, True] Translation: X:348.04, Y:-200.82, Z:7.67 [[ 8.27763264e-01 5.60925883e-01 -1.30434982e-02 3.48035886e+02] [-5.60849697e-01 8.27865953e-01 9.25101562e-03 -2.00815130e+02] [ 1.59874021e-02 -3.42208896e-04 9.99872135e-01 7.67351881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.842755096 meters 0.018497927022146594 Centerline is valid? [True, True] Translation: X:348.09, Y:-200.85, Z:7.67 [[ 8.25925319e-01 5.63626736e-01 -1.31251900e-02 3.48086817e+02] [-5.63549841e-01 8.26029549e-01 9.31460774e-03 -2.00848929e+02] [ 1.60917568e-02 -2.96471610e-04 9.99870475e-01 7.67275243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.902755096 meters 0.01883139216406752 Centerline is valid? [True, True] Translation: X:348.14, Y:-200.89, Z:7.67 [[ 8.25023902e-01 5.64939899e-01 -1.33593212e-02 3.48136794e+02] [-5.64860323e-01 8.25132009e-01 9.48598016e-03 -2.00885013e+02] [ 1.63822122e-02 -2.80009876e-04 9.99865763e-01 7.67282500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.962755096 meters 0.017460194917890193 Centerline is valid? [True, True] Translation: X:348.19, Y:-200.92, Z:7.67 [[ 8.24514707e-01 5.65682076e-01 -1.33898503e-02 3.48188671e+02] [-5.65602145e-01 8.24623378e-01 9.51298425e-03 -2.00919907e+02] [ 1.64229082e-02 -2.70267374e-04 9.99865098e-01 7.67294784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.022755096 meters 0.018206931679634327 Centerline is valid? [True, True] Translation: X:348.24, Y:-200.96, Z:7.67 [[ 8.24527232e-01 5.65674774e-01 -1.29187213e-02 3.48237848e+02] [-5.65600273e-01 8.24628389e-01 9.18433495e-03 -2.00958041e+02] [ 1.58484910e-02 -2.65901964e-04 9.99874369e-01 7.67453863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.082755096 meters 0.018862421447899683 Centerline is valid? [True, True] Translation: X:348.29, Y:-201.00, Z:7.68 [[ 8.25139967e-01 5.64797006e-01 -1.21810461e-02 3.48287339e+02] [-5.64730597e-01 8.25229828e-01 8.66507008e-03 -2.00995772e+02] [ 1.49461682e-02 -2.70886190e-04 9.99888263e-01 7.67648305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14275509600003 meters 0.01930814053850571 Centerline is valid? [True, True] Translation: X:348.34, Y:-201.03, Z:7.68 [[ 8.25756824e-01 5.63913466e-01 -1.12814468e-02 3.48337241e+02] [-5.63856366e-01 8.25833840e-01 8.02920315e-03 -2.01032170e+02] [ 1.38443763e-02 -2.69053673e-04 9.99904126e-01 7.67867679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20275509600003 meters 0.019756831428226266 Centerline is valid? [True, True] Translation: X:348.39, Y:-201.07, Z:7.68 [[ 8.26562804e-01 5.62753918e-01 -1.00974523e-02 3.48386969e+02] [-5.62708046e-01 8.26624437e-01 7.18997266e-03 -2.01069090e+02] [ 1.23929861e-02 -2.61046311e-04 9.99923170e-01 7.68091221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26275509600003 meters 0.020922751177956583 Centerline is valid? [True, True] Translation: X:348.44, Y:-201.11, Z:7.68 [[ 8.28056089e-01 5.60595880e-01 -7.44130009e-03 3.48436172e+02] [-5.60570846e-01 8.28089495e-01 5.30232364e-03 -2.01107370e+02] [ 9.13452322e-03 -2.19245482e-04 9.99958255e-01 7.68454404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32275509600004 meters 0.02160169708837714 Centerline is valid? [True, True] Translation: X:348.49, Y:-201.14, Z:7.69 [[ 8.28739112e-01 5.59605545e-01 -5.75491294e-03 3.48486168e+02] [-5.59590566e-01 8.28759074e-01 4.09818945e-03 -2.01144025e+02] [ 7.06280586e-03 -1.75934896e-04 9.99975043e-01 7.68718090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.382755096 meters 0.022005545411932496 Centerline is valid? [True, True] Translation: X:348.54, Y:-201.18, Z:7.69 [[ 8.28321381e-01 5.60229430e-01 -5.16476999e-03 3.48536177e+02] [-5.60217361e-01 8.28337468e-01 3.68067332e-03 -2.01180709e+02] [ 6.34019401e-03 -1.55386595e-04 9.99979889e-01 7.68942332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.442755096 meters 0.021657185478158474 Centerline is valid? [True, True] Translation: X:348.59, Y:-201.21, Z:7.69 [[ 8.27053847e-01 5.62100744e-01 -4.96875610e-03 3.48587259e+02] [-5.62089604e-01 8.27068761e-01 3.54147396e-03 -2.01214912e+02] [ 6.10016810e-03 -1.36103515e-04 9.99981385e-01 7.69067485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.502755096 meters 0.019895339532909593 Centerline is valid? [True, True] Translation: X:348.64, Y:-201.25, Z:7.69 [[ 8.25625684e-01 5.64189647e-01 -5.68082362e-03 3.48640211e+02] [-5.64175117e-01 8.25645216e-01 4.05151008e-03 -2.01247106e+02] [ 6.97616489e-03 -1.40051446e-04 9.99975656e-01 7.68946202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.562755096 meters 0.019393954543106082 Centerline is valid? [True, True] Translation: X:348.69, Y:-201.28, Z:7.69 [[ 8.25118850e-01 5.64927321e-01 -6.00048542e-03 3.48691900e+02] [-5.64911109e-01 8.25140655e-01 4.28228816e-03 -2.01282015e+02] [ 7.37042605e-03 -1.43655804e-04 9.99972828e-01 7.68955738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.622755096 meters 0.01964329396724679 Centerline is valid? [True, True] Translation: X:348.74, Y:-201.32, Z:7.69 [[ 8.24788105e-01 5.65407683e-01 -6.22368539e-03 3.48742553e+02] [-5.65390220e-01 8.24811573e-01 4.44615824e-03 -2.01315712e+02] [ 7.64725976e-03 -1.48327580e-04 9.99970748e-01 7.69041724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.682755096 meters 0.020480624299589776 Centerline is valid? [True, True] Translation: X:348.79, Y:-201.35, Z:7.69 [[ 8.25081271e-01 5.64970931e-01 -6.98161100e-03 3.48794081e+02] [-5.64948937e-01 8.25110791e-01 4.98807326e-03 -2.01349766e+02] [ 8.57871897e-03 -1.71312107e-04 9.99963187e-01 7.68991634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.742755096 meters 0.021428831712539988 Centerline is valid? [True, True] Translation: X:348.85, Y:-201.39, Z:7.69 [[ 8.25768972e-01 5.63955538e-01 -7.73022495e-03 3.48845032e+02] [-5.63928487e-01 8.25805128e-01 5.52734912e-03 -2.01385420e+02] [ 9.50083855e-03 -2.05019337e-04 9.99954845e-01 7.69002030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.802755096 meters 0.021721286874444145 Centerline is valid? [True, True] Translation: X:348.90, Y:-201.42, Z:7.69 [[ 8.26532056e-01 5.62822208e-01 -8.71336864e-03 3.48897047e+02] [-5.62787731e-01 8.26577946e-01 6.23458292e-03 -2.01419701e+02] [ 1.07112401e-02 -2.49305674e-04 9.99942602e-01 7.68886094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.862755096 meters 0.023083680522555987 Centerline is valid? [True, True] Translation: X:348.95, Y:-201.45, Z:7.69 [[ 8.26972423e-01 5.62161260e-01 -9.55667579e-03 3.48947519e+02] [-5.62119686e-01 8.27027591e-01 6.84274081e-03 -2.01454434e+02] [ 1.17503583e-02 -2.86762352e-04 9.99930921e-01 7.68873861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.922755096 meters 0.0218217606236635 Centerline is valid? [True, True] Translation: X:349.00, Y:-201.49, Z:7.69 [[ 8.26535555e-01 5.62795163e-01 -1.00289607e-02 3.49001552e+02] [-5.62749377e-01 8.26596345e-01 7.18477687e-03 -2.01485240e+02] [ 1.23334599e-02 -2.94682180e-04 9.99923897e-01 7.68904553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.982755096 meters 0.024969130512834566 Centerline is valid? [True, True] Translation: X:349.05, Y:-201.52, Z:7.69 [[ 8.25567987e-01 5.64206712e-01 -1.04060089e-02 3.49049499e+02] [-5.64157470e-01 8.25633516e-01 7.45964670e-03 -2.01523178e+02] [ 1.28003325e-02 -2.87817845e-04 9.99918031e-01 7.69176955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.042755096 meters 0.021742800285761435 Centerline is valid? [True, True] Translation: X:349.10, Y:-201.55, Z:7.69 [[ 8.24315328e-01 5.66023743e-01 -1.10164936e-02 3.49102537e+02] [-5.65968627e-01 8.24388891e-01 7.90378544e-03 -2.01550701e+02] [ 1.35556052e-02 -2.80221742e-04 9.99908079e-01 7.69142984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.102755096 meters 0.02050127420974885 Centerline is valid? [True, True] Translation: X:349.15, Y:-201.58, Z:7.69 [[ 8.23648604e-01 5.66996714e-01 -1.08490989e-02 3.49154413e+02] [-5.66943366e-01 8.23720013e-01 7.78203766e-03 -2.01582292e+02] [ 1.33490096e-02 -2.58839837e-04 9.99910864e-01 7.69282532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.162755096 meters 0.02068273590886797 Centerline is valid? [True, True] Translation: X:349.20, Y:-201.62, Z:7.69 [[ 8.23380364e-01 5.67384320e-01 -1.09457533e-02 3.49202258e+02] [-5.67330044e-01 8.23453076e-01 7.85195181e-03 -2.01615091e+02] [ 1.34683886e-02 -2.55288216e-04 9.99909265e-01 7.69480047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.222755096 meters 0.020263396040873394 Centerline is valid? [True, True] Translation: X:349.25, Y:-201.65, Z:7.70 [[ 8.23396948e-01 5.67363506e-01 -1.07758078e-02 3.49252353e+02] [-5.67310928e-01 8.23467419e-01 7.72791596e-03 -2.01649389e+02] [ 1.32580641e-02 -2.49908886e-04 9.99912077e-01 7.69599927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.282755096 meters 0.020554830171843518 Centerline is valid? [True, True] Translation: X:349.30, Y:-201.69, Z:7.70 [[ 8.23943516e-01 5.66568614e-01 -1.08207350e-02 3.49302958e+02] [-5.66515552e-01 8.24014525e-01 7.75838722e-03 -2.01685534e+02] [ 1.33121015e-02 -2.62358201e-04 9.99911356e-01 7.69729103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.342755096 meters 0.02101327552468238 Centerline is valid? [True, True] Translation: X:349.35, Y:-201.72, Z:7.70 [[ 8.24494678e-01 5.65760719e-01 -1.11055989e-02 3.49352157e+02] [-5.65704668e-01 8.24569419e-01 7.96883472e-03 -2.01721651e+02] [ 1.36657909e-02 -2.87772685e-04 9.99906577e-01 7.69826326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.402755096 meters 0.021317748733467413 Centerline is valid? [True, True] Translation: X:349.40, Y:-201.76, Z:7.70 [[ 8.25214714e-01 5.64707017e-01 -1.12544057e-02 3.49402374e+02] [-5.64649365e-01 8.25291397e-01 8.07493616e-03 -2.01758135e+02] [ 1.38481373e-02 -3.08763066e-04 9.99904062e-01 7.69904461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.462755096 meters 0.02154327509724216 Centerline is valid? [True, True] Translation: X:349.45, Y:-201.80, Z:7.70 [[ 8.25614356e-01 5.64099333e-01 -1.23644120e-02 3.49452799e+02] [-5.64029591e-01 8.25706859e-01 8.87716366e-03 -2.01795229e+02] [ 1.52169819e-02 -3.55219484e-04 9.99884152e-01 7.69847937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.522755096 meters 0.022321362826926792 Centerline is valid? [True, True] Translation: X:349.50, Y:-201.83, Z:7.70 [[ 8.25426225e-01 5.64342626e-01 -1.37458129e-02 3.49501740e+02] [-5.64256352e-01 8.25540577e-01 9.87547936e-03 -2.01834136e+02] [ 1.69208803e-02 -3.95317413e-04 9.99856754e-01 7.69814943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.582755096 meters 0.023253205653144593 Centerline is valid? [True, True] Translation: X:349.55, Y:-201.87, Z:7.70 [[ 8.25140124e-01 5.64745961e-01 -1.43448658e-02 3.49547664e+02] [-5.64651939e-01 8.25264704e-01 1.03129149e-02 -2.01871391e+02] [ 1.76624884e-02 -4.09743599e-04 9.99843922e-01 7.69864363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64275509600003 meters 0.021863781016587817 Centerline is valid? [True, True] Translation: X:349.60, Y:-201.91, Z:7.70 [[ 8.24961679e-01 5.64985601e-01 -1.51491905e-02 3.49598702e+02] [-5.64880796e-01 8.25100653e-01 1.08902956e-02 -2.01908371e+02] [ 1.86524672e-02 -4.26589723e-04 9.99825937e-01 7.69958509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70275509600003 meters 0.022203096132081206 Centerline is valid? [True, True] Translation: X:349.65, Y:-201.95, Z:7.70 [[ 8.25177405e-01 5.64662475e-01 -1.54447279e-02 3.49646995e+02] [-5.64553340e-01 8.25321809e-01 1.11102245e-02 -2.01947148e+02] [ 1.90203977e-02 -4.48533458e-04 9.99818995e-01 7.70050689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76275509600003 meters 0.02244979375970985 Centerline is valid? [True, True] Translation: X:349.70, Y:-201.99, Z:7.70 [[ 8.25362367e-01 5.64389275e-01 -1.55469828e-02 3.49695420e+02] [-5.64278518e-01 8.25508650e-01 1.11902998e-02 -2.01986772e+02] [ 1.91498540e-02 -4.63223887e-04 9.99816517e-01 7.70208563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82275509600004 meters 0.022402913455429874 Centerline is valid? [True, True] Translation: X:349.74, Y:-202.03, Z:7.70 [[ 8.24863671e-01 5.65129130e-01 -1.51324551e-02 3.49744526e+02] [-5.65024210e-01 8.25002348e-01 1.08980874e-02 -2.02025709e+02] [ 1.86431376e-02 -4.39232901e-04 9.99826105e-01 7.70358417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.882755096 meters 0.022507584215218566 Centerline is valid? [True, True] Translation: X:349.79, Y:-202.06, Z:7.70 [[ 8.24288526e-01 5.65968450e-01 -1.51043041e-02 3.49794294e+02] [-5.65864019e-01 8.24426792e-01 1.08800900e-02 -2.02063048e+02] [ 1.86101807e-02 -4.21351126e-04 9.99826727e-01 7.70496805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.942755096 meters 0.020083828299142542 Centerline is valid? [True, True] Translation: X:349.85, Y:-202.10, Z:7.71 [[ 8.21899964e-01 5.69445061e-01 -1.45866944e-02 3.49846297e+02] [-5.69348107e-01 8.22029324e-01 1.05129865e-02 -2.02097054e+02] [ 1.79772587e-02 -3.35716372e-04 9.99838340e-01 7.70760873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.002755096 meters 0.01923736313986488 Centerline is valid? [True, True] Translation: X:349.90, Y:-202.13, Z:7.71 [[ 8.19469209e-01 5.72941685e-01 -1.44236659e-02 3.49896370e+02] [-5.72847314e-01 8.19596094e-01 1.04018033e-02 -2.02131892e+02] [ 1.77812069e-02 -2.61399255e-04 9.99841868e-01 7.70873276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.062755096 meters 0.018542932471260168 Centerline is valid? [True, True] Translation: X:349.95, Y:-202.17, Z:7.71 [[ 8.17882773e-01 5.75196094e-01 -1.47385148e-02 3.49946661e+02] [-5.75097856e-01 8.18015529e-01 1.06325097e-02 -2.02167546e+02] [ 1.81721120e-02 -2.20058243e-04 9.99834849e-01 7.70993212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.122755096 meters 0.01863849003706007 Centerline is valid? [True, True] Translation: X:350.00, Y:-202.20, Z:7.71 [[ 8.15821234e-01 5.78083079e-01 -1.59896214e-02 3.49995708e+02] [-5.77967864e-01 8.15977894e-01 1.15423393e-02 -2.02204124e+02] [ 1.97196086e-02 -1.74998202e-04 9.99805534e-01 7.70904745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.182755096 meters 0.017586127372555327 Centerline is valid? [True, True] Translation: X:350.04, Y:-202.24, Z:7.71 [[ 8.14828463e-01 5.79486730e-01 -1.58020574e-02 3.50042522e+02] [-5.79374355e-01 8.14981662e-01 1.14126172e-02 -2.02239847e+02] [ 1.94918473e-02 -1.44018503e-04 9.99810006e-01 7.71096460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.242755096 meters 0.01737058606012324 Centerline is valid? [True, True] Translation: X:350.09, Y:-202.28, Z:7.71 [[ 8.14193926e-01 5.80391458e-01 -1.52972624e-02 3.50091622e+02] [-5.80286322e-01 8.14337609e-01 1.10473058e-02 -2.02278315e+02] [ 1.88688980e-02 -1.17857136e-04 9.99821960e-01 7.71244383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.302755096 meters 0.017472342044517274 Centerline is valid? [True, True] Translation: X:350.14, Y:-202.32, Z:7.71 [[ 8.14185542e-01 5.80428868e-01 -1.42909852e-02 3.50140740e+02] [-5.80337019e-01 8.14310946e-01 1.03260870e-02 -2.02316939e+02] [ 1.76308647e-02 -1.13762962e-04 9.99844558e-01 7.71455805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.362755096 meters 0.017820844235099092 Centerline is valid? [True, True] Translation: X:350.19, Y:-202.36, Z:7.72 [[ 8.15250774e-01 5.78945697e-01 -1.37133420e-02 3.50187407e+02] [-5.78860803e-01 8.15366089e-01 9.91519519e-03 -2.02357402e+02] [ 1.69217536e-02 -1.45254375e-04 9.99856806e-01 7.71656980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.422755096 meters 0.018570184035565283 Centerline is valid? [True, True] Translation: X:350.23, Y:-202.40, Z:7.72 [[ 8.16413033e-01 5.77290905e-01 -1.43168274e-02 3.50234221e+02] [-5.77198016e-01 8.16538532e-01 1.03574310e-02 -2.02397220e+02] [ 1.76694919e-02 -1.92297254e-04 9.99843864e-01 7.71630149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.482755096 meters 0.018341653197146864 Centerline is valid? [True, True] Translation: X:350.29, Y:-202.43, Z:7.72 [[ 8.16524504e-01 5.77113137e-01 -1.51050112e-02 3.50285442e+02] [-5.77009640e-01 8.16664180e-01 1.09312506e-02 -2.02433211e+02] [ 1.86442899e-02 -2.09896886e-04 9.99826158e-01 7.71562552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.542755096 meters 0.0184471597681071 Centerline is valid? [True, True] Translation: X:350.33, Y:-202.47, Z:7.72 [[ 8.15857893e-01 5.78045596e-01 -1.54656682e-02 3.50334907e+02] [-5.77937121e-01 8.16004442e-01 1.11998021e-02 -2.02468285e+02] [ 1.90940502e-02 -1.99263223e-04 9.99817672e-01 7.71638600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.602755096 meters 0.018257786835891923 Centerline is valid? [True, True] Translation: X:350.39, Y:-202.50, Z:7.72 [[ 8.15652721e-01 5.78313453e-01 -1.62538999e-02 3.50386724e+02] [-5.78193557e-01 8.15814628e-01 1.17772477e-02 -2.02504525e+02] [ 2.00711101e-02 -2.08243912e-04 9.99798533e-01 7.71682116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.662755096 meters 0.018117216799671928 Centerline is valid? [True, True] Translation: X:350.44, Y:-202.54, Z:7.72 [[ 8.15419738e-01 5.78614756e-01 -1.71934290e-02 3.50437736e+02] [-5.78480483e-01 8.15600954e-01 1.24665404e-02 -2.02541076e+02] [ 2.12363013e-02 -2.19399962e-04 9.99774460e-01 7.71661439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.722755096 meters 0.018167433244440926 Centerline is valid? [True, True] Translation: X:350.49, Y:-202.58, Z:7.72 [[ 8.15463439e-01 5.78529269e-01 -1.79795499e-02 3.50488501e+02] [-5.78382215e-01 8.15661589e-01 1.30455368e-02 -2.02579074e+02] [ 2.22124531e-02 -2.39106447e-04 9.99753244e-01 7.71740708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.782755096 meters 0.01858375954776396 Centerline is valid? [True, True] Translation: X:350.54, Y:-202.62, Z:7.72 [[ 8.15749669e-01 5.78115847e-01 -1.82905651e-02 3.50537611e+02] [-5.77963364e-01 8.15954655e-01 1.32797145e-02 -2.02616191e+02] [ 2.26014851e-02 -2.61646153e-04 9.99744520e-01 7.71815125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.842755096 meters 0.018785668983324826 Centerline is valid? [True, True] Translation: X:350.59, Y:-202.65, Z:7.72 [[ 8.16639551e-01 5.76872235e-01 -1.78400640e-02 3.50585766e+02] [-5.76726753e-01 8.16834340e-01 1.29581653e-02 -2.02652377e+02] [ 2.20475827e-02 -2.93308086e-04 9.99756879e-01 7.72012084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.902755096 meters 0.019076055316578085 Centerline is valid? [True, True] Translation: X:350.64, Y:-202.69, Z:7.72 [[ 8.18275839e-01 5.74565419e-01 -1.72982640e-02 3.50635041e+02] [-5.74428103e-01 8.18458588e-01 1.25656387e-02 -2.02690217e+02] [ 2.13776942e-02 -3.45549631e-04 9.99771411e-01 7.72258761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.962755096 meters 0.019830283486307564 Centerline is valid? [True, True] Translation: X:350.68, Y:-202.73, Z:7.72 [[ 8.19630947e-01 5.72656281e-01 -1.64284753e-02 3.50684307e+02] [-5.72531907e-01 8.19795486e-01 1.19405409e-02 -2.02728622e+02] [ 2.03058156e-02 -3.81010542e-04 9.99793743e-01 7.72479239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.022755096 meters 0.021090798733341846 Centerline is valid? [True, True] Translation: X:350.73, Y:-202.77, Z:7.73 [[ 8.20680286e-01 5.71182291e-01 -1.53185862e-02 3.50732546e+02] [-5.71073784e-01 8.20823145e-01 1.11399686e-02 -2.02766595e+02] [ 1.89368029e-02 -3.94309626e-04 9.99820605e-01 7.72702002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.082755096 meters 0.020876071858704624 Centerline is valid? [True, True] Translation: X:350.78, Y:-202.80, Z:7.73 [[ 8.20517344e-01 5.71411702e-01 -1.54904505e-02 3.50783815e+02] [-5.71300669e-01 8.20663456e-01 1.12711242e-02 -2.02803619e+02] [ 1.91528989e-02 -3.98448183e-04 9.99816487e-01 7.72798383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14275509600003 meters 0.020513313502555672 Centerline is valid? [True, True] Translation: X:350.83, Y:-202.84, Z:7.73 [[ 8.19591685e-01 5.72734474e-01 -1.56426302e-02 3.50834899e+02] [-5.72621347e-01 8.19740862e-01 1.13891453e-02 -2.02839789e+02] [ 1.93458594e-02 -3.77144835e-04 9.99812780e-01 7.72845855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20275509600003 meters 0.01892783673644261 Centerline is valid? [True, True] Translation: X:350.89, Y:-202.87, Z:7.73 [[ 8.17377639e-01 5.75871062e-01 -1.63191870e-02 3.50887821e+02] [-5.75748509e-01 8.17540469e-01 1.18842402e-02 -2.02873456e+02] [ 2.01853858e-02 -3.18164607e-04 9.99796204e-01 7.72857681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26275509600003 meters 0.018052658951880733 Centerline is valid? [True, True] Translation: X:350.94, Y:-202.91, Z:7.73 [[ 8.15608193e-01 5.78364351e-01 -1.66719367e-02 3.50939812e+02] [-5.78236899e-01 8.15778529e-01 1.21441404e-02 -2.02907344e+02] [ 2.06243459e-02 -2.64531368e-04 9.99787261e-01 7.72911504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32275509600004 meters 0.017546735947505825 Centerline is valid? [True, True] Translation: X:350.99, Y:-202.94, Z:7.73 [[ 8.14839754e-01 5.79448808e-01 -1.65908055e-02 3.50990905e+02] [-5.79322676e-01 8.15008602e-01 1.20919755e-02 -2.02943291e+02] [ 2.05283300e-02 -2.41592450e-04 9.99789242e-01 7.73076132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.382755096 meters 0.017643718320236253 Centerline is valid? [True, True] Translation: X:351.04, Y:-202.98, Z:7.73 [[ 8.14602470e-01 5.79776748e-01 -1.67850570e-02 3.51040509e+02] [-5.79647564e-01 8.14775345e-01 1.22408384e-02 -2.02981133e+02] [ 2.07730041e-02 -2.41999759e-04 9.99784189e-01 7.73174669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.442755096 meters 0.01754494634990811 Centerline is valid? [True, True] Translation: X:351.09, Y:-203.02, Z:7.73 [[ 8.14457931e-01 5.79979996e-01 -1.67774519e-02 3.51091877e+02] [-5.79850814e-01 8.14630680e-01 1.22428916e-02 -2.03018169e+02] [ 2.07680593e-02 -2.42901067e-04 9.99784291e-01 7.73379153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.502755096 meters 0.017296710719425862 Centerline is valid? [True, True] Translation: X:351.14, Y:-203.05, Z:7.73 [[ 8.14269943e-01 5.80236871e-01 -1.70185881e-02 3.51143439e+02] [-5.80103832e-01 8.14447735e-01 1.24270780e-02 -2.03053720e+02] [ 2.10713993e-02 -2.46447958e-04 9.99777943e-01 7.73486135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.562755096 meters 0.01761761101344953 Centerline is valid? [True, True] Translation: X:351.19, Y:-203.09, Z:7.74 [[ 8.14221202e-01 5.80298731e-01 -1.72399732e-02 3.51193778e+02] [-5.80162040e-01 8.14403658e-01 1.25971914e-02 -2.03089751e+02] [ 2.13504314e-02 -2.54922293e-04 9.99772021e-01 7.73643618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.622755096 meters 0.017202928638175373 Centerline is valid? [True, True] Translation: X:351.25, Y:-203.13, Z:7.74 [[ 8.14024948e-01 5.80583459e-01 -1.69184038e-02 3.51245785e+02] [-5.80451722e-01 8.14200703e-01 1.23698485e-02 -2.03125542e+02] [ 2.09567057e-02 -2.49048653e-04 9.99780353e-01 7.73810804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.682755096 meters 0.017927328611840643 Centerline is valid? [True, True] Translation: X:351.30, Y:-203.16, Z:7.74 [[ 8.14922374e-01 5.79329197e-01 -1.67094525e-02 3.51295716e+02] [-5.79200262e-01 8.15093615e-01 1.22252155e-02 -2.03160367e+02] [ 2.07021923e-02 -2.84482373e-04 9.99785646e-01 7.74019461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.742755096 meters 0.018890453598227604 Centerline is valid? [True, True] Translation: X:351.34, Y:-203.20, Z:7.74 [[ 8.15734815e-01 5.78194677e-01 -1.63593289e-02 3.51344901e+02] [-5.78070731e-01 8.15898779e-01 1.19754808e-02 -2.03196873e+02] [ 2.02717157e-02 -3.11967372e-04 9.99794459e-01 7.74164227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.802755096 meters 0.018840231342543416 Centerline is valid? [True, True] Translation: X:351.40, Y:-203.23, Z:7.74 [[ 8.16243072e-01 5.77476057e-01 -1.63905609e-02 3.51395637e+02] [-5.77351361e-01 8.16407552e-01 1.20047887e-02 -2.03233177e+02] [ 2.03138557e-02 -3.35712930e-04 9.99793596e-01 7.74303263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.862755096 meters 0.020409885581722124 Centerline is valid? [True, True] Translation: X:351.45, Y:-203.27, Z:7.75 [[ 8.18055134e-01 5.74914709e-01 -1.60895625e-02 3.51445958e+02] [-5.74793922e-01 8.18213248e-01 1.17910233e-02 -2.03269913e+02] [ 1.99435259e-02 -3.97524405e-04 9.99801029e-01 7.74506240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.922755096 meters 0.021808515385272755 Centerline is valid? [True, True] Translation: X:351.49, Y:-203.30, Z:7.75 [[ 8.19263774e-01 5.73188454e-01 -1.61822482e-02 3.51494633e+02] [-5.73065810e-01 8.19423453e-01 1.18651524e-02 -2.03304157e+02] [ 2.00610821e-02 -4.47196337e-04 9.99798656e-01 7.74595533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.982755096 meters 0.021088231114137056 Centerline is valid? [True, True] Translation: X:351.55, Y:-203.34, Z:7.75 [[ 8.19158927e-01 5.73340424e-01 -1.61062349e-02 3.51547047e+02] [-5.73218965e-01 8.19317133e-01 1.18090568e-02 -2.03335737e+02] [ 1.99667239e-02 -4.41095011e-04 9.99800548e-01 7.74728318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.042755096 meters 0.020718490701194043 Centerline is valid? [True, True] Translation: X:351.60, Y:-203.37, Z:7.75 [[ 8.18772229e-01 5.73897849e-01 -1.59152511e-02 3.51600315e+02] [-5.73779333e-01 8.18926785e-01 1.16703419e-02 -2.03368316e+02] [ 1.97310096e-02 -4.23509668e-04 9.99805235e-01 7.74857993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.102755096 meters 0.020391819672742638 Centerline is valid? [True, True] Translation: X:351.65, Y:-203.40, Z:7.75 [[ 8.18598692e-01 5.74144886e-01 -1.59321045e-02 3.51653095e+02] [-5.74026031e-01 8.18753608e-01 1.16895339e-02 -2.03402618e+02] [ 1.97559542e-02 -4.23594409e-04 9.99804742e-01 7.74973040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.162755096 meters 0.020933130500366347 Centerline is valid? [True, True] Translation: X:351.70, Y:-203.43, Z:7.75 [[ 8.18821711e-01 5.73843585e-01 -1.53148547e-02 3.51704760e+02] [-5.73733574e-01 8.18964812e-01 1.12437725e-02 -2.03434744e+02] [ 1.89944938e-02 -4.19998661e-04 9.99819500e-01 7.75142682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.222755096 meters 0.021899656780837284 Centerline is valid? [True, True] Translation: X:351.76, Y:-203.46, Z:7.75 [[ 8.19415226e-01 5.72992399e-01 -1.54401701e-02 3.51755060e+02] [-5.72880431e-01 8.19560562e-01 1.13356928e-02 -2.03463759e+02] [ 1.91494203e-02 -4.43268006e-04 9.99816535e-01 7.75159589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.282755096 meters 0.023817341614196786 Centerline is valid? [True, True] Translation: X:351.80, Y:-203.50, Z:7.75 [[ 8.21192078e-01 5.70443357e-01 -1.54255489e-02 3.51803882e+02] [-5.70331195e-01 8.21336792e-01 1.13226533e-02 -2.03495250e+02] [ 1.91285032e-02 -5.00401449e-04 9.99816908e-01 7.75255224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.342755096 meters 0.027311948659989597 Centerline is valid? [True, True] Translation: X:351.85, Y:-203.53, Z:7.75 [[ 8.23001487e-01 5.67836902e-01 -1.51593207e-02 3.51850954e+02] [-5.67728176e-01 8.23140906e-01 1.11250517e-02 -2.03531040e+02] [ 1.87954719e-02 -5.49560615e-04 9.99823198e-01 7.75422128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.402755096 meters 0.03016738637951717 Centerline is valid? [True, True] Translation: X:351.90, Y:-203.56, Z:7.76 [[ 8.25086513e-01 5.64808580e-01 -1.49503565e-02 3.51901707e+02] [-5.64702368e-01 8.25221726e-01 1.09698520e-02 -2.03563239e+02] [ 1.85332255e-02 -6.08575220e-04 9.99828060e-01 7.75554959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.462755096 meters 0.030844018045173362 Centerline is valid? [True, True] Translation: X:351.95, Y:-203.59, Z:7.76 [[ 8.25324438e-01 5.64466335e-01 -1.47420720e-02 3.51953101e+02] [-5.64363023e-01 8.25455867e-01 1.08161673e-02 -2.03590929e+02] [ 1.82742921e-02 -6.06966939e-04 9.99832827e-01 7.75757628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.522755096 meters 0.0291101016597724 Centerline is valid? [True, True] Translation: X:352.01, Y:-203.62, Z:7.76 [[ 8.24779008e-01 5.65265638e-01 -1.46405979e-02 3.52006012e+02] [-5.65164002e-01 8.24908736e-01 1.07344034e-02 -2.03618966e+02] [ 1.81449465e-02 -5.79171637e-04 9.99835199e-01 7.75874705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.582755096 meters 0.02784018644759889 Centerline is valid? [True, True] Translation: X:352.06, Y:-203.64, Z:7.76 [[ 8.22968146e-01 5.67863270e-01 -1.59605108e-02 3.52058330e+02] [-5.67743118e-01 8.23122706e-01 1.16945548e-02 -2.03644975e+02] [ 1.97783670e-02 -5.62775862e-04 9.99804231e-01 7.75852185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64275509600003 meters 0.02659500080304377 Centerline is valid? [True, True] Translation: X:352.11, Y:-203.67, Z:7.76 [[ 8.21150390e-01 5.70476431e-01 -1.63914400e-02 3.52110347e+02] [-5.70350294e-01 8.21313814e-01 1.20067122e-02 -2.03671666e+02] [ 2.03120624e-02 -5.10453797e-04 9.99793558e-01 7.75946451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70275509600003 meters 0.02600994130819416 Centerline is valid? [True, True] Translation: X:352.16, Y:-203.70, Z:7.76 [[ 8.20375524e-01 5.71598186e-01 -1.61093926e-02 3.52162348e+02] [-5.71476625e-01 8.20533540e-01 1.17973236e-02 -2.03700244e+02] [ 1.99616257e-02 -4.72094224e-04 9.99800635e-01 7.76188865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76275509600003 meters 0.026356994340631625 Centerline is valid? [True, True] Translation: X:352.21, Y:-203.73, Z:7.76 [[ 8.20540443e-01 5.71375907e-01 -1.55870082e-02 3.52211743e+02] [-5.71262188e-01 8.20688348e-01 1.14082796e-02 -2.03731721e+02] [ 1.93104922e-02 -4.56686399e-04 9.99813431e-01 7.76390700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82275509600004 meters 0.025876574002097953 Centerline is valid? [True, True] Translation: X:352.26, Y:-203.76, Z:7.77 [[ 8.21171023e-01 5.70475752e-01 -1.53482254e-02 3.52262781e+02] [-5.70365471e-01 8.21314313e-01 1.12262380e-02 -2.03762107e+02] [ 1.90100138e-02 -4.64563569e-04 9.99819185e-01 7.76626233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.882755096 meters 0.02505930885479761 Centerline is valid? [True, True] Translation: X:352.31, Y:-203.79, Z:7.77 [[ 8.21790250e-01 5.69603190e-01 -1.45942159e-02 3.52313973e+02] [-5.69503453e-01 8.21919703e-01 1.06685856e-02 -2.03791797e+02] [ 1.80721340e-02 -4.55883295e-04 9.99836582e-01 7.76848920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.942755096 meters 0.026939505495082044 Centerline is valid? [True, True] Translation: X:352.36, Y:-203.82, Z:7.77 [[ 8.21698714e-01 5.69731757e-01 -1.47291450e-02 3.52361396e+02] [-5.69630317e-01 8.21830591e-01 1.07601750e-02 -2.03824534e+02] [ 1.82352754e-02 -4.51454456e-04 9.99833622e-01 7.76989588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.002755096 meters 0.02457513721198794 Centerline is valid? [True, True] Translation: X:352.41, Y:-203.85, Z:7.77 [[ 8.20362392e-01 5.71639654e-01 -1.52856998e-02 3.52413573e+02] [-5.71530783e-01 8.20504679e-01 1.11640683e-02 -2.03853709e+02] [ 1.89238123e-02 -4.22333783e-04 9.99820839e-01 7.77135479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.062755096 meters 0.023133200388779206 Centerline is valid? [True, True] Translation: X:352.46, Y:-203.88, Z:7.77 [[ 8.18782217e-01 5.73900603e-01 -1.52898310e-02 3.52463781e+02] [-5.73792188e-01 8.18924884e-01 1.11606690e-02 -2.03884078e+02] [ 1.89263377e-02 -3.64971746e-04 9.99820814e-01 7.77325039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.122755096 meters 0.0216751797574513 Centerline is valid? [True, True] Translation: X:352.51, Y:-203.91, Z:7.78 [[ 8.16155438e-01 5.77644793e-01 -1.47239035e-02 3.52513843e+02] [-5.77544980e-01 8.16288199e-01 1.07411417e-02 -2.03913444e+02] [ 1.82235132e-02 -2.62724631e-04 9.99833903e-01 7.77539653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.182755096 meters 0.02036734324989566 Centerline is valid? [True, True] Translation: X:352.56, Y:-203.95, Z:7.78 [[ 8.13779177e-01 5.80983483e-01 -1.48876877e-02 3.52562344e+02] [-5.80882058e-01 8.13915325e-01 1.08571495e-02 -2.03945041e+02] [ 1.84251417e-02 -1.87331504e-04 9.99830225e-01 7.77700272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.242755096 meters 0.019899341770279667 Centerline is valid? [True, True] Translation: X:352.61, Y:-203.98, Z:7.78 [[ 8.12871389e-01 5.82246776e-01 -1.51260501e-02 3.52611008e+02] [-5.82142339e-01 8.13012095e-01 1.10285976e-02 -2.03978822e+02] [ 1.87190270e-02 -1.59317243e-04 9.99824771e-01 7.77853438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.302755096 meters 0.01967719863984593 Centerline is valid? [True, True] Translation: X:352.66, Y:-204.01, Z:7.78 [[ 8.12146719e-01 5.83282721e-01 -1.41058455e-02 3.52658547e+02] [-5.83192150e-01 8.12269200e-01 1.02792676e-02 -2.04012736e+02] [ 1.74534630e-02 -1.21855039e-04 9.99847669e-01 7.78168583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.362755096 meters 0.019712400510047707 Centerline is valid? [True, True] Translation: X:352.70, Y:-204.05, Z:7.78 [[ 8.12062048e-01 5.83412280e-01 -1.36140469e-02 3.52704769e+02] [-5.83328045e-01 8.12176151e-01 9.91421789e-03 -2.04048434e+02] [ 1.68410807e-02 -1.09504696e-04 9.99858173e-01 7.78377584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.422755096 meters 0.019644947552108525 Centerline is valid? [True, True] Translation: X:352.75, Y:-204.08, Z:7.79 [[ 8.12391253e-01 5.82965822e-01 -1.30882645e-02 3.52750350e+02] [-5.82888011e-01 8.12496670e-01 9.52512921e-03 -2.04083860e+02] [ 1.61869961e-02 -1.09139203e-04 9.99868976e-01 7.78563222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.482755096 meters 0.020218761923763658 Centerline is valid? [True, True] Translation: X:352.80, Y:-204.12, Z:7.79 [[ 8.14415277e-01 5.80135847e-01 -1.30443585e-02 3.52795129e+02] [-5.80058307e-01 8.14519720e-01 9.48613062e-03 -2.04122740e+02] [ 1.61281317e-02 -1.59161179e-04 9.99869921e-01 7.78654775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.542755096 meters 0.02123912698110479 Centerline is valid? [True, True] Translation: X:352.84, Y:-204.16, Z:7.79 [[ 8.16553119e-01 5.77120431e-01 -1.31534061e-02 3.52839225e+02] [-5.77041297e-01 8.16659024e-01 9.55924806e-03 -2.04161926e+02] [ 1.62586852e-02 -2.15575275e-04 9.99867796e-01 7.78755115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.602755096 meters 0.023460502935150843 Centerline is valid? [True, True] Translation: X:352.88, Y:-204.20, Z:7.79 [[ 8.19729398e-01 5.72591843e-01 -1.35016552e-02 3.52880288e+02] [-5.72507960e-01 8.19840525e-01 9.80556503e-03 -2.04203243e+02] [ 1.66837906e-02 -3.08104872e-04 9.99860768e-01 7.78808007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.662755096 meters 0.027981302695229682 Centerline is valid? [True, True] Translation: X:352.92, Y:-204.25, Z:7.78 [[ 8.22153211e-01 5.69045484e-01 -1.58535215e-02 3.52921338e+02] [-5.68929227e-01 8.22305928e-01 1.15106527e-02 -2.04245094e+02] [ 1.95865297e-02 -4.43988350e-04 9.99808067e-01 7.78322686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.722755096 meters 0.025178608055748567 Centerline is valid? [True, True] Translation: X:352.97, Y:-204.28, Z:7.79 [[ 8.22788141e-01 5.68144695e-01 -1.52079302e-02 3.52969029e+02] [-5.68037605e-01 8.22928556e-01 1.10395453e-02 -2.04279009e+02] [ 1.87870991e-02 -4.44530736e-04 9.99823408e-01 7.78818508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.782755096 meters 0.026592978626943906 Centerline is valid? [True, True] Translation: X:353.01, Y:-204.32, Z:7.79 [[ 8.23189142e-01 5.67518659e-01 -1.67990589e-02 3.53011963e+02] [-5.67388019e-01 8.23360384e-01 1.21866308e-02 -2.04317847e+02] [ 2.07478199e-02 -5.00317407e-04 9.99784616e-01 7.78700701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.842755096 meters 0.02655012271643205 Centerline is valid? [True, True] Translation: X:353.06, Y:-204.35, Z:7.79 [[ 8.22184020e-01 5.68951895e-01 -1.75264862e-02 3.53057891e+02] [-5.68810083e-01 8.22370664e-01 1.27114224e-02 -2.04353343e+02] [ 2.16454560e-02 -4.81886313e-04 9.99765594e-01 7.78694326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.902755096 meters 0.024969385589599158 Centerline is valid? [True, True] Translation: X:353.11, Y:-204.39, Z:7.79 [[ 8.20224781e-01 5.71740166e-01 -1.85604499e-02 3.53107006e+02] [-5.71581930e-01 8.20434640e-01 1.34572954e-02 -2.04385900e+02] [ 2.29217123e-02 -4.29189373e-04 9.99737171e-01 7.78565116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.962755096 meters 0.02131627538167118 Centerline is valid? [True, True] Translation: X:353.16, Y:-204.42, Z:7.79 [[ 8.17963226e-01 5.74986392e-01 -1.80778728e-02 3.53155387e+02] [-5.74837244e-01 8.18162909e-01 1.30995251e-02 -2.04419088e+02] [ 2.23226936e-02 -3.23095230e-04 9.99750765e-01 7.78970135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.022755096 meters 0.02081584608469352 Centerline is valid? [True, True] Translation: X:353.20, Y:-204.46, Z:7.79 [[ 8.16827146e-01 5.76620630e-01 -1.73799389e-02 3.53199399e+02] [-5.76483297e-01 8.17011983e-01 1.25868142e-02 -2.04456085e+02] [ 2.14574350e-02 -2.62007051e-04 9.99769728e-01 7.79272656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.082755096 meters 0.02072396951011476 Centerline is valid? [True, True] Translation: X:353.24, Y:-204.49, Z:7.80 [[ 8.16781922e-01 5.76711651e-01 -1.64609618e-02 3.53244047e+02] [-5.76588538e-01 8.16947742e-01 1.19182574e-02 -2.04492882e+02] [ 2.03211435e-02 -2.43415319e-04 9.99793475e-01 7.79536452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14275509600003 meters 0.020878930167213414 Centerline is valid? [True, True] Translation: X:353.29, Y:-204.53, Z:7.80 [[ 8.17024620e-01 5.76398879e-01 -1.53330611e-02 3.53287296e+02] [-5.76292140e-01 8.17168453e-01 1.10945121e-02 -2.04531629e+02] [ 1.89245582e-02 -2.28166967e-04 9.99820888e-01 7.79783591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20275509600003 meters 0.020451359240763137 Centerline is valid? [True, True] Translation: X:353.33, Y:-204.57, Z:7.80 [[ 8.17936596e-01 5.75112863e-01 -1.49973115e-02 3.53332359e+02] [-5.75010665e-01 8.18074039e-01 1.08444184e-02 -2.04570556e+02] [ 1.85056757e-02 -2.46432633e-04 9.99828725e-01 7.79892807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26275509600003 meters 0.020531585012255566 Centerline is valid? [True, True] Translation: X:353.38, Y:-204.61, Z:7.80 [[ 8.18891920e-01 5.73734264e-01 -1.56530331e-02 3.53375357e+02] [-5.73622815e-01 8.19041461e-01 1.13115771e-02 -2.04612348e+02] [ 1.93103224e-02 -2.84022210e-04 9.99813498e-01 7.79850101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32275509600004 meters 0.020864616665768568 Centerline is valid? [True, True] Translation: X:353.42, Y:-204.65, Z:7.80 [[ 8.19334993e-01 5.73091494e-01 -1.60096666e-02 3.53417573e+02] [-5.72974826e-01 8.19491334e-01 1.15672519e-02 -2.04652743e+02] [ 1.97488767e-02 -3.04318297e-04 9.99804926e-01 7.79881604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.382755096 meters 0.02044256666897457 Centerline is valid? [True, True] Translation: X:353.46, Y:-204.69, Z:7.80 [[ 8.18692974e-01 5.73991897e-01 -1.65866342e-02 3.53463598e+02] [-5.73866905e-01 8.18860927e-01 1.19815591e-02 -2.04690107e+02] [ 2.04594645e-02 -2.90697811e-04 9.99790641e-01 7.79987081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.442755096 meters 0.01968716458685465 Centerline is valid? [True, True] Translation: X:353.51, Y:-204.73, Z:7.80 [[ 8.16556425e-01 5.76993240e-01 -1.77315282e-02 3.53508627e+02] [-5.76851154e-01 8.16748890e-01 1.28061458e-02 -2.04727204e+02] [ 2.18712655e-02 -2.28488164e-04 9.99760769e-01 7.80013007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.502755096 meters 0.019107981848388796 Centerline is valid? [True, True] Translation: X:353.55, Y:-204.76, Z:7.80 [[ 8.14261872e-01 5.80209065e-01 -1.83042190e-02 3.53554708e+02] [-5.80058536e-01 8.14467568e-01 1.32164673e-02 -2.04763878e+02] [ 2.25765069e-02 -1.44146923e-04 9.99745108e-01 7.80035138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.562755096 meters 0.01889194927066351 Centerline is valid? [True, True] Translation: X:353.60, Y:-204.80, Z:7.80 [[ 8.13050277e-01 5.81870025e-01 -1.94041614e-02 3.53600383e+02] [-5.81701389e-01 8.13281786e-01 1.40082305e-02 -2.04801224e+02] [ 2.39320205e-02 -1.01968107e-04 9.99713583e-01 7.80025800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.622755096 meters 0.018909303291628505 Centerline is valid? [True, True] Translation: X:353.65, Y:-204.84, Z:7.80 [[ 8.13096730e-01 5.81819907e-01 -1.89552758e-02 3.53645451e+02] [-5.81659018e-01 8.13317641e-01 1.36821539e-02 -2.04840237e+02] [ 2.33772097e-02 -9.94075293e-05 9.99726711e-01 7.80203628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.682755096 meters 0.018920348958650218 Centerline is valid? [True, True] Translation: X:353.69, Y:-204.88, Z:7.80 [[ 8.13470503e-01 5.81293568e-01 -1.90664131e-02 3.53690925e+02] [-5.81130616e-01 8.13693907e-01 1.37634730e-02 -2.04884553e+02] [ 2.35148425e-02 -1.16102952e-04 9.99723481e-01 7.80450912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.742755096 meters 0.01916436267037985 Centerline is valid? [True, True] Translation: X:353.74, Y:-204.93, Z:7.81 [[ 8.14043531e-01 5.80521344e-01 -1.81135270e-02 3.53736589e+02] [-5.80373894e-01 8.14245019e-01 1.30840505e-02 -2.04927122e+02] [ 2.23444197e-02 -1.38368452e-04 9.99750323e-01 7.80720771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.802755096 meters 0.019330308636507514 Centerline is valid? [True, True] Translation: X:353.78, Y:-204.97, Z:7.81 [[ 8.15216164e-01 5.78881748e-01 -1.78473329e-02 3.53782329e+02] [-5.78738033e-01 8.15411483e-01 1.28996968e-02 -2.04970175e+02] [ 2.20203192e-02 -1.87111043e-04 9.99757506e-01 7.80927264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.862755096 meters 0.019572892540431562 Centerline is valid? [True, True] Translation: X:353.83, Y:-205.01, Z:7.81 [[ 8.15953911e-01 5.77854316e-01 -1.74242563e-02 3.53829618e+02] [-5.77716940e-01 8.16139904e-01 1.26013485e-02 -2.05012155e+02] [ 2.15023745e-02 -2.15831552e-04 9.99768774e-01 7.81119310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.922755096 meters 0.019433021222163917 Centerline is valid? [True, True] Translation: X:353.88, Y:-205.05, Z:7.81 [[ 8.15338994e-01 5.78763688e-01 -1.59661664e-02 3.53878724e+02] [-5.78648379e-01 8.15495285e-01 1.15539512e-02 -2.05048399e+02] [ 1.97073408e-02 -1.81590625e-04 9.99805775e-01 7.81463237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.982755096 meters 0.019586854265229645 Centerline is valid? [True, True] Translation: X:353.93, Y:-205.08, Z:7.82 [[ 8.15352917e-01 5.78745856e-01 -1.59013915e-02 3.53928437e+02] [-5.78631355e-01 8.15507939e-01 1.15133084e-02 -2.05084797e+02] [ 1.96309906e-02 -1.86365872e-04 9.99807276e-01 7.81573873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.042755096 meters 0.019509873467387875 Centerline is valid? [True, True] Translation: X:353.98, Y:-205.12, Z:7.82 [[ 8.15207211e-01 5.78952099e-01 -1.58641458e-02 3.53978101e+02] [-5.78838038e-01 8.15361535e-01 1.14931612e-02 -2.05119798e+02] [ 1.95890040e-02 -1.86536856e-04 9.99808100e-01 7.81708717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.102755096 meters 0.019431066894777645 Centerline is valid? [True, True] Translation: X:354.03, Y:-205.15, Z:7.82 [[ 8.15097469e-01 5.79101087e-01 -1.60638218e-02 3.54028773e+02] [-5.78984097e-01 8.15255724e-01 1.16413290e-02 -2.05154776e+02] [ 1.98376289e-02 -1.88120462e-04 9.99803197e-01 7.81742252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.162755096 meters 0.0192298794695258 Centerline is valid? [True, True] Translation: X:354.08, Y:-205.19, Z:7.82 [[ 8.14839829e-01 5.79425245e-01 -1.73907916e-02 3.54080401e+02] [-5.79288155e-01 8.15025366e-01 1.26050134e-02 -2.05189963e+02] [ 2.14775993e-02 -1.96787398e-04 9.99769310e-01 7.81693767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.222755096 meters 0.01917776927510552 Centerline is valid? [True, True] Translation: X:354.13, Y:-205.22, Z:7.82 [[ 8.14391119e-01 5.80042438e-01 -1.78290478e-02 3.54131542e+02] [-5.79898318e-01 8.14586234e-01 1.29308796e-02 -2.05224972e+02] [ 2.20237558e-02 -1.91758674e-04 9.99757429e-01 7.81716827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.282755096 meters 0.01918591841810529 Centerline is valid? [True, True] Translation: X:354.18, Y:-205.26, Z:7.82 [[ 8.14382141e-01 5.80025037e-01 -1.87799025e-02 3.54181262e+02] [-5.79864970e-01 8.14598621e-01 1.36272832e-02 -2.05257792e+02] [ 2.32022481e-02 -2.08008496e-04 9.99730770e-01 7.81765226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.342755096 meters 0.019647236624096016 Centerline is valid? [True, True] Translation: X:354.23, Y:-205.29, Z:7.82 [[ 8.15310904e-01 5.78725463e-01 -1.85733167e-02 3.54228261e+02] [-5.78568593e-01 8.15522397e-01 1.34759957e-02 -2.05291202e+02] [ 2.29458575e-02 -2.41188519e-04 9.99736680e-01 7.81886557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.402755096 meters 0.019663110032390865 Centerline is valid? [True, True] Translation: X:354.28, Y:-205.33, Z:7.82 [[ 8.17006586e-01 5.76373855e-01 -1.71294345e-02 3.54278308e+02] [-5.76239935e-01 8.17186086e-01 1.24273469e-02 -2.05328098e+02] [ 2.11607334e-02 -2.82560045e-04 9.99776047e-01 7.82218464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.462755096 meters 0.021181197599161622 Centerline is valid? [True, True] Translation: X:354.32, Y:-205.37, Z:7.82 [[ 8.19027989e-01 5.73495522e-01 -1.72058019e-02 3.54324608e+02] [-5.73359610e-01 8.19208614e-01 1.24901606e-02 -2.05368290e+02] [ 2.12581923e-02 -3.64679260e-04 9.99773953e-01 7.82287981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.522755096 meters 0.022867992819585327 Centerline is valid? [True, True] Translation: X:354.37, Y:-205.41, Z:7.82 [[ 8.22488608e-01 5.68526466e-01 -1.70337191e-02 3.54371087e+02] [-5.68392062e-01 8.22664825e-01 1.23713444e-02 -2.05410110e+02] [ 2.10464782e-02 -4.93459095e-04 9.99778377e-01 7.82455986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.582755096 meters 0.024698760700335554 Centerline is valid? [True, True] Translation: X:354.42, Y:-205.45, Z:7.82 [[ 8.23564759e-01 5.66971656e-01 -1.68591224e-02 3.54420618e+02] [-5.66839614e-01 8.23737131e-01 1.22470766e-02 -2.05446900e+02] [ 2.08312304e-02 -5.29842201e-04 9.99782866e-01 7.82437557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64275509600003 meters 0.0244325399489178 Centerline is valid? [True, True] Translation: X:354.47, Y:-205.48, Z:7.83 [[ 8.22821096e-01 5.68046905e-01 -1.69752020e-02 3.54471520e+02] [-5.67913125e-01 8.22996022e-01 1.23381686e-02 -2.05482899e+02] [ 2.09791822e-02 -5.11665365e-04 9.99779782e-01 7.82533581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70275509600003 meters 0.0215464291185758 Centerline is valid? [True, True] Translation: X:354.52, Y:-205.52, Z:7.83 [[ 8.19921810e-01 5.72201349e-01 -1.77155683e-02 3.54522667e+02] [-5.72056464e-01 8.20113061e-01 1.28829131e-02 -2.05515153e+02] [ 2.19003892e-02 -4.28676069e-04 9.99760066e-01 7.82569284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76275509600003 meters 0.020012319319743628 Centerline is valid? [True, True] Translation: X:354.57, Y:-205.55, Z:7.83 [[ 8.17166658e-01 5.76110589e-01 -1.83096346e-02 3.54572565e+02] [-5.75956794e-01 8.17371688e-01 1.33151822e-02 -2.05546929e+02] [ 2.26367944e-02 -3.35164469e-04 9.99743699e-01 7.82513975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82275509600004 meters 0.018789378034422925 Centerline is valid? [True, True] Translation: X:354.62, Y:-205.58, Z:7.83 [[ 8.15574325e-01 5.78369088e-01 -1.81029844e-02 3.54623325e+02] [-5.78219324e-01 8.15775169e-01 1.31638615e-02 -2.05578328e+02] [ 2.23815358e-02 -2.68612055e-04 9.99749466e-01 7.82647246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.882755096 meters 0.018083255113589086 Centerline is valid? [True, True] Translation: X:354.67, Y:-205.61, Z:7.83 [[ 8.14186986e-01 5.80346450e-01 -1.72496190e-02 3.54673358e+02] [-5.80210941e-01 8.14369668e-01 1.25422235e-02 -2.05610084e+02] [ 2.13264014e-02 -2.03297441e-04 9.99772546e-01 7.82787258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.942755096 meters 0.017642197426683635 Centerline is valid? [True, True] Translation: X:354.72, Y:-205.65, Z:7.83 [[ 8.13574024e-01 5.81228835e-01 -1.64422784e-02 3.54722121e+02] [-5.81105930e-01 8.13740138e-01 1.19534748e-02 -2.05645094e+02] [ 2.03274461e-02 -1.70331114e-04 9.99793362e-01 7.83019690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.002755096 meters 0.017906883948597525 Centerline is valid? [True, True] Translation: X:354.77, Y:-205.68, Z:7.83 [[ 8.14048986e-01 5.80579657e-01 -1.58591100e-02 3.54768026e+02] [-5.80465212e-01 8.14203433e-01 1.15285373e-02 -2.05680007e+02] [ 1.96057760e-02 -1.79132497e-04 9.99807772e-01 7.83187266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.062755096 meters 0.018200345463661758 Centerline is valid? [True, True] Translation: X:354.82, Y:-205.72, Z:7.83 [[ 8.15500162e-01 5.78563507e-01 -1.49584183e-02 3.54817765e+02] [-5.78461392e-01 8.15637311e-01 1.08717743e-02 -2.05716306e+02] [ 1.84906560e-02 -2.13066228e-04 9.99829011e-01 7.83296927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.122755096 meters 0.01970627889539211 Centerline is valid? [True, True] Translation: X:354.86, Y:-205.76, Z:7.83 [[ 8.17229474e-01 5.76124496e-01 -1.47156876e-02 3.54864495e+02] [-5.76025167e-01 8.17361911e-01 1.07011046e-02 -2.05756220e+02] [ 1.81932110e-02 -2.68651700e-04 9.99834454e-01 7.83371848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.182755096 meters 0.019760713340867705 Centerline is valid? [True, True] Translation: X:354.91, Y:-205.79, Z:7.84 [[ 8.18097633e-01 5.74905280e-01 -1.41485808e-02 3.54914015e+02] [-5.74813227e-01 8.18219920e-01 1.02916087e-02 -2.05793744e+02] [ 1.74933509e-02 -2.86749347e-04 9.99846939e-01 7.83538368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.242755096 meters 0.020068846425581783 Centerline is valid? [True, True] Translation: X:354.96, Y:-205.83, Z:7.84 [[ 8.18522579e-01 5.74330389e-01 -1.28604841e-02 3.54963582e+02] [-5.74254189e-01 8.18623557e-01 9.35939185e-03 -2.05831705e+02] [ 1.59032784e-02 -2.75686703e-04 9.99873497e-01 7.83863683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.302755096 meters 0.019507278263325836 Centerline is valid? [True, True] Translation: X:355.02, Y:-205.87, Z:7.84 [[ 8.18310145e-01 5.74648745e-01 -1.21377962e-02 3.55015567e+02] [-5.74580838e-01 8.18400118e-01 8.83785112e-03 -2.05867351e+02] [ 1.50122339e-02 -2.57958115e-04 9.99887277e-01 7.83940550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.362755096 meters 0.01869379430600588 Centerline is valid? [True, True] Translation: X:355.07, Y:-205.90, Z:7.84 [[ 8.17553516e-01 5.75707315e-01 -1.29358136e-02 3.55066261e+02] [-5.75630207e-01 8.17655808e-01 9.42573463e-03 -2.05902496e+02] [ 1.60035075e-02 -2.59797445e-04 9.99871902e-01 7.83896470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.422755096 meters 0.01851671684267427 Centerline is valid? [True, True] Translation: X:355.12, Y:-205.94, Z:7.84 [[ 8.16796474e-01 5.76765879e-01 -1.35882479e-02 3.55115259e+02] [-5.76680837e-01 8.16909453e-01 9.90741941e-03 -2.05938835e+02] [ 1.68146296e-02 -2.56263067e-04 9.99858591e-01 7.83944799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.482755096 meters 0.01807985121801294 Centerline is valid? [True, True] Translation: X:355.17, Y:-205.97, Z:7.84 [[ 8.16081898e-01 5.77775907e-01 -1.36138817e-02 3.55166023e+02] [-5.77690593e-01 8.16195408e-01 9.93148700e-03 -2.05974271e+02] [ 1.68497617e-02 -2.40295333e-04 9.99858004e-01 7.84053357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.542755096 meters 0.018063145107404893 Centerline is valid? [True, True] Translation: X:355.22, Y:-206.01, Z:7.84 [[ 8.15423690e-01 5.78711929e-01 -1.32932004e-02 3.55215870e+02] [-5.78630619e-01 8.15532007e-01 9.70316633e-03 -2.06009281e+02] [ 1.64563685e-02 -2.20338932e-04 9.99864561e-01 7.84157881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.602755096 meters 0.018062218552249567 Centerline is valid? [True, True] Translation: X:355.27, Y:-206.05, Z:7.84 [[ 8.15307651e-01 5.78895050e-01 -1.24078324e-02 3.55265177e+02] [-5.78824149e-01 8.15402035e-01 9.06237077e-03 -2.06045108e+02] [ 1.53635334e-02 -2.06667173e-04 9.99881953e-01 7.84407301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.662755096 meters 0.017712006957117714 Centerline is valid? [True, True] Translation: X:355.32, Y:-206.08, Z:7.85 [[ 8.14798804e-01 5.79631097e-01 -1.14324523e-02 3.55316105e+02] [-5.79571001e-01 8.14878985e-01 8.34831423e-03 -2.06081800e+02] [ 1.41550077e-02 -1.76278623e-04 9.99899797e-01 7.84602355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.722755096 meters 0.016960766908834066 Centerline is valid? [True, True] Translation: X:355.37, Y:-206.12, Z:7.85 [[ 8.13634829e-01 5.81274126e-01 -1.08975439e-02 3.55367705e+02] [-5.81219601e-01 8.13707791e-01 7.96277537e-03 -2.06117219e+02] [ 1.34959717e-02 -1.44925244e-04 9.99908915e-01 7.84641461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.782755096 meters 0.01660480922360823 Centerline is valid? [True, True] Translation: X:355.42, Y:-206.15, Z:7.85 [[ 8.12650361e-01 5.82644443e-01 -1.11733566e-02 3.55418543e+02] [-5.82587183e-01 8.12727160e-01 8.16929905e-03 -2.06152702e+02] [ 1.38406871e-02 -1.29329479e-04 9.99904205e-01 7.84705948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.842755096 meters 0.016230718853035262 Centerline is valid? [True, True] Translation: X:355.47, Y:-206.19, Z:7.85 [[ 8.11299221e-01 5.84521198e-01 -1.13377020e-02 3.55470068e+02] [-5.84462356e-01 8.11378431e-01 8.29438304e-03 -2.06187924e+02] [ 1.40474096e-02 -1.02766472e-04 9.99901325e-01 7.84640696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.902755096 meters 0.016136161158049396 Centerline is valid? [True, True] Translation: X:355.52, Y:-206.22, Z:7.85 [[ 8.10556278e-01 5.85547428e-01 -1.15208466e-02 3.55517187e+02] [-5.85486679e-01 8.10638144e-01 8.43489268e-03 -2.06223485e+02] [ 1.42782674e-02 -9.16529984e-05 9.99898056e-01 7.84664415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.962755096 meters 0.01591625024311612 Centerline is valid? [True, True] Translation: X:355.57, Y:-206.26, Z:7.85 [[ 8.10081392e-01 5.86193014e-01 -1.20784205e-02 3.55566452e+02] [-5.86126321e-01 8.10171428e-01 8.84265003e-03 -2.06259214e+02] [ 1.49690909e-02 -8.37860771e-05 9.99887953e-01 7.84650784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.022755096 meters 0.01576509538951392 Centerline is valid? [True, True] Translation: X:355.61, Y:-206.29, Z:7.85 [[ 8.09406122e-01 5.87115850e-01 -1.25183393e-02 3.55614454e+02] [-5.87044316e-01 8.09502918e-01 9.16499653e-03 -2.06292956e+02] [ 1.55145470e-02 -6.93843425e-05 9.99879640e-01 7.84640170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.082755096 meters 0.015772501574496542 Centerline is valid? [True, True] Translation: X:355.66, Y:-206.33, Z:7.85 [[ 8.09832635e-01 5.86512188e-01 -1.32120018e-02 3.55661262e+02] [-5.86432453e-01 8.09940396e-01 9.67119194e-03 -2.06328139e+02] [ 1.63732059e-02 -8.41002237e-05 9.99865947e-01 7.84614042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14275509600003 meters 0.016060434878600153 Centerline is valid? [True, True] Translation: X:355.71, Y:-206.37, Z:7.85 [[ 8.10843215e-01 5.85130081e-01 -1.24927590e-02 3.55711156e+02] [-5.85058668e-01 8.10939442e-01 9.14202178e-03 -2.06365294e+02] [ 1.54801430e-02 -1.03749371e-04 9.99880170e-01 7.84846481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20275509600003 meters 0.01608493923475843 Centerline is valid? [True, True] Translation: X:355.76, Y:-206.40, Z:7.85 [[ 8.10952549e-01 5.84988671e-01 -1.20090771e-02 3.55763750e+02] [-5.84922597e-01 8.11041456e-01 8.79270791e-03 -2.06399580e+02] [ 1.48834939e-02 -1.06088347e-04 9.99889229e-01 7.84991831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26275509600003 meters 0.016011166469563957 Centerline is valid? [True, True] Translation: X:355.81, Y:-206.43, Z:7.85 [[ 8.10460253e-01 5.85666065e-01 -1.22244972e-02 3.55814624e+02] [-5.85597579e-01 8.10552435e-01 8.95679980e-03 -2.06434574e+02] [ 1.51542896e-02 -1.00494291e-04 9.99885162e-01 7.85081772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32275509600004 meters 0.01598338317836208 Centerline is valid? [True, True] Translation: X:355.87, Y:-206.47, Z:7.85 [[ 8.10043192e-01 5.86230055e-01 -1.28199000e-02 3.55865081e+02] [-5.86154690e-01 8.10144624e-01 9.40038271e-03 -2.06466915e+02] [ 1.58967600e-02 -1.00271490e-04 9.99873634e-01 7.85129955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.382755096 meters 0.015959189367661518 Centerline is valid? [True, True] Translation: X:355.92, Y:-206.50, Z:7.85 [[ 8.10147002e-01 5.86081828e-01 -1.30355554e-02 3.55915308e+02] [-5.86003898e-01 8.10251862e-01 9.55782801e-03 -2.06498403e+02] [ 1.61637524e-02 -1.04359403e-04 9.99869353e-01 7.85119530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.442755096 meters 0.015963230635143055 Centerline is valid? [True, True] Translation: X:355.96, Y:-206.53, Z:7.85 [[ 8.10467033e-01 5.85633584e-01 -1.32850902e-02 3.55962724e+02] [-5.85552607e-01 8.10575902e-01 9.73920128e-03 -2.06531060e+02] [ 1.64721773e-02 -1.14182344e-04 9.99864318e-01 7.85201613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.502755096 meters 0.016170044325066173 Centerline is valid? [True, True] Translation: X:356.01, Y:-206.57, Z:7.85 [[ 8.10805512e-01 5.85171646e-01 -1.29833417e-02 3.56010547e+02] [-5.85094278e-01 8.10909447e-01 9.51606650e-03 -2.06566000e+02] [ 1.60968467e-02 -1.19200227e-04 9.99870430e-01 7.85305679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.562755096 meters 0.01635697364619198 Centerline is valid? [True, True] Translation: X:356.06, Y:-206.60, Z:7.86 [[ 8.11583162e-01 5.84098795e-01 -1.27030846e-02 3.56058092e+02] [-5.84024623e-01 8.11682560e-01 9.30919903e-03 -2.06601071e+02] [ 1.57483642e-02 -1.36274996e-04 9.99875978e-01 7.85514233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.622755096 meters 0.01657811701942758 Centerline is valid? [True, True] Translation: X:356.10, Y:-206.64, Z:7.86 [[ 8.11846862e-01 5.83737436e-01 -1.24610743e-02 3.56104625e+02] [-5.83666042e-01 8.11942477e-01 9.13049040e-03 -2.06635110e+02] [ 1.54474846e-02 -1.39454061e-04 9.99880671e-01 7.85748217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.682755096 meters 0.01660160122933246 Centerline is valid? [True, True] Translation: X:356.15, Y:-206.67, Z:7.86 [[ 8.11550395e-01 5.84149106e-01 -1.24810784e-02 3.56152029e+02] [-5.84077559e-01 8.11646354e-01 9.14334747e-03 -2.06668763e+02] [ 1.54713001e-02 -1.30369427e-04 9.99880304e-01 7.85923574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.742755096 meters 0.015958610939370274 Centerline is valid? [True, True] Translation: X:356.20, Y:-206.70, Z:7.86 [[ 8.10926843e-01 5.85003941e-01 -1.29631573e-02 3.56203332e+02] [-5.84926905e-01 8.11030440e-01 9.49420576e-03 -2.06703106e+02] [ 1.60676629e-02 -1.16606831e-04 9.99870900e-01 7.85956735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.802755096 meters 0.015899943771571005 Centerline is valid? [True, True] Translation: X:356.25, Y:-206.74, Z:7.86 [[ 8.10306560e-01 5.85862063e-01 -1.29969836e-02 3.56250744e+02] [-5.85784718e-01 8.10410781e-01 9.52004709e-03 -2.06737250e+02] [ 1.61103301e-02 -1.00722213e-04 9.99870215e-01 7.86164096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.862755096 meters 0.015812467708814924 Centerline is valid? [True, True] Translation: X:356.30, Y:-206.77, Z:7.86 [[ 8.10110157e-01 5.86132092e-01 -1.30653812e-02 3.56300109e+02] [-5.86053980e-01 8.10215503e-01 9.56926636e-03 -2.06771472e+02] [ 1.61946285e-02 -9.51412353e-05 9.99868854e-01 7.86397342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.922755096 meters 0.01585557778874499 Centerline is valid? [True, True] Translation: X:356.35, Y:-206.81, Z:7.87 [[ 8.10497369e-01 5.85583928e-01 -1.36190228e-02 3.56348019e+02] [-5.85498992e-01 8.10611776e-01 9.97395930e-03 -2.06805516e+02] [ 1.68803305e-02 -1.09943648e-04 9.99857511e-01 7.86503017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.982755096 meters 0.016321597684092685 Centerline is valid? [True, True] Translation: X:356.39, Y:-206.84, Z:7.87 [[ 8.11827216e-01 5.83725920e-01 -1.41640702e-02 3.56394012e+02] [-5.83633796e-01 8.11950754e-01 1.03713525e-02 -2.06840037e+02] [ 1.75545547e-02 -1.53116220e-04 9.99845895e-01 7.86603497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.042755096 meters 0.017206175609060913 Centerline is valid? [True, True] Translation: X:356.44, Y:-206.88, Z:7.87 [[ 8.14172723e-01 5.80457667e-01 -1.38446181e-02 3.56440099e+02] [-5.80369214e-01 8.14290396e-01 1.01353913e-02 -2.06877387e+02] [ 1.71567051e-02 -2.16969005e-04 9.99852789e-01 7.86840977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.102755096 meters 0.018774442281782593 Centerline is valid? [True, True] Translation: X:356.49, Y:-206.91, Z:7.87 [[ 8.16754807e-01 5.76812600e-01 -1.40999871e-02 3.56485901e+02] [-5.76720338e-01 8.16876451e-01 1.03206322e-02 -2.06914690e+02] [ 1.74710181e-02 -2.97676638e-04 9.99847326e-01 7.86940330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.162755096 meters 0.01997942389073848 Centerline is valid? [True, True] Translation: X:356.53, Y:-206.95, Z:7.87 [[ 8.18353163e-01 5.74522856e-01 -1.48858552e-02 3.56531774e+02] [-5.74419677e-01 8.18488458e-01 1.08940090e-02 -2.06951083e+02] [ 1.84427579e-02 -3.64418627e-04 9.99829851e-01 7.87020814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.222755096 meters 0.020269709881421846 Centerline is valid? [True, True] Translation: X:356.58, Y:-206.99, Z:7.87 [[ 8.18295955e-01 5.74589864e-01 -1.54343089e-02 3.56577772e+02] [-5.74478989e-01 8.18441414e-01 1.12934837e-02 -2.06985482e+02] [ 1.91211989e-02 -3.74725823e-04 9.99817103e-01 7.87060742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.282755096 meters 0.018083268487200224 Centerline is valid? [True, True] Translation: X:356.63, Y:-207.02, Z:7.87 [[ 8.17249819e-01 5.76053717e-01 -1.62741439e-02 3.56630568e+02] [-5.75930788e-01 8.17411761e-01 1.19054593e-02 -2.07019187e+02] [ 2.01608607e-02 -3.56953970e-04 9.99796685e-01 7.87101373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.342755096 meters 0.01809031531952047 Centerline is valid? [True, True] Translation: X:356.68, Y:-207.06, Z:7.87 [[ 8.16610410e-01 5.76946409e-01 -1.67415423e-02 3.56679004e+02] [-5.76816364e-01 8.16781929e-01 1.22541223e-02 -2.07055485e+02] [ 2.07441610e-02 -3.50048292e-04 9.99784755e-01 7.87104303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.402755096 meters 0.018036997293679437 Centerline is valid? [True, True] Translation: X:356.73, Y:-207.09, Z:7.87 [[ 8.16165675e-01 5.77551796e-01 -1.75360719e-02 3.56725849e+02] [-5.77409249e-01 8.16353968e-01 1.28358479e-02 -2.07090610e+02] [ 2.17290088e-02 -3.50688350e-04 9.99763836e-01 7.87164419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.462755096 meters 0.01778289086649486 Centerline is valid? [True, True] Translation: X:356.77, Y:-207.12, Z:7.87 [[ 8.15926838e-01 5.77871586e-01 -1.81059431e-02 3.56773925e+02] [-5.77719751e-01 8.16127629e-01 1.32507510e-02 -2.07124745e+02] [ 2.24339929e-02 -3.51482427e-04 9.99748265e-01 7.87198098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.522755096 meters 0.01749057583330412 Centerline is valid? [True, True] Translation: X:356.82, Y:-207.16, Z:7.87 [[ 8.15345887e-01 5.78686498e-01 -1.82488700e-02 3.56822275e+02] [-5.78532510e-01 8.15550016e-01 1.33531406e-02 -2.07157629e+02] [ 2.26101483e-02 -3.29863704e-04 9.99744304e-01 7.87246683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.582755096 meters 0.01760577326158332 Centerline is valid? [True, True] Translation: X:356.87, Y:-207.19, Z:7.87 [[ 8.15166630e-01 5.78950854e-01 -1.78682059e-02 3.56868931e+02] [-5.78803336e-01 8.15362379e-01 1.30724196e-02 -2.07192128e+02] [ 2.21373514e-02 -3.14023036e-04 9.99754889e-01 7.87379256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64275509600003 meters 0.018082575188295327 Centerline is valid? [True, True] Translation: X:356.92, Y:-207.23, Z:7.88 [[ 8.15480396e-01 5.78519669e-01 -1.75133339e-02 3.56915229e+02] [-5.78377908e-01 8.15668372e-01 1.28102826e-02 -2.07227524e+02] [ 2.16960731e-02 -3.17208911e-04 9.99764562e-01 7.87506574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70275509600003 meters 0.01826257427646226 Centerline is valid? [True, True] Translation: X:356.96, Y:-207.26, Z:7.88 [[ 8.15733765e-01 5.78172273e-01 -1.71827771e-02 3.56962131e+02] [-5.78035787e-01 8.15914653e-01 1.25661461e-02 -2.07262289e+02] [ 2.12850769e-02 -3.18369605e-04 9.99773396e-01 7.87597609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76275509600003 meters 0.017643729696581366 Centerline is valid? [True, True] Translation: X:357.01, Y:-207.30, Z:7.88 [[ 8.15771134e-01 5.78117628e-01 -1.72471708e-02 3.57011113e+02] [-5.77980141e-01 8.15953373e-01 1.26115251e-02 -2.07297555e+02] [ 2.13638321e-02 -3.19595942e-04 9.99771716e-01 7.87711527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82275509600004 meters 0.01779037986616879 Centerline is valid? [True, True] Translation: X:357.06, Y:-207.33, Z:7.88 [[ 8.15685438e-01 5.78243138e-01 -1.70920862e-02 3.57058603e+02] [-5.78108140e-01 8.15864434e-01 1.24981237e-02 -2.07334790e+02] [ 2.11717795e-02 -3.13463360e-04 9.99775804e-01 7.87810004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.882755096 meters 0.01782080721639059 Centerline is valid? [True, True] Translation: X:357.11, Y:-207.37, Z:7.88 [[ 8.15102379e-01 5.79051679e-01 -1.75289793e-02 3.57105269e+02] [-5.78909884e-01 8.15290785e-01 1.28172758e-02 -2.07370916e+02] [ 2.17130804e-02 -2.99692618e-04 9.99764198e-01 7.87879462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.942755096 meters 0.017507648587942806 Centerline is valid? [True, True] Translation: X:357.15, Y:-207.41, Z:7.88 [[ 8.14536306e-01 5.79838559e-01 -1.78284203e-02 3.57154227e+02] [-5.79692100e-01 8.14731346e-01 1.30346790e-02 -2.07408661e+02] [ 2.20833824e-02 -2.82224839e-04 9.99756093e-01 7.87985108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.002755096 meters 0.01788446349252527 Centerline is valid? [True, True] Translation: X:357.20, Y:-207.45, Z:7.88 [[ 8.14626907e-01 5.79700042e-01 -1.81896411e-02 3.57200454e+02] [-5.79547527e-01 8.14829906e-01 1.32999442e-02 -2.07445389e+02] [ 2.25314417e-02 -2.92730900e-04 9.99746092e-01 7.88073263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.062755096 meters 0.018068384907486485 Centerline is valid? [True, True] Translation: X:357.25, Y:-207.48, Z:7.88 [[ 8.14769410e-01 5.79519016e-01 -1.75647082e-02 3.57246032e+02] [-5.79376787e-01 8.14958667e-01 1.28417275e-02 -2.07482728e+02] [ 2.17565365e-02 -2.86462556e-04 9.99763258e-01 7.88222678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.122755096 meters 0.018166113864161705 Centerline is valid? [True, True] Translation: X:357.29, Y:-207.52, Z:7.88 [[ 8.14846857e-01 5.79415735e-01 -1.73783010e-02 3.57290102e+02] [-5.79276532e-01 8.15032101e-01 1.27033440e-02 -2.07519898e+02] [ 2.15243906e-02 -2.84438030e-04 9.99768283e-01 7.88364638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.182755096 meters 0.01861472363974404 Centerline is valid? [True, True] Translation: X:357.34, Y:-207.56, Z:7.88 [[ 8.15146302e-01 5.78995274e-01 -1.73487640e-02 3.57336045e+02] [-5.78856500e-01 8.15330845e-01 1.26793151e-02 -2.07556468e+02] [ 2.14862459e-02 -2.93051996e-04 9.99769101e-01 7.88443235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.242755096 meters 0.01923424015304756 Centerline is valid? [True, True] Translation: X:357.38, Y:-207.59, Z:7.88 [[ 8.15559746e-01 5.78414835e-01 -1.72794460e-02 3.57379969e+02] [-5.78277081e-01 8.15742720e-01 1.26266315e-02 -2.07594338e+02] [ 2.13990133e-02 -3.05464807e-04 9.99770968e-01 7.88483794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.302755096 meters 0.019110640337051787 Centerline is valid? [True, True] Translation: X:357.43, Y:-207.63, Z:7.89 [[ 8.16072855e-01 5.77707801e-01 -1.66970838e-02 3.57428595e+02] [-5.77579056e-01 8.16243591e-01 1.21998021e-02 -2.07633341e+02] [ 2.06768085e-02 -3.12041456e-04 9.99786163e-01 7.88567260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.362755096 meters 0.020774788197512658 Centerline is valid? [True, True] Translation: X:357.47, Y:-207.67, Z:7.89 [[ 8.16512515e-01 5.77096200e-01 -1.63489565e-02 3.57474712e+02] [-5.76972512e-01 8.16676110e-01 1.19520131e-02 -2.07674174e+02] [ 2.02492635e-02 -3.26069757e-04 9.99794909e-01 7.88632991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.422755096 meters 0.019975792621297533 Centerline is valid? [True, True] Translation: X:357.52, Y:-207.71, Z:7.89 [[ 8.16285474e-01 5.77410696e-01 -1.65805183e-02 3.57524930e+02] [-5.77283411e-01 8.16453784e-01 1.21277832e-02 -2.07712123e+02] [ 2.05399386e-02 -3.28075116e-04 9.99788979e-01 7.88725460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.482755096 meters 0.01908161762125845 Centerline is valid? [True, True] Translation: X:357.58, Y:-207.75, Z:7.89 [[ 8.14619487e-01 5.79759186e-01 -1.65643530e-02 3.57575587e+02] [-5.79632476e-01 8.14787831e-01 1.21236346e-02 -2.07747460e+02] [ 2.05252218e-02 -2.74912077e-04 9.99789298e-01 7.88850388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.542755096 meters 0.01810181333406861 Centerline is valid? [True, True] Translation: X:357.63, Y:-207.78, Z:7.89 [[ 8.11916831e-01 5.83539039e-01 -1.65302691e-02 3.57627975e+02] [-5.83413497e-01 8.12085067e-01 1.21051979e-02 -2.07781773e+02] [ 2.04878403e-02 -1.84431812e-04 9.99790085e-01 7.89006228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.602755096 meters 0.017800231468470675 Centerline is valid? [True, True] Translation: X:357.68, Y:-207.82, Z:7.89 [[ 8.09990583e-01 5.86221897e-01 -1.60979101e-02 3.57679432e+02] [-5.86103310e-01 8.10150526e-01 1.17913323e-02 -2.07816492e+02] [ 1.99540675e-02 -1.15829683e-04 9.99800891e-01 7.89170940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.662755096 meters 0.017698979215663855 Centerline is valid? [True, True] Translation: X:357.73, Y:-207.85, Z:7.89 [[ 8.08710425e-01 5.88006543e-01 -1.53542951e-02 3.57729030e+02] [-5.87898861e-01 8.08856168e-01 1.12529579e-02 -2.07851781e+02] [ 1.90362291e-02 -7.36117901e-05 9.99818792e-01 7.89367323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.722755096 meters 0.017861331681203973 Centerline is valid? [True, True] Translation: X:357.78, Y:-207.89, Z:7.89 [[ 8.09083135e-01 5.87493818e-01 -1.53458121e-02 3.57779560e+02] [-5.87386047e-01 8.09228649e-01 1.12528187e-02 -2.07889198e+02] [ 1.90292322e-02 -9.05499584e-05 9.99818924e-01 7.89480309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.782755096 meters 0.01818203089749196 Centerline is valid? [True, True] Translation: X:357.83, Y:-207.93, Z:7.90 [[ 8.10288487e-01 5.85831778e-01 -1.52871257e-02 3.57827043e+02] [-5.85724398e-01 8.10432668e-01 1.12169716e-02 -2.07926588e+02] [ 1.89604445e-02 -1.34940485e-04 9.99820226e-01 7.89611446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.842755096 meters 0.01890601393232132 Centerline is valid? [True, True] Translation: X:357.88, Y:-207.97, Z:7.90 [[ 8.12586987e-01 5.82636219e-01 -1.54086185e-02 3.57875631e+02] [-5.82526506e-01 8.12733038e-01 1.13083477e-02 -2.07965900e+02] [ 1.91117462e-02 -2.13087507e-04 9.99817331e-01 7.89815113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.902755096 meters 0.020098120528377297 Centerline is valid? [True, True] Translation: X:357.92, Y:-208.01, Z:7.90 [[ 8.15040903e-01 5.79203031e-01 -1.52373210e-02 3.57923374e+02] [-5.79095020e-01 8.15183269e-01 1.11891097e-02 -2.08005824e+02] [ 1.89019754e-02 -2.95725351e-04 9.99821298e-01 7.89914384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.962755096 meters 0.020839454585582808 Centerline is valid? [True, True] Translation: X:357.97, Y:-208.04, Z:7.90 [[ 8.16847929e-01 5.76674451e-01 -1.43540289e-02 3.57972813e+02] [-5.76578107e-01 8.16973967e-01 1.05462709e-02 -2.08042997e+02] [ 1.78086329e-02 -3.38480733e-04 9.99841356e-01 7.90075235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.022755096 meters 0.02228827420415855 Centerline is valid? [True, True] Translation: X:358.02, Y:-208.08, Z:7.90 [[ 8.18553235e-01 5.74261161e-01 -1.39542476e-02 3.58021658e+02] [-5.74169655e-01 8.18672078e-01 1.02584717e-02 -2.08081788e+02] [ 1.73149948e-02 -3.84999708e-04 9.99850010e-01 7.90229819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.082755096 meters 0.023958095072490925 Centerline is valid? [True, True] Translation: X:358.07, Y:-208.12, Z:7.90 [[ 8.19284716e-01 5.73212296e-01 -1.41498621e-02 3.58068552e+02] [-5.73117941e-01 8.19406791e-01 1.04084692e-02 -2.08121282e+02] [ 1.75607556e-02 -4.17959897e-04 9.99845711e-01 7.90333776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14275509600003 meters 0.023887320666278564 Centerline is valid? [True, True] Translation: X:358.12, Y:-208.16, Z:7.90 [[ 8.18793988e-01 5.73904975e-01 -1.44735847e-02 3.58120132e+02] [-5.73806256e-01 8.18921795e-01 1.06524635e-02 -2.08156879e+02] [ 1.79662358e-02 -4.17139653e-04 9.99838507e-01 7.90402008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20275509600003 meters 0.022466299375148796 Centerline is valid? [True, True] Translation: X:358.17, Y:-208.19, Z:7.90 [[ 8.17634543e-01 5.75548768e-01 -1.47434418e-02 3.58172513e+02] [-5.75446537e-01 8.17767364e-01 1.08545264e-02 -2.08190510e+02] [ 1.83040148e-02 -3.90973270e-04 9.99832391e-01 7.90461360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26275509600003 meters 0.021126844698949397 Centerline is valid? [True, True] Translation: X:358.22, Y:-208.22, Z:7.90 [[ 8.15388872e-01 5.78686880e-01 -1.62012946e-02 3.58224683e+02] [-5.78563897e-01 8.15549732e-01 1.19353028e-02 -2.08223971e+02] [ 2.01197646e-02 -3.58428992e-04 9.99797513e-01 7.90397778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32275509600004 meters 0.02042547494130451 Centerline is valid? [True, True] Translation: X:358.28, Y:-208.26, Z:7.90 [[ 8.13302360e-01 5.81599767e-01 -1.67625314e-02 3.58276855e+02] [-5.81468588e-01 8.13475027e-01 1.23556217e-02 -2.08258622e+02] [ 2.08219274e-02 -3.01970854e-04 9.99783155e-01 7.90463056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.382755096 meters 0.020022306931432626 Centerline is valid? [True, True] Translation: X:358.33, Y:-208.29, Z:7.91 [[ 8.12246113e-01 5.83082573e-01 -1.64609941e-02 3.58326685e+02] [-5.82956331e-01 8.12412854e-01 1.21355673e-02 -2.08292879e+02] [ 2.04491610e-02 -2.61026693e-04 9.99790860e-01 7.90575195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.442755096 meters 0.019697086006290197 Centerline is valid? [True, True] Translation: X:358.38, Y:-208.33, Z:7.91 [[ 8.11430380e-01 5.84215598e-01 -1.65188946e-02 3.58375839e+02] [-5.84088700e-01 8.11598472e-01 1.21782534e-02 -2.08327397e+02] [ 2.05214352e-02 -2.33305132e-04 9.99789386e-01 7.90736933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.502755096 meters 0.019780881053416122 Centerline is valid? [True, True] Translation: X:358.42, Y:-208.36, Z:7.91 [[ 8.11465261e-01 5.84162668e-01 -1.66765738e-02 3.58422731e+02] [-5.84033329e-01 8.11636570e-01 1.22942870e-02 -2.08363560e+02] [ 2.07171806e-02 -2.36711963e-04 9.99785348e-01 7.90850998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.562755096 meters 0.020133938118329447 Centerline is valid? [True, True] Translation: X:358.47, Y:-208.40, Z:7.91 [[ 8.12292572e-01 5.83008036e-01 -1.68049669e-02 3.58469691e+02] [-5.82876487e-01 8.12466343e-01 1.23871848e-02 -2.08401351e+02] [ 2.08752983e-02 -2.66798126e-04 9.99782052e-01 7.91014338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.622755096 meters 0.020022421602311106 Centerline is valid? [True, True] Translation: X:358.52, Y:-208.44, Z:7.91 [[ 8.12523476e-01 5.82692488e-01 -1.65850829e-02 3.58519867e+02] [-5.82564277e-01 8.12692679e-01 1.22259416e-02 -2.08439723e+02] [ 2.06025398e-02 -2.71987772e-04 9.99787708e-01 7.91226609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.682755096 meters 0.02041092651262488 Centerline is valid? [True, True] Translation: X:358.57, Y:-208.48, Z:7.91 [[ 8.12841590e-01 5.82288543e-01 -1.51195753e-02 3.58568557e+02] [-5.82181795e-01 8.12982154e-01 1.11523275e-02 -2.08478371e+02] [ 1.87858174e-02 -2.62734149e-04 9.99823496e-01 7.91498215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.742755096 meters 0.02003582548964935 Centerline is valid? [True, True] Translation: X:358.62, Y:-208.52, Z:7.92 [[ 8.12322413e-01 5.83014698e-01 -1.50385768e-02 3.58618879e+02] [-5.82909089e-01 8.12461568e-01 1.10993002e-02 -2.08516144e+02] [ 1.86893209e-02 -2.50087202e-04 9.99825308e-01 7.91622811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.802755096 meters 0.019255339108592468 Centerline is valid? [True, True] Translation: X:358.67, Y:-208.55, Z:7.92 [[ 8.10961255e-01 5.84894320e-01 -1.55073511e-02 3.58670948e+02] [-5.84782220e-01 8.11109479e-01 1.14528876e-02 -2.08550927e+02] [ 1.92768884e-02 -2.19424898e-04 9.99814159e-01 7.91668268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.862755096 meters 0.019243597078095965 Centerline is valid? [True, True] Translation: X:358.72, Y:-208.59, Z:7.92 [[ 8.10145117e-01 5.86018724e-01 -1.57144881e-02 3.58720479e+02] [-5.85903685e-01 8.10297486e-01 1.16127816e-02 -2.08586304e+02] [ 1.95387176e-02 -2.00861832e-04 9.99809081e-01 7.91688738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.922755096 meters 0.019035304855412216 Centerline is valid? [True, True] Translation: X:358.77, Y:-208.62, Z:7.92 [[ 8.09672485e-01 5.86643040e-01 -1.67454494e-02 3.58771633e+02] [-5.86512393e-01 8.09845604e-01 1.23818897e-02 -2.08622648e+02] [ 2.08249780e-02 -2.03861827e-04 9.99783116e-01 7.91702539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.982755096 meters 0.01904565939270058 Centerline is valid? [True, True] Translation: X:358.82, Y:-208.66, Z:7.92 [[ 8.09398130e-01 5.87004363e-01 -1.73362338e-02 3.58822793e+02] [-5.86864226e-01 8.09583742e-01 1.28275137e-02 -2.08658958e+02] [ 2.15649396e-02 -2.08550171e-04 9.99767428e-01 7.91745307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.042755096 meters 0.01952240604871066 Centerline is valid? [True, True] Translation: X:358.87, Y:-208.69, Z:7.92 [[ 8.10165694e-01 5.85942527e-01 -1.74041020e-02 3.58870563e+02] [-5.85800891e-01 8.10352575e-01 1.28849221e-02 -2.08693677e+02] [ 2.16532827e-02 -2.43583409e-04 9.99765511e-01 7.91785731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.102755096 meters 0.019725452673983526 Centerline is valid? [True, True] Translation: X:358.92, Y:-208.73, Z:7.92 [[ 8.11155159e-01 5.84577637e-01 -1.72132206e-02 3.58919680e+02] [-5.84438771e-01 8.11337728e-01 1.27441785e-02 -2.08731039e+02] [ 2.14156970e-02 -2.77432620e-04 9.99770619e-01 7.91925132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.162755096 meters 0.0211562882825956 Centerline is valid? [True, True] Translation: X:358.97, Y:-208.77, Z:7.92 [[ 8.13459383e-01 5.81376554e-01 -1.68859595e-02 3.58965955e+02] [-5.81242087e-01 8.13634545e-01 1.25085542e-02 -2.08771511e+02] [ 2.10111801e-02 -3.60370504e-04 9.99779176e-01 7.92130650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.222755096 meters 0.021809137445875593 Centerline is valid? [True, True] Translation: X:359.01, Y:-208.81, Z:7.92 [[ 8.15230203e-01 5.78893935e-01 -1.67788362e-02 3.59014293e+02] [-5.78760556e-01 8.15402742e-01 1.24332976e-02 -2.08810620e+02] [ 2.08790696e-02 -4.25071103e-04 9.99781918e-01 7.92335457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.282755096 meters 0.0219003556743966 Centerline is valid? [True, True] Translation: X:359.06, Y:-208.85, Z:7.93 [[ 8.15526553e-01 5.78479881e-01 -1.66573719e-02 3.59063553e+02] [-5.78348194e-01 8.15696533e-01 1.23503696e-02 -2.08847710e+02] [ 2.07318008e-02 -4.38293415e-04 9.99784977e-01 7.92511364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.342755096 meters 0.022508911533448174 Centerline is valid? [True, True] Translation: X:359.11, Y:-208.89, Z:7.93 [[ 8.14983039e-01 5.79261035e-01 -1.61028174e-02 3.59111464e+02] [-5.79137989e-01 8.15142003e-01 1.19458768e-02 -2.08885626e+02] [ 2.00458638e-02 -4.09933702e-04 9.99798977e-01 7.92646346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.402755096 meters 0.021437341738231336 Centerline is valid? [True, True] Translation: X:359.16, Y:-208.92, Z:7.93 [[ 8.14155650e-01 5.80423467e-01 -1.60989434e-02 3.59162297e+02] [-5.80300580e-01 8.14314712e-01 1.19493639e-02 -2.08921128e+02] [ 2.00452977e-02 -3.86415915e-04 9.99798998e-01 7.92807328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.462755096 meters 0.020621691336630842 Centerline is valid? [True, True] Translation: X:359.21, Y:-208.96, Z:7.93 [[ 8.12853701e-01 5.82232804e-01 -1.65476015e-02 3.59213280e+02] [-5.82103196e-01 8.13022038e-01 1.22896069e-02 -2.08956627e+02] [ 2.06089770e-02 -3.57240737e-04 9.99787549e-01 7.92932933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.522755096 meters 0.020000053297698064 Centerline is valid? [True, True] Translation: X:359.26, Y:-208.99, Z:7.93 [[ 8.11017184e-01 5.84798158e-01 -1.61939052e-02 3.59263688e+02] [-5.84674404e-01 8.11178790e-01 1.20337518e-02 -2.08991568e+02] [ 2.01734683e-02 -2.91417657e-04 9.99796452e-01 7.93044560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.582755096 meters 0.019575958745663778 Centerline is valid? [True, True] Translation: X:359.31, Y:-209.03, Z:7.93 [[ 8.10138112e-01 5.86017910e-01 -1.61012122e-02 3.59314269e+02] [-5.85895692e-01 8.10298056e-01 1.19707798e-02 -2.09027054e+02] [ 2.00618723e-02 -2.64354113e-04 9.99798705e-01 7.93159320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64275509600003 meters 0.01934692901516497 Centerline is valid? [True, True] Translation: X:359.36, Y:-209.06, Z:7.93 [[ 8.09671354e-01 5.86666567e-01 -1.59573916e-02 3.59363046e+02] [-5.86546632e-01 8.09828549e-01 1.18646661e-02 -2.09061605e+02] [ 1.98833543e-02 -2.46725971e-04 9.99802276e-01 7.93192279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70275509600003 meters 0.019337237475180246 Centerline is valid? [True, True] Translation: X:359.41, Y:-209.10, Z:7.93 [[ 8.09374836e-01 5.87074092e-01 -1.60120466e-02 3.59409615e+02] [-5.86953435e-01 8.09533170e-01 1.19042238e-02 -2.09095531e+02] [ 1.99509443e-02 -2.36653386e-04 9.99800932e-01 7.93209467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76275509600003 meters 0.01909146727467937 Centerline is valid? [True, True] Translation: X:359.46, Y:-209.13, Z:7.93 [[ 8.09368218e-01 5.87098533e-01 -1.54402156e-02 3.59459052e+02] [-5.86986391e-01 8.09515449e-01 1.14767096e-02 -2.09128711e+02] [ 1.92370524e-02 -2.25687583e-04 9.99814925e-01 7.93264455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82275509600004 meters 0.019209271978179503 Centerline is valid? [True, True] Translation: X:359.51, Y:-209.16, Z:7.93 [[ 8.09830208e-01 5.86477269e-01 -1.48137201e-02 3.59506258e+02] [-5.86373956e-01 8.09965654e-01 1.10101852e-02 -2.09161587e+02] [ 1.84558278e-02 -2.30000972e-04 9.99829650e-01 7.93324307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.882755096 meters 0.019224762554415634 Centerline is valid? [True, True] Translation: X:359.55, Y:-209.20, Z:7.93 [[ 8.10169590e-01 5.86008993e-01 -1.47883703e-02 3.59554852e+02] [-5.85905995e-01 8.10304512e-01 1.09891686e-02 -2.09196664e+02] [ 1.84228348e-02 -2.38495388e-04 9.99830257e-01 7.93488791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.942755096 meters 0.01929695679284819 Centerline is valid? [True, True] Translation: X:359.61, Y:-209.23, Z:7.94 [[ 8.10815080e-01 5.85108070e-01 -1.50815597e-02 3.59605381e+02] [-5.85000806e-01 8.10955287e-01 1.12062452e-02 -2.09233302e+02] [ 1.87873351e-02 -2.63468045e-04 9.99823468e-01 7.93577471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.002755096 meters 0.01959932880564136 Centerline is valid? [True, True] Translation: X:359.66, Y:-209.27, Z:7.94 [[ 8.11216064e-01 5.84524173e-01 -1.61241373e-02 3.59655303e+02] [-5.84401315e-01 8.11376238e-01 1.19876194e-02 -2.09266457e+02] [ 2.00897952e-02 -3.01582398e-04 9.99798134e-01 7.93501678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.062755096 meters 0.019290309647402748 Centerline is valid? [True, True] Translation: X:359.71, Y:-209.30, Z:7.94 [[ 8.11085808e-01 5.84692214e-01 -1.65779068e-02 3.59706173e+02] [-5.84562394e-01 8.11255152e-01 1.23241711e-02 -2.09300160e+02] [ 2.06547592e-02 -3.05139374e-04 9.99786621e-01 7.93545136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.122755096 meters 0.02031363339162205 Centerline is valid? [True, True] Translation: X:359.75, Y:-209.34, Z:7.94 [[ 8.10991804e-01 5.84814851e-01 -1.68488795e-02 3.59752298e+02] [-5.84680763e-01 8.11166750e-01 1.25263628e-02 -2.09335645e+02] [ 2.09928538e-02 -3.07561821e-04 9.99779578e-01 7.93610504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.182755096 meters 0.019160042007640814 Centerline is valid? [True, True] Translation: X:359.80, Y:-209.37, Z:7.94 [[ 8.10826194e-01 5.85067343e-01 -1.60339678e-02 3.59803240e+02] [-5.84945988e-01 8.10984663e-01 1.19192319e-02 -2.09367883e+02] [ 1.99768553e-02 -2.85420362e-04 9.99800402e-01 7.93828840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.242755096 meters 0.019140321346821157 Centerline is valid? [True, True] Translation: X:359.85, Y:-209.40, Z:7.94 [[ 8.10581393e-01 5.85447162e-01 -1.44715412e-02 3.59851813e+02] [-5.85348368e-01 8.10710527e-01 1.07577864e-02 -2.09402183e+02] [ 1.80303463e-02 -2.49168441e-04 9.99837409e-01 7.94039719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.302755096 meters 0.019489399406022814 Centerline is valid? [True, True] Translation: X:359.90, Y:-209.44, Z:7.94 [[ 8.10582691e-01 5.85460147e-01 -1.38606236e-02 3.59898285e+02] [-5.85369533e-01 8.10701153e-01 1.03029182e-02 -2.09436578e+02] [ 1.72687716e-02 -2.37780436e-04 9.99850855e-01 7.94220992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.362755096 meters 0.01923726463718694 Centerline is valid? [True, True] Translation: X:359.95, Y:-209.47, Z:7.94 [[ 8.10534509e-01 5.85525249e-01 -1.39281030e-02 3.59949036e+02] [-5.85433806e-01 8.10654135e-01 1.03504467e-02 -2.09471945e+02] [ 1.73513222e-02 -2.35411889e-04 9.99849427e-01 7.94262290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.422755096 meters 0.01935108861524692 Centerline is valid? [True, True] Translation: X:360.00, Y:-209.51, Z:7.94 [[ 8.10453066e-01 5.85658546e-01 -1.30343752e-02 3.59996786e+02] [-5.85578379e-01 8.10557844e-01 9.69245899e-03 -2.09506983e+02] [ 1.62415865e-02 -2.22634810e-04 9.99868072e-01 7.94424116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.482755096 meters 0.019420188791181594 Centerline is valid? [True, True] Translation: X:360.05, Y:-209.54, Z:7.95 [[ 8.10264391e-01 5.85929265e-01 -1.25901931e-02 3.60046798e+02] [-5.85854516e-01 8.10362173e-01 9.36128322e-03 -2.09541792e+02] [ 1.56876660e-02 -2.09092977e-04 9.99876919e-01 7.94595915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.542755096 meters 0.019721646035426317 Centerline is valid? [True, True] Translation: X:360.09, Y:-209.58, Z:7.95 [[ 8.10246662e-01 5.85957701e-01 -1.24064548e-02 3.60093462e+02] [-5.85885115e-01 8.10341614e-01 9.22503404e-03 -2.09575868e+02] [ 1.54589463e-02 -2.05795838e-04 9.99880482e-01 7.94759632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.602755096 meters 0.019712586566518878 Centerline is valid? [True, True] Translation: X:360.14, Y:-209.61, Z:7.95 [[ 8.10179750e-01 5.86063192e-01 -1.17773982e-02 3.60141578e+02] [-5.85997818e-01 8.10265326e-01 8.75551447e-03 -2.09609161e+02] [ 1.46741021e-02 -1.92010883e-04 9.99892311e-01 7.95038884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.662755096 meters 0.019653885942509174 Centerline is valid? [True, True] Translation: X:360.19, Y:-209.64, Z:7.95 [[ 8.09983493e-01 5.86343512e-01 -1.13149051e-02 3.60190849e+02] [-5.86283215e-01 8.10062500e-01 8.41060423e-03 -2.09640661e+02] [ 1.40972835e-02 -1.78711667e-04 9.99900612e-01 7.95233929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.722755096 meters 0.019688465586093655 Centerline is valid? [True, True] Translation: X:360.24, Y:-209.67, Z:7.95 [[ 8.10241354e-01 5.85989579e-01 -1.11875829e-02 3.60239291e+02] [-5.85930628e-01 8.10318567e-01 8.31377212e-03 -2.09673892e+02] [ 1.39372900e-02 -1.81014477e-04 9.99902855e-01 7.95432992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.782755096 meters 0.020158517597899554 Centerline is valid? [True, True] Translation: X:360.29, Y:-209.71, Z:7.96 [[ 8.10760440e-01 5.85279333e-01 -1.07522802e-02 3.60286526e+02] [-5.85224833e-01 8.10831714e-01 7.98914999e-03 -2.09706957e+02] [ 1.33941742e-02 -1.84785352e-04 9.99910277e-01 7.95710383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.842755096 meters 0.020496814671627207 Centerline is valid? [True, True] Translation: X:360.34, Y:-209.74, Z:7.96 [[ 8.11445059e-01 5.84337520e-01 -1.03237326e-02 3.60335471e+02] [-5.84287223e-01 8.11510706e-01 7.66911961e-03 -2.09740204e+02] [ 1.28591739e-02 -1.91044177e-04 9.99917299e-01 7.95967793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.902755096 meters 0.020924879568193434 Centerline is valid? [True, True] Translation: X:360.38, Y:-209.77, Z:7.96 [[ 8.11896964e-01 5.83701085e-01 -1.07871770e-02 3.60383243e+02] [-5.83646131e-01 8.11968595e-01 8.01213989e-03 -2.09773006e+02] [ 1.34355437e-02 -2.09137915e-04 9.99909717e-01 7.96035814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.962755096 meters 0.020880831723822355 Centerline is valid? [True, True] Translation: X:360.43, Y:-209.80, Z:7.96 [[ 8.12737904e-01 5.82517181e-01 -1.14382490e-02 3.60433411e+02] [-5.82455303e-01 8.12818353e-01 8.49382274e-03 -2.09804334e+02] [ 1.42450164e-02 -2.40982926e-04 9.99898506e-01 7.96116162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.022755096 meters 0.02135939482177395 Centerline is valid? [True, True] Translation: X:360.48, Y:-209.84, Z:7.96 [[ 8.13493797e-01 5.81461239e-01 -1.14311244e-02 3.60483052e+02] [-5.81399352e-01 8.13574066e-01 8.48715131e-03 -2.09836782e+02] [ 1.42350159e-02 -2.58196617e-04 9.99898644e-01 7.96331060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.082755096 meters 0.022303698578006494 Centerline is valid? [True, True] Translation: X:360.53, Y:-209.87, Z:7.97 [[ 8.14427971e-01 5.80160639e-01 -1.09869352e-02 3.60532049e+02] [-5.80103366e-01 8.14502033e-01 8.15622498e-03 -2.09867461e+02] [ 1.36808018e-02 -2.69099654e-04 9.99906377e-01 7.96550431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.14275509600003 meters 0.02356977588992047 Centerline is valid? [True, True] Translation: X:360.58, Y:-209.90, Z:7.97 [[ 8.15149422e-01 5.79137026e-01 -1.14771574e-02 3.60580649e+02] [-5.79074440e-01 8.15230161e-01 8.51925449e-03 -2.09900425e+02] [ 1.42903406e-02 -2.98336891e-04 9.99897843e-01 7.96668381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20275509600003 meters 0.023818242576171565 Centerline is valid? [True, True] Translation: X:360.63, Y:-209.93, Z:7.97 [[ 8.16623051e-01 5.77065038e-01 -1.10785751e-02 3.60631229e+02] [-5.77006604e-01 8.16698133e-01 8.21817334e-03 -2.09930196e+02] [ 1.37902721e-02 -3.18738801e-04 9.99904859e-01 7.96782958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26275509600003 meters 0.025685193741866508 Centerline is valid? [True, True] Translation: X:360.68, Y:-209.97, Z:7.97 [[ 8.16946885e-01 5.76596743e-01 -1.15751014e-02 3.60676210e+02] [-5.76532928e-01 8.17028812e-01 8.58506702e-03 -2.09965142e+02] [ 1.44073130e-02 -3.40116659e-04 9.99896151e-01 7.96908076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32275509600004 meters 0.025776565786476788 Centerline is valid? [True, True] Translation: X:360.73, Y:-210.00, Z:7.97 [[ 8.18213923e-01 5.74804170e-01 -1.12313662e-02 3.60726862e+02] [-5.74743969e-01 8.18290925e-01 8.32655094e-03 -2.09995118e+02] [ 1.39766613e-02 -3.57739891e-04 9.99902258e-01 7.97031123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.382755096 meters 0.027392340612537393 Centerline is valid? [True, True] Translation: X:360.78, Y:-210.03, Z:7.97 [[ 8.19288099e-01 5.73258266e-01 -1.19151371e-02 3.60775416e+02] [-5.73190448e-01 8.19374639e-01 8.82676157e-03 -2.10026331e+02] [ 1.48229752e-02 -4.02017935e-04 9.99890053e-01 7.97018854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.442755096 meters 0.02819312627129404 Centerline is valid? [True, True] Translation: X:360.82, Y:-210.06, Z:7.97 [[ 8.19910212e-01 5.72359010e-01 -1.23453759e-02 3.60824031e+02] [-5.72286125e-01 8.20003034e-01 9.14413392e-03 -2.10059933e+02] [ 1.53569732e-02 -4.32281436e-04 9.99881981e-01 7.97103099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.502755096 meters 0.027970854778000473 Centerline is valid? [True, True] Translation: X:360.87, Y:-210.09, Z:7.97 [[ 8.20518276e-01 5.71466731e-01 -1.32489626e-02 3.60874152e+02] [-5.71382778e-01 8.20625096e-01 9.80676960e-03 -2.10090395e+02] [ 1.64766738e-02 -4.76404616e-04 9.99864137e-01 7.97109848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.562755096 meters 0.028924693688389732 Centerline is valid? [True, True] Translation: X:360.92, Y:-210.12, Z:7.97 [[ 8.20231281e-01 5.71866965e-01 -1.37411643e-02 3.60923062e+02] [-5.71776774e-01 8.20346233e-01 1.01675686e-02 -2.10120787e+02] [ 1.70870090e-02 -4.82879267e-04 9.99853890e-01 7.97164893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.622755096 meters 0.026204467115818662 Centerline is valid? [True, True] Translation: X:360.98, Y:-210.15, Z:7.97 [[ 8.19863598e-01 5.72401436e-01 -1.34266926e-02 3.60975746e+02] [-5.72315425e-01 8.19973405e-01 9.93326137e-03 -2.10149113e+02] [ 1.66953440e-02 -4.59616100e-04 9.99860517e-01 7.97316619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.682755096 meters 0.025919802758644802 Centerline is valid? [True, True] Translation: X:361.02, Y:-210.18, Z:7.97 [[ 8.19455912e-01 5.72972582e-01 -1.39437552e-02 3.61024747e+02] [-5.72880018e-01 8.19574407e-01 1.03090517e-02 -2.10181288e+02] [ 1.73347489e-02 -4.59714621e-04 9.99849636e-01 7.97374287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.742755096 meters 0.024549322269741825 Centerline is valid? [True, True] Translation: X:361.08, Y:-210.21, Z:7.97 [[ 8.17698117e-01 5.75464328e-01 -1.45119513e-02 3.61076048e+02] [-5.75364582e-01 8.17826774e-01 1.07221975e-02 -2.10211083e+02] [ 1.80385045e-02 -4.17857909e-04 9.99837206e-01 7.97379860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.802755096 meters 0.021261960620778 Centerline is valid? [True, True] Translation: X:361.13, Y:-210.24, Z:7.97 [[ 8.13866538e-01 5.80864363e-01 -1.47597422e-02 3.61128979e+02] [-5.80762189e-01 8.14000309e-01 1.08985132e-02 -2.10238161e+02] [ 1.83449927e-02 -2.98035007e-04 9.99831672e-01 7.97434433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.862755096 meters 0.019134824480627602 Centerline is valid? [True, True] Translation: X:361.18, Y:-210.27, Z:7.98 [[ 8.10785112e-01 5.85150030e-01 -1.50646550e-02 3.61180161e+02] [-5.85044364e-01 8.10925028e-01 1.11216485e-02 -2.10268031e+02] [ 1.87241387e-02 -2.03775525e-04 9.99824667e-01 7.97534789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.922755096 meters 0.01747832464452737 Centerline is valid? [True, True] Translation: X:361.23, Y:-210.30, Z:7.98 [[ 8.07029829e-01 5.90331835e-01 -1.45320181e-02 3.61231201e+02] [-5.90234456e-01 8.07160653e-01 1.07222773e-02 -2.10297932e+02] [ 1.80593748e-02 -7.58997980e-05 9.99836913e-01 7.97704127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.982755096 meters 0.017309294560787863 Centerline is valid? [True, True] Translation: X:361.28, Y:-210.33, Z:7.98 [[ 8.04952528e-01 5.93172416e-01 -1.40681349e-02 3.61278523e+02] [-5.93081695e-01 8.05075453e-01 1.03739486e-02 -2.10331216e+02] [ 1.74794503e-02 -6.98284358e-06 9.99847223e-01 7.97856445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.042755096 meters 0.017277836248096402 Centerline is valid? [True, True] Translation: X:361.32, Y:-210.37, Z:7.98 [[ 8.04718417e-01 5.93497965e-01 -1.37271682e-02 3.61323092e+02] [-5.93411668e-01 8.04835490e-01 1.01205732e-02 -2.10366137e+02] [ 1.70546518e-02 1.65016055e-06 9.99854559e-01 7.98004621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.102755096 meters 0.017634764512082946 Centerline is valid? [True, True] Translation: X:361.37, Y:-210.41, Z:7.98 [[ 8.07231293e-01 5.90095930e-01 -1.28231759e-02 3.61365115e+02] [-5.90020224e-01 8.07333134e-01 9.45231355e-03 -2.10407070e+02] [ 1.59303466e-02 -6.42701649e-05 9.99873102e-01 7.98192129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.162755096 meters 0.018503287100159412 Centerline is valid? [True, True] Translation: X:361.41, Y:-210.45, Z:7.98 [[ 8.09704054e-01 5.86704562e-01 -1.25340461e-02 3.61406942e+02] [-5.86631936e-01 8.09801051e-01 9.23194657e-03 -2.10448358e+02] [ 1.55665089e-02 -1.22272819e-04 9.99878827e-01 7.98372731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.222755096 meters 0.02139848017451934 Centerline is valid? [True, True] Translation: X:361.45, Y:-210.49, Z:7.98 [[ 8.13598901e-01 5.81294276e-01 -1.24013504e-02 3.61446321e+02] [-5.81222579e-01 8.13693379e-01 9.13228079e-03 -2.10491691e+02] [ 1.53994393e-02 -2.22068727e-04 9.99881397e-01 7.98482618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.282755096 meters 0.02233147764899851 Centerline is valid? [True, True] Translation: X:361.49, Y:-210.53, Z:7.98 [[ 8.16901215e-01 5.76642223e-01 -1.24960911e-02 3.61490434e+02] [-5.76568904e-01 8.16996726e-01 9.20050495e-03 -2.10531550e+02] [ 1.55146652e-02 -3.11046104e-04 9.99879592e-01 7.98492199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.342755096 meters 0.02437443318156883 Centerline is valid? [True, True] Translation: X:361.53, Y:-210.57, Z:7.98 [[ 8.18891864e-01 5.73796721e-01 -1.31695627e-02 3.61533003e+02] [-5.73715031e-01 8.18997667e-01 9.68936010e-03 -2.10571070e+02] [ 1.63455642e-02 -3.78962084e-04 9.99866331e-01 7.98455750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.402755096 meters 0.02663323381038677 Centerline is valid? [True, True] Translation: X:361.58, Y:-210.61, Z:7.98 [[ 8.21145985e-01 5.70547244e-01 -1.39682834e-02 3.61575383e+02] [-5.70454910e-01 8.21264648e-01 1.02748578e-02 -2.10612302e+02] [ 1.73339492e-02 -4.68882338e-04 9.99849646e-01 7.98380220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.462755096 meters 0.027878192284841622 Centerline is valid? [True, True] Translation: X:361.62, Y:-210.65, Z:7.98 [[ 8.22222069e-01 5.68977916e-01 -1.46628610e-02 3.61619368e+02] [-5.68876047e-01 8.22352637e-01 1.07788388e-02 -2.10651922e+02] [ 1.81909636e-02 -5.21248721e-04 9.99834395e-01 7.98399941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.522755096 meters 0.02753575489293859 Centerline is valid? [True, True] Translation: X:361.67, Y:-210.69, Z:7.99 [[ 8.21734569e-01 5.69696245e-01 -1.40885245e-02 3.61665177e+02] [-5.69602411e-01 8.21855193e-01 1.03506193e-02 -2.10689448e+02] [ 1.74754360e-02 -4.80604124e-04 9.99847177e-01 7.98603481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.582755096 meters 0.026306643299236144 Centerline is valid? [True, True] Translation: X:361.71, Y:-210.72, Z:7.99 [[ 8.20234568e-01 5.71863550e-01 -1.36869820e-02 3.61713254e+02] [-5.71775390e-01 8.20348649e-01 1.00497524e-02 -2.10724277e+02] [ 1.69751843e-02 -4.17274840e-04 9.99855824e-01 7.98789727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.64275509600003 meters 0.022419207776193415 Centerline is valid? [True, True] Translation: X:361.76, Y:-210.76, Z:7.99 [[ 8.16581924e-01 5.77090003e-01 -1.26920909e-02 3.61764242e+02] [-5.77014902e-01 8.16680506e-01 9.31418502e-03 -2.10755051e+02] [ 1.57405063e-02 -2.82269531e-04 9.99876071e-01 7.99010445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70275509600003 meters 0.01924889402692153 Centerline is valid? [True, True] Translation: X:361.81, Y:-210.79, Z:7.99 [[ 8.12474861e-01 5.82882111e-01 -1.15344997e-02 3.61813765e+02] [-5.82820694e-01 8.12556719e-01 8.46270871e-03 -2.10785409e+02] [ 1.43051967e-02 -1.53192980e-04 9.99897664e-01 7.99255880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76275509600003 meters 0.01793220868702956 Centerline is valid? [True, True] Translation: X:361.86, Y:-210.82, Z:7.99 [[ 8.08681068e-01 5.88147843e-01 -1.08187418e-02 3.61862616e+02] [-5.88094298e-01 8.08753431e-01 7.93630017e-03 -2.10818030e+02] [ 1.34174124e-02 -5.54953552e-05 9.99909981e-01 7.99478896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82275509600004 meters 0.01776783036493882 Centerline is valid? [True, True] Translation: X:361.91, Y:-210.85, Z:8.00 [[ 8.06744777e-01 5.90810692e-01 -1.02756982e-02 3.61909433e+02] [-5.90762667e-01 8.06810217e-01 7.53296743e-03 -2.10851486e+02] [ 1.27410960e-02 -6.68325958e-06 9.99918829e-01 7.99648212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.882755096 meters 0.017811772499017667 Centerline is valid? [True, True] Translation: X:361.95, Y:-210.89, Z:8.00 [[ 8.05720662e-01 5.92215259e-01 -9.76226312e-03 3.61954783e+02] [-5.92172038e-01 8.05779800e-01 7.15475590e-03 -2.10887714e+02] [ 1.21033900e-02 1.62045940e-05 9.99926751e-01 7.99875247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.942755096 meters 0.017710275466442583 Centerline is valid? [True, True] Translation: X:362.00, Y:-210.93, Z:8.00 [[ 8.06889187e-01 5.90616848e-01 -1.00786053e-02 3.61998490e+02] [-5.90570656e-01 8.06952129e-01 7.38656933e-03 -2.10925867e+02] [ 1.24955843e-02 -8.01439000e-06 9.99921927e-01 7.99905776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.002755096 meters 0.01790795710752165 Centerline is valid? [True, True] Translation: X:362.04, Y:-210.97, Z:8.00 [[ 8.10581347e-01 5.85511812e-01 -1.15670921e-02 3.62039374e+02] [-5.85450556e-01 8.10663870e-01 8.46975803e-03 -2.10970020e+02] [ 1.43361670e-02 -9.34673722e-05 9.99897228e-01 7.99740705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.062755096 meters 0.0189520207718183 Centerline is valid? [True, True] Translation: X:362.08, Y:-211.02, Z:8.00 [[ 8.14381146e-01 5.80195454e-01 -1.25133809e-02 3.62080462e+02] [-5.80123166e-01 8.14477252e-01 9.16063553e-03 -2.11016026e+02] [ 1.55068232e-02 -2.00946679e-04 9.99879742e-01 7.99745399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.122755096 meters 0.019390787250506195 Centerline is valid? [True, True] Translation: X:362.13, Y:-211.06, Z:8.00 [[ 8.15441503e-01 5.78701081e-01 -1.26575481e-02 3.62127805e+02] [-5.78626940e-01 8.15539701e-01 9.26603534e-03 -2.11055395e+02] [ 1.56849977e-02 -2.31911468e-04 9.99876956e-01 7.99871079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.182755096 meters 0.020472807851614424 Centerline is valid? [True, True] Translation: X:362.17, Y:-211.10, Z:8.00 [[ 8.17553935e-01 5.75691058e-01 -1.36150385e-02 3.62171069e+02] [-5.75604850e-01 8.17667235e-01 9.96741216e-03 -2.11101253e+02] [ 1.68707209e-02 -3.12014861e-04 9.99857631e-01 7.99890560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.242755096 meters 0.022269635490893232 Centerline is valid? [True, True] Translation: X:362.21, Y:-211.15, Z:8.00 [[ 8.18211684e-01 5.74707123e-01 -1.55358560e-02 3.62213953e+02] [-5.74594545e-01 8.18359074e-01 1.13813031e-02 -2.11146854e+02] [ 1.92548246e-02 -3.85497044e-04 9.99814534e-01 7.99804047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.302755096 meters 0.02100949492172525 Centerline is valid? [True, True] Translation: X:362.26, Y:-211.19, Z:8.00 [[ 8.17079238e-01 5.76269724e-01 -1.71675080e-02 3.62258918e+02] [-5.76132463e-01 8.17259477e-01 1.25830296e-02 -2.11186403e+02] [ 2.12815276e-02 -3.90573527e-04 9.99773446e-01 7.99823330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.362755096 meters 0.019916784760824074 Centerline is valid? [True, True] Translation: X:362.31, Y:-211.22, Z:8.00 [[ 8.15325057e-01 5.78722854e-01 -1.80252319e-02 3.62305602e+02] [-5.78572155e-01 8.15524213e-01 1.32105976e-02 -2.11223419e+02] [ 2.23452878e-02 -3.42033971e-04 9.99750254e-01 7.99906511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.422755096 meters 0.018390873002914376 Centerline is valid? [True, True] Translation: X:362.35, Y:-211.26, Z:8.00 [[ 8.12305085e-01 5.82964444e-01 -1.76891777e-02 3.62352325e+02] [-5.82820336e-01 8.12497636e-01 1.29632820e-02 -2.11261062e+02] [ 2.19295476e-02 -2.20527361e-04 9.99759494e-01 8.00150527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.482755096 meters 0.017686640867507923 Centerline is valid? [True, True] Translation: X:362.40, Y:-211.30, Z:8.01 [[ 8.10399806e-01 5.85642017e-01 -1.66007006e-02 3.62399696e+02] [-5.85515663e-01 8.10569805e-01 1.21655202e-02 -2.11301439e+02] [ 2.05806664e-02 -1.38965004e-04 9.99788186e-01 8.00547465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.542755096 meters 0.017820859108361425 Centerline is valid? [True, True] Translation: X:362.45, Y:-211.34, Z:8.01 [[ 8.10061883e-01 5.86163709e-01 -1.45551371e-02 3.62445711e+02] [-5.86066563e-01 8.10192627e-01 1.06719355e-02 -2.11343978e+02] [ 1.80479661e-02 -1.14648944e-04 9.99837116e-01 8.01063398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.602755096 meters 0.017884345800592633 Centerline is valid? [True, True] Translation: X:362.49, Y:-211.38, Z:8.02 [[ 8.09321170e-01 5.87242419e-01 -1.20658561e-02 3.62494866e+02] [-5.87175716e-01 8.09411104e-01 8.85114623e-03 -2.11381619e+02] [ 1.49640064e-02 -7.86423416e-05 9.99888030e-01 8.01587512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.662755096 meters 0.017647923777401424 Centerline is valid? [True, True] Translation: X:362.55, Y:-211.42, Z:8.02 [[ 8.08061714e-01 5.88995442e-01 -1.09834440e-02 3.62546070e+02] [-5.88940273e-01 8.08136354e-01 8.06151038e-03 -2.11417228e+02] [ 1.36243133e-02 -4.56053568e-05 9.99907184e-01 8.01899888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.722755096 meters 0.01759141371227293 Centerline is valid? [True, True] Translation: X:362.60, Y:-211.45, Z:8.02 [[ 8.07676624e-01 5.89508074e-01 -1.17771996e-02 3.62597702e+02] [-5.89444623e-01 8.07762483e-01 8.64915683e-03 -2.11452916e+02] [ 1.46119278e-02 -4.37148133e-05 9.99893239e-01 8.01959808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.782755096 meters 0.017613263492509603 Centerline is valid? [True, True] Translation: X:362.65, Y:-211.49, Z:8.02 [[ 8.07966049e-01 5.89098934e-01 -1.23818087e-02 3.62648882e+02] [-5.89028653e-01 8.08060915e-01 9.09962935e-03 -2.11489925e+02] [ 1.53658376e-02 -5.89514595e-05 9.99881937e-01 8.01986983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.842755096 meters 0.017911250873451447 Centerline is valid? [True, True] Translation: X:362.70, Y:-211.53, Z:8.02 [[ 8.09575805e-01 5.86859376e-01 -1.35309910e-02 3.62698320e+02] [-5.86775008e-01 8.09688865e-01 9.95144227e-03 -2.11526952e+02] [ 1.67959900e-02 -1.16799520e-04 9.99858931e-01 8.01926090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.902755096 meters 0.018701586117287408 Centerline is valid? [True, True] Translation: X:362.75, Y:-211.57, Z:8.02 [[ 8.12606594e-01 5.82612312e-01 -1.52780340e-02 3.62746558e+02] [-5.82503860e-01 8.12750169e-01 1.12434600e-02 -2.11565777e+02] [ 1.89678030e-02 -2.36995961e-04 9.99820067e-01 8.01786497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.962755096 meters 0.021057878006763883 Centerline is valid? [True, True] Translation: X:362.79, Y:-211.61, Z:8.02 [[ 8.16757583e-01 5.76735119e-01 -1.68419693e-02 3.62793060e+02] [-5.76601903e-01 8.16931103e-01 1.24023659e-02 -2.11605638e+02] [ 2.09116085e-02 -4.18614839e-04 9.99781241e-01 8.01584001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.022755096 meters 0.023615062309623586 Centerline is valid? [True, True] Translation: X:362.84, Y:-211.65, Z:8.02 [[ 8.19580500e-01 5.72674052e-01 -1.82273271e-02 3.62840219e+02] [-5.72516833e-01 8.19782961e-01 1.34302779e-02 -2.11645184e+02] [ 2.26336239e-02 -5.71742321e-04 9.99743663e-01 8.01502589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.082755096 meters 0.023201837900023514 Centerline is valid? [True, True] Translation: X:362.89, Y:-211.68, Z:8.02 [[ 8.20005229e-01 5.72040888e-01 -1.89907014e-02 3.62890901e+02] [-5.71869868e-01 8.20224870e-01 1.40005977e-02 -2.11681608e+02] [ 2.35855599e-02 -6.20353411e-04 9.99721630e-01 8.01547376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.14275509600003 meters 0.023342318321615204 Centerline is valid? [True, True] Translation: X:362.94, Y:-211.72, Z:8.01 [[ 8.18904346e-01 5.73577996e-01 -2.00986411e-02 3.62941035e+02] [-5.73386675e-01 8.19150720e-01 1.48263022e-02 -2.11716452e+02] [ 2.49678570e-02 -6.17030254e-04 9.99688064e-01 8.01492994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20275509600003 meters 0.021148275576384986 Centerline is valid? [True, True] Translation: X:363.00, Y:-211.75, Z:8.02 [[ 8.16242571e-01 5.77344757e-01 -2.05206431e-02 3.62995362e+02] [-5.77146335e-01 8.16500314e-01 1.51441306e-02 -2.11746770e+02] [ 2.54984960e-02 -5.17870137e-04 9.99674726e-01 8.01539136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26275509600003 meters 0.021509656635212742 Centerline is valid? [True, True] Translation: X:363.05, Y:-211.78, Z:8.02 [[ 8.13443259e-01 5.81300833e-01 -1.99851711e-02 3.63046084e+02] [-5.81113734e-01 8.13688634e-01 1.47524801e-02 -2.11781586e+02] [ 2.48373356e-02 -3.86648031e-04 9.99691431e-01 8.01514196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32275509600004 meters 0.01896124387579085 Centerline is valid? [True, True] Translation: X:363.10, Y:-211.81, Z:8.02 [[ 8.11732019e-01 5.83710123e-01 -1.93292983e-02 3.63100311e+02] [-5.83535593e-01 8.11962066e-01 1.42763819e-02 -2.11812076e+02] [ 2.40279256e-02 -3.09262752e-04 9.99711240e-01 8.01795699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.382755096 meters 0.018832614230210976 Centerline is valid? [True, True] Translation: X:363.15, Y:-211.85, Z:8.02 [[ 8.11007465e-01 5.84732810e-01 -1.88263852e-02 3.63151330e+02] [-5.84567333e-01 8.11225902e-01 1.39129069e-02 -2.11846740e+02] [ 2.34077844e-02 -2.78181620e-04 9.99725962e-01 8.01865950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.442755096 meters 0.0187493718445797 Centerline is valid? [True, True] Translation: X:363.20, Y:-211.88, Z:8.02 [[ 8.10612542e-01 5.85270463e-01 -1.91256770e-02 3.63200150e+02] [-5.85099685e-01 8.10838092e-01 1.41402807e-02 -2.11880506e+02] [ 2.37837161e-02 -2.71861281e-04 9.99717090e-01 8.01830417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.502755096 meters 0.018948461360319777 Centerline is valid? [True, True] Translation: X:363.25, Y:-211.92, Z:8.02 [[ 8.10840461e-01 5.84942995e-01 -1.94792054e-02 3.63250758e+02] [-5.84765717e-01 8.11074355e-01 1.44030229e-02 -2.11917438e+02] [ 2.42240313e-02 -2.87782221e-04 9.99706514e-01 8.01908807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.562755096 meters 0.01982478384934512 Centerline is valid? [True, True] Translation: X:363.30, Y:-211.95, Z:8.02 [[ 8.12171884e-01 5.83068617e-01 -2.01945141e-02 3.63297610e+02] [-5.82877311e-01 8.12422831e-01 1.49393418e-02 -2.11954476e+02] [ 2.51171457e-02 -3.62389362e-04 9.99684449e-01 8.01830317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.622755096 meters 0.021339499077678164 Centerline is valid? [True, True] Translation: X:363.34, Y:-211.99, Z:8.02 [[ 8.14019311e-01 5.80469263e-01 -2.06880692e-02 3.63343269e+02] [-5.80267674e-01 8.14282033e-01 1.53034829e-02 -2.11991835e+02] [ 2.57291245e-02 -4.52712750e-04 9.99668849e-01 8.01797480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.682755096 meters 0.023022263643599907 Centerline is valid? [True, True] Translation: X:363.39, Y:-212.03, Z:8.02 [[ 8.15833631e-01 5.77943233e-01 -1.99275245e-02 3.63389524e+02] [-5.77755483e-01 8.16076809e-01 1.47392160e-02 -2.12028936e+02] [ 2.47808207e-02 -5.11511612e-04 9.99692777e-01 8.01937893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.742755096 meters 0.023554839336728473 Centerline is valid? [True, True] Translation: X:363.44, Y:-212.07, Z:8.02 [[ 8.17543215e-01 5.75536455e-01 -1.95161370e-02 3.63437628e+02] [-5.75355720e-01 8.17775924e-01 1.44337778e-02 -2.12066076e+02] [ 2.42669922e-02 -5.71516059e-04 9.99705350e-01 8.02115072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.802755096 meters 0.023310103368609923 Centerline is valid? [True, True] Translation: X:363.49, Y:-212.10, Z:8.02 [[ 8.17984447e-01 5.74927166e-01 -1.89788775e-02 3.63488149e+02] [-5.74756040e-01 8.18204390e-01 1.40381907e-02 -2.12102829e+02] [ 2.35995381e-02 -5.74797205e-04 9.99721327e-01 8.02344318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.862755096 meters 0.02310797164771178 Centerline is valid? [True, True] Translation: X:363.54, Y:-212.14, Z:8.03 [[ 8.17722612e-01 5.75334514e-01 -1.78864839e-02 3.63538081e+02] [-5.75182459e-01 8.17918033e-01 1.32374482e-02 -2.12138929e+02] [ 2.22456386e-02 -5.36568913e-04 9.99752391e-01 8.02660880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.922755096 meters 0.022206945891337256 Centerline is valid? [True, True] Translation: X:363.59, Y:-212.17, Z:8.03 [[ 8.16101924e-01 5.77633425e-01 -1.78122222e-02 3.63589993e+02] [-5.77483019e-01 8.16296146e-01 1.31895564e-02 -2.12173883e+02] [ 2.21587769e-02 -4.77766492e-04 9.99754350e-01 8.02829142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.982755096 meters 0.02075203986351913 Centerline is valid? [True, True] Translation: X:363.64, Y:-212.21, Z:8.03 [[ 8.13146978e-01 5.81801248e-01 -1.73002939e-02 3.63642073e+02] [-5.81660208e-01 8.13330917e-01 1.28149127e-02 -2.12208169e+02] [ 2.15265961e-02 -3.57514943e-04 9.99768212e-01 8.03031179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.042755096 meters 0.020623767329149525 Centerline is valid? [True, True] Translation: X:363.69, Y:-212.24, Z:8.03 [[ 8.12044423e-01 5.83339348e-01 -1.72933899e-02 3.63690091e+02] [-5.83198633e-01 8.12228479e-01 1.28160830e-02 -2.12243181e+02] [ 2.15223093e-02 -3.21747402e-04 9.99768317e-01 8.03193003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.102755096 meters 0.019192160091971496 Centerline is valid? [True, True] Translation: X:363.74, Y:-212.27, Z:8.03 [[ 8.09189126e-01 5.87343859e-01 -1.54967541e-02 3.63740101e+02] [-5.87231608e-01 8.09337478e-01 1.14841214e-02 -2.12274176e+02] [ 1.92872321e-02 -1.92642351e-04 9.99813965e-01 8.03443111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.162755096 meters 0.01874934551967826 Centerline is valid? [True, True] Translation: X:363.79, Y:-212.31, Z:8.04 [[ 8.07476881e-01 5.89704605e-01 -1.51514200e-02 3.63788308e+02] [-5.89597750e-01 8.07619007e-01 1.12264220e-02 -2.12307698e+02] [ 1.88568475e-02 -1.31833135e-04 9.99822185e-01 8.03619268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.222755096 meters 0.018446901843593568 Centerline is valid? [True, True] Translation: X:363.84, Y:-212.34, Z:8.04 [[ 8.06371233e-01 5.91215937e-01 -1.51376901e-02 3.63835804e+02] [-5.91109575e-01 8.06513302e-01 1.12144472e-02 -2.12342705e+02] [ 1.88389083e-02 -9.49740392e-05 9.99822528e-01 8.03771356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.282755096 meters 0.018561333419478316 Centerline is valid? [True, True] Translation: X:363.88, Y:-212.38, Z:8.04 [[ 8.06308576e-01 5.91310208e-01 -1.47890976e-02 3.63884980e+02] [-5.91208738e-01 8.06444189e-01 1.09544170e-02 -2.12381217e+02] [ 1.84040404e-02 -8.91966560e-05 9.99830627e-01 8.03998472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.342755096 meters 0.018897349766572778 Centerline is valid? [True, True] Translation: X:363.93, Y:-212.42, Z:8.04 [[ 8.06955501e-01 5.90448852e-01 -1.38914816e-02 3.63932188e+02] [-5.90359079e-01 8.07075053e-01 1.02963968e-02 -2.12418801e+02] [ 1.72909639e-02 -1.07771762e-04 9.99850494e-01 8.04219100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.402755096 meters 0.019276415776271382 Centerline is valid? [True, True] Translation: X:363.98, Y:-212.46, Z:8.04 [[ 8.08294014e-01 5.88630667e-01 -1.32183814e-02 3.63979658e+02] [-5.88549119e-01 8.08402077e-01 9.79879503e-03 -2.12458677e+02] [ 1.64536383e-02 -1.40640615e-04 9.99864620e-01 8.04478941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.462755096 meters 0.020102883692768934 Centerline is valid? [True, True] Translation: X:364.03, Y:-212.50, Z:8.05 [[ 8.10058626e-01 5.86210703e-01 -1.27293064e-02 3.64026659e+02] [-5.86134696e-01 8.10158612e-01 9.44144666e-03 -2.12499489e+02] [ 1.58474343e-02 -1.87037189e-04 9.99874404e-01 8.04596912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.522755096 meters 0.020842220688144345 Centerline is valid? [True, True] Translation: X:364.07, Y:-212.54, Z:8.05 [[ 8.11166031e-01 5.84667353e-01 -1.31816912e-02 3.64074963e+02] [-5.84585548e-01 8.11273094e-01 9.78281230e-03 -2.12539267e+02] [ 1.64136424e-02 -2.29658828e-04 9.99865261e-01 8.04700221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.582755096 meters 0.022030650470148724 Centerline is valid? [True, True] Translation: X:364.12, Y:-212.58, Z:8.05 [[ 8.12857496e-01 5.82317149e-01 -1.30164763e-02 3.64122074e+02] [-5.82236993e-01 8.12961660e-01 9.66557853e-03 -2.12579474e+02] [ 1.62103283e-02 -2.78063976e-04 9.99868565e-01 8.04888363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.64275509600003 meters 0.023719921764404683 Centerline is valid? [True, True] Translation: X:364.17, Y:-212.62, Z:8.05 [[ 8.14863336e-01 5.79503763e-01 -1.31580023e-02 3.64168110e+02] [-5.79421396e-01 8.14969491e-01 9.77622555e-03 -2.12620490e+02] [ 1.63887299e-02 -3.42259717e-04 9.99865637e-01 8.05045413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70275509600003 meters 0.02375636238006299 Centerline is valid? [True, True] Translation: X:364.22, Y:-212.66, Z:8.05 [[ 8.17081366e-01 5.76369026e-01 -1.32961381e-02 3.64216938e+02] [-5.76284415e-01 8.17189436e-01 9.88430174e-03 -2.12659343e+02] [ 1.65624689e-02 -4.13921635e-04 9.99862747e-01 8.05164078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76275509600003 meters 0.024962825518306784 Centerline is valid? [True, True] Translation: X:364.27, Y:-212.70, Z:8.05 [[ 8.18308304e-01 5.74638749e-01 -1.27211543e-02 3.64265251e+02] [-5.74561074e-01 8.18407064e-01 9.45772991e-03 -2.12698339e+02] [ 1.58458607e-02 -4.30258821e-04 9.99874354e-01 8.05459870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82275509600004 meters 0.025520774902713806 Centerline is valid? [True, True] Translation: X:364.31, Y:-212.74, Z:8.06 [[ 8.17989938e-01 5.75110047e-01 -1.18698996e-02 3.64314625e+02] [-5.75042402e-01 8.18075960e-01 8.82948523e-03 -2.12735341e+02] [ 1.47884052e-02 -3.96734502e-04 9.99890567e-01 8.05683132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.882755096 meters 0.024310050083228566 Centerline is valid? [True, True] Translation: X:364.37, Y:-212.77, Z:8.06 [[ 8.16480967e-01 5.77248686e-01 -1.19492658e-02 3.64366346e+02] [-5.77180279e-01 8.16568320e-01 8.89409192e-03 -2.12769323e+02] [ 1.48914948e-02 -3.64976205e-04 9.99889049e-01 8.05796970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.942755096 meters 0.02257407390330663 Centerline is valid? [True, True] Translation: X:364.42, Y:-212.80, Z:8.06 [[ 8.13381014e-01 5.81602573e-01 -1.22381516e-02 3.64418931e+02] [-5.81531212e-01 8.13473022e-01 9.11543738e-03 -2.12801161e+02] [ 1.52569680e-02 -2.97456593e-04 9.99883561e-01 8.05957804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.002755096 meters 0.021653092894864633 Centerline is valid? [True, True] Translation: X:364.47, Y:-212.83, Z:8.06 [[ 8.10633834e-01 5.85417604e-01 -1.26101323e-02 3.64470101e+02] [-5.85342292e-01 8.10731876e-01 9.39290830e-03 -2.12834438e+02] [ 1.57222101e-02 -2.32965534e-04 9.99876371e-01 8.06098057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.062755096 meters 0.02014727350984384 Centerline is valid? [True, True] Translation: X:364.52, Y:-212.86, Z:8.06 [[ 8.06954381e-01 5.90479211e-01 -1.26066800e-02 3.64521391e+02] [-5.90404495e-01 8.07052837e-01 9.39415837e-03 -2.12863518e+02] [ 1.57213121e-02 -1.37616718e-04 9.99876403e-01 8.06270821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.122755096 meters 0.019744775553804928 Centerline is valid? [True, True] Translation: X:364.57, Y:-212.90, Z:8.06 [[ 8.05430200e-01 5.92560000e-01 -1.24434497e-02 3.64570658e+02] [-5.92487476e-01 8.05526311e-01 9.27108432e-03 -2.12895522e+02] [ 1.55171999e-02 -9.46231775e-05 9.99879597e-01 8.06450475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.182755096 meters 0.019674940848757587 Centerline is valid? [True, True] Translation: X:364.62, Y:-212.93, Z:8.07 [[ 8.05440183e-01 5.92546401e-01 -1.24448663e-02 3.64620963e+02] [-5.92473886e-01 8.05536315e-01 9.27038702e-03 -2.12929885e+02] [ 1.55179262e-02 -9.34839141e-05 9.99879585e-01 8.06563409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.242755096 meters 0.020585967276345832 Centerline is valid? [True, True] Translation: X:364.67, Y:-212.97, Z:8.07 [[ 8.08290522e-01 5.88645555e-01 -1.27609803e-02 3.64666761e+02] [-5.88568822e-01 8.08391230e-01 9.50583655e-03 -2.12968128e+02] [ 1.59114330e-02 -1.72762452e-04 9.99873390e-01 8.06674016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.302755096 meters 0.022367934371878336 Centerline is valid? [True, True] Translation: X:364.71, Y:-213.01, Z:8.07 [[ 8.12179459e-01 5.83263323e-01 -1.29777182e-02 3.64713170e+02] [-5.83183270e-01 8.12283088e-01 9.66739194e-03 -2.13008035e+02] [ 1.61802162e-02 -2.83268997e-04 9.99869052e-01 8.06736481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.362755096 meters 0.024562901841096163 Centerline is valid? [True, True] Translation: X:364.76, Y:-213.05, Z:8.07 [[ 8.15176345e-01 5.79059076e-01 -1.33459272e-02 3.64759561e+02] [-5.78973834e-01 8.15285499e-01 9.94262888e-03 -2.13046102e+02] [ 1.66381104e-02 -3.78053221e-04 9.99861506e-01 8.06791171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.422755096 meters 0.025254356872244258 Centerline is valid? [True, True] Translation: X:364.81, Y:-213.08, Z:8.07 [[ 8.16626182e-01 5.77008014e-01 -1.35436572e-02 3.64809229e+02] [-5.76919961e-01 8.16738374e-01 1.00889665e-02 -2.13083313e+02] [ 1.68830391e-02 -4.25308022e-04 9.99857381e-01 8.06875756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.482755096 meters 0.025208236076054984 Centerline is valid? [True, True] Translation: X:364.86, Y:-213.12, Z:8.07 [[ 8.17151025e-01 5.76249127e-01 -1.41825966e-02 3.64860398e+02] [-5.76152345e-01 8.17273960e-01 1.05711451e-02 -2.13119066e+02] [ 1.76826800e-02 -4.66885716e-04 9.99843540e-01 8.06920666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.542755096 meters 0.026293663458601246 Centerline is valid? [True, True] Translation: X:364.91, Y:-213.16, Z:8.07 [[ 8.17038272e-01 5.76391608e-01 -1.48719997e-02 3.64910095e+02] [-5.76285087e-01 8.17173466e-01 1.10916716e-02 -2.13155388e+02] [ 1.85461499e-02 -4.91808550e-04 9.99827884e-01 8.06966508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.602755096 meters 0.025066448227926443 Centerline is valid? [True, True] Translation: X:364.96, Y:-213.19, Z:8.07 [[ 8.16660170e-01 5.76938432e-01 -1.44295460e-02 3.64962749e+02] [-5.76838128e-01 8.16787503e-01 1.07679910e-02 -2.13189499e+02] [ 1.79983407e-02 -4.70277028e-04 9.99837906e-01 8.07201629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.662755096 meters 0.026690496998420552 Centerline is valid? [True, True] Translation: X:365.01, Y:-213.23, Z:8.07 [[ 8.16219283e-01 5.77579001e-01 -1.37323971e-02 3.65010296e+02] [-5.77488130e-01 8.16334676e-01 1.02545777e-02 -2.13226081e+02] [ 1.71330607e-02 -4.39687747e-04 9.99853122e-01 8.07421338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.722755096 meters 0.02491531802665955 Centerline is valid? [True, True] Translation: X:365.06, Y:-213.26, Z:8.08 [[ 8.15464689e-01 5.78657932e-01 -1.31278097e-02 3.65060749e+02] [-5.78574985e-01 8.15570253e-01 9.80555719e-03 -2.13256406e+02] [ 1.63807145e-02 -4.00663339e-04 9.99865747e-01 8.07607726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.782755096 meters 0.02393071343527158 Centerline is valid? [True, True] Translation: X:365.11, Y:-213.29, Z:8.08 [[ 8.14495008e-01 5.80033123e-01 -1.26276723e-02 3.65110790e+02] [-5.79956566e-01 8.14592812e-01 9.43042658e-03 -2.13288930e+02] [ 1.57563709e-02 -3.57533920e-04 9.99875797e-01 8.07763653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.842755096 meters 0.023204032363963463 Centerline is valid? [True, True] Translation: X:365.16, Y:-213.32, Z:8.08 [[ 8.13900389e-01 5.80868116e-01 -1.25852373e-02 3.65161526e+02] [-5.80792187e-01 8.13997615e-01 9.39783965e-03 -2.13322180e+02] [ 1.57032585e-02 -3.39497873e-04 9.99876639e-01 8.07911573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.902755096 meters 0.022566120367195883 Centerline is valid? [True, True] Translation: X:365.21, Y:-213.36, Z:8.08 [[ 8.13173028e-01 5.81892646e-01 -1.22709036e-02 3.65212555e+02] [-5.81820596e-01 8.13265548e-01 9.16200565e-03 -2.13357547e+02] [ 1.53108068e-02 -3.10831443e-04 9.99882734e-01 8.08028426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.962755096 meters 0.02275132101446831 Centerline is valid? [True, True] Translation: X:365.26, Y:-213.39, Z:8.08 [[ 8.12749795e-01 5.82482874e-01 -1.23074095e-02 3.65260689e+02] [-5.82410360e-01 8.12842917e-01 9.19586080e-03 -2.13392732e+02] [ 1.53604221e-02 -3.05971151e-04 9.99881975e-01 8.08165486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.022755096 meters 0.023012721082714283 Centerline is valid? [True, True] Translation: X:365.31, Y:-213.43, Z:8.08 [[ 8.12794588e-01 5.82432515e-01 -1.17184861e-02 3.65307725e+02] [-5.82366771e-01 8.12879007e-01 8.75576492e-03 -2.13427811e+02] [ 1.46253535e-02 -2.92181424e-04 9.99893001e-01 8.08262612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.082755096 meters 0.02275839822472579 Centerline is valid? [True, True] Translation: X:365.36, Y:-213.46, Z:8.08 [[ 8.13474747e-01 5.81467882e-01 -1.24071843e-02 3.65357129e+02] [-5.81394102e-01 8.13569294e-01 9.26831082e-03 -2.13464905e+02] [ 1.54833292e-02 -3.26073042e-04 9.99880073e-01 8.08284320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.14275509600003 meters 0.023454976594865687 Centerline is valid? [True, True] Translation: X:365.41, Y:-213.50, Z:8.08 [[ 8.14984639e-01 5.79355096e-01 -1.21536105e-02 3.65406185e+02] [-5.79284071e-01 8.15075177e-01 9.07862018e-03 -2.13503682e+02] [ 1.51658511e-02 -3.58543023e-04 9.99884928e-01 8.08345396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20275509600003 meters 0.024616307416055756 Centerline is valid? [True, True] Translation: X:365.45, Y:-213.54, Z:8.08 [[ 8.15719967e-01 5.78325251e-01 -1.18675579e-02 3.65453855e+02] [-5.78257341e-01 8.15806205e-01 8.87031561e-03 -2.13541184e+02] [ 1.48115549e-02 -3.73191089e-04 9.99890233e-01 8.08476296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26275509600003 meters 0.024488088672265408 Centerline is valid? [True, True] Translation: X:365.50, Y:-213.58, Z:8.09 [[ 8.15271865e-01 5.78949029e-01 -1.22395787e-02 3.65501322e+02] [-5.78876780e-01 8.15363648e-01 9.15392030e-03 -2.13575217e+02] [ 1.52793608e-02 -3.77725759e-04 9.99883192e-01 8.08501314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32275509600004 meters 0.023323564219618592 Centerline is valid? [True, True] Translation: X:365.55, Y:-213.61, Z:8.08 [[ 8.13346600e-01 5.81637882e-01 -1.28328614e-02 3.65550901e+02] [-5.81558819e-01 8.13447760e-01 9.59599162e-03 -2.13607230e+02] [ 1.60202546e-02 -3.41803425e-04 9.99871609e-01 8.08432780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.382755096 meters 0.022329730927012813 Centerline is valid? [True, True] Translation: X:365.60, Y:-213.64, Z:8.08 [[ 8.11572333e-01 5.84088603e-01 -1.38149220e-02 3.65599920e+02] [-5.83997360e-01 8.11689846e-01 1.03285299e-02 -2.13640703e+02] [ 1.72462085e-02 -3.14471160e-04 9.99851224e-01 8.08378729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.442755096 meters 0.02102750921719408 Centerline is valid? [True, True] Translation: X:365.65, Y:-213.67, Z:8.08 [[ 8.09540687e-01 5.86895698e-01 -1.40469424e-02 3.65648410e+02] [-5.86801807e-01 8.09662506e-01 1.05007590e-02 -2.13673557e+02] [ 1.75361329e-02 -2.58020431e-04 9.99846197e-01 8.08435708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.502755096 meters 0.019806016855888967 Centerline is valid? [True, True] Translation: X:365.70, Y:-213.71, Z:8.09 [[ 8.07927617e-01 5.89130133e-01 -1.33661099e-02 3.65697520e+02] [-5.89045453e-01 8.08038147e-01 9.99035007e-03 -2.13706492e+02] [ 1.66859429e-02 -1.98233485e-04 9.99860760e-01 8.08591193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.562755096 meters 0.01961766154557808 Centerline is valid? [True, True] Translation: X:365.74, Y:-213.74, Z:8.09 [[ 8.06760485e-01 5.90744393e-01 -1.25929844e-02 3.65743953e+02] [-5.90669442e-01 8.06858748e-01 9.41123338e-03 -2.13740786e+02] [ 1.57203929e-02 -1.54320158e-04 9.99876415e-01 8.08779960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.622755096 meters 0.019107249692429776 Centerline is valid? [True, True] Translation: X:365.79, Y:-213.77, Z:8.09 [[ 8.06503322e-01 5.91108333e-01 -1.19720265e-02 3.65791393e+02] [-5.91040670e-01 8.06592164e-01 8.94469352e-03 -2.13774533e+02] [ 1.49438256e-02 -1.37970493e-04 9.99888325e-01 8.08902631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.682755096 meters 0.019373575046818695 Centerline is valid? [True, True] Translation: X:365.84, Y:-213.81, Z:8.09 [[ 8.07360681e-01 5.89938668e-01 -1.18785542e-02 3.65835733e+02] [-5.89871963e-01 8.07448044e-01 8.87262367e-03 -2.13811555e+02] [ 1.48256191e-02 -1.56581403e-04 9.99890082e-01 8.08969852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.742755096 meters 0.020048803631085774 Centerline is valid? [True, True] Translation: X:365.88, Y:-213.85, Z:8.09 [[ 8.09014537e-01 5.87672438e-01 -1.16869401e-02 3.65880250e+02] [-5.87607658e-01 8.09098923e-01 8.72769545e-03 -2.13850299e+02] [ 1.45849167e-02 -1.93497020e-04 9.99893616e-01 8.09025809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.802755096 meters 0.02026193363398811 Centerline is valid? [True, True] Translation: X:365.92, Y:-213.89, Z:8.09 [[ 8.10320348e-01 5.85878472e-01 -1.12848986e-02 3.65924925e+02] [-5.85817914e-01 8.10398895e-01 8.42631350e-03 -2.13888089e+02] [ 1.40820650e-02 -2.17117553e-04 9.99900819e-01 8.09116249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.862755096 meters 0.01975020618688583 Centerline is valid? [True, True] Translation: X:365.97, Y:-213.93, Z:8.09 [[ 8.10057070e-01 5.86236615e-01 -1.15834164e-02 3.65973127e+02] [-5.86172900e-01 8.10139856e-01 8.64551474e-03 -2.13926832e+02] [ 1.44525046e-02 -2.13475537e-04 9.99895534e-01 8.09123138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.922755096 meters 0.019298054627229038 Centerline is valid? [True, True] Translation: X:366.02, Y:-213.96, Z:8.09 [[ 8.09132807e-01 5.87494181e-01 -1.24373622e-02 3.66022122e+02] [-5.87420782e-01 8.09228363e-01 9.28878621e-03 -2.13964752e+02] [ 1.55217741e-02 -2.09896639e-04 9.99879508e-01 8.09065630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.982755096 meters 0.018643598879435713 Centerline is valid? [True, True] Translation: X:366.07, Y:-214.00, Z:8.09 [[ 8.07164356e-01 5.90179433e-01 -1.31886350e-02 3.66067258e+02] [-5.90097140e-01 8.07272078e-01 9.85689371e-03 -2.14002921e+02] [ 1.64641527e-02 -1.73557464e-04 9.99864442e-01 8.09094681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.042755096 meters 0.017992017684160998 Centerline is valid? [True, True] Translation: X:366.11, Y:-214.04, Z:8.09 [[ 8.05430565e-01 5.92546463e-01 -1.30496985e-02 3.66113255e+02] [-5.92466223e-01 8.05536265e-01 9.75191254e-03 -2.14040256e+02] [ 1.62904667e-02 -1.22982814e-04 9.99867294e-01 8.09248933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.102755096 meters 0.017788225444307717 Centerline is valid? [True, True] Translation: X:366.16, Y:-214.08, Z:8.09 [[ 8.04664893e-01 5.93596064e-01 -1.25746795e-02 3.66157555e+02] [-5.93521711e-01 8.04763135e-01 9.39547936e-03 -2.14078505e+02] [ 1.56967581e-02 -9.68671078e-05 9.99876794e-01 8.09410376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.162755096 meters 0.017682866186816908 Centerline is valid? [True, True] Translation: X:366.21, Y:-214.12, Z:8.10 [[ 8.04509704e-01 5.93817905e-01 -1.20179308e-02 3.66205468e+02] [-5.93750062e-01 8.04599458e-01 8.97641470e-03 -2.14119313e+02] [ 1.49999763e-02 -8.59656034e-05 9.99887490e-01 8.09572808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.222755096 meters 0.01789154665045579 Centerline is valid? [True, True] Translation: X:366.25, Y:-214.16, Z:8.10 [[ 8.05487003e-01 5.92498675e-01 -1.16622536e-02 3.66250703e+02] [-5.92434566e-01 8.05571417e-01 8.71651415e-03 -2.14163284e+02] [ 1.45593012e-02 -1.11916722e-04 9.99894001e-01 8.09749608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.282755096 meters 0.01841492981234209 Centerline is valid? [True, True] Translation: X:366.29, Y:-214.21, Z:8.10 [[ 8.06728361e-01 5.90809444e-01 -1.15565038e-02 3.66294480e+02] [-5.90746239e-01 8.06811118e-01 8.64303700e-03 -2.14206926e+02] [ 1.44303037e-02 -1.45621889e-04 9.99895867e-01 8.09890184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.342755096 meters 0.01870921206911441 Centerline is valid? [True, True] Translation: X:366.34, Y:-214.25, Z:8.10 [[ 8.07021425e-01 5.90405133e-01 -1.17558278e-02 3.66338664e+02] [-5.90339653e-01 8.07107028e-01 8.79426153e-03 -2.14250471e+02] [ 1.46803884e-02 -1.57226179e-04 9.99892225e-01 8.10045156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.402755096 meters 0.018596774158604373 Centerline is valid? [True, True] Translation: X:366.39, Y:-214.29, Z:8.10 [[ 8.06938567e-01 5.90505585e-01 -1.23815588e-02 3.66386732e+02] [-5.90432872e-01 8.07033535e-01 9.26811091e-03 -2.14291976e+02] [ 1.54652044e-02 -1.68316833e-04 9.99880392e-01 8.10066751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.462755096 meters 0.017778627250242342 Centerline is valid? [True, True] Translation: X:366.44, Y:-214.33, Z:8.10 [[ 8.04907752e-01 5.93284512e-01 -1.17046153e-02 3.66437746e+02] [-5.93219749e-01 8.04992841e-01 8.76668083e-03 -2.14327542e+02] [ 1.46232675e-02 -1.12960438e-04 9.99893068e-01 8.10195260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.522755096 meters 0.017121416890768165 Centerline is valid? [True, True] Translation: X:366.49, Y:-214.36, Z:8.10 [[ 8.02819965e-01 5.96080873e-01 -1.29497527e-02 3.66486776e+02] [-5.96001846e-01 8.02924397e-01 9.70627920e-03 -2.14359034e+02] [ 1.61833997e-02 -7.43182241e-05 9.99869037e-01 8.10113058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.582755096 meters 0.017082471873088596 Centerline is valid? [True, True] Translation: X:366.53, Y:-214.39, Z:8.10 [[ 8.02983703e-01 5.95840180e-01 -1.38438586e-02 3.66533193e+02] [-5.95749864e-01 8.03103028e-01 1.03743132e-02 -2.14393673e+02] [ 1.72994774e-02 -8.29275125e-05 9.99850349e-01 8.10058786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.64275509600003 meters 0.01729957049131596 Centerline is valid? [True, True] Translation: X:366.58, Y:-214.43, Z:8.10 [[ 8.04585068e-01 5.93674863e-01 -1.38933419e-02 3.66582397e+02] [-5.93583627e-01 8.04705002e-01 1.04084960e-02 -2.14431366e+02] [ 1.73593041e-02 -1.27660192e-04 9.99849308e-01 8.10084863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70275509600003 meters 0.01798772811663802 Centerline is valid? [True, True] Translation: X:366.63, Y:-214.47, Z:8.10 [[ 8.06095326e-01 5.91624496e-01 -1.38123890e-02 3.66631408e+02] [-5.91533915e-01 8.06213635e-01 1.03538505e-02 -2.14469552e+02] [ 1.72613279e-02 -1.75694017e-04 9.99850997e-01 8.10139995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76275509600003 meters 0.018757060458137294 Centerline is valid? [True, True] Translation: X:366.68, Y:-214.51, Z:8.10 [[ 8.08314976e-01 5.88576787e-01 -1.42921302e-02 3.66680666e+02] [-5.88479214e-01 8.08441278e-01 1.07198237e-02 -2.14507286e+02] [ 1.78637875e-02 -2.54372501e-04 9.99840397e-01 8.10205951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82275509600004 meters 0.020163418957585978 Centerline is valid? [True, True] Translation: X:366.73, Y:-214.55, Z:8.10 [[ 8.10464338e-01 5.85592318e-01 -1.51391553e-02 3.66727805e+02] [-5.85482182e-01 8.10605649e-01 1.13620294e-02 -2.14545368e+02] [ 1.89254020e-02 -3.44813936e-04 9.99820839e-01 8.10237508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.882755096 meters 0.020439094554872687 Centerline is valid? [True, True] Translation: X:366.78, Y:-214.58, Z:8.10 [[ 8.10918537e-01 5.84964018e-01 -1.51070536e-02 3.66777374e+02] [-5.84854178e-01 8.11059163e-01 1.13412383e-02 -2.14583007e+02] [ 1.88869306e-02 -3.61396960e-04 9.99821561e-01 8.10356272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.942755096 meters 0.02135102731347726 Centerline is valid? [True, True] Translation: X:366.83, Y:-214.62, Z:8.11 [[ 8.11726233e-01 5.83844415e-01 -1.50406986e-02 3.66825959e+02] [-5.83735226e-01 8.11865473e-01 1.12977636e-02 -2.14619700e+02] [ 1.88071601e-02 -3.90905443e-04 9.99823053e-01 8.10518495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.002755096 meters 0.02202203543094071 Centerline is valid? [True, True] Translation: X:366.87, Y:-214.66, Z:8.11 [[ 8.11942729e-01 5.83541982e-01 -1.50917105e-02 3.66874979e+02] [-5.83431932e-01 8.12082874e-01 1.13395882e-02 -2.14656118e+02] [ 1.88728454e-02 -4.02110400e-04 9.99821811e-01 8.10602998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.062755096 meters 0.0219153557841525 Centerline is valid? [True, True] Translation: X:366.93, Y:-214.69, Z:8.11 [[ 8.12057435e-01 5.83381259e-01 -1.51337100e-02 3.66925834e+02] [-5.83270458e-01 8.12198336e-01 1.13769860e-02 -2.14693780e+02] [ 1.89286945e-02 -4.11720066e-04 9.99820751e-01 8.10709635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.122755096 meters 0.021016310749637692 Centerline is valid? [True, True] Translation: X:366.98, Y:-214.73, Z:8.11 [[ 8.11754841e-01 5.83793011e-01 -1.54854357e-02 3.66976667e+02] [-5.83676928e-01 8.11902424e-01 1.16489466e-02 -2.14731473e+02] [ 1.93732363e-02 -4.17597271e-04 9.99812234e-01 8.10859896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.182755096 meters 0.020991281556896682 Centerline is valid? [True, True] Translation: X:367.03, Y:-214.77, Z:8.11 [[ 8.11559619e-01 5.84052607e-01 -1.59228569e-02 3.67026487e+02] [-5.83929761e-01 8.11715694e-01 1.19860854e-02 -2.14769565e+02] [ 1.99253373e-02 -4.29592909e-04 9.99801378e-01 8.10919373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.242755096 meters 0.02089105199505606 Centerline is valid? [True, True] Translation: X:367.08, Y:-214.81, Z:8.11 [[ 8.11516544e-01 5.84082991e-01 -1.69693190e-02 3.67075947e+02] [-5.83943285e-01 8.11693812e-01 1.27826217e-02 -2.14807662e+02] [ 2.12400031e-02 -4.64189071e-04 9.99774298e-01 8.10930454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.302755096 meters 0.020818511565576833 Centerline is valid? [True, True] Translation: X:367.13, Y:-214.85, Z:8.11 [[ 8.11432774e-01 5.84192792e-01 -1.71940412e-02 3.67125827e+02] [-5.84049210e-01 8.11614783e-01 1.29600908e-02 -2.14846310e+02] [ 2.15261296e-02 -4.74076234e-04 9.99768174e-01 8.10988340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.362755096 meters 0.020825797894417797 Centerline is valid? [True, True] Translation: X:367.18, Y:-214.88, Z:8.11 [[ 8.10921036e-01 5.84890726e-01 -1.76043057e-02 3.67175236e+02] [-5.84740180e-01 8.11111961e-01 1.32781002e-02 -2.14883384e+02] [ 2.20453006e-02 -4.73545871e-04 9.99756861e-01 8.10987978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.422755096 meters 0.021408833653931873 Centerline is valid? [True, True] Translation: X:367.22, Y:-214.92, Z:8.11 [[ 8.09877129e-01 5.86295295e-01 -1.88908259e-02 3.67222948e+02] [-5.86122118e-01 8.10097280e-01 1.42569290e-02 -2.14921483e+02] [ 2.36621771e-02 -4.74029786e-04 9.99719899e-01 8.10880278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.482755096 meters 0.019083266925531906 Centerline is valid? [True, True] Translation: X:367.28, Y:-214.96, Z:8.11 [[ 8.08320869e-01 5.88412391e-01 -1.97035788e-02 3.67275422e+02] [-5.88224413e-01 8.08560862e-01 1.48785762e-02 -2.14955544e+02] [ 2.46862812e-02 -4.36537575e-04 9.99695152e-01 8.11013665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.542755096 meters 0.01920730665310415 Centerline is valid? [True, True] Translation: X:367.32, Y:-214.99, Z:8.11 [[ 8.06906944e-01 5.90348105e-01 -1.97559877e-02 3.67324204e+02] [-5.90159492e-01 8.07148665e-01 1.49267260e-02 -2.14992944e+02] [ 2.47579835e-02 -3.85295212e-04 9.99693400e-01 8.11027491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.602755096 meters 0.01778333997594875 Centerline is valid? [True, True] Translation: X:367.38, Y:-215.03, Z:8.11 [[ 8.05802462e-01 5.91887441e-01 -1.87523088e-02 3.67375751e+02] [-5.91717751e-01 8.06020564e-01 1.41758072e-02 -2.15027400e+02] [ 2.35052288e-02 -3.26826351e-04 9.99723661e-01 8.11372316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.662755096 meters 0.017802892618993732 Centerline is valid? [True, True] Translation: X:367.43, Y:-215.06, Z:8.12 [[ 8.05481497e-01 5.92364471e-01 -1.74325036e-02 3.67426326e+02] [-5.92217783e-01 8.05670060e-01 1.31852794e-02 -2.15063902e+02] [ 2.18553373e-02 -2.96659954e-04 9.99761100e-01 8.11623744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.722755096 meters 0.018200132204904313 Centerline is valid? [True, True] Translation: X:367.48, Y:-215.10, Z:8.12 [[ 8.06613092e-01 5.90837639e-01 -1.69175921e-02 3.67475581e+02] [-5.90699001e-01 8.06790415e-01 1.28029911e-02 -2.15101937e+02] [ 2.12134401e-02 -3.33855472e-04 9.99774914e-01 8.11781892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.782755096 meters 0.020132122146384615 Centerline is valid? [True, True] Translation: X:367.52, Y:-215.14, Z:8.12 [[ 8.08027093e-01 5.88896592e-01 -1.71178445e-02 3.67522015e+02] [-5.88754055e-01 8.08208295e-01 1.29620541e-02 -2.15141642e+02] [ 2.14680934e-02 -3.95490497e-04 9.99769456e-01 8.11839593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.842755096 meters 0.020684896355098247 Centerline is valid? [True, True] Translation: X:367.57, Y:-215.18, Z:8.12 [[ 8.11076298e-01 5.84724719e-01 -1.58821283e-02 3.67570557e+02] [-5.84601106e-01 8.11231643e-01 1.20319687e-02 -2.15180411e+02] [ 1.99194745e-02 -4.74134847e-04 9.99801475e-01 8.12129183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.902755096 meters 0.02293269209142406 Centerline is valid? [True, True] Translation: X:367.62, Y:-215.22, Z:8.12 [[ 8.13247110e-01 5.81721828e-01 -1.51279075e-02 3.67616869e+02] [-5.81609122e-01 8.13387633e-01 1.14624596e-02 -2.15220383e+02] [ 1.89728158e-02 -5.23283118e-04 9.99819863e-01 8.12290966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.962755096 meters 0.02372319872687997 Centerline is valid? [True, True] Translation: X:367.67, Y:-215.26, Z:8.12 [[ 8.14697583e-01 5.79687428e-01 -1.51767859e-02 3.67665794e+02] [-5.79573576e-01 8.14838729e-01 1.15028234e-02 -2.15259102e+02] [ 1.90346750e-02 -5.75258324e-04 9.99818659e-01 8.12351329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.022755096 meters 0.025730909015429997 Centerline is valid? [True, True] Translation: X:367.71, Y:-215.30, Z:8.12 [[ 8.15327252e-01 5.78791837e-01 -1.55396540e-02 3.67712135e+02] [-5.78672180e-01 8.15475094e-01 1.17846564e-02 -2.15298645e+02] [ 1.94930637e-02 -6.15986030e-04 9.99809802e-01 8.12392257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.082755096 meters 0.02448544756443012 Centerline is valid? [True, True] Translation: X:367.76, Y:-215.34, Z:8.12 [[ 8.15002962e-01 5.79238759e-01 -1.58943968e-02 3.67762701e+02] [-5.79113579e-01 8.15157698e-01 1.20577640e-02 -2.15335478e+02] [ 1.99407642e-02 -6.22452338e-04 9.99800969e-01 8.12414512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.14275509600003 meters 0.023498763953281897 Centerline is valid? [True, True] Translation: X:367.81, Y:-215.37, Z:8.12 [[ 8.13350425e-01 5.81536229e-01 -1.66343297e-02 3.67813362e+02] [-5.81399434e-01 8.13520286e-01 1.26270671e-02 -2.15372384e+02] [ 2.08754617e-02 -5.99040507e-04 9.99781904e-01 8.12443608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20275509600003 meters 0.022073686273215203 Centerline is valid? [True, True] Translation: X:367.86, Y:-215.41, Z:8.12 [[ 8.11310156e-01 5.84374272e-01 -1.68089578e-02 3.67864124e+02] [-5.84235128e-01 8.11484088e-01 1.27628366e-02 -2.15408060e+02] [ 2.10984752e-02 -5.34235321e-04 9.99777260e-01 8.12486615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26275509600003 meters 0.020060162923476784 Centerline is valid? [True, True] Translation: X:367.92, Y:-215.44, Z:8.13 [[ 8.08677493e-01 5.88012708e-01 -1.67859661e-02 3.67915799e+02] [-5.87874571e-01 8.08851567e-01 1.27526643e-02 -2.15443121e+02] [ 2.10760837e-02 -4.44749896e-04 9.99777776e-01 8.12642249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32275509600004 meters 0.019420496072334106 Centerline is valid? [True, True] Translation: X:367.97, Y:-215.48, Z:8.13 [[ 8.07653236e-01 5.89437568e-01 -1.61122370e-02 3.67965692e+02] [-5.89310448e-01 8.07813838e-01 1.22473894e-02 -2.15480997e+02] [ 2.02347594e-02 -3.96534080e-04 9.99795178e-01 8.12880737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.382755096 meters 0.020992295552196054 Centerline is valid? [True, True] Translation: X:368.01, Y:-215.52, Z:8.13 [[ 8.07536748e-01 5.89609955e-01 -1.56365317e-02 3.68012947e+02] [-5.89490189e-01 8.07688030e-01 1.18896499e-02 -2.15521857e+02] [ 1.96396954e-02 -3.83747206e-04 9.99807049e-01 8.13108085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.442755096 meters 0.01984484989239957 Centerline is valid? [True, True] Translation: X:368.06, Y:-215.56, Z:8.13 [[ 8.08333076e-01 5.88554513e-01 -1.41853484e-02 3.68063304e+02] [-5.88455678e-01 8.08457447e-01 1.07922152e-02 -2.15558102e+02] [ 1.78200575e-02 -3.76255714e-04 9.99841139e-01 8.13450380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.502755096 meters 0.023801588042029753 Centerline is valid? [True, True] Translation: X:368.11, Y:-215.60, Z:8.14 [[ 8.09490251e-01 5.86987127e-01 -1.31013650e-02 3.68107205e+02] [-5.86902524e-01 8.09596174e-01 9.97303516e-03 -2.15600591e+02] [ 1.64608583e-02 -3.83850521e-04 9.99864437e-01 8.13725272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.562755096 meters 0.02155762564298366 Centerline is valid? [True, True] Translation: X:368.16, Y:-215.64, Z:8.14 [[ 8.10157276e-01 5.86072482e-01 -1.28153750e-02 3.68158474e+02] [-5.85991352e-01 8.10258532e-01 9.75948249e-03 -2.15635031e+02] [ 1.61035311e-02 -3.97016816e-04 9.99870251e-01 8.13866897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.622755096 meters 0.022897794473493698 Centerline is valid? [True, True] Translation: X:368.21, Y:-215.67, Z:8.14 [[ 8.11036091e-01 5.84859139e-01 -1.26588694e-02 3.68206168e+02] [-5.84779741e-01 8.11134767e-01 9.64590888e-03 -2.15673650e+02] [ 1.59095470e-02 -4.20529864e-04 9.99873347e-01 8.13952417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.682755096 meters 0.022809274466662435 Centerline is valid? [True, True] Translation: X:368.26, Y:-215.71, Z:8.14 [[ 8.11260167e-01 5.84544490e-01 -1.28327764e-02 3.68256964e+02] [-5.84462772e-01 8.11361540e-01 9.78362338e-03 -2.15709861e+02] [ 1.61309843e-02 -4.36783884e-04 9.99869792e-01 8.14033724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.742755096 meters 0.02299252593256209 Centerline is valid? [True, True] Translation: X:368.31, Y:-215.75, Z:8.14 [[ 8.11024615e-01 5.84862145e-01 -1.32417759e-02 3.68307258e+02] [-5.84775078e-01 8.11132584e-01 1.01014158e-02 -2.15748108e+02] [ 1.66487717e-02 -4.49036336e-04 9.99861299e-01 8.14160928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.802755096 meters 0.022358557456752335 Centerline is valid? [True, True] Translation: X:368.36, Y:-215.78, Z:8.14 [[ 8.10193321e-01 5.86004011e-01 -1.36411773e-02 3.68358041e+02] [-5.85911651e-01 8.10308029e-01 1.04132445e-02 -2.15783254e+02] [ 1.71557586e-02 -4.44216434e-04 9.99852730e-01 8.14316259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.862755096 meters 0.022446541335589317 Centerline is valid? [True, True] Translation: X:368.41, Y:-215.82, Z:8.14 [[ 8.08871995e-01 5.87828562e-01 -1.35527961e-02 3.68407495e+02] [-5.87737547e-01 8.08985424e-01 1.03518131e-02 -2.15819371e+02] [ 1.70491059e-02 -4.07804590e-04 9.99854570e-01 8.14460112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.922755096 meters 0.020458394509915427 Centerline is valid? [True, True] Translation: X:368.46, Y:-215.85, Z:8.15 [[ 8.06203005e-01 5.91487975e-01 -1.33675065e-02 3.68461064e+02] [-5.91399836e-01 8.06313752e-01 1.02160444e-02 -2.15850923e+02] [ 1.68210717e-02 -3.30664565e-04 9.99858461e-01 8.14657122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.982755096 meters 0.019844513594139197 Centerline is valid? [True, True] Translation: X:368.51, Y:-215.89, Z:8.15 [[ 8.05032975e-01 5.93071801e-01 -1.37021268e-02 3.68512225e+02] [-5.92979402e-01 8.05149517e-01 1.04730420e-02 -2.15887079e+02] [ 1.72435266e-02 -3.06065202e-04 9.99851272e-01 8.14851102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.042755096 meters 0.02009772238877229 Centerline is valid? [True, True] Translation: X:368.56, Y:-215.92, Z:8.15 [[ 8.04168753e-01 5.94231769e-01 -1.41852263e-02 3.68561265e+02] [-5.94132880e-01 8.04293801e-01 1.08444850e-02 -2.15924249e+02] [ 1.78532271e-02 -2.92886615e-04 9.99840576e-01 8.14983877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.102755096 meters 0.019402686067667166 Centerline is valid? [True, True] Translation: X:368.61, Y:-215.96, Z:8.15 [[ 8.03474351e-01 5.95166362e-01 -1.43516441e-02 3.68612847e+02] [-5.95065182e-01 8.03602466e-01 1.09775185e-02 -2.15959687e+02] [ 1.80664663e-02 -2.79990837e-04 9.99836749e-01 8.15187891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.162755096 meters 0.020024176530153117 Centerline is valid? [True, True] Translation: X:368.66, Y:-216.00, Z:8.15 [[ 8.03886955e-01 5.94603452e-01 -1.45773347e-02 3.68661315e+02] [-5.94498854e-01 8.04019057e-01 1.11565995e-02 -2.15997707e+02] [ 1.83542075e-02 -3.02436044e-04 9.99831502e-01 8.15325237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.222755096 meters 0.020733724338374553 Centerline is valid? [True, True] Translation: X:368.71, Y:-216.04, Z:8.15 [[ 8.05350556e-01 5.92600159e-01 -1.53470936e-02 3.68710393e+02] [-5.92483732e-01 8.05496687e-01 1.17522010e-02 -2.16036451e+02] [ 1.93263892e-02 -3.71738304e-04 9.99813159e-01 8.15447458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.282755096 meters 0.021471835542657056 Centerline is valid? [True, True] Translation: X:368.76, Y:-216.07, Z:8.16 [[ 8.06620377e-01 5.90875070e-01 -1.51729800e-02 3.68759288e+02] [-5.90760837e-01 8.06762965e-01 1.16255192e-02 -2.16074860e+02] [ 1.91102277e-02 -4.13778324e-04 9.99817297e-01 8.15601307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.342755096 meters 0.023543100431798466 Centerline is valid? [True, True] Translation: X:368.81, Y:-216.11, Z:8.16 [[ 8.08896597e-01 5.87745899e-01 -1.55259295e-02 3.68806518e+02] [-5.87625574e-01 8.09045428e-01 1.19029902e-02 -2.16113961e+02] [ 1.95571159e-02 -5.04855043e-04 9.99808614e-01 8.15712575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.402755096 meters 0.026302126927506657 Centerline is valid? [True, True] Translation: X:368.85, Y:-216.15, Z:8.16 [[ 8.12006081e-01 5.83420928e-01 -1.63139322e-02 3.68853789e+02] [-5.83287072e-01 8.12169689e-01 1.25134914e-02 -2.16153219e+02] [ 2.05503140e-02 -6.45325347e-04 9.99788612e-01 8.15817757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.462755096 meters 0.02944214516493149 Centerline is valid? [True, True] Translation: X:368.90, Y:-216.19, Z:8.16 [[ 8.14076348e-01 5.80506973e-01 -1.70690742e-02 3.68901430e+02] [-5.80359755e-01 8.14254927e-01 1.30946027e-02 -2.16191233e+02] [ 2.15000859e-02 -7.53802662e-04 9.99768562e-01 8.15838670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.522755096 meters 0.03011131071250356 Centerline is valid? [True, True] Translation: X:368.95, Y:-216.23, Z:8.16 [[ 8.14759687e-01 5.79525632e-01 -1.77958769e-02 3.68950885e+02] [-5.79365241e-01 8.14953602e-01 1.36581423e-02 -2.16226625e+02] [ 2.24180575e-02 -8.17791208e-04 9.99748349e-01 8.15867106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.582755096 meters 0.02937338952718796 Centerline is valid? [True, True] Translation: X:369.00, Y:-216.26, Z:8.16 [[ 8.14536122e-01 5.79791492e-01 -1.93062813e-02 3.69003583e+02] [-5.79602741e-01 8.14764414e-01 1.48193475e-02 -2.16260557e+02] [ 2.43222025e-02 -8.80920279e-04 9.99703783e-01 8.15832504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.64275509600003 meters 0.03161328793541523 Centerline is valid? [True, True] Translation: X:369.05, Y:-216.30, Z:8.16 [[ 8.14083225e-01 5.80361664e-01 -2.11858871e-02 3.69050379e+02] [-5.80134389e-01 8.14358293e-01 1.62683877e-02 -2.16295721e+02] [ 2.66944514e-02 -9.53159793e-04 9.99643185e-01 8.15718156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70275509600003 meters 0.028129497618094145 Centerline is valid? [True, True] Translation: X:369.10, Y:-216.33, Z:8.16 [[ 8.13513598e-01 5.81141769e-01 -2.16764872e-02 3.69103823e+02] [-5.80904145e-01 8.13801785e-01 1.66442038e-02 -2.16326027e+02] [ 2.73130060e-02 -9.48324868e-04 9.99626480e-01 8.15932472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76275509600003 meters 0.026577655276894263 Centerline is valid? [True, True] Translation: X:369.16, Y:-216.36, Z:8.16 [[ 8.12710092e-01 5.82286193e-01 -2.10973216e-02 3.69156653e+02] [-5.82061449e-01 8.12983397e-01 1.62007861e-02 -2.16357984e+02] [ 2.65852662e-02 -8.86604757e-04 9.99646156e-01 8.16199661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82275509600004 meters 0.02662009616397583 Centerline is valid? [True, True] Translation: X:369.21, Y:-216.39, Z:8.16 [[ 8.12627555e-01 5.82418688e-01 -2.06138069e-02 3.69207178e+02] [-5.82204144e-01 8.12888509e-01 1.58305870e-02 -2.16392259e+02] [ 2.59767564e-02 -8.62927413e-04 9.99662175e-01 8.16450668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.882755096 meters 0.03161245499549648 Centerline is valid? [True, True] Translation: X:369.25, Y:-216.43, Z:8.16 [[ 8.12646882e-01 5.82392625e-01 -2.05882262e-02 3.69249111e+02] [-5.82178623e-01 8.12907182e-01 1.58102222e-02 -2.16430949e+02] [ 2.59440738e-02 -8.62102581e-04 9.99663024e-01 8.16446482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.942755096 meters 0.026742736791639667 Centerline is valid? [True, True] Translation: X:369.30, Y:-216.46, Z:8.17 [[ 8.11865661e-01 5.83489231e-01 -2.03584491e-02 3.69302630e+02] [-5.83280467e-01 8.12120469e-01 1.56282173e-02 -2.16457825e+02] [ 2.56524097e-02 -8.13327324e-04 9.99670592e-01 8.16754451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.002755096 meters 0.027952968833702758 Centerline is valid? [True, True] Translation: X:369.35, Y:-216.49, Z:8.17 [[ 8.10471260e-01 5.85424895e-01 -2.03476996e-02 3.69350372e+02] [-5.85217202e-01 8.10726303e-01 1.56105141e-02 -2.16491890e+02] [ 2.56351988e-02 -7.44049234e-04 9.99671087e-01 8.16849419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.062755096 meters 0.02783091629239841 Centerline is valid? [True, True] Translation: X:369.40, Y:-216.53, Z:8.17 [[ 8.10111713e-01 5.85933271e-01 -2.00303346e-02 3.69397910e+02] [-5.85732390e-01 8.10358994e-01 1.53580123e-02 -2.16525932e+02] [ 2.52305322e-02 -7.09289910e-04 9.99681408e-01 8.17055186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.122755096 meters 0.024702662871659797 Centerline is valid? [True, True] Translation: X:369.45, Y:-216.56, Z:8.17 [[ 8.10276796e-01 5.85704167e-01 -2.00534778e-02 3.69447840e+02] [-5.85502993e-01 8.10524599e-01 1.53661943e-02 -2.16556144e+02] [ 2.52538811e-02 -7.09499451e-04 9.99680818e-01 8.17298139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.182755096 meters 0.0244852396566298 Centerline is valid? [True, True] Translation: X:369.50, Y:-216.59, Z:8.17 [[ 8.10378014e-01 5.85545267e-01 -2.05964856e-02 3.69495821e+02] [-5.85333225e-01 8.10639385e-01 1.57735116e-02 -2.16590390e+02] [ 2.59324275e-02 -7.26699708e-04 9.99663434e-01 8.17348013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.242755096 meters 0.027079858878138626 Centerline is valid? [True, True] Translation: X:369.54, Y:-216.63, Z:8.17 [[ 8.11134381e-01 5.84489680e-01 -2.08045489e-02 3.69539242e+02] [-5.84273076e-01 8.11400781e-01 1.59293803e-02 -2.16629820e+02] [ 2.61913856e-02 -7.65330241e-04 9.99656654e-01 8.17348264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.302755096 meters 0.027793825288656128 Centerline is valid? [True, True] Translation: X:369.59, Y:-216.67, Z:8.17 [[ 8.11988819e-01 5.83297491e-01 -2.09331001e-02 3.69585144e+02] [-5.83077931e-01 8.12258203e-01 1.60230297e-02 -2.16666905e+02] [ 2.63492753e-02 -8.04892299e-04 9.99652474e-01 8.17402166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.362755096 meters 0.029269209704441492 Centerline is valid? [True, True] Translation: X:369.63, Y:-216.70, Z:8.17 [[ 8.12471522e-01 5.82635481e-01 -2.06379139e-02 3.69630501e+02] [-5.82421934e-01 8.12733189e-01 1.57941044e-02 -2.16702827e+02] [ 2.59753232e-02 -8.12286266e-04 9.99662254e-01 8.17464817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.422755096 meters 0.028984695047177055 Centerline is valid? [True, True] Translation: X:369.68, Y:-216.74, Z:8.18 [[ 8.12421365e-01 5.82710313e-01 -2.04991909e-02 3.69677695e+02] [-5.82499786e-01 8.12679550e-01 1.56827543e-02 -2.16738129e+02] [ 2.57977759e-02 -8.00230376e-04 9.99666862e-01 8.17605818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.482755096 meters 0.028361860735205857 Centerline is valid? [True, True] Translation: X:369.72, Y:-216.77, Z:8.18 [[ 8.12301444e-01 5.82878812e-01 -2.04610331e-02 3.69724895e+02] [-5.82669319e-01 8.12558718e-01 1.56459036e-02 -2.16773191e+02] [ 2.57454565e-02 -7.87173890e-04 9.99668221e-01 8.17721940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.542755096 meters 0.02833167168724625 Centerline is valid? [True, True] Translation: X:369.77, Y:-216.81, Z:8.18 [[ 8.11860146e-01 5.83516623e-01 -1.97851871e-02 3.69771889e+02] [-5.83321001e-01 8.12100858e-01 1.51263256e-02 -2.16807167e+02] [ 2.48940298e-02 -7.39345760e-04 9.99689822e-01 8.17866254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.602755096 meters 0.02785475328832288 Centerline is valid? [True, True] Translation: X:369.82, Y:-216.84, Z:8.18 [[ 8.10697511e-01 5.85166347e-01 -1.87053904e-02 3.69818662e+02] [-5.84992006e-01 8.10913020e-01 1.42978212e-02 -2.16841010e+02] [ 2.35350484e-02 -6.48704192e-04 9.99722802e-01 8.18095658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.662755096 meters 0.022959313170459128 Centerline is valid? [True, True] Translation: X:369.87, Y:-216.87, Z:8.18 [[ 8.08329640e-01 5.88455633e-01 -1.79766642e-02 3.69870839e+02] [-5.88295485e-01 8.08529336e-01 1.37380775e-02 -2.16869804e+02] [ 2.26189095e-02 -5.29304928e-04 9.99744020e-01 8.18415794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.722755096 meters 0.02193304057182859 Centerline is valid? [True, True] Translation: X:369.92, Y:-216.90, Z:8.19 [[ 8.07416677e-01 5.89705443e-01 -1.80499387e-02 3.69919253e+02] [-5.89544352e-01 8.07618255e-01 1.37916978e-02 -2.16903738e+02] [ 2.27104992e-02 -4.94407364e-04 9.99741961e-01 8.18528201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.782755096 meters 0.020415120594966318 Centerline is valid? [True, True] Translation: X:369.97, Y:-216.94, Z:8.19 [[ 8.04417503e-01 5.93789053e-01 -1.80843171e-02 3.69967294e+02] [-5.93628433e-01 8.04620667e-01 1.38153994e-02 -2.16936554e+02] [ 2.27544482e-02 -3.77984274e-04 9.99741013e-01 8.18602937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.842755096 meters 0.01904586626864681 Centerline is valid? [True, True] Translation: X:370.01, Y:-216.97, Z:8.19 [[ 8.02075659e-01 5.96914927e-01 -1.91626720e-02 3.70014713e+02] [-5.96735561e-01 8.02304480e-01 1.46353108e-02 -2.16970861e+02] [ 2.41103331e-02 -3.03578720e-04 9.99709258e-01 8.18688909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.902755096 meters 0.01876385240303104 Centerline is valid? [True, True] Translation: X:370.06, Y:-217.01, Z:8.19 [[ 8.01240629e-01 5.98021236e-01 -1.95973387e-02 3.70061197e+02] [-5.97834030e-01 8.01480210e-01 1.49648170e-02 -2.17006727e+02] [ 2.46561574e-02 -2.74463421e-04 9.99695953e-01 8.18769927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.962755096 meters 0.018262688043821303 Centerline is valid? [True, True] Translation: X:370.11, Y:-217.04, Z:8.19 [[ 8.00651893e-01 5.98793431e-01 -2.00741669e-02 3.70107271e+02] [-5.98597310e-01 8.00903466e-01 1.53264132e-02 -2.17042893e+02] [ 2.52548254e-02 -2.54779470e-04 9.99681014e-01 8.18856573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.022755096 meters 0.018238953789813245 Centerline is valid? [True, True] Translation: X:370.15, Y:-217.08, Z:8.19 [[ 8.00539866e-01 5.98938526e-01 -2.02129847e-02 3.70152217e+02] [-5.98739801e-01 8.00794967e-01 1.54295339e-02 -2.17079933e+02] [ 2.54277987e-02 -2.49638557e-04 9.99676630e-01 8.18977480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.082755096 meters 0.018321628022720395 Centerline is valid? [True, True] Translation: X:370.20, Y:-217.12, Z:8.19 [[ 8.00893909e-01 5.98479528e-01 -1.97788249e-02 3.70196676e+02] [-5.98289200e-01 8.01138059e-01 1.50945186e-02 -2.17117767e+02] [ 2.48793297e-02 -2.55650728e-04 9.99690429e-01 8.19112537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.14275509600003 meters 0.018977309028788684 Centerline is valid? [True, True] Translation: X:370.24, Y:-217.16, Z:8.19 [[ 8.02184734e-01 5.96747177e-01 -1.98105981e-02 3.70240065e+02] [-5.96555803e-01 8.02429257e-01 1.51149067e-02 -2.17156534e+02] [ 2.49163814e-02 -3.06820113e-04 9.99689492e-01 8.19185535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20275509600003 meters 0.01943037428681382 Centerline is valid? [True, True] Translation: X:370.29, Y:-217.20, Z:8.19 [[ 8.03344606e-01 5.95198031e-01 -1.94099928e-02 3.70285025e+02] [-5.95013961e-01 8.03578985e-01 1.48054455e-02 -2.17195099e+02] [ 2.44096344e-02 -3.44658062e-04 9.99701981e-01 8.19289483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26275509600003 meters 0.019629833457246993 Centerline is valid? [True, True] Translation: X:370.33, Y:-217.23, Z:8.20 [[ 8.05390853e-01 5.92447450e-01 -1.87508037e-02 3.70331092e+02] [-5.92274965e-01 8.05608993e-01 1.43009426e-02 -2.17234526e+02] [ 2.35783730e-02 -4.12216767e-04 9.99721907e-01 8.19562161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32275509600004 meters 0.021111405192651707 Centerline is valid? [True, True] Translation: X:370.37, Y:-217.27, Z:8.20 [[ 8.06811786e-01 5.90515979e-01 -1.85908858e-02 3.70374383e+02] [-5.90345922e-01 8.07025813e-01 1.41784805e-02 -2.17273794e+02] [ 2.33759440e-02 -4.64311527e-04 9.99726637e-01 8.19626958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.382755096 meters 0.022041084501108216 Centerline is valid? [True, True] Translation: X:370.42, Y:-217.31, Z:8.20 [[ 8.07341925e-01 5.89783691e-01 -1.88205618e-02 3.70419134e+02] [-5.89609263e-01 8.07561117e-01 1.43512575e-02 -2.17312412e+02] [ 2.36628915e-02 -4.89594240e-04 9.99719875e-01 8.19710286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.442755096 meters 0.02236623299310801 Centerline is valid? [True, True] Translation: X:370.46, Y:-217.35, Z:8.20 [[ 8.07688681e-01 5.89302027e-01 -1.90293570e-02 3.70462518e+02] [-5.89123632e-01 8.07912659e-01 1.45080092e-02 -2.17350671e+02] [ 2.39236577e-02 -5.07310907e-04 9.99713660e-01 8.19724774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.502755096 meters 0.022206358952309185 Centerline is valid? [True, True] Translation: X:370.51, Y:-217.39, Z:8.20 [[ 8.07053801e-01 5.90180484e-01 -1.87392304e-02 3.70506954e+02] [-5.90007790e-01 8.07271190e-01 1.42840400e-02 -2.17388423e+02] [ 2.35578024e-02 -4.71696830e-04 9.99722365e-01 8.19793767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.562755096 meters 0.020253059568307683 Centerline is valid? [True, True] Translation: X:370.55, Y:-217.42, Z:8.20 [[ 8.04918466e-01 5.93130621e-01 -1.73876418e-02 3.70553773e+02] [-5.92982680e-01 8.05106167e-01 1.32514669e-02 -2.17423842e+02] [ 2.18587484e-02 -3.55780020e-04 9.99761006e-01 8.20115432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.622755096 meters 0.019554025770338993 Centerline is valid? [True, True] Translation: X:370.60, Y:-217.46, Z:8.20 [[ 8.03209831e-01 5.95471720e-01 -1.63522741e-02 3.70599073e+02] [-5.95341398e-01 8.03376223e-01 1.24604856e-02 -2.17460112e+02] [ 2.05568950e-02 -2.73198807e-04 9.99788647e-01 8.20341225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.682755096 meters 0.01837270464467571 Centerline is valid? [True, True] Translation: X:370.65, Y:-217.50, Z:8.21 [[ 8.01036535e-01 5.98437897e-01 -1.45791575e-02 3.70645175e+02] [-5.98334833e-01 8.01169179e-01 1.11074402e-02 -2.17496019e+02] [ 1.83274848e-02 -1.74247639e-04 9.99832022e-01 8.20642978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.742755096 meters 0.018140864873945582 Centerline is valid? [True, True] Translation: X:370.69, Y:-217.53, Z:8.21 [[ 8.00028995e-01 5.99811922e-01 -1.33889773e-02 3.70690178e+02] [-5.99725216e-01 8.00141013e-01 1.01992141e-02 -2.17534762e+02] [ 1.68306800e-02 -1.29959687e-04 9.99858346e-01 8.20824618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.802755096 meters 0.018207917610956182 Centerline is valid? [True, True] Translation: X:370.73, Y:-217.57, Z:8.21 [[ 8.00117669e-01 5.99700683e-01 -1.30693216e-02 3.70734267e+02] [-5.99618076e-01 8.00224390e-01 9.95429148e-03 -2.17573353e+02] [ 1.64279853e-02 -1.28003020e-04 9.99865043e-01 8.20989073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.862755096 meters 0.018370824638760618 Centerline is valid? [True, True] Translation: X:370.78, Y:-217.61, Z:8.21 [[ 8.00489289e-01 5.99208289e-01 -1.28966841e-02 3.70776170e+02] [-5.99127820e-01 8.00593160e-01 9.82074210e-03 -2.17613247e+02] [ 1.62096672e-02 -1.34636618e-04 9.99868606e-01 8.21087587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.922755096 meters 0.01851173661763354 Centerline is valid? [True, True] Translation: X:370.82, Y:-217.65, Z:8.21 [[ 8.00890409e-01 5.98655833e-01 -1.36288921e-02 3.70819945e+02] [-5.98565957e-01 8.01006349e-01 1.03741938e-02 -2.17653142e+02] [ 1.71274008e-02 -1.50801471e-04 9.99853304e-01 8.21106476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.982755096 meters 0.019214705354546717 Centerline is valid? [True, True] Translation: X:370.86, Y:-217.69, Z:8.21 [[ 8.02404569e-01 5.96617507e-01 -1.39448532e-02 3.70861299e+02] [-5.96523136e-01 8.02525708e-01 1.06130421e-02 -2.17694737e+02] [ 1.75230299e-02 -1.97525926e-04 9.99846440e-01 8.21115883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.042755096 meters 0.020347576486176654 Centerline is valid? [True, True] Translation: X:370.90, Y:-217.74, Z:8.21 [[ 8.04216460e-01 5.94146201e-01 -1.50391682e-02 3.70904686e+02] [-5.94036047e-01 8.04357022e-01 1.14436071e-02 -2.17737426e+02] [ 1.88960363e-02 -2.69329174e-04 9.99821418e-01 8.21129236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.102755096 meters 0.020080705107897317 Centerline is valid? [True, True] Translation: X:370.95, Y:-217.77, Z:8.21 [[ 8.03839065e-01 5.94679772e-01 -1.40970216e-02 3.70952728e+02] [-5.94583069e-01 8.03962630e-01 1.07267435e-02 -2.17772191e+02] [ 1.77124559e-02 -2.40725130e-04 9.99843093e-01 8.21284398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.162755096 meters 0.019419279042167704 Centerline is valid? [True, True] Translation: X:371.00, Y:-217.81, Z:8.21 [[ 8.02935207e-01 5.95889091e-01 -1.45342467e-02 3.71003098e+02] [-5.95786511e-01 8.03066711e-01 1.10584879e-02 -2.17808544e+02] [ 1.82616020e-02 -2.19941132e-04 9.99833219e-01 8.21338971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.222755096 meters 0.019758086715957364 Centerline is valid? [True, True] Translation: X:371.05, Y:-217.85, Z:8.21 [[ 8.02645042e-01 5.96276687e-01 -1.46645397e-02 3.71052280e+02] [-5.96172208e-01 8.02778964e-01 1.11639350e-02 -2.17846390e+02] [ 1.84291782e-02 -2.18086079e-04 9.99830144e-01 8.21481150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.282755096 meters 0.020017780116461215 Centerline is valid? [True, True] Translation: X:371.10, Y:-217.88, Z:8.21 [[ 8.03075098e-01 5.95683578e-01 -1.52138643e-02 3.71100049e+02] [-5.95570931e-01 8.03219158e-01 1.15866832e-02 -2.17882043e+02] [ 1.91220641e-02 -2.44041420e-04 9.99817127e-01 8.21488995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.342755096 meters 0.021102072259828904 Centerline is valid? [True, True] Translation: X:371.15, Y:-217.92, Z:8.22 [[ 8.04976623e-01 5.93103088e-01 -1.55358675e-02 3.71149502e+02] [-5.92985150e-01 8.05126468e-01 1.18313963e-02 -2.17919845e+02] [ 1.95255758e-02 -3.11458659e-04 9.99809309e-01 8.21573982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.402755096 meters 0.023051781898678528 Centerline is valid? [True, True] Translation: X:371.20, Y:-217.96, Z:8.22 [[ 8.07292152e-01 5.89968530e-01 -1.47144440e-02 3.71195897e+02] [-5.89862106e-01 8.07426155e-01 1.12116216e-02 -2.17957895e+02] [ 1.84953309e-02 -3.71561186e-04 9.99828878e-01 8.21863479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.462755096 meters 0.025129082866932422 Centerline is valid? [True, True] Translation: X:371.24, Y:-218.00, Z:8.22 [[ 8.09496317e-01 5.86956636e-01 -1.40577477e-02 3.71241665e+02] [-5.86859037e-01 8.09618262e-01 1.07116988e-02 -2.17996030e+02] [ 1.76687120e-02 -4.21164482e-04 9.99843807e-01 8.22183046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.522755096 meters 0.022985483520988222 Centerline is valid? [True, True] Translation: X:371.29, Y:-218.03, Z:8.22 [[ 8.10203281e-01 5.85989908e-01 -1.36554792e-02 3.71293908e+02] [-5.85897699e-01 8.10318237e-01 1.04039078e-02 -2.18029895e+02] [ 1.71618688e-02 -4.28566397e-04 9.99852632e-01 8.22354693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.582755096 meters 0.026018415631583205 Centerline is valid? [True, True] Translation: X:371.34, Y:-218.07, Z:8.22 [[ 8.10384369e-01 5.85743695e-01 -1.34721703e-02 3.71339249e+02] [-5.85653810e-01 8.10496229e-01 1.02702357e-02 -2.18070691e+02] [ 1.69348690e-02 -4.32810575e-04 9.99856501e-01 8.22472528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.64275509600003 meters 0.02799269588998464 Centerline is valid? [True, True] Translation: X:371.38, Y:-218.11, Z:8.22 [[ 8.10898873e-01 5.84995312e-01 -1.49500268e-02 3.71384170e+02] [-5.84884373e-01 8.11036517e-01 1.14034643e-02 -2.18107976e+02] [ 1.87959909e-02 -5.03019312e-04 9.99823213e-01 8.22331883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70275509600003 meters 0.02425280478651569 Centerline is valid? [True, True] Translation: X:371.44, Y:-218.14, Z:8.22 [[ 8.10515245e-01 5.85507440e-01 -1.56867968e-02 3.71437520e+02] [-5.85385424e-01 8.10666870e-01 1.19637888e-02 -2.18141802e+02] [ 1.97216538e-02 -5.14011065e-04 9.99805377e-01 8.22376524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76275509600003 meters 0.024555819339073318 Centerline is valid? [True, True] Translation: X:371.48, Y:-218.18, Z:8.22 [[ 8.10086814e-01 5.86087355e-01 -1.61544439e-02 3.71484815e+02] [-5.85957906e-01 8.10247703e-01 1.23284958e-02 -2.18179796e+02] [ 2.03146766e-02 -5.21327795e-04 9.99793500e-01 8.22441843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82275509600004 meters 0.02566540832797604 Centerline is valid? [True, True] Translation: X:371.53, Y:-218.22, Z:8.23 [[ 8.09908474e-01 5.86330953e-01 -1.62565774e-02 3.71532213e+02] [-5.86199778e-01 8.10071441e-01 1.24129625e-02 -2.18220284e+02] [ 2.04470932e-02 -5.23761406e-04 9.99790799e-01 8.22589663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.882755096 meters 0.025496792066871884 Centerline is valid? [True, True] Translation: X:371.58, Y:-218.26, Z:8.23 [[ 8.09844775e-01 5.86424351e-01 -1.60599084e-02 3.71581001e+02] [-5.86296207e-01 8.10003833e-01 1.22698037e-02 -2.18257957e+02] [ 2.02038991e-02 -5.20773035e-04 9.99795745e-01 8.22738261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.942755096 meters 0.024031460410348763 Centerline is valid? [True, True] Translation: X:371.63, Y:-218.30, Z:8.23 [[ 8.09850945e-01 5.86411643e-01 -1.62120886e-02 3.71631174e+02] [-5.86280918e-01 8.10013026e-01 1.23928689e-02 -2.18295391e+02] [ 2.03993256e-02 -5.31538457e-04 9.99791771e-01 8.22894743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.002755096 meters 0.02422515085723169 Centerline is valid? [True, True] Translation: X:371.68, Y:-218.33, Z:8.23 [[ 8.09483093e-01 5.86907247e-01 -1.66434497e-02 3.71679916e+02] [-5.86769400e-01 8.09653995e-01 1.27310585e-02 -2.18334830e+02] [ 2.09473861e-02 -5.39709646e-04 9.99780434e-01 8.22980162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.062755096 meters 0.023519679252423254 Centerline is valid? [True, True] Translation: X:371.73, Y:-218.37, Z:8.23 [[ 8.09230528e-01 5.87239026e-01 -1.72127518e-02 3.71729742e+02] [-5.87091471e-01 8.09413378e-01 1.31752960e-02 -2.18372450e+02] [ 2.16692796e-02 -5.56391977e-04 9.99765039e-01 8.23094675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.122755096 meters 0.02402862287473257 Centerline is valid? [True, True] Translation: X:371.78, Y:-218.41, Z:8.23 [[ 8.09656419e-01 5.86671595e-01 -1.65203419e-02 3.71777503e+02] [-5.86535390e-01 8.09824753e-01 1.26532504e-02 -2.18411420e+02] [ 2.08018844e-02 -5.55020184e-04 9.99783463e-01 8.23316515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.182755096 meters 0.025123940195123137 Centerline is valid? [True, True] Translation: X:371.82, Y:-218.45, Z:8.24 [[ 8.10451331e-01 5.85592267e-01 -1.58220371e-02 3.71823825e+02] [-5.85466996e-01 8.10605563e-01 1.21250904e-02 -2.18450836e+02] [ 1.99257905e-02 -5.63515090e-04 9.99801303e-01 8.23605053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.242755096 meters 0.027337537156567948 Centerline is valid? [True, True] Translation: X:371.87, Y:-218.49, Z:8.24 [[ 8.11300101e-01 5.84427495e-01 -1.53834267e-02 3.71868909e+02] [-5.84308747e-01 8.11445726e-01 1.17950113e-02 -2.18491967e+02] [ 1.93761448e-02 -5.80623112e-04 9.99812096e-01 8.23784418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.302755096 meters 0.025724010698568833 Centerline is valid? [True, True] Translation: X:371.92, Y:-218.53, Z:8.24 [[ 8.11226015e-01 5.84533383e-01 -1.52668471e-02 3.71920033e+02] [-5.84416330e-01 8.11369453e-01 1.17116923e-02 -2.18529072e+02] [ 1.92329285e-02 -5.78634735e-04 9.99814863e-01 8.23896855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.362755096 meters 0.026090973169912015 Centerline is valid? [True, True] Translation: X:371.97, Y:-218.57, Z:8.24 [[ 8.10231664e-01 5.85926589e-01 -1.46520526e-02 3.71967848e+02] [-5.85818872e-01 8.10363963e-01 1.12470976e-02 -2.18566732e+02] [ 1.84634690e-02 -5.29305685e-04 9.99829396e-01 8.24128300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.422755096 meters 0.025226488281332827 Centerline is valid? [True, True] Translation: X:372.02, Y:-218.60, Z:8.24 [[ 8.08807333e-01 5.87898656e-01 -1.43481071e-02 3.72018278e+02] [-5.87795570e-01 8.08934448e-01 1.10193799e-02 -2.18602957e+02] [ 1.80849568e-02 -4.78801494e-04 9.99836339e-01 8.24323969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.482755096 meters 0.025312437869648537 Centerline is valid? [True, True] Translation: X:372.07, Y:-218.64, Z:8.24 [[ 8.07838564e-01 5.89220204e-01 -1.47107068e-02 3.72066291e+02] [-5.89111942e-01 8.07972360e-01 1.13042111e-02 -2.18640757e+02] [ 1.85465141e-02 -4.65724663e-04 9.99827890e-01 8.24476920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.542755096 meters 0.024826099764052083 Centerline is valid? [True, True] Translation: X:372.12, Y:-218.68, Z:8.25 [[ 8.07292782e-01 5.89966085e-01 -1.47777538e-02 3.72116101e+02] [-5.89856852e-01 8.07427899e-01 1.13614509e-02 -2.18677394e+02] [ 1.86348414e-02 -4.55257926e-04 9.99826253e-01 8.24563642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.602755096 meters 0.023863596623753525 Centerline is valid? [True, True] Translation: X:372.17, Y:-218.71, Z:8.25 [[ 8.07188620e-01 5.90121065e-01 -1.42709257e-02 3.72167337e+02] [-5.90019120e-01 8.07314644e-01 1.09774540e-02 -2.18714250e+02] [ 1.79991542e-02 -4.40756920e-04 9.99837905e-01 8.24751317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.662755096 meters 0.02675767495037605 Centerline is valid? [True, True] Translation: X:372.21, Y:-218.76, Z:8.25 [[ 8.07739154e-01 5.89387078e-01 -1.34287572e-02 3.72212034e+02] [-5.89296598e-01 8.07850656e-01 1.03361584e-02 -2.18755659e+02] [ 1.69404285e-02 -4.35398937e-04 9.99856406e-01 8.25012056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.722755096 meters 0.02326726975903396 Centerline is valid? [True, True] Translation: X:372.27, Y:-218.79, Z:8.25 [[ 8.07725760e-01 5.89414128e-01 -1.30415523e-02 3.72265369e+02] [-5.89328754e-01 8.07830927e-01 1.00405913e-02 -2.18788862e+02] [ 1.64534357e-02 -4.24282474e-04 9.99864543e-01 8.25178000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.782755096 meters 0.02417159252203303 Centerline is valid? [True, True] Translation: X:372.31, Y:-218.83, Z:8.25 [[ 8.07540147e-01 5.89664615e-01 -1.32118740e-02 3.72314336e+02] [-5.89576913e-01 8.07648102e-01 1.01787320e-02 -2.18826469e+02] [ 1.66725830e-02 -4.30318814e-04 9.99860910e-01 8.25349447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.842755096 meters 0.02381728595127564 Centerline is valid? [True, True] Translation: X:372.36, Y:-218.86, Z:8.25 [[ 8.07215165e-01 5.90106185e-01 -1.33554725e-02 3.72364746e+02] [-5.90016519e-01 8.07325526e-01 1.02957835e-02 -2.18863375e+02] [ 1.68578194e-02 -4.30963209e-04 9.99857804e-01 8.25456430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.902755096 meters 0.023641128633783596 Centerline is valid? [True, True] Translation: X:372.41, Y:-218.90, Z:8.26 [[ 8.06543573e-01 5.90997821e-01 -1.44582290e-02 3.72413979e+02] [-5.90892732e-01 8.06673026e-01 1.11538512e-02 -2.18900954e+02] [ 1.82549650e-02 -4.52804565e-04 9.99833262e-01 8.25504639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.962755096 meters 0.0230596819353497 Centerline is valid? [True, True] Translation: X:372.46, Y:-218.94, Z:8.26 [[ 8.05753558e-01 5.92070353e-01 -1.46253759e-02 3.72463790e+02] [-5.91962877e-01 8.05886161e-01 1.12892609e-02 -2.18937395e+02] [ 1.84704248e-02 -4.38682584e-04 9.99829311e-01 8.25532945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.022755096 meters 0.021993898246491634 Centerline is valid? [True, True] Translation: X:372.51, Y:-218.97, Z:8.26 [[ 8.04413053e-01 5.93891704e-01 -1.45699634e-02 3.72513899e+02] [-5.93785221e-01 8.04544892e-01 1.12528895e-02 -2.18974058e+02] [ 1.84051873e-02 -4.00542222e-04 9.99830530e-01 8.25688595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.082755096 meters 0.021609935777308957 Centerline is valid? [True, True] Translation: X:372.56, Y:-219.01, Z:8.26 [[ 8.03278012e-01 5.95431541e-01 -1.43427488e-02 3.72563739e+02] [-5.95328484e-01 8.03405966e-01 1.10837376e-02 -2.19011633e+02] [ 1.81226569e-02 -3.64675833e-04 9.99835705e-01 8.25821475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.14275509600003 meters 0.021305612273014553 Centerline is valid? [True, True] Translation: X:372.61, Y:-219.05, Z:8.26 [[ 8.02205458e-01 5.96859977e-01 -1.49856933e-02 3.72611861e+02] [-5.96747589e-01 8.02345339e-01 1.15875354e-02 -2.19049658e+02] [ 1.89398372e-02 -3.52907784e-04 9.99820563e-01 8.25819295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20275509600003 meters 0.02089479795238281 Centerline is valid? [True, True] Translation: X:372.66, Y:-219.09, Z:8.26 [[ 8.01848864e-01 5.97326512e-01 -1.54737620e-02 3.72661417e+02] [-5.97206642e-01 8.01998074e-01 1.19714981e-02 -2.19088065e+02] [ 1.95608205e-02 -3.58298750e-04 9.99808605e-01 8.25861109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26275509600003 meters 0.02128815629771158 Centerline is valid? [True, True] Translation: X:372.71, Y:-219.13, Z:8.26 [[ 8.02139825e-01 5.96926950e-01 -1.58088043e-02 3.72709594e+02] [-5.96801592e-01 8.02295501e-01 1.22388430e-02 -2.19127708e+02] [ 1.99890278e-02 -3.82543814e-04 9.99800126e-01 8.25904824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32275509600004 meters 0.02190818491461446 Centerline is valid? [True, True] Translation: X:372.76, Y:-219.17, Z:8.26 [[ 8.02967520e-01 5.95834331e-01 -1.49870690e-02 3.72756039e+02] [-5.95721359e-01 8.03107275e-01 1.16089225e-02 -2.19168301e+02] [ 1.89532188e-02 -3.93470602e-04 9.99820294e-01 8.26169634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.382755096 meters 0.023548960200831175 Centerline is valid? [True, True] Translation: X:372.80, Y:-219.21, Z:8.26 [[ 8.03365381e-01 5.95296219e-01 -1.50491299e-02 3.72801144e+02] [-5.95182100e-01 8.03506217e-01 1.16630691e-02 -2.19209038e+02] [ 1.90350504e-02 -4.12733202e-04 9.99818732e-01 8.26289236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.442755096 meters 0.02219782066372174 Centerline is valid? [True, True] Translation: X:372.85, Y:-219.25, Z:8.26 [[ 8.03253305e-01 5.95429981e-01 -1.57246829e-02 3.72852450e+02] [-5.95305296e-01 8.03407089e-01 1.21923373e-02 -2.19246008e+02] [ 1.98930049e-02 -4.32548269e-04 9.99802021e-01 8.26372446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.502755096 meters 0.022531368791898137 Centerline is valid? [True, True] Translation: X:372.90, Y:-219.28, Z:8.26 [[ 8.02759883e-01 5.96069365e-01 -1.66697988e-02 3.72899968e+02] [-5.95929198e-01 8.02932818e-01 1.29337085e-02 -2.19283803e+02] [ 2.10941159e-02 -4.48642490e-04 9.99777394e-01 8.26331081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.562755096 meters 0.021956981157834645 Centerline is valid? [True, True] Translation: X:372.95, Y:-219.32, Z:8.26 [[ 8.02306695e-01 5.96670618e-01 -1.69746735e-02 3.72950467e+02] [-5.96525258e-01 8.02486121e-01 1.31773620e-02 -2.19322132e+02] [ 2.14844846e-02 -4.46464317e-04 9.99769082e-01 8.26357889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.622755096 meters 0.023015441871079536 Centerline is valid? [True, True] Translation: X:373.00, Y:-219.36, Z:8.26 [[ 8.02743078e-01 5.96064644e-01 -1.76207417e-02 3.72997054e+02] [-5.95907666e-01 8.02936300e-01 1.36876414e-02 -2.19362441e+02] [ 2.23070522e-02 -4.87324331e-04 9.99751048e-01 8.26463327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.682755096 meters 0.023129804362098324 Centerline is valid? [True, True] Translation: X:373.04, Y:-219.40, Z:8.27 [[ 8.04142959e-01 5.94183639e-01 -1.73177780e-02 3.73044989e+02] [-5.94031427e-01 8.04329234e-01 1.34591075e-02 -2.19401055e+02] [ 2.19263766e-02 -5.35742175e-04 9.99759445e-01 8.26579205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.742755096 meters 0.024656561979590673 Centerline is valid? [True, True] Translation: X:373.09, Y:-219.44, Z:8.27 [[ 8.05029490e-01 5.92997922e-01 -1.67625992e-02 3.73091320e+02] [-5.92854916e-01 8.05203798e-01 1.30342645e-02 -2.19440964e+02] [ 2.12266003e-02 -5.55177952e-04 9.99774536e-01 8.26735134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.802755096 meters 0.026828016637647265 Centerline is valid? [True, True] Translation: X:373.14, Y:-219.48, Z:8.27 [[ 8.06136223e-01 5.91509202e-01 -1.61633573e-02 3.73136945e+02] [-5.91375811e-01 8.06298041e-01 1.25745601e-02 -2.19481908e+02] [ 2.04704513e-02 -5.78189792e-04 9.99790291e-01 8.26938632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.862755096 meters 0.024870217515858085 Centerline is valid? [True, True] Translation: X:373.19, Y:-219.52, Z:8.27 [[ 8.06825376e-01 5.90590356e-01 -1.53572208e-02 3.73187826e+02] [-5.90469665e-01 8.06971313e-01 1.19530072e-02 -2.19516804e+02] [ 1.94521674e-02 -5.76016518e-04 9.99810623e-01 8.27115278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.922755096 meters 0.025079693121155232 Centerline is valid? [True, True] Translation: X:373.24, Y:-219.55, Z:8.27 [[ 8.06983275e-01 5.90376861e-01 -1.52694781e-02 3.73237352e+02] [-5.90257433e-01 8.07127515e-01 1.18885597e-02 -2.19554968e+02] [ 1.93431464e-02 -5.80945923e-04 9.99812735e-01 8.27192440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.982755096 meters 0.02461494913086448 Centerline is valid? [True, True] Translation: X:373.29, Y:-219.59, Z:8.27 [[ 8.06527507e-01 5.90992503e-01 -1.55319807e-02 3.73287448e+02] [-5.90868907e-01 8.06676840e-01 1.21000554e-02 -2.19592304e+02] [ 1.96803311e-02 -5.81663004e-04 9.99806154e-01 8.27286647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.042755096 meters 0.024639757112257556 Centerline is valid? [True, True] Translation: X:373.34, Y:-219.63, Z:8.27 [[ 8.05257681e-01 5.92750096e-01 -1.44010792e-02 3.73335998e+02] [-5.92644014e-01 8.05386286e-01 1.12251137e-02 -2.19629205e+02] [ 1.82521189e-02 -5.04395630e-04 9.99833289e-01 8.27493960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.102755096 meters 0.023081284674037184 Centerline is valid? [True, True] Translation: X:373.39, Y:-219.66, Z:8.28 [[ 8.03216104e-01 5.95522672e-01 -1.40227515e-02 3.73387817e+02] [-5.95422412e-01 8.03338383e-01 1.09358750e-02 -2.19663335e+02] [ 1.77775760e-02 -4.34410444e-04 9.99841872e-01 8.27609627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.162755096 meters 0.02257293524586484 Centerline is valid? [True, True] Translation: X:373.44, Y:-219.70, Z:8.28 [[ 8.01939219e-01 5.97240954e-01 -1.40261196e-02 3.73438177e+02] [-5.97140797e-01 8.02061769e-01 1.09447263e-02 -2.19700115e+02] [ 1.77864531e-02 -4.01437053e-04 9.99841728e-01 8.27663198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.222755096 meters 0.021634038606152442 Centerline is valid? [True, True] Translation: X:373.49, Y:-219.74, Z:8.28 [[ 8.01161805e-01 5.98286634e-01 -1.38875878e-02 3.73488789e+02] [-5.98188497e-01 8.01282073e-01 1.08426401e-02 -2.19736478e+02] [ 1.76148818e-02 -3.79313847e-04 9.99844774e-01 8.27769122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.282755096 meters 0.022949076251976053 Centerline is valid? [True, True] Translation: X:373.54, Y:-219.78, Z:8.28 [[ 8.01015714e-01 5.98477707e-01 -1.40805005e-02 3.73536249e+02] [-5.98376738e-01 8.01139367e-01 1.09996929e-02 -2.19776465e+02] [ 1.78635142e-02 -3.85482896e-04 9.99840360e-01 8.27869758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.342755096 meters 0.021932165791556907 Centerline is valid? [True, True] Translation: X:373.59, Y:-219.81, Z:8.28 [[ 8.01548171e-01 5.97766496e-01 -1.39908978e-02 3.73586620e+02] [-5.97666582e-01 8.01670165e-01 1.09363314e-02 -2.19812432e+02] [ 1.77534579e-02 -4.04104363e-04 9.99842313e-01 8.27955749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.402755096 meters 0.025297641044527024 Centerline is valid? [True, True] Translation: X:373.63, Y:-219.85, Z:8.28 [[ 8.03127952e-01 5.95638924e-01 -1.41338246e-02 3.73631135e+02] [-5.95536511e-01 8.03252177e-01 1.10545915e-02 -2.19853851e+02] [ 1.79375703e-02 -4.61042879e-04 9.99839003e-01 8.28006379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.462755096 meters 0.02436777699890988 Centerline is valid? [True, True] Translation: X:373.68, Y:-219.89, Z:8.28 [[ 8.04994195e-01 5.93118962e-01 -1.39371250e-02 3.73681104e+02] [-5.93018947e-01 8.05114671e-01 1.09038533e-02 -2.19891198e+02] [ 1.76882660e-02 -5.12559403e-04 9.99843419e-01 8.28098764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.522755096 meters 0.025431025199344665 Centerline is valid? [True, True] Translation: X:373.73, Y:-219.93, Z:8.28 [[ 8.05855352e-01 5.91956490e-01 -1.35891782e-02 3.73728578e+02] [-5.91861218e-01 8.05969749e-01 1.06330334e-02 -2.19931016e+02] [ 1.72467597e-02 -5.25779256e-04 9.99851125e-01 8.28252956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.582755096 meters 0.026165576806923236 Centerline is valid? [True, True] Translation: X:373.78, Y:-219.97, Z:8.28 [[ 8.06326240e-01 5.91316429e-01 -1.35231664e-02 3.73776828e+02] [-5.91221887e-01 8.06439451e-01 1.05873879e-02 -2.19969356e+02] [ 1.71661113e-02 -5.41696760e-04 9.99852505e-01 8.28362755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.64275509600003 meters 0.025048850955590042 Centerline is valid? [True, True] Translation: X:373.83, Y:-220.00, Z:8.28 [[ 8.05367703e-01 5.92625464e-01 -1.33387569e-02 3.73828094e+02] [-5.92533572e-01 8.05477993e-01 1.04483519e-02 -2.20004989e+02] [ 1.69360345e-02 -5.11103865e-04 9.99856444e-01 8.28434072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70275509600003 meters 0.024381161363535186 Centerline is valid? [True, True] Translation: X:373.88, Y:-220.04, Z:8.28 [[ 8.03815420e-01 5.94718292e-01 -1.38175313e-02 3.73877970e+02] [-5.94619879e-01 8.03934023e-01 1.08298494e-02 -2.20041481e+02] [ 1.75490931e-02 -4.89021147e-04 9.99845883e-01 8.28483557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76275509600003 meters 0.022150860384817218 Centerline is valid? [True, True] Translation: X:373.93, Y:-220.08, Z:8.29 [[ 8.00602223e-01 5.99029690e-01 -1.41248024e-02 3.73929352e+02] [-5.98927400e-01 8.00726709e-01 1.10772822e-02 -2.20075254e+02] [ 1.79457275e-02 -4.08765581e-04 9.99838879e-01 8.28546392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82275509600004 meters 0.020714806398594958 Centerline is valid? [True, True] Translation: X:373.98, Y:-220.11, Z:8.29 [[ 7.97628634e-01 6.02988491e-01 -1.39083535e-02 3.73980052e+02] [-6.02889896e-01 7.97749823e-01 1.09084217e-02 -2.20109851e+02] [ 1.76730393e-02 -3.15663722e-04 9.99843770e-01 8.28697053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.882755096 meters 0.019646299031259643 Centerline is valid? [True, True] Translation: X:374.03, Y:-220.15, Z:8.29 [[ 7.94846532e-01 6.06661233e-01 -1.34588064e-02 3.74030578e+02] [-6.06569426e-01 7.94960437e-01 1.05562716e-02 -2.20145444e+02] [ 1.71032994e-02 -2.26915356e-04 9.99853702e-01 8.28793535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.942755096 meters 0.018696160786345544 Centerline is valid? [True, True] Translation: X:374.08, Y:-220.18, Z:8.29 [[ 7.92657397e-01 6.09510958e-01 -1.38073492e-02 3.74081303e+02] [-6.09414656e-01 7.92777624e-01 1.08358831e-02 -2.20181945e+02] [ 1.75507470e-02 -1.74741896e-04 9.99845959e-01 8.28842697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.002755096 meters 0.018788364266851154 Centerline is valid? [True, True] Translation: X:374.13, Y:-220.22, Z:8.29 [[ 7.92006583e-01 6.10343180e-01 -1.43796633e-02 3.74129152e+02] [-6.10238740e-01 7.92137093e-01 1.12918597e-02 -2.20220837e+02] [ 1.82825742e-02 -1.68199609e-04 9.99832846e-01 8.28935378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.062755096 meters 0.018617924408320535 Centerline is valid? [True, True] Translation: X:374.18, Y:-220.26, Z:8.29 [[ 7.91598216e-01 6.10883446e-01 -1.39168956e-02 3.74178872e+02] [-6.10785589e-01 7.91720526e-01 1.09349209e-02 -2.20259658e+02] [ 1.76982540e-02 -1.55824587e-04 9.99843361e-01 8.29072966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.122755096 meters 0.018820691643463405 Centerline is valid? [True, True] Translation: X:374.23, Y:-220.30, Z:8.29 [[ 7.91848701e-01 6.10553697e-01 -1.41357092e-02 3.74226974e+02] [-6.10452553e-01 7.91974844e-01 1.11142525e-02 -2.20299742e+02] [ 1.79809740e-02 -1.71626627e-04 9.99838314e-01 8.29133254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.182755096 meters 0.018871376825985952 Centerline is valid? [True, True] Translation: X:374.28, Y:-220.34, Z:8.29 [[ 7.92342156e-01 6.09895292e-01 -1.48876047e-02 3.74275019e+02] [-6.09782833e-01 7.92481982e-01 1.17134267e-02 -2.20339852e+02] [ 1.89421223e-02 -2.02836024e-04 9.99820561e-01 8.29182265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.242755096 meters 0.020029421329085955 Centerline is valid? [True, True] Translation: X:374.32, Y:-220.38, Z:8.29 [[ 7.94840530e-01 6.06622254e-01 -1.54263628e-02 3.74320705e+02] [-6.06500730e-01 7.94990159e-01 1.21454555e-02 -2.20382117e+02] [ 1.96315102e-02 -2.97599998e-04 9.99807239e-01 8.29212809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.302755096 meters 0.02246643211967108 Centerline is valid? [True, True] Translation: X:374.36, Y:-220.43, Z:8.29 [[ 7.98838375e-01 6.01336489e-01 -1.58643476e-02 3.74364378e+02] [-6.01206781e-01 7.98995763e-01 1.24970961e-02 -2.20426910e+02] [ 2.01905064e-02 -4.45406619e-04 9.99796052e-01 8.29304836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.362755096 meters 0.02319744321107812 Centerline is valid? [True, True] Translation: X:374.41, Y:-220.47, Z:8.29 [[ 8.00084557e-01 5.99667910e-01 -1.62203318e-02 3.74411565e+02] [-5.99531919e-01 8.00248803e-01 1.27801208e-02 -2.20467565e+02] [ 2.06441295e-02 -5.00570689e-04 9.99786762e-01 8.29421574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.422755096 meters 0.02535121355064937 Centerline is valid? [True, True] Translation: X:374.45, Y:-220.51, Z:8.30 [[ 8.03652353e-01 5.94863669e-01 -1.67365055e-02 3.74454991e+02] [-5.94717696e-01 8.03826345e-01 1.31935009e-02 -2.20510635e+02] [ 2.13015784e-02 -6.49492048e-04 9.99772885e-01 8.29529609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.482755096 meters 0.025851082948934123 Centerline is valid? [True, True] Translation: X:374.50, Y:-220.55, Z:8.30 [[ 8.04348176e-01 5.93920004e-01 -1.68237953e-02 3.74503159e+02] [-5.93772276e-01 8.04523814e-01 1.32633394e-02 -2.20549184e+02] [ 2.14125065e-02 -6.78839618e-04 9.99770496e-01 8.29642250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.542755096 meters 0.024839059521468896 Centerline is valid? [True, True] Translation: X:374.55, Y:-220.59, Z:8.30 [[ 8.02480303e-01 5.96428518e-01 -1.72738690e-02 3.74552861e+02] [-5.96273251e-01 8.02665948e-01 1.36229993e-02 -2.20586195e+02] [ 2.19902918e-02 -6.32242582e-04 9.99757984e-01 8.29674522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.602755096 meters 0.023876324684699694 Centerline is valid? [True, True] Translation: X:374.60, Y:-220.62, Z:8.30 [[ 8.00956223e-01 5.98453097e-01 -1.79727286e-02 3.74602270e+02] [-5.98285330e-01 8.01157614e-01 1.41824465e-02 -2.20623235e+02] [ 2.28865174e-02 -6.06698913e-04 9.99737885e-01 8.29752458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.662755096 meters 0.02267137336337301 Centerline is valid? [True, True] Translation: X:374.65, Y:-220.66, Z:8.30 [[ 7.99186807e-01 6.00797309e-01 -1.85213715e-02 3.74653536e+02] [-6.00619595e-01 7.99401199e-01 1.46227379e-02 -2.20659427e+02] [ 2.35913082e-02 -5.62000582e-04 9.99721528e-01 8.29875200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.722755096 meters 0.021701625236552377 Centerline is valid? [True, True] Translation: X:374.70, Y:-220.69, Z:8.30 [[ 7.97497256e-01 6.03048299e-01 -1.81899963e-02 3.74704372e+02] [-6.02877379e-01 7.97704525e-01 1.43650966e-02 -2.20694806e+02] [ 2.31730894e-02 -4.89787798e-04 9.99731348e-01 8.30118847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.782755096 meters 0.021533750107093314 Centerline is valid? [True, True] Translation: X:374.75, Y:-220.73, Z:8.30 [[ 7.96682862e-01 6.04148656e-01 -1.73441001e-02 3.74752595e+02] [-6.03993361e-01 7.96871511e-01 1.37045410e-02 -2.20732310e+02] [ 2.21005993e-02 -4.42451657e-04 9.99755654e-01 8.30432913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.842755096 meters 0.021926593105982477 Centerline is valid? [True, True] Translation: X:374.80, Y:-220.77, Z:8.31 [[ 7.96842858e-01 6.03957085e-01 -1.66522890e-02 3.74801647e+02] [-6.03813745e-01 7.97016718e-01 1.31647752e-02 -2.20771767e+02] [ 2.12231120e-02 -4.35376115e-04 9.99774670e-01 8.30592134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.902755096 meters 0.022539447238750534 Centerline is valid? [True, True] Translation: X:374.85, Y:-220.81, Z:8.31 [[ 7.98408078e-01 6.01913048e-01 -1.56596002e-02 3.74849168e+02] [-6.01785749e-01 7.98561497e-01 1.23874073e-02 -2.20811402e+02] [ 1.99612959e-02 -4.66481787e-04 9.99800645e-01 8.30796257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.962755096 meters 0.025440601421576784 Centerline is valid? [True, True] Translation: X:374.89, Y:-220.85, Z:8.31 [[ 8.00599859e-01 5.99002181e-01 -1.53705329e-02 3.74893387e+02] [-5.98878868e-01 8.00747214e-01 1.21655398e-02 -2.20854066e+02] [ 1.95950963e-02 -5.34642090e-04 9.99807855e-01 8.30902496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.022755096 meters 0.02464495878614119 Centerline is valid? [True, True] Translation: X:374.94, Y:-220.89, Z:8.31 [[ 8.01354393e-01 5.97984921e-01 -1.56579154e-02 3.74942298e+02] [-5.97856627e-01 8.01507145e-01 1.23996190e-02 -2.20892369e+02] [ 1.99647162e-02 -5.75300655e-04 9.99800520e-01 8.31010794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.082755096 meters 0.024518582916789967 Centerline is valid? [True, True] Translation: X:374.99, Y:-220.93, Z:8.31 [[ 8.00625600e-01 5.98955688e-01 -1.58345455e-02 3.74990687e+02] [-5.98824527e-01 8.00781972e-01 1.25466947e-02 -2.20930816e+02] [ 2.01949327e-02 -5.63090747e-04 9.99795903e-01 8.31022693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.14275509600003 meters 0.022975275506204613 Centerline is valid? [True, True] Translation: X:375.04, Y:-220.97, Z:8.31 [[ 7.98319381e-01 6.01993713e-01 -1.70216275e-02 3.75041786e+02] [-6.01842657e-01 7.98500651e-01 1.34954060e-02 -2.20966739e+02] [ 2.17159302e-02 -5.29302604e-04 9.99764041e-01 8.30962355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20275509600003 meters 0.021594334925319484 Centerline is valid? [True, True] Translation: X:375.09, Y:-221.00, Z:8.31 [[ 7.95611913e-01 6.05553252e-01 -1.75197986e-02 3.75091611e+02] [-6.05393903e-01 7.95804659e-01 1.38984300e-02 -2.21003510e+02] [ 2.23585768e-02 -4.51377188e-04 9.99749914e-01 8.31012958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26275509600003 meters 0.020156943489363092 Centerline is valid? [True, True] Translation: X:375.14, Y:-221.04, Z:8.31 [[ 7.92969250e-01 6.08981292e-01 -1.84812182e-02 3.75141556e+02] [-6.08804697e-01 7.93184494e-01 1.46696871e-02 -2.21039961e+02] [ 2.35925807e-02 -3.81158362e-04 9.99721584e-01 8.31141910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32275509600004 meters 0.019206725802599814 Centerline is valid? [True, True] Translation: X:375.19, Y:-221.08, Z:8.31 [[ 7.91117178e-01 6.11384229e-01 -1.85185136e-02 3.75191952e+02] [-6.11207381e-01 7.91333826e-01 1.47075919e-02 -2.21076416e+02] [ 2.36463159e-02 -3.16776398e-04 9.99720337e-01 8.31283876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.382755096 meters 0.018607301247403014 Centerline is valid? [True, True] Translation: X:375.24, Y:-221.11, Z:8.31 [[ 7.89246917e-01 6.13806942e-01 -1.81753022e-02 3.75242074e+02] [-6.13637042e-01 7.89456128e-01 1.44430791e-02 -2.21113609e+02] [ 2.32138659e-02 -2.46116932e-04 9.99730492e-01 8.31444475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.442755096 meters 0.01857448966683754 Centerline is valid? [True, True] Translation: X:375.29, Y:-221.15, Z:8.32 [[ 7.89120577e-01 6.13976283e-01 -1.79398627e-02 3.75288473e+02] [-6.13810657e-01 7.89324436e-01 1.42622487e-02 -2.21150193e+02] [ 2.29170545e-02 -2.42955030e-04 9.99737340e-01 8.31604855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.502755096 meters 0.018943984246327285 Centerline is valid? [True, True] Translation: X:375.34, Y:-221.19, Z:8.32 [[ 7.90908099e-01 6.11705748e-01 -1.67468301e-02 3.75335726e+02] [-6.11560898e-01 7.91085327e-01 1.33144124e-02 -2.21190147e+02] [ 2.13926742e-02 -2.88770145e-04 9.99771109e-01 8.31833489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.562755096 meters 0.02018040210983411 Centerline is valid? [True, True] Translation: X:375.38, Y:-221.23, Z:8.32 [[ 7.93404328e-01 6.08470999e-01 -1.65110716e-02 3.75380939e+02] [-6.08329339e-01 7.93576021e-01 1.31344564e-02 -2.21232453e+02] [ 2.10947263e-02 -3.76765257e-04 9.99777411e-01 8.32058839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.622755096 meters 0.021514430123392776 Centerline is valid? [True, True] Translation: X:375.43, Y:-221.27, Z:8.32 [[ 7.95253733e-01 6.06041734e-01 -1.68794695e-02 3.75427255e+02] [-6.05892964e-01 7.95432717e-01 1.34353425e-02 -2.21274336e+02] [ 2.15688605e-02 -4.57354507e-04 9.99767260e-01 8.32116208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.682755096 meters 0.023874305741543655 Centerline is valid? [True, True] Translation: X:375.47, Y:-221.32, Z:8.32 [[ 7.97951657e-01 6.02505086e-01 -1.61484887e-02 3.75470944e+02] [-6.02368062e-01 7.98114864e-01 1.28601119e-02 -2.21317150e+02] [ 2.06366317e-02 -5.34413740e-04 9.99786899e-01 8.32244926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.742755096 meters 0.026122370604769414 Centerline is valid? [True, True] Translation: X:375.52, Y:-221.36, Z:8.32 [[ 7.99178869e-01 6.00878399e-01 -1.60712567e-02 3.75515846e+02] [-6.00742283e-01 7.99340239e-01 1.28020407e-02 -2.21358848e+02] [ 2.05388719e-02 -5.76436989e-04 9.99788889e-01 8.32348785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.802755096 meters 0.024133017301371743 Centerline is valid? [True, True] Translation: X:375.57, Y:-221.39, Z:8.33 [[ 7.98360688e-01 6.01977103e-01 -1.56134232e-02 3.75567509e+02] [-6.01848768e-01 7.98513169e-01 1.24410326e-02 -2.21394014e+02] [ 1.99567408e-02 -5.35511878e-04 9.99800701e-01 8.32502335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.862755096 meters 0.023494772811787492 Centerline is valid? [True, True] Translation: X:375.62, Y:-221.43, Z:8.33 [[ 7.95983657e-01 6.05082814e-01 -1.68761908e-02 3.75616635e+02] [-6.04933401e-01 7.96162381e-01 1.34552339e-02 -2.21431273e+02] [ 2.15777190e-02 -5.01174733e-04 9.99767048e-01 8.32536592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.922755096 meters 0.021393805071729284 Centerline is valid? [True, True] Translation: X:375.67, Y:-221.47, Z:8.33 [[ 7.93177578e-01 6.08752659e-01 -1.70155878e-02 3.75668210e+02] [-6.08601445e-01 7.93359963e-01 1.35738687e-02 -2.21465630e+02] [ 2.17626148e-02 -4.10776950e-04 9.99763082e-01 8.32601343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.982755096 meters 0.02086127957102479 Centerline is valid? [True, True] Translation: X:375.72, Y:-221.50, Z:8.33 [[ 7.90870632e-01 6.11737840e-01 -1.73337463e-02 3.75717687e+02] [-6.11581493e-01 7.91060490e-01 1.38339446e-02 -2.21498428e+02] [ 2.21747893e-02 -3.39862090e-04 9.99754051e-01 8.32635530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.042755096 meters 0.01927086050351874 Centerline is valid? [True, True] Translation: X:375.77, Y:-221.53, Z:8.33 [[ 7.89089533e-01 6.14049897e-01 -1.67461671e-02 3.75770333e+02] [-6.13904486e-01 7.89267163e-01 1.33651857e-02 -2.21532326e+02] [ 2.14240906e-02 -2.65781029e-04 9.99770443e-01 8.32916222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.102755096 meters 0.019245225595401934 Centerline is valid? [True, True] Translation: X:375.82, Y:-221.57, Z:8.33 [[ 7.88494017e-01 6.14821129e-01 -1.64974144e-02 3.75820008e+02] [-6.14680017e-01 7.88666545e-01 1.31741399e-02 -2.21570793e+02] [ 2.11106984e-02 -2.47099493e-04 9.99777114e-01 8.33157944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.162755096 meters 0.02009750500929114 Centerline is valid? [True, True] Translation: X:375.87, Y:-221.61, Z:8.33 [[ 7.89205759e-01 6.13900420e-01 -1.67494595e-02 3.75866522e+02] [-6.13754587e-01 7.89383427e-01 1.33832788e-02 -2.21609480e+02] [ 2.14377462e-02 -2.82103104e-04 9.99770145e-01 8.33275478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.222755096 meters 0.02017449851128914 Centerline is valid? [True, True] Translation: X:375.92, Y:-221.65, Z:8.34 [[ 7.91364467e-01 6.11131457e-01 -1.61438220e-02 3.75915102e+02] [-6.10995347e-01 7.91529041e-01 1.29020790e-02 -2.21647377e+02] [ 2.06631703e-02 -3.46446784e-04 9.99786434e-01 8.33506966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.282755096 meters 0.02146707663660266 Centerline is valid? [True, True] Translation: X:375.96, Y:-221.69, Z:8.34 [[ 7.93503625e-01 6.08359483e-01 -1.58346780e-02 3.75960503e+02] [-6.08227852e-01 7.93661494e-01 1.26614935e-02 -2.21688661e+02] [ 2.02701139e-02 -4.15848815e-04 9.99794454e-01 8.33715069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.342755096 meters 0.022695719751161213 Centerline is valid? [True, True] Translation: X:376.01, Y:-221.73, Z:8.34 [[ 7.95357604e-01 6.05951983e-01 -1.51154469e-02 3.76006443e+02] [-6.05831535e-01 7.95501090e-01 1.20899585e-02 -2.21729686e+02] [ 1.93502888e-02 -4.58425983e-04 9.99812661e-01 8.33944254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.402755096 meters 0.023980304787973732 Centerline is valid? [True, True] Translation: X:376.05, Y:-221.77, Z:8.34 [[ 7.97349208e-01 6.03358171e-01 -1.38981298e-02 3.76053495e+02] [-6.03255851e-01 7.97470177e-01 1.11218179e-02 -2.21770707e+02] [ 1.77937838e-02 -4.83844581e-04 9.99841561e-01 8.34220061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.462755096 meters 0.024274145062281514 Centerline is valid? [True, True] Translation: X:376.10, Y:-221.81, Z:8.34 [[ 7.97384257e-01 6.03319381e-01 -1.35672966e-02 3.76102227e+02] [-6.03221845e-01 7.97499530e-01 1.08584585e-02 -2.21810122e+02] [ 1.73710311e-02 -4.74274180e-04 9.99849000e-01 8.34346528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.522755096 meters 0.02289822245092189 Centerline is valid? [True, True] Translation: X:376.15, Y:-221.85, Z:8.34 [[ 7.95754625e-01 6.05469000e-01 -1.34858126e-02 3.76152413e+02] [-6.05372819e-01 7.95868774e-01 1.08002306e-02 -2.21846822e+02] [ 1.72721420e-02 -4.30389046e-04 9.99850733e-01 8.34419335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.582755096 meters 0.021607412587990878 Centerline is valid? [True, True] Translation: X:376.20, Y:-221.88, Z:8.34 [[ 7.92939388e-01 6.09134014e-01 -1.42436226e-02 3.76202127e+02] [-6.09027180e-01 7.93067218e-01 1.14141202e-02 -2.21881614e+02] [ 1.82488791e-02 -3.75952190e-04 9.99833405e-01 8.34459760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.64275509600003 meters 0.0199423041667747 Centerline is valid? [True, True] Translation: X:376.25, Y:-221.92, Z:8.34 [[ 7.89535545e-01 6.13520998e-01 -1.50202467e-02 3.76253696e+02] [-6.13402971e-01 7.89678353e-01 1.20372288e-02 -2.21916399e+02] [ 1.92462563e-02 -2.90356053e-04 9.99814731e-01 8.34480738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70275509600003 meters 0.018857468593509417 Centerline is valid? [True, True] Translation: X:376.30, Y:-221.95, Z:8.35 [[ 7.87333242e-01 6.16342035e-01 -1.51282143e-02 3.76304280e+02] [-6.16222691e-01 7.87478536e-01 1.21305637e-02 -2.21952297e+02] [ 1.93897203e-02 -2.28447088e-04 9.99811976e-01 8.34583994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76275509600003 meters 0.018240498888964236 Centerline is valid? [True, True] Translation: X:376.35, Y:-221.99, Z:8.35 [[ 7.85128999e-01 6.19135386e-01 -1.56149963e-02 3.76353366e+02] [-6.19008650e-01 7.85284244e-01 1.25278403e-02 -2.21988286e+02] [ 2.00186399e-02 -1.70152944e-04 9.99799592e-01 8.34642453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82275509600004 meters 0.018084926905763805 Centerline is valid? [True, True] Translation: X:376.40, Y:-222.03, Z:8.35 [[ 7.84856123e-01 6.19475990e-01 -1.58229075e-02 3.76399234e+02] [-6.19345909e-01 7.85015587e-01 1.26954137e-02 -2.22025099e+02] [ 2.02857330e-02 -1.64220128e-04 9.99794210e-01 8.34748121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.882755096 meters 0.01835143680935838 Centerline is valid? [True, True] Translation: X:376.44, Y:-222.06, Z:8.35 [[ 7.85912514e-01 6.18136570e-01 -1.57702593e-02 3.76443835e+02] [-6.18007124e-01 7.86070698e-01 1.26511866e-02 -2.22064169e+02] [ 2.02166998e-02 -1.96593241e-04 9.99795602e-01 8.34968593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.942755096 meters 0.01884527117486555 Centerline is valid? [True, True] Translation: X:376.49, Y:-222.10, Z:8.35 [[ 7.87277562e-01 6.16404766e-01 -1.54662701e-02 3.76488629e+02] [-6.16279965e-01 7.87429432e-01 1.24054204e-02 -2.22102845e+02] [ 1.98253565e-02 -2.34956714e-04 9.99803431e-01 8.35157048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.002755096 meters 0.019126943980458867 Centerline is valid? [True, True] Translation: X:376.54, Y:-222.14, Z:8.35 [[ 7.88024931e-01 6.15460082e-01 -1.50198424e-02 3.76535199e+02] [-6.15342245e-01 7.88168018e-01 1.20455917e-02 -2.22140764e+02] [ 1.92517402e-02 -2.49883044e-04 9.99814637e-01 8.35342176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.062755096 meters 0.01908481957851738 Centerline is valid? [True, True] Translation: X:376.58, Y:-222.18, Z:8.36 [[ 7.88200679e-01 6.15245957e-01 -1.45637434e-02 3.76584844e+02] [-6.15135130e-01 7.88335177e-01 1.16798914e-02 -2.22180123e+02] [ 1.86671172e-02 -2.47428154e-04 9.99825724e-01 8.35568718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.122755096 meters 0.019001142510473235 Centerline is valid? [True, True] Translation: X:376.63, Y:-222.22, Z:8.36 [[ 7.87911960e-01 6.15613863e-01 -1.46395197e-02 3.76632721e+02] [-6.15501803e-01 7.88047912e-01 1.17481304e-02 -2.22215255e+02] [ 1.87689548e-02 -2.45841681e-04 9.99823817e-01 8.35633138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.182755096 meters 0.018860479798650687 Centerline is valid? [True, True] Translation: X:376.68, Y:-222.25, Z:8.36 [[ 7.87284624e-01 6.16396760e-01 -1.54258060e-02 3.76679332e+02] [-6.16272511e-01 7.87435697e-01 1.23779982e-02 -2.22249334e+02] [ 1.97765884e-02 -2.38507470e-04 9.99804396e-01 8.35652660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.242755096 meters 0.018941179132443694 Centerline is valid? [True, True] Translation: X:376.73, Y:-222.29, Z:8.36 [[ 7.87383399e-01 6.16250795e-01 -1.61969207e-02 3.76725874e+02] [-6.16113835e-01 7.87549931e-01 1.29941778e-02 -2.22285758e+02] [ 2.07635562e-02 -2.52252918e-04 9.99784382e-01 8.35678986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.302755096 meters 0.01951693741983586 Centerline is valid? [True, True] Translation: X:376.77, Y:-222.32, Z:8.36 [[ 7.88086259e-01 6.15341947e-01 -1.65631395e-02 3.76771318e+02] [-6.15198567e-01 7.88260243e-01 1.32858466e-02 -2.22322291e+02] [ 2.12314030e-02 -2.80773445e-04 9.99774549e-01 8.35725998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.362755096 meters 0.01968459451741312 Centerline is valid? [True, True] Translation: X:376.82, Y:-222.36, Z:8.36 [[ 7.89798156e-01 6.13141877e-01 -1.66105795e-02 3.76819471e+02] [-6.12997212e-01 7.89972736e-01 1.33227257e-02 -2.22360949e+02] [ 2.12906260e-02 -3.40025341e-04 9.99773271e-01 8.35777371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.422755096 meters 0.02107595807018636 Centerline is valid? [True, True] Translation: X:376.86, Y:-222.40, Z:8.36 [[ 7.91973504e-01 6.10342635e-01 -1.61194495e-02 3.76864028e+02] [-6.10205684e-01 7.92137426e-01 1.29352959e-02 -2.22402231e+02] [ 2.06637818e-02 -4.08231940e-04 9.99786398e-01 8.35880477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.482755096 meters 0.0213031041045759 Centerline is valid? [True, True] Translation: X:376.91, Y:-222.44, Z:8.36 [[ 7.92801043e-01 6.09279828e-01 -1.56395961e-02 3.76911412e+02] [-6.09150675e-01 7.92955176e-01 1.25516561e-02 -2.22441636e+02] [ 2.00489696e-02 -4.24095522e-04 9.99798909e-01 8.36026489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.542755096 meters 0.020774339603764194 Centerline is valid? [True, True] Translation: X:376.96, Y:-222.48, Z:8.36 [[ 7.92057101e-01 6.10285976e-01 -1.40205320e-02 3.76961654e+02] [-6.10182244e-01 7.92181101e-01 1.12575601e-02 -2.22478120e+02] [ 1.79771316e-02 -3.61550711e-04 9.99838333e-01 8.36342538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.602755096 meters 0.020418845590866583 Centerline is valid? [True, True] Translation: X:377.01, Y:-222.52, Z:8.37 [[ 7.90927218e-01 6.11782941e-01 -1.24807209e-02 3.77011627e+02] [-6.11700849e-01 7.91025629e-01 1.00262306e-02 -2.22515605e+02] [ 1.60064470e-02 -2.95551072e-04 9.99871845e-01 8.36618856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.662755096 meters 0.02014066643347656 Centerline is valid? [True, True] Translation: X:377.06, Y:-222.55, Z:8.37 [[ 7.89713776e-01 6.13365071e-01 -1.16379202e-02 3.77060761e+02] [-6.13293775e-01 7.89799485e-01 9.35513884e-03 -2.22552724e+02] [ 1.49297388e-02 -2.50418002e-04 9.99888514e-01 8.36868842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.722755096 meters 0.020006577565944293 Centerline is valid? [True, True] Translation: X:377.11, Y:-222.59, Z:8.37 [[ 7.88947293e-01 6.14353430e-01 -1.14905597e-02 3.77107869e+02] [-6.14284016e-01 7.89030931e-01 9.23778284e-03 -2.22589063e+02] [ 1.47416706e-02 -2.29656583e-04 9.99891309e-01 8.36915609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.782755096 meters 0.01942164358082402 Centerline is valid? [True, True] Translation: X:377.16, Y:-222.62, Z:8.37 [[ 7.87169106e-01 6.16633064e-01 -1.13341724e-02 3.77156604e+02] [-6.16565771e-01 7.87250678e-01 9.11153926e-03 -2.22622041e+02] [ 1.45413113e-02 -1.84059465e-04 9.99894253e-01 8.36955841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.842755096 meters 0.018775397995959366 Centerline is valid? [True, True] Translation: X:377.20, Y:-222.66, Z:8.37 [[ 7.85263434e-01 6.19050937e-01 -1.17165504e-02 3.77204931e+02] [-6.18979317e-01 7.85350824e-01 9.41738036e-03 -2.22655423e+02] [ 1.50314406e-02 -1.42822073e-04 9.99887011e-01 8.36985221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.902755096 meters 0.018142599965683893 Centerline is valid? [True, True] Translation: X:377.25, Y:-222.69, Z:8.37 [[ 7.81923473e-01 6.23263087e-01 -1.17816103e-02 3.77254426e+02] [-6.23191169e-01 7.82012225e-01 9.46820068e-03 -2.22688092e+02] [ 1.51145432e-02 -6.12128999e-05 9.99885767e-01 8.37036951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.962755096 meters 0.018225250267110273 Centerline is valid? [True, True] Translation: X:377.30, Y:-222.72, Z:8.37 [[ 7.79697063e-01 6.26052064e-01 -1.14587938e-02 3.77302822e+02] [-6.25984355e-01 7.79781260e-01 9.20730715e-03 -2.22721565e+02] [ 1.46996063e-02 -5.88470165e-06 9.99891955e-01 8.37175339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.022755096 meters 0.01820144490234925 Centerline is valid? [True, True] Translation: X:377.35, Y:-222.76, Z:8.37 [[ 7.79943819e-01 6.25747477e-01 -1.13019786e-02 3.77348316e+02] [-6.25681589e-01 7.80025701e-01 9.08040826e-03 -2.22756661e+02] [ 1.44978763e-02 -1.07683616e-05 9.99894900e-01 8.37288930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.082755096 meters 0.01840849359337345 Centerline is valid? [True, True] Translation: X:377.39, Y:-222.80, Z:8.37 [[ 7.82621025e-01 6.22403178e-01 -1.08910891e-02 3.77394614e+02] [-6.22341752e-01 7.82696800e-01 8.74436648e-03 -2.22798694e+02] [ 1.39669421e-02 -6.55455745e-05 9.99902455e-01 8.37411680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.14275509600003 meters 0.01896744742309944 Centerline is valid? [True, True] Translation: X:377.44, Y:-222.84, Z:8.38 [[ 7.85563612e-01 6.18697316e-01 -1.01706235e-02 3.77439929e+02] [-6.18643380e-01 7.85629439e-01 8.17029367e-03 -2.22840908e+02] [ 1.30452800e-02 -1.26296496e-04 9.99914899e-01 8.37528135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20275509600003 meters 0.02019510026125058 Centerline is valid? [True, True] Translation: X:377.49, Y:-222.88, Z:8.38 [[ 7.88709642e-01 6.14679580e-01 -1.03011664e-02 3.77485166e+02] [-6.14623841e-01 7.88776885e-01 8.28008283e-03 -2.22883534e+02] [ 1.32149198e-02 -1.99238690e-04 9.99912659e-01 8.37598494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26275509600003 meters 0.021752343891464323 Centerline is valid? [True, True] Translation: X:377.53, Y:-222.93, Z:8.38 [[ 7.91893567e-01 6.10566409e-01 -1.06414132e-02 3.77530466e+02] [-6.10506467e-01 7.91965013e-01 8.55993510e-03 -2.22925898e+02] [ 1.36540358e-02 -2.81905963e-04 9.99906740e-01 8.37618102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32275509600004 meters 0.023581924525591557 Centerline is valid? [True, True] Translation: X:377.58, Y:-222.97, Z:8.38 [[ 7.95753143e-01 6.05531585e-01 -1.04131900e-02 3.77575382e+02] [-6.05473731e-01 7.95821191e-01 8.37807940e-03 -2.22966854e+02] [ 1.33602289e-02 -3.61970035e-04 9.99910683e-01 8.37631836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.382755096 meters 0.026824164470631677 Centerline is valid? [True, True] Translation: X:377.62, Y:-223.01, Z:8.38 [[ 7.98750302e-01 6.01573320e-01 -1.03679747e-02 3.77619095e+02] [-6.01515629e-01 7.98817475e-01 8.34204689e-03 -2.23008789e+02] [ 1.33004722e-02 -4.26713649e-04 9.99911454e-01 8.37726546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.442755096 meters 0.028909168218517977 Centerline is valid? [True, True] Translation: X:377.67, Y:-223.05, Z:8.38 [[ 8.00684401e-01 5.99003050e-01 -9.99182990e-03 3.77665219e+02] [-5.98949270e-01 8.00746615e-01 8.03930050e-03 -2.23050271e+02] [ 1.28164895e-02 -4.52343271e-04 9.99917763e-01 8.37842919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.502755096 meters 0.030194556507894862 Centerline is valid? [True, True] Translation: X:377.71, Y:-223.09, Z:8.38 [[ 8.02673187e-01 5.96334787e-01 -1.00287901e-02 3.77712282e+02] [-5.96280384e-01 8.02735681e-01 8.07030891e-03 -2.23091117e+02] [ 1.28630736e-02 -4.97849780e-04 9.99917143e-01 8.37812324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.562755096 meters 0.030517751671799483 Centerline is valid? [True, True] Translation: X:377.76, Y:-223.13, Z:8.38 [[ 8.03232706e-01 5.95572029e-01 -1.05441485e-02 3.77760771e+02] [-5.95511822e-01 8.03301731e-01 8.48521514e-03 -2.23130488e+02] [ 1.35236896e-02 -5.36437204e-04 9.99908407e-01 8.37813282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.622755096 meters 0.02842620563165141 Centerline is valid? [True, True] Translation: X:377.81, Y:-223.17, Z:8.38 [[ 8.01573205e-01 5.97805581e-01 -1.04348094e-02 3.77811083e+02] [-5.97746723e-01 8.01640966e-01 8.40333819e-03 -2.23165798e+02] [ 1.33885332e-02 -4.98517587e-04 9.99910245e-01 8.37840209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.682755096 meters 0.026918524509014052 Centerline is valid? [True, True] Translation: X:377.86, Y:-223.20, Z:8.38 [[ 7.98692449e-01 6.01634813e-01 -1.12215955e-02 3.77860460e+02] [-6.01567108e-01 7.98771139e-01 9.03776102e-03 -2.23201818e+02] [ 1.44009183e-02 -4.67848742e-04 9.99896192e-01 8.37831232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.742755096 meters 0.023698704756345113 Centerline is valid? [True, True] Translation: X:377.91, Y:-223.24, Z:8.38 [[ 7.94885430e-01 6.06627265e-01 -1.26694214e-02 3.77911041e+02] [-6.06541575e-01 7.94986276e-01 1.02048125e-02 -2.23235715e+02] [ 1.62625336e-02 -4.27125965e-04 9.99867665e-01 8.37734871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.802755096 meters 0.02275226720860631 Centerline is valid? [True, True] Translation: X:377.96, Y:-223.27, Z:8.38 [[ 7.92800713e-01 6.09341585e-01 -1.30331106e-02 3.77957282e+02] [-6.09251260e-01 7.92907742e-01 1.04983567e-02 -2.23271735e+02] [ 1.67311396e-02 -3.82665669e-04 9.99859951e-01 8.37827481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.862755096 meters 0.02022112743567154 Centerline is valid? [True, True] Translation: X:378.01, Y:-223.31, Z:8.38 [[ 7.89939942e-01 6.13050156e-01 -1.28216459e-02 3.78007823e+02] [-6.12963259e-01 7.90043934e-01 1.03259402e-02 -2.23307485e+02] [ 1.64599828e-02 -2.97674787e-04 9.99864481e-01 8.37925598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.922755096 meters 0.01985429168166813 Centerline is valid? [True, True] Translation: X:378.05, Y:-223.35, Z:8.38 [[ 7.88819179e-01 6.14503088e-01 -1.22579461e-02 3.78054840e+02] [-6.14423754e-01 7.88914372e-01 9.87744804e-03 -2.23347963e+02] [ 1.57401921e-02 -2.59947232e-04 9.99876082e-01 8.38114900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.982755096 meters 0.020031190992707098 Centerline is valid? [True, True] Translation: X:378.10, Y:-223.39, Z:8.38 [[ 7.88768914e-01 6.14571494e-01 -1.20614504e-02 3.78101812e+02] [-6.14494608e-01 7.88861085e-01 9.72446215e-03 -2.23390271e+02] [ 1.54911861e-02 -2.58657195e-04 9.99879971e-01 8.38301110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.042755096 meters 0.020124188252396962 Centerline is valid? [True, True] Translation: X:378.15, Y:-223.43, Z:8.39 [[ 7.89404284e-01 6.13770673e-01 -1.12444386e-02 3.78147295e+02] [-6.13703687e-01 7.89484321e-01 9.07142289e-03 -2.23431958e+02] [ 1.44450813e-02 -2.60266656e-04 9.99895630e-01 8.38520411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.102755096 meters 0.020296795809404283 Centerline is valid? [True, True] Translation: X:378.19, Y:-223.47, Z:8.39 [[ 7.89875830e-01 6.13155519e-01 -1.16825608e-02 3.78193220e+02] [-6.13083066e-01 7.89962168e-01 9.43009560e-03 -2.23473223e+02] [ 1.50108962e-02 -2.86224406e-04 9.99887289e-01 8.38614681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.162755096 meters 0.020872867251094277 Centerline is valid? [True, True] Translation: X:378.24, Y:-223.52, Z:8.39 [[ 7.90024695e-01 6.12940351e-01 -1.28494323e-02 3.78237510e+02] [-6.12852561e-01 7.90129117e-01 1.03787101e-02 -2.23516179e+02] [ 1.65142408e-02 -3.24629781e-04 9.99863578e-01 8.38604764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.222755096 meters 0.020675334514780777 Centerline is valid? [True, True] Translation: X:378.28, Y:-223.56, Z:8.39 [[ 7.89427121e-01 6.13685920e-01 -1.39431855e-02 3.78284399e+02] [-6.13582537e-01 7.89550173e-01 1.12691732e-02 -2.23557237e+02] [ 1.79245774e-02 -3.40895857e-04 9.99839284e-01 8.38583331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.282755096 meters 0.019333963051387692 Centerline is valid? [True, True] Translation: X:378.33, Y:-223.60, Z:8.38 [[ 7.87447181e-01 6.16184649e-01 -1.56017670e-02 3.78332338e+02] [-6.16055537e-01 7.87601659e-01 1.26175297e-02 -2.23596316e+02] [ 2.00627057e-02 -3.24083265e-04 9.99798671e-01 8.38455514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.342755096 meters 0.018649010296628597 Centerline is valid? [True, True] Translation: X:378.38, Y:-223.64, Z:8.38 [[ 7.85402105e-01 6.18757800e-01 -1.68023186e-02 3.78378754e+02] [-6.18608459e-01 7.85581761e-01 1.35967168e-02 -2.23636233e+02] [ 2.16126696e-02 -2.84833631e-04 9.99766378e-01 8.38492914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.402755096 meters 0.01782826166343451 Centerline is valid? [True, True] Translation: X:378.43, Y:-223.68, Z:8.39 [[ 7.83150469e-01 6.21605642e-01 -1.67859764e-02 3.78426833e+02] [-6.21457087e-01 7.83330314e-01 1.35907141e-02 -2.23675508e+02] [ 2.15970287e-02 -2.11810073e-04 9.99766735e-01 8.38624288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.462755096 meters 0.017187150237501114 Centerline is valid? [True, True] Translation: X:378.48, Y:-223.71, Z:8.39 [[ 7.81584243e-01 6.23599748e-01 -1.57932325e-02 3.78475047e+02] [-6.23468516e-01 7.81743776e-01 1.27936955e-02 -2.23713875e+02] [ 2.03244065e-02 -1.52767602e-04 9.99793426e-01 8.38916602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.522755096 meters 0.017370460168478496 Centerline is valid? [True, True] Translation: X:378.52, Y:-223.75, Z:8.39 [[ 7.81508739e-01 6.23704856e-01 -1.53734603e-02 3.78521404e+02] [-6.23580402e-01 7.81659919e-01 1.24600610e-02 -2.23753168e+02] [ 1.97882183e-02 -1.51058065e-04 9.99804183e-01 8.39132375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.582755096 meters 0.01723455380265591 Centerline is valid? [True, True] Translation: X:378.57, Y:-223.79, Z:8.39 [[ 7.82003951e-01 6.23116093e-01 -1.40055515e-02 3.78570362e+02] [-6.23012704e-01 7.82129345e-01 1.13516249e-02 -2.23792126e+02] [ 1.80275330e-02 -1.51378966e-04 9.99837479e-01 8.39498405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.64275509600003 meters 0.01786026351894084 Centerline is valid? [True, True] Translation: X:378.62, Y:-223.83, Z:8.40 [[ 7.83481411e-01 6.21256893e-01 -1.40268040e-02 3.78618771e+02] [-6.21152759e-01 7.83606938e-01 1.13761551e-02 -2.23830728e+02] [ 1.80590158e-02 -2.00218054e-04 9.99836903e-01 8.39643237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70275509600003 meters 0.019136392619506892 Centerline is valid? [True, True] Translation: X:378.67, Y:-223.87, Z:8.40 [[ 7.86696284e-01 6.17162787e-01 -1.48003737e-02 3.78665074e+02] [-6.17045989e-01 7.86835430e-01 1.20105467e-02 -2.23872209e+02] [ 1.90579209e-02 -3.16141197e-04 9.99818331e-01 8.39710755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76275509600003 meters 0.020112191281546295 Centerline is valid? [True, True] Translation: X:378.71, Y:-223.91, Z:8.40 [[ 7.89280244e-01 6.13851468e-01 -1.49356244e-02 3.78711872e+02] [-6.13731798e-01 7.89421441e-01 1.21272086e-02 -2.23912862e+02] [ 1.92348069e-02 -4.05298574e-04 9.99814912e-01 8.39813280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82275509600004 meters 0.022721954995252792 Centerline is valid? [True, True] Translation: X:378.76, Y:-223.95, Z:8.40 [[ 7.93076887e-01 6.08934184e-01 -1.51066806e-02 3.78756584e+02] [-6.08810731e-01 7.93220570e-01 1.22728003e-02 -2.23954115e+02] [ 1.94562575e-02 -5.36165007e-04 9.99810565e-01 8.39874588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.882755096 meters 0.024236718379028962 Centerline is valid? [True, True] Translation: X:378.80, Y:-223.99, Z:8.40 [[ 7.94477632e-01 6.07090462e-01 -1.56991270e-02 3.78804206e+02] [-6.06956753e-01 7.94632497e-01 1.27552304e-02 -2.23994298e+02] [ 2.02186152e-02 -6.05054059e-04 9.99795400e-01 8.39887697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.942755096 meters 0.024175147205689352 Centerline is valid? [True, True] Translation: X:378.85, Y:-224.03, Z:8.40 [[ 7.93766662e-01 6.07990605e-01 -1.67901864e-02 3.78853274e+02] [-6.07837687e-01 7.93943971e-01 1.36498319e-02 -2.24032252e+02] [ 2.16294369e-02 -6.29073445e-04 9.99765858e-01 8.39846699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.002755096 meters 0.02276114219030726 Centerline is valid? [True, True] Translation: X:378.90, Y:-224.07, Z:8.40 [[ 7.92064273e-01 6.10170911e-01 -1.80457165e-02 3.78903621e+02] [-6.09994626e-01 7.92269573e-01 1.46792270e-02 -2.24068359e+02] [ 2.32539094e-02 -6.19101201e-04 9.99729400e-01 8.39830021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.062755096 meters 0.021345379413514647 Centerline is valid? [True, True] Translation: X:378.95, Y:-224.10, Z:8.40 [[ 7.90495380e-01 6.12189146e-01 -1.84798472e-02 3.78954404e+02] [-6.12004619e-01 7.90711144e-01 1.50410419e-02 -2.24104340e+02] [ 2.38201837e-02 -5.80122277e-04 9.99716091e-01 8.39937419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.122755096 meters 0.02054952461627329 Centerline is valid? [True, True] Translation: X:379.00, Y:-224.14, Z:8.40 [[ 7.89306384e-01 6.13728432e-01 -1.82440304e-02 3.79004915e+02] [-6.13548824e-01 7.89517022e-01 1.48563977e-02 -2.24141357e+02] [ 2.35217661e-02 -5.32646153e-04 9.99723183e-01 8.40099203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.182755096 meters 0.019821803752390278 Centerline is valid? [True, True] Translation: X:379.05, Y:-224.18, Z:8.40 [[ 7.87790716e-01 6.15695580e-01 -1.74568239e-02 3.79054373e+02] [-6.15531536e-01 7.87983975e-01 1.42191371e-02 -2.24179014e+02] [ 2.25103573e-02 -4.56478580e-04 9.99746506e-01 8.40396918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.242755096 meters 0.01979386620740025 Centerline is valid? [True, True] Translation: X:379.10, Y:-224.22, Z:8.41 [[ 7.87069432e-01 6.16628998e-01 -1.70407438e-02 3.79100963e+02] [-6.16472731e-01 7.87253769e-01 1.38879179e-02 -2.24218157e+02] [ 2.19790826e-02 -4.25601804e-04 9.99758340e-01 8.40625184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.302755096 meters 0.019481912057376892 Centerline is valid? [True, True] Translation: X:379.15, Y:-224.26, Z:8.41 [[ 7.86826515e-01 6.16949117e-01 -1.66679853e-02 3.79149697e+02] [-6.16799529e-01 7.87002933e-01 1.35913447e-02 -2.24258169e+02] [ 2.15029214e-02 -4.13224922e-04 9.99768700e-01 8.40845079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.362755096 meters 0.01943603781254068 Centerline is valid? [True, True] Translation: X:379.20, Y:-224.30, Z:8.41 [[ 7.86834116e-01 6.16951024e-01 -1.62329386e-02 3.79197873e+02] [-6.16808968e-01 7.87001440e-01 1.32450071e-02 -2.24298213e+02] [ 2.09468668e-02 -4.09001331e-04 9.99780507e-01 8.41055329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.422755096 meters 0.019872973873890205 Centerline is valid? [True, True] Translation: X:379.24, Y:-224.34, Z:8.41 [[ 7.87025212e-01 6.16725022e-01 -1.55422921e-02 3.79243967e+02] [-6.16594599e-01 7.87178560e-01 1.26891868e-02 -2.24340021e+02] [ 2.00602981e-02 -4.03416628e-04 9.99798691e-01 8.41251130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.482755096 meters 0.020227826819246408 Centerline is valid? [True, True] Translation: X:379.29, Y:-224.38, Z:8.41 [[ 7.87011812e-01 6.16738152e-01 -1.56990629e-02 3.79290438e+02] [-6.16604979e-01 7.87168268e-01 1.28225420e-02 -2.24381127e+02] [ 2.02659551e-02 -4.11371687e-04 9.99794540e-01 8.41339338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.542755096 meters 0.019939959003758653 Centerline is valid? [True, True] Translation: X:379.34, Y:-224.42, Z:8.41 [[ 7.86384749e-01 6.17530205e-01 -1.59834888e-02 3.79336147e+02] [-6.17392191e-01 7.86547064e-01 1.30613882e-02 -2.24420214e+02] [ 2.06375679e-02 -4.03195306e-04 9.99786941e-01 8.41336630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.602755096 meters 0.01989280053103813 Centerline is valid? [True, True] Translation: X:379.38, Y:-224.46, Z:8.41 [[ 7.85178883e-01 6.19050383e-01 -1.64543351e-02 3.79379957e+02] [-6.18904456e-01 7.85351185e-01 1.34458184e-02 -2.24457565e+02] [ 2.12460706e-02 -3.73711358e-04 9.99774207e-01 8.41319170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.662755096 meters 0.018643272093356714 Centerline is valid? [True, True] Translation: X:379.43, Y:-224.49, Z:8.41 [[ 7.84198853e-01 6.20277312e-01 -1.69768828e-02 3.79425829e+02] [-6.20122314e-01 7.84382518e-01 1.38701853e-02 -2.24494118e+02] [ 2.19197313e-02 -3.49239577e-04 9.99759673e-01 8.41369468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.722755096 meters 0.018661050216822864 Centerline is valid? [True, True] Translation: X:379.47, Y:-224.53, Z:8.41 [[ 7.84115281e-01 6.20391140e-01 -1.66750972e-02 3.79470221e+02] [-6.20241674e-01 7.84292496e-01 1.36215588e-02 -2.24532232e+02] [ 2.15288480e-02 -3.38282202e-04 9.99768170e-01 8.41451452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.782755096 meters 0.018287320859686318 Centerline is valid? [True, True] Translation: X:379.52, Y:-224.57, Z:8.42 [[ 7.83962468e-01 6.20581982e-01 -1.67586668e-02 3.79518626e+02] [-6.20431069e-01 7.84141500e-01 1.36893055e-02 -2.24572834e+02] [ 2.16365025e-02 -3.34304154e-04 9.99765848e-01 8.41610420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.842755096 meters 0.019350124656626885 Centerline is valid? [True, True] Translation: X:379.56, Y:-224.61, Z:8.42 [[ 7.84248024e-01 6.20242027e-01 -1.59644812e-02 3.79562941e+02] [-6.20104865e-01 7.84410427e-01 1.30475494e-02 -2.24613240e+02] [ 2.06153440e-02 -3.32862358e-04 9.99787426e-01 8.41805515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.902755096 meters 0.018871187540002766 Centerline is valid? [True, True] Translation: X:379.61, Y:-224.65, Z:8.42 [[ 7.85330576e-01 6.18886020e-01 -1.53616562e-02 3.79611249e+02] [-6.18758762e-01 7.85480725e-01 1.25549213e-02 -2.24652809e+02] [ 1.98363501e-02 -3.54604228e-04 9.99803177e-01 8.42080255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.962755096 meters 0.01993753570056771 Centerline is valid? [True, True] Translation: X:379.66, Y:-224.69, Z:8.42 [[ 7.85856817e-01 6.18227695e-01 -1.49526167e-02 3.79656078e+02] [-6.18106876e-01 7.85998971e-01 1.22272833e-02 -2.24694474e+02] [ 1.93119865e-02 -3.66578764e-04 9.99813439e-01 8.42298164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.022755096 meters 0.019475663865916693 Centerline is valid? [True, True] Translation: X:379.70, Y:-224.73, Z:8.43 [[ 7.86195241e-01 6.17813357e-01 -1.42723227e-02 3.79703946e+02] [-6.17703110e-01 7.86324693e-01 1.16766925e-02 -2.24733991e+02] [ 1.84366963e-02 -3.64101953e-04 9.99829963e-01 8.42533501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.082755096 meters 0.019403340401408425 Centerline is valid? [True, True] Translation: X:379.75, Y:-224.77, Z:8.43 [[ 7.85933557e-01 6.18171794e-01 -1.31178355e-02 3.79753023e+02] [-6.18078620e-01 7.86042953e-01 1.07376068e-02 -2.24773362e+02] [ 1.69488679e-02 -3.31191844e-04 9.99856303e-01 8.42747224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.14275509600003 meters 0.019679737120617477 Centerline is valid? [True, True] Translation: X:379.80, Y:-224.81, Z:8.43 [[ 7.85742583e-01 6.18429536e-01 -1.23896089e-02 3.79801153e+02] [-6.18346353e-01 7.85840195e-01 1.01477191e-02 -2.24813078e+02] [ 1.60119019e-02 -3.12425527e-04 9.99871752e-01 8.42966323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20275509600003 meters 0.019651923690175006 Centerline is valid? [True, True] Translation: X:379.85, Y:-224.85, Z:8.43 [[ 7.84921750e-01 6.19475575e-01 -1.21597179e-02 3.79849666e+02] [-6.19395474e-01 7.85015877e-01 9.96589979e-03 -2.24851123e+02] [ 1.57192031e-02 -2.90777272e-04 9.99876403e-01 8.43088106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26275509600003 meters 0.01981328233433632 Centerline is valid? [True, True] Translation: X:379.90, Y:-224.89, Z:8.43 [[ 7.84009334e-01 6.20622922e-01 -1.25121368e-02 3.79897883e+02] [-6.20538158e-01 7.84109119e-01 1.02607623e-02 -2.24888573e+02] [ 1.61789448e-02 -2.80275133e-04 9.99869073e-01 8.43151112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32275509600004 meters 0.019620669335004275 Centerline is valid? [True, True] Translation: X:379.95, Y:-224.93, Z:8.43 [[ 7.83328188e-01 6.21474648e-01 -1.28923536e-02 3.79946903e+02] [-6.21384668e-01 7.83434226e-01 1.05786602e-02 -2.24925193e+02] [ 1.66746802e-02 -2.75451850e-04 9.99860930e-01 8.43123675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.382755096 meters 0.02031901003061999 Centerline is valid? [True, True] Translation: X:379.99, Y:-224.96, Z:8.43 [[ 7.83600029e-01 6.21123424e-01 -1.32923883e-02 3.79992260e+02] [-6.21027705e-01 7.83712707e-01 1.09079376e-02 -2.24962243e+02] [ 1.71925891e-02 -2.92518831e-04 9.99852154e-01 8.43168801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.442755096 meters 0.021050908148544583 Centerline is valid? [True, True] Translation: X:380.04, Y:-225.00, Z:8.43 [[ 7.84502710e-01 6.19979546e-01 -1.34484483e-02 3.80037643e+02] [-6.19881420e-01 7.84617907e-01 1.10347455e-02 -2.25000104e+02] [ 1.73932099e-02 -3.20344496e-04 9.99848675e-01 8.43284161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.502755096 meters 0.022939265523910873 Centerline is valid? [True, True] Translation: X:380.08, Y:-225.04, Z:8.43 [[ 7.86307345e-01 6.17685787e-01 -1.36025072e-02 3.80080802e+02] [-6.17585085e-01 7.86424904e-01 1.11594850e-02 -2.25039059e+02] [ 1.75904057e-02 -3.74079410e-04 9.99845207e-01 8.43425157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.562755096 meters 0.023060917768678045 Centerline is valid? [True, True] Translation: X:380.13, Y:-225.08, Z:8.44 [[ 7.87307824e-01 6.16415399e-01 -1.33583966e-02 3.80127942e+02] [-6.16318139e-01 7.87421045e-01 1.09567452e-02 -2.25077500e+02] [ 1.72725891e-02 -3.93309059e-04 9.99850740e-01 8.43601704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.622755096 meters 0.02205492190426948 Centerline is valid? [True, True] Translation: X:380.18, Y:-225.11, Z:8.44 [[ 7.87042636e-01 6.16747265e-01 -1.36638190e-02 3.80178997e+02] [-6.16645554e-01 7.87161137e-01 1.12073925e-02 -2.25114397e+02] [ 1.76677559e-02 -3.94962546e-04 9.99843835e-01 8.43610352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.682755096 meters 0.02340653589778016 Centerline is valid? [True, True] Translation: X:380.23, Y:-225.16, Z:8.44 [[ 7.86632034e-01 6.17269777e-01 -1.37136728e-02 3.80225777e+02] [-6.17167273e-01 7.86751466e-01 1.12555482e-02 -2.25155514e+02] [ 1.77369619e-02 -3.90344692e-04 9.99842612e-01 8.43710514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.742755096 meters 0.0218990579664833 Centerline is valid? [True, True] Translation: X:380.28, Y:-225.19, Z:8.44 [[ 7.86166331e-01 6.17836844e-01 -1.48369181e-02 3.80276211e+02] [-6.17716810e-01 7.86306214e-01 1.21852501e-02 -2.25192832e+02] [ 1.91948574e-02 -4.14619623e-04 9.99815676e-01 8.43674940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.802755096 meters 0.021592323840887766 Centerline is valid? [True, True] Translation: X:380.32, Y:-225.23, Z:8.44 [[ 7.85619866e-01 6.18514164e-01 -1.55452773e-02 3.80323139e+02] [-6.18382350e-01 7.85773536e-01 1.27757546e-02 -2.25231340e+02] [ 2.01170527e-02 -4.23961527e-04 9.99797542e-01 8.43826583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.862755096 meters 0.021144154615284922 Centerline is valid? [True, True] Translation: X:380.37, Y:-225.27, Z:8.44 [[ 7.84406166e-01 6.20051337e-01 -1.55982701e-02 3.80372996e+02] [-6.19918787e-01 7.84561142e-01 1.28261790e-02 -2.25268754e+02] [ 2.01906860e-02 -3.91273254e-04 9.99796071e-01 8.43896877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.922755096 meters 0.02058970339863404 Centerline is valid? [True, True] Translation: X:380.42, Y:-225.31, Z:8.44 [[ 7.83057496e-01 6.21757840e-01 -1.54320129e-02 3.80422971e+02] [-6.21628289e-01 7.83209466e-01 1.26966063e-02 -2.25305772e+02] [ 1.99807130e-02 -3.49196966e-04 9.99800305e-01 8.44084975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.982755096 meters 0.020773578115096624 Centerline is valid? [True, True] Translation: X:380.47, Y:-225.34, Z:8.44 [[ 7.82565157e-01 6.22382779e-01 -1.52135429e-02 3.80469894e+02] [-6.22256850e-01 7.82712952e-01 1.25238588e-02 -2.25344306e+02] [ 1.97024711e-02 -3.34004267e-04 9.99805832e-01 8.44255178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.042755096 meters 0.020470107783424098 Centerline is valid? [True, True] Translation: X:380.52, Y:-225.38, Z:8.45 [[ 7.81611776e-01 6.23605242e-01 -1.41256617e-02 3.80518305e+02] [-6.23496776e-01 7.81739356e-01 1.16339814e-02 -2.25379802e+02] [ 1.82975975e-02 -2.85952383e-04 9.99832544e-01 8.44507258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.102755096 meters 0.019768150235278857 Centerline is valid? [True, True] Translation: X:380.57, Y:-225.42, Z:8.45 [[ 7.80205039e-01 6.25356877e-01 -1.44524727e-02 3.80569264e+02] [-6.25243650e-01 7.80338845e-01 1.19022908e-02 -2.25415204e+02] [ 1.87210053e-02 -2.49910486e-04 9.99824715e-01 8.44520940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.162755096 meters 0.019669735584629488 Centerline is valid? [True, True] Translation: X:380.62, Y:-225.45, Z:8.45 [[ 7.79154175e-01 6.26657807e-01 -1.47907184e-02 3.80617932e+02] [-6.26539318e-01 7.79294515e-01 1.21877719e-02 -2.25450473e+02] [ 1.91638882e-02 -2.29186725e-04 9.99816330e-01 8.44574732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.222755096 meters 0.019712042376967342 Centerline is valid? [True, True] Translation: X:380.66, Y:-225.49, Z:8.45 [[ 7.78915798e-01 6.26959842e-01 -1.45442595e-02 3.80664279e+02] [-6.26845323e-01 7.79051545e-01 1.19846476e-02 -2.25486176e+02] [ 1.88446206e-02 -2.18030282e-04 9.99822401e-01 8.44672836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.282755096 meters 0.020134040945436218 Centerline is valid? [True, True] Translation: X:380.71, Y:-225.52, Z:8.45 [[ 7.79423274e-01 6.26333577e-01 -1.43391374e-02 3.80708889e+02] [-6.26222195e-01 7.79555128e-01 1.18137595e-02 -2.25523228e+02] [ 1.85775024e-02 -2.28433002e-04 9.99827397e-01 8.44884836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.342755096 meters 0.020402170287928317 Centerline is valid? [True, True] Translation: X:380.76, Y:-225.56, Z:8.45 [[ 7.80461674e-01 6.25054715e-01 -1.36447175e-02 3.80755825e+02] [-6.24953705e-01 7.80580901e-01 1.12394051e-02 -2.25563381e+02] [ 1.76760491e-02 -2.44608134e-04 9.99843737e-01 8.45122631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.402755096 meters 0.021450427190021597 Centerline is valid? [True, True] Translation: X:380.80, Y:-225.60, Z:8.45 [[ 7.81309427e-01 6.23993748e-01 -1.36887531e-02 3.80799139e+02] [-6.23891904e-01 7.81429286e-01 1.12766906e-02 -2.25602813e+02] [ 1.77333770e-02 -2.70282424e-04 9.99842715e-01 8.45239010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.462755096 meters 0.022168118635514083 Centerline is valid? [True, True] Translation: X:380.84, Y:-225.64, Z:8.45 [[ 7.82233170e-01 6.22839228e-01 -1.35116277e-02 3.80842953e+02] [-6.22739853e-01 7.82349801e-01 1.11294815e-02 -2.25641575e+02] [ 1.75026969e-02 -2.91620492e-04 9.99846774e-01 8.45317019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.522755096 meters 0.021653088438277523 Centerline is valid? [True, True] Translation: X:380.89, Y:-225.68, Z:8.45 [[ 7.82556734e-01 6.22445342e-01 -1.29133354e-02 3.80891112e+02] [-6.22354557e-01 7.82663220e-01 1.06343687e-02 -2.25680149e+02] [ 1.67261059e-02 -2.85323650e-04 9.99860068e-01 8.45481017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.582755096 meters 0.02211908414239394 Centerline is valid? [True, True] Translation: X:380.94, Y:-225.72, Z:8.46 [[ 7.82965528e-01 6.21930619e-01 -1.29339480e-02 3.80937286e+02] [-6.21839362e-01 7.83072291e-01 1.06580453e-02 -2.25718537e+02] [ 1.67567811e-02 -3.02044092e-04 9.99859550e-01 8.45555717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.64275509600003 meters 0.02299261190058841 Centerline is valid? [True, True] Translation: X:380.98, Y:-225.76, Z:8.46 [[ 7.83738221e-01 6.20960326e-01 -1.27544234e-02 3.80980840e+02] [-6.20871468e-01 7.83841931e-01 1.05094349e-02 -2.25756346e+02] [ 1.65233940e-02 -3.17788206e-04 9.99863429e-01 8.45711518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70275509600003 meters 0.023607816737350903 Centerline is valid? [True, True] Translation: X:381.03, Y:-225.79, Z:8.46 [[ 7.85035513e-01 6.19323916e-01 -1.25351753e-02 3.81026669e+02] [-6.19237912e-01 7.85135510e-01 1.03266492e-02 -2.25794353e+02] [ 1.62373521e-02 -3.44530553e-04 9.99868106e-01 8.45882772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76275509600003 meters 0.025020598727699583 Centerline is valid? [True, True] Translation: X:381.07, Y:-225.83, Z:8.46 [[ 7.86603240e-01 6.17339080e-01 -1.21573989e-02 3.81073082e+02] [-6.17257959e-01 7.86697096e-01 1.00145437e-02 -2.25833550e+02] [ 1.57465596e-02 -3.73221346e-04 9.99875946e-01 8.45942349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82275509600004 meters 0.027017278607149857 Centerline is valid? [True, True] Translation: X:381.12, Y:-225.87, Z:8.46 [[ 7.89374507e-01 6.13780880e-01 -1.26853798e-02 3.81116879e+02] [-6.13692099e-01 7.89476292e-01 1.04494608e-02 -2.25874032e+02] [ 1.64284859e-02 -4.63620627e-04 9.99864936e-01 8.46081903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.882755096 meters 0.03003041392938282 Centerline is valid? [True, True] Translation: X:381.16, Y:-225.91, Z:8.46 [[ 7.92284531e-01 6.10015094e-01 -1.29154109e-02 3.81159420e+02] [-6.09922560e-01 7.92389602e-01 1.06390983e-02 -2.25914591e+02] [ 1.67240479e-02 -5.51792517e-04 9.99859991e-01 8.46161972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.942755096 meters 0.0310556493552907 Centerline is valid? [True, True] Translation: X:381.21, Y:-225.95, Z:8.46 [[ 7.93174568e-01 6.08859097e-01 -1.28337151e-02 3.81205259e+02] [-6.08767599e-01 7.93278182e-01 1.05705949e-02 -2.25951114e+02] [ 1.66167090e-02 -5.71577151e-04 9.99861770e-01 8.46348434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.002755096 meters 0.03111943295684143 Centerline is valid? [True, True] Translation: X:381.25, Y:-225.99, Z:8.46 [[ 7.92443438e-01 6.09811428e-01 -1.27835413e-02 3.81251885e+02] [-6.09720793e-01 7.92546353e-01 1.05277083e-02 -2.25986367e+02] [ 1.65514658e-02 -5.48222416e-04 9.99862865e-01 8.46464463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.062755096 meters 0.028002262313540034 Centerline is valid? [True, True] Translation: X:381.30, Y:-226.02, Z:8.46 [[ 7.89973650e-01 6.13000649e-01 -1.31086645e-02 3.81303413e+02] [-6.12905811e-01 7.90082250e-01 1.07937696e-02 -2.26017340e+02] [ 1.69735109e-02 -4.92416899e-04 9.99855818e-01 8.46494334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.122755096 meters 0.025464960815880212 Centerline is valid? [True, True] Translation: X:381.35, Y:-226.05, Z:8.47 [[ 7.87011254e-01 6.16802221e-01 -1.29732536e-02 3.81354444e+02] [-6.16709859e-01 7.87118069e-01 1.06814807e-02 -2.26048896e+02] [ 1.67998434e-02 -4.05712111e-04 9.99858790e-01 8.46612466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.182755096 meters 0.022915544683757106 Centerline is valid? [True, True] Translation: X:381.41, Y:-226.08, Z:8.47 [[ 7.84230333e-01 6.20319771e-01 -1.36443300e-02 3.81406016e+02] [-6.20218151e-01 7.84348941e-01 1.12331550e-02 -2.26078933e+02] [ 1.76700640e-02 -3.46919762e-04 9.99843812e-01 8.46659103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.242755096 meters 0.021485922763084628 Centerline is valid? [True, True] Translation: X:381.46, Y:-226.11, Z:8.47 [[ 7.82758835e-01 6.22166715e-01 -1.40422791e-02 3.81456655e+02] [-6.22059411e-01 7.82884717e-01 1.15589288e-02 -2.26110576e+02] [ 1.81850665e-02 -3.12721795e-04 9.99834589e-01 8.46714261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.302755096 meters 0.02141554377938445 Centerline is valid? [True, True] Translation: X:381.50, Y:-226.15, Z:8.47 [[ 7.82614950e-01 6.22336201e-01 -1.45428263e-02 3.81503262e+02] [-6.22221176e-01 7.82749993e-01 1.19689621e-02 -2.26146378e+02] [ 1.88321156e-02 -3.18234203e-04 9.99822609e-01 8.46788187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.362755096 meters 0.021868280325100114 Centerline is valid? [True, True] Translation: X:381.55, Y:-226.18, Z:8.47 [[ 7.83630101e-01 6.21052399e-01 -1.47574758e-02 3.81548925e+02] [-6.20933763e-01 7.83768967e-01 1.21436667e-02 -2.26182918e+02] [ 1.91083049e-02 -3.52727832e-04 9.99817357e-01 8.46878772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.422755096 meters 0.022812243768210526 Centerline is valid? [True, True] Translation: X:381.59, Y:-226.22, Z:8.47 [[ 7.85397670e-01 6.18800592e-01 -1.53729425e-02 3.81593147e+02] [-6.18671463e-01 7.85547992e-01 1.26480315e-02 -2.26221076e+02] [ 1.99027935e-02 -4.22933592e-04 9.99801830e-01 8.46962249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.482755096 meters 0.024380303380571688 Centerline is valid? [True, True] Translation: X:381.64, Y:-226.26, Z:8.47 [[ 7.87731500e-01 6.15817291e-01 -1.57527002e-02 3.81636493e+02] [-6.15681156e-01 7.87888828e-01 1.29579398e-02 -2.26260553e+02] [ 2.03910999e-02 -5.08736657e-04 9.99791950e-01 8.46993815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.542755096 meters 0.025653010418017277 Centerline is valid? [True, True] Translation: X:381.68, Y:-226.30, Z:8.47 [[ 7.89201277e-01 6.13914131e-01 -1.64555001e-02 3.81680566e+02] [-6.13765210e-01 7.89372600e-01 1.35338764e-02 -2.26300174e+02] [ 2.12981589e-02 -5.81139041e-04 9.99773000e-01 8.47052897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.602755096 meters 0.02748626263078866 Centerline is valid? [True, True] Translation: X:381.72, Y:-226.34, Z:8.47 [[ 7.90809035e-01 6.11818296e-01 -1.73044402e-02 3.81722256e+02] [-6.11653166e-01 7.90998057e-01 1.42294796e-02 -2.26340349e+02] [ 2.23936346e-02 -6.68485359e-04 9.99749008e-01 8.47014430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.662755096 meters 0.02879000268278982 Centerline is valid? [True, True] Translation: X:381.76, Y:-226.38, Z:8.47 [[ 7.91512472e-01 6.10894595e-01 -1.77707416e-02 3.81763961e+02] [-6.10720313e-01 7.91711620e-01 1.46085613e-02 -2.26379910e+02] [ 2.29935938e-02 -7.09905554e-04 9.99735360e-01 8.47009346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.722755096 meters 0.028610620792207355 Centerline is valid? [True, True] Translation: X:381.81, Y:-226.42, Z:8.47 [[ 7.91069336e-01 6.11476598e-01 -1.74836039e-02 3.81808129e+02] [-6.11308159e-01 7.91262226e-01 1.43674432e-02 -2.26418590e+02] [ 2.26194706e-02 -6.77774007e-04 9.99743917e-01 8.47107073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.782755096 meters 0.026571524706897602 Centerline is valid? [True, True] Translation: X:381.85, Y:-226.46, Z:8.47 [[ 7.88536143e-01 6.14768130e-01 -1.64589575e-02 3.81854427e+02] [-6.14619695e-01 7.88707708e-01 1.35196808e-02 -2.26456090e+02] [ 2.12927756e-02 -5.44757500e-04 9.99773135e-01 8.47349347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.842755096 meters 0.024227790361391267 Centerline is valid? [True, True] Translation: X:381.90, Y:-226.49, Z:8.47 [[ 7.85690684e-01 6.18402309e-01 -1.63930487e-02 3.81901533e+02] [-6.18255871e-01 7.85861557e-01 1.34644604e-02 -2.26491459e+02] [ 2.12091202e-02 -4.43802548e-04 9.99774963e-01 8.47438847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.902755096 meters 0.018970584432332214 Centerline is valid? [True, True] Translation: X:381.95, Y:-226.52, Z:8.48 [[ 7.81028036e-01 6.24285988e-01 -1.61929599e-02 3.81952167e+02] [-6.24144398e-01 7.81195831e-01 1.32982246e-02 -2.26522177e+02] [ 2.09517680e-02 -2.79541022e-04 9.99780449e-01 8.47556368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.962755096 meters 0.01907638034727215 Centerline is valid? [True, True] Translation: X:382.00, Y:-226.56, Z:8.48 [[ 7.79759011e-01 6.25866336e-01 -1.63466945e-02 3.81996084e+02] [-6.25722440e-01 7.79930300e-01 1.34222177e-02 -2.26560490e+02] [ 2.11497965e-02 -2.37601625e-04 9.99776290e-01 8.47593959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.022755096 meters 0.017276287786683338 Centerline is valid? [True, True] Translation: X:382.04, Y:-226.60, Z:8.48 [[ 7.76322245e-01 6.30126022e-01 -1.62778636e-02 3.82042961e+02] [-6.29984322e-01 7.76492873e-01 1.33631057e-02 -2.26596016e+02] [ 2.10600858e-02 -1.19277356e-04 9.99778205e-01 8.47774831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.082755096 meters 0.016758843769787205 Centerline is valid? [True, True] Translation: X:382.09, Y:-226.63, Z:8.48 [[ 7.74515166e-01 6.32368883e-01 -1.53575439e-02 3.82088377e+02] [-6.32243231e-01 7.74667408e-01 1.26056883e-02 -2.26634132e+02] [ 1.98684338e-02 -5.35935762e-05 9.99802602e-01 8.47918361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.14275509600003 meters 0.016621342913214775 Centerline is valid? [True, True] Translation: X:382.13, Y:-226.68, Z:8.48 [[ 7.75354712e-01 6.31362561e-01 -1.43661568e-02 3.82130013e+02] [-6.31252470e-01 7.75487789e-01 1.17901774e-02 -2.26676004e+02] [ 1.85846558e-02 -7.28976521e-05 9.99827288e-01 8.48069363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20275509600003 meters 0.017193341174001807 Centerline is valid? [True, True] Translation: X:382.17, Y:-226.72, Z:8.48 [[ 7.78388149e-01 6.27633218e-01 -1.37271058e-02 3.82172332e+02] [-6.27532159e-01 7.78509165e-01 1.12636223e-02 -2.26722949e+02] [ 1.77561012e-02 -1.53269805e-04 9.99842336e-01 8.48222444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26275509600003 meters 0.018114942044580598 Centerline is valid? [True, True] Translation: X:382.22, Y:-226.77, Z:8.48 [[ 7.81027076e-01 6.24353470e-01 -1.33959329e-02 3.82215689e+02] [-6.24256638e-01 7.81141916e-01 1.09980679e-02 -2.26767231e+02] [ 1.73308065e-02 -2.27288771e-04 9.99849784e-01 8.48327942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32275509600004 meters 0.020550207610933503 Centerline is valid? [True, True] Translation: X:382.26, Y:-226.81, Z:8.48 [[ 7.84457900e-01 6.20041863e-01 -1.31868035e-02 3.82256101e+02] [-6.19947322e-01 7.84568662e-01 1.08320183e-02 -2.26814668e+02] [ 1.70622576e-02 -3.22138793e-04 9.99854377e-01 8.48414530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.382755096 meters 0.020808262001656287 Centerline is valid? [True, True] Translation: X:382.30, Y:-226.86, Z:8.48 [[ 7.85638618e-01 6.18526837e-01 -1.40183328e-02 3.82301325e+02] [-6.18419641e-01 7.85763581e-01 1.15214143e-02 -2.26857523e+02] [ 1.81413993e-02 -3.82455719e-04 9.99835358e-01 8.48298828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.442755096 meters 0.020179426469155572 Centerline is valid? [True, True] Translation: X:382.35, Y:-226.90, Z:8.48 [[ 7.84015554e-01 6.20588608e-01 -1.37619693e-02 3.82350605e+02] [-6.20485502e-01 7.84136257e-01 1.13169496e-02 -2.26895544e+02] [ 1.78144290e-02 -3.33562075e-04 9.99841255e-01 8.48389832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.502755096 meters 0.017891989275274512 Centerline is valid? [True, True] Translation: X:382.40, Y:-226.93, Z:8.48 [[ 7.79754230e-01 6.25925815e-01 -1.41497132e-02 3.82399351e+02] [-6.25817568e-01 7.79882571e-01 1.16424680e-02 -2.26928065e+02] [ 1.83224360e-02 -2.23124602e-04 9.99832105e-01 8.48364426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.562755096 meters 0.016287491890514795 Centerline is valid? [True, True] Translation: X:382.45, Y:-226.96, Z:8.48 [[ 7.75510493e-01 6.31167928e-01 -1.45093670e-02 3.82447620e+02] [-6.31055056e-01 7.75646206e-01 1.19364931e-02 -2.26960405e+02] [ 1.87880671e-02 -1.00666228e-04 9.99823484e-01 8.48353399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.622755096 meters 0.015871292868405475 Centerline is valid? [True, True] Translation: X:382.50, Y:-226.99, Z:8.48 [[ 7.72743527e-01 6.34568631e-01 -1.37874726e-02 3.82497058e+02] [-6.34467286e-01 7.72866516e-01 1.13407027e-02 -2.26993116e+02] [ 1.78523302e-02 -1.57542844e-05 9.99840634e-01 8.48405805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.682755096 meters 0.015807400170613266 Centerline is valid? [True, True] Translation: X:382.54, Y:-227.03, Z:8.49 [[ 7.72274523e-01 6.35164279e-01 -1.25857243e-02 3.82544892e+02] [-6.35079998e-01 7.72377071e-01 1.03468578e-02 -2.27027937e+02] [ 1.62928793e-02 2.32709583e-06 9.99867262e-01 8.48557725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.742755096 meters 0.01578385387946225 Centerline is valid? [True, True] Translation: X:382.59, Y:-227.06, Z:8.49 [[ 7.72972030e-01 6.34325932e-01 -1.20354517e-02 3.82590646e+02] [-6.34248783e-01 7.73065722e-01 9.89295717e-03 -2.27064900e+02] [ 1.55795544e-02 -1.35086021e-05 9.99878631e-01 8.48722266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.802755096 meters 0.015977014980780156 Centerline is valid? [True, True] Translation: X:382.63, Y:-227.10, Z:8.49 [[ 7.75065057e-01 6.31782729e-01 -1.11687863e-02 3.82633040e+02] [-6.31716043e-01 7.75145522e-01 9.17937204e-03 -2.27104376e+02] [ 1.44568034e-02 -5.91090351e-05 9.99895493e-01 8.48876199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.862755096 meters 0.01672427783402408 Centerline is valid? [True, True] Translation: X:382.68, Y:-227.15, Z:8.49 [[ 7.77902984e-01 6.28290836e-01 -1.08431317e-02 3.82677751e+02] [-6.28227699e-01 7.77978542e-01 8.90766911e-03 -2.27148336e+02] [ 1.40323307e-02 -1.17346682e-04 9.99901535e-01 8.48917230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.922755096 meters 0.017885546986020857 Centerline is valid? [True, True] Translation: X:382.72, Y:-227.19, Z:8.49 [[ 7.80462296e-01 6.25102826e-01 -1.11831250e-02 3.82720422e+02] [-6.25035246e-01 7.80542390e-01 9.19336658e-03 -2.27191302e+02] [ 1.44757026e-02 -1.85228701e-04 9.99895204e-01 8.48912161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.982755096 meters 0.018146636424700827 Centerline is valid? [True, True] Translation: X:382.77, Y:-227.23, Z:8.49 [[ 7.81821497e-01 6.23388703e-01 -1.19025928e-02 3.82768071e+02] [-6.23311934e-01 7.81912061e-01 9.78579261e-03 -2.27231471e+02] [ 1.54071334e-02 -2.31714902e-04 9.99881276e-01 8.48899005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.042755096 meters 0.0189052348968326 Centerline is valid? [True, True] Translation: X:382.82, Y:-227.27, Z:8.49 [[ 7.82533999e-01 6.22497181e-01 -1.17387823e-02 3.82815626e+02] [-6.22422326e-01 7.82622001e-01 9.65666372e-03 -2.27270020e+02] [ 1.51982753e-02 -2.50187490e-04 9.99884468e-01 8.48927239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.102755096 meters 0.0193613889954409 Centerline is valid? [True, True] Translation: X:382.86, Y:-227.31, Z:8.49 [[ 7.83166316e-01 6.21683954e-01 -1.26326126e-02 3.82864697e+02] [-6.21597063e-01 7.83268138e-01 1.03978088e-02 -2.27308893e+02] [ 1.63588739e-02 -2.90818738e-04 9.99866142e-01 8.48875217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.162755096 meters 0.02098517952925031 Centerline is valid? [True, True] Translation: X:382.91, Y:-227.35, Z:8.49 [[ 7.83748522e-01 6.20933410e-01 -1.34147084e-02 3.82909457e+02] [-6.20835197e-01 7.83863247e-01 1.10484134e-02 -2.27347338e+02] [ 1.73756259e-02 -3.30854493e-04 9.99848978e-01 8.48851028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.222755096 meters 0.020251294584265833 Centerline is valid? [True, True] Translation: X:382.96, Y:-227.38, Z:8.49 [[ 7.84538576e-01 6.19916951e-01 -1.42195869e-02 3.82960009e+02] [-6.19806404e-01 7.84667339e-01 1.17127587e-02 -2.27383120e+02] [ 1.84185830e-02 -3.75720031e-04 9.99830293e-01 8.48773886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.282755096 meters 0.02045510985465487 Centerline is valid? [True, True] Translation: X:383.01, Y:-227.42, Z:8.49 [[ 7.85291277e-01 6.18951256e-01 -1.47293429e-02 3.83010291e+02] [-6.18832336e-01 7.85429289e-01 1.21396893e-02 -2.27419899e+02] [ 1.90827333e-02 -4.18198426e-04 9.99817821e-01 8.48790672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.342755096 meters 0.02269847218629427 Centerline is valid? [True, True] Translation: X:383.06, Y:-227.46, Z:8.49 [[ 7.85143550e-01 6.19139398e-01 -1.46973504e-02 3.83056974e+02] [-6.19020896e-01 7.85280988e-01 1.21202334e-02 -2.27459587e+02] [ 1.90456638e-02 -4.18156085e-04 9.99818527e-01 8.48904999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.402755096 meters 0.02164172561453132 Centerline is valid? [True, True] Translation: X:383.11, Y:-227.49, Z:8.49 [[ 7.84978359e-01 6.19353844e-01 -1.44842191e-02 3.83105054e+02] [-6.19238677e-01 7.85111869e-01 1.19504963e-02 -2.27493560e+02] [ 1.87733182e-02 -4.11692289e-04 9.99823681e-01 8.49099073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.462755096 meters 0.020964018502024305 Centerline is valid? [True, True] Translation: X:383.15, Y:-227.53, Z:8.49 [[ 7.84873771e-01 6.19484009e-01 -1.45851368e-02 3.83152009e+02] [-6.19367289e-01 7.85009169e-01 1.20319053e-02 -2.27529574e+02] [ 1.89030391e-02 -4.09970260e-04 9.99821238e-01 8.49203305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.522755096 meters 0.020386370356788995 Centerline is valid? [True, True] Translation: X:383.20, Y:-227.56, Z:8.49 [[ 7.84293072e-01 6.20235465e-01 -1.38688415e-02 3.83199868e+02] [-6.20130078e-01 7.84415597e-01 1.14392909e-02 -2.27563562e+02] [ 1.79739895e-02 -3.71270865e-04 9.99838386e-01 8.49370817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.582755096 meters 0.020131632940064762 Centerline is valid? [True, True] Translation: X:383.25, Y:-227.60, Z:8.50 [[ 7.83957409e-01 6.20678877e-01 -1.29812634e-02 3.83246893e+02] [-6.20586635e-01 7.84064805e-01 1.07056102e-02 -2.27598906e+02] [ 1.68228979e-02 -3.36743870e-04 9.99858428e-01 8.49575437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.64275509600003 meters 0.02184450770593323 Centerline is valid? [True, True] Translation: X:383.29, Y:-227.64, Z:8.50 [[ 7.84405375e-01 6.20128478e-01 -1.22015853e-02 3.83288864e+02] [-6.20046941e-01 7.84500200e-01 1.00611838e-02 -2.27639129e+02] [ 1.58113727e-02 -3.26491033e-04 9.99874939e-01 8.49959322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.70275509600003 meters 0.021233809312950092 Centerline is valid? [True, True] Translation: X:383.33, Y:-227.68, Z:8.50 [[ 7.85170140e-01 6.19170963e-01 -1.16262365e-02 3.83334430e+02] [-6.19096857e-01 7.85256144e-01 9.58490918e-03 -2.27675698e+02] [ 1.50642711e-02 -3.28018026e-04 9.99886474e-01 8.50128261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76275509600003 meters 0.020744419346014484 Centerline is valid? [True, True] Translation: X:383.38, Y:-227.71, Z:8.50 [[ 7.85565935e-01 6.18674167e-01 -1.13330058e-02 3.83383655e+02] [-6.18603747e-01 7.85647611e-01 9.34001233e-03 -2.27713865e+02] [ 1.46821732e-02 -3.26555684e-04 9.99892158e-01 8.50315982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82275509600004 meters 0.021034075778087195 Centerline is valid? [True, True] Translation: X:383.43, Y:-227.75, Z:8.50 [[ 7.85698195e-01 6.18514825e-01 -1.08516550e-02 3.83429398e+02] [-6.18450152e-01 7.85773064e-01 8.94994862e-03 -2.27751935e+02] [ 1.40626141e-02 -3.20750792e-04 9.99901065e-01 8.50472162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.882755096 meters 0.020873728950440627 Centerline is valid? [True, True] Translation: X:383.48, Y:-227.79, Z:8.51 [[ 7.85295631e-01 6.19012283e-01 -1.16002516e-02 3.83475363e+02] [-6.18938445e-01 7.85381234e-01 9.56652011e-03 -2.27789999e+02] [ 1.50324134e-02 -3.32704737e-04 9.99886952e-01 8.50566493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.942755096 meters 0.020286338107010214 Centerline is valid? [True, True] Translation: X:383.52, Y:-227.83, Z:8.51 [[ 7.84020476e-01 6.20611148e-01 -1.23974244e-02 3.83521550e+02] [-6.20527025e-01 7.84118422e-01 1.02231085e-02 -2.27827160e+02] [ 1.60656239e-02 -3.22189488e-04 9.99870888e-01 8.50725399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.002755096 meters 0.019498411465768053 Centerline is valid? [True, True] Translation: X:383.57, Y:-227.86, Z:8.51 [[ 7.82801850e-01 6.22147581e-01 -1.23956010e-02 3.83568599e+02] [-6.22063694e-01 7.82899932e-01 1.02203940e-02 -2.27863442e+02] [ 1.60631085e-02 -2.89689981e-04 9.99870938e-01 8.50808912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.062755096 meters 0.01873705148368623 Centerline is valid? [True, True] Translation: X:383.62, Y:-227.90, Z:8.51 [[ 7.81510416e-01 6.23749383e-01 -1.33482780e-02 3.83616064e+02] [-6.23652363e-01 7.81624354e-01 1.10045102e-02 -2.27898942e+02] [ 1.72973957e-02 -2.75454244e-04 9.99850351e-01 8.50808269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.122755096 meters 0.018816383605878475 Centerline is valid? [True, True] Translation: X:383.66, Y:-227.94, Z:8.51 [[ 7.81689674e-01 6.23521977e-01 -1.34758632e-02 3.83661173e+02] [-6.23423090e-01 7.81805772e-01 1.11079151e-02 -2.27936142e+02] [ 1.74615368e-02 -2.81778285e-04 9.99847496e-01 8.50900919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.182755096 meters 0.019374038220078247 Centerline is valid? [True, True] Translation: X:383.71, Y:-227.97, Z:8.51 [[ 7.82741675e-01 6.22199910e-01 -1.35182143e-02 3.83705328e+02] [-6.22100234e-01 7.82858337e-01 1.11410878e-02 -2.27974224e+02] [ 1.75148306e-02 -3.10909419e-04 9.99846555e-01 8.51089777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.242755096 meters 0.019741473104712127 Centerline is valid? [True, True] Translation: X:383.75, Y:-228.01, Z:8.51 [[ 7.83724167e-01 6.20962141e-01 -1.35073968e-02 3.83750831e+02] [-6.20862479e-01 7.83840485e-01 1.11299384e-02 -2.28011847e+02] [ 1.74989148e-02 -3.36565832e-04 9.99846826e-01 8.51240139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.302755096 meters 0.020765259568188896 Centerline is valid? [True, True] Translation: X:383.80, Y:-228.05, Z:8.51 [[ 7.85586303e-01 6.18618531e-01 -1.28558752e-02 3.83796765e+02] [-6.18527967e-01 7.85691401e-01 1.05913945e-02 -2.28050131e+02] [ 1.66527835e-02 -3.68736109e-04 9.99861265e-01 8.51442965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.362755096 meters 0.02263282102451827 Centerline is valid? [True, True] Translation: X:383.84, Y:-228.09, Z:8.52 [[ 7.87310176e-01 6.16444989e-01 -1.17585264e-02 3.83839519e+02] [-6.16368992e-01 7.87397887e-01 9.68671659e-03 -2.28089886e+02] [ 1.52299667e-02 -3.78859501e-04 9.99883946e-01 8.51726365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.422755096 meters 0.02336794644391818 Centerline is valid? [True, True] Translation: X:383.88, Y:-228.13, Z:8.52 [[ 7.88322289e-01 6.15153012e-01 -1.16077990e-02 3.83884010e+02] [-6.15078827e-01 7.88407644e-01 9.56151278e-03 -2.28127954e+02] [ 1.50334708e-02 -3.97842252e-04 9.99886912e-01 8.51854574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.482755096 meters 0.023117241150292827 Centerline is valid? [True, True] Translation: X:383.93, Y:-228.16, Z:8.52 [[ 7.87951671e-01 6.15610087e-01 -1.25054436e-02 3.83930218e+02] [-6.15524070e-01 7.88050789e-01 1.02991738e-02 -2.28164376e+02] [ 1.61951999e-02 -4.17849647e-04 9.99868762e-01 8.51788329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.542755096 meters 0.022060365358994822 Centerline is valid? [True, True] Translation: X:383.98, Y:-228.20, Z:8.52 [[ 7.87339073e-01 6.16386000e-01 -1.28640540e-02 3.83976722e+02] [-6.16295111e-01 7.87444048e-01 1.05927976e-02 -2.28200766e+02] [ 1.66589749e-02 -4.12069869e-04 9.99861145e-01 8.51840007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.602755096 meters 0.02142320196354978 Centerline is valid? [True, True] Translation: X:384.02, Y:-228.24, Z:8.52 [[ 7.86168349e-01 6.17856394e-01 -1.38854085e-02 3.84022406e+02] [-6.17750762e-01 7.86290855e-01 1.14318329e-02 -2.28237985e+02] [ 1.79812008e-02 -4.09623466e-04 9.99838241e-01 8.51897136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.662755096 meters 0.02144116573676389 Centerline is valid? [True, True] Translation: X:384.07, Y:-228.28, Z:8.52 [[ 7.84477717e-01 6.19986352e-01 -1.45476919e-02 3.84067329e+02] [-6.19870805e-01 7.84612504e-01 1.19751106e-02 -2.28275092e+02] [ 1.88387061e-02 -3.76517977e-04 9.99822465e-01 8.51963412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.722755096 meters 0.01897555878844605 Centerline is valid? [True, True] Translation: X:384.12, Y:-228.31, Z:8.52 [[ 7.83135935e-01 6.21669764e-01 -1.49936988e-02 3.84117242e+02] [-6.21547369e-01 7.83279379e-01 1.23403203e-02 -2.28308596e+02] [ 1.94158591e-02 -3.44854246e-04 9.99811435e-01 8.52047255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.782755096 meters 0.01885488609576338 Centerline is valid? [True, True] Translation: X:384.16, Y:-228.35, Z:8.52 [[ 7.82406059e-01 6.22578722e-01 -1.53783360e-02 3.84161916e+02] [-6.22450164e-01 7.82557107e-01 1.26557198e-02 -2.28345048e+02] [ 1.99136080e-02 -3.29664052e-04 9.99801650e-01 8.52090304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.842755096 meters 0.018658460628741002 Centerline is valid? [True, True] Translation: X:384.21, Y:-228.38, Z:8.52 [[ 7.82227369e-01 6.22794725e-01 -1.57185860e-02 3.84207529e+02] [-6.22660511e-01 7.82385214e-01 1.29331293e-02 -2.28381909e+02] [ 2.03526740e-02 -3.29304891e-04 9.99792809e-01 8.52180993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.902755096 meters 0.019068509782089092 Centerline is valid? [True, True] Translation: X:384.25, Y:-228.42, Z:8.52 [[ 7.82963372e-01 6.21852180e-01 -1.63775522e-02 3.84252505e+02] [-6.21706317e-01 7.83134555e-01 1.34730821e-02 -2.28419553e+02] [ 2.12040926e-02 -3.66902099e-04 9.99775101e-01 8.52221337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.962755096 meters 0.02011572038251784 Centerline is valid? [True, True] Translation: X:384.30, Y:-228.46, Z:8.52 [[ 7.83871857e-01 6.20679563e-01 -1.73721637e-02 3.84295321e+02] [-6.20515211e-01 7.84064221e-01 1.42888104e-02 -2.28458587e+02] [ 2.24896646e-02 -4.20904520e-04 9.99746987e-01 8.52208876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.022755096 meters 0.0207298470050425 Centerline is valid? [True, True] Translation: X:384.34, Y:-228.50, Z:8.52 [[ 7.84595330e-01 6.19754400e-01 -1.77384260e-02 3.84339068e+02] [-6.19582874e-01 7.84795691e-01 1.45871570e-02 -2.28497253e+02] [ 2.29614950e-02 -4.54590332e-04 9.99736247e-01 8.52266024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.082755096 meters 0.020332929232409463 Centerline is valid? [True, True] Translation: X:384.38, Y:-228.54, Z:8.52 [[ 7.85212513e-01 6.18955325e-01 -1.83198274e-02 3.84383614e+02] [-6.18772219e-01 7.85426040e-01 1.50624006e-02 -2.28536410e+02] [ 2.37118225e-02 -4.91385202e-04 9.99718714e-01 8.52383118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.14275509600003 meters 0.019747999381935482 Centerline is valid? [True, True] Translation: X:384.43, Y:-228.58, Z:8.53 [[ 7.85270650e-01 6.18884198e-01 -1.82306180e-02 3.84431577e+02] [-6.18702845e-01 7.85482087e-01 1.49893605e-02 -2.28577172e+02] [ 2.35965022e-02 -4.91369661e-04 9.99721443e-01 8.52569124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.20275509600003 meters 0.01986181541865581 Centerline is valid? [True, True] Translation: X:384.48, Y:-228.62, Z:8.53 [[ 7.84858306e-01 6.19408710e-01 -1.81738993e-02 3.84476829e+02] [-6.19228438e-01 7.85068545e-01 1.49506346e-02 -2.28617376e+02] [ 2.35283099e-02 -4.80334494e-04 9.99723056e-01 8.52723129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26275509600003 meters 0.018902850476621894 Centerline is valid? [True, True] Translation: X:384.52, Y:-228.66, Z:8.53 [[ 7.83315676e-01 6.21360515e-01 -1.81014274e-02 3.84523484e+02] [-6.21182187e-01 7.83524686e-01 1.48914928e-02 -2.28656163e+02] [ 2.34359009e-02 -4.20455481e-04 9.99725253e-01 8.52909252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32275509600004 meters 0.0172756403162263 Centerline is valid? [True, True] Translation: X:384.57, Y:-228.69, Z:8.53 [[ 7.80378670e-01 6.25046558e-01 -1.80535930e-02 3.84572400e+02] [-6.24870111e-01 7.80587410e-01 1.48539683e-02 -2.28694084e+02] [ 2.33768292e-02 -3.10569385e-04 9.99726676e-01 8.53026642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.382755096 meters 0.016459545981627497 Centerline is valid? [True, True] Translation: X:384.62, Y:-228.73, Z:8.53 [[ 7.77735374e-01 6.28339234e-01 -1.78183629e-02 3.84617833e+02] [-6.28168065e-01 7.77939433e-01 1.46670062e-02 -2.28731398e+02] [ 2.30774626e-02 -2.14122994e-04 9.99733657e-01 8.53147841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.442755096 meters 0.01612365083549527 Centerline is valid? [True, True] Translation: X:384.66, Y:-228.77, Z:8.53 [[ 7.76345208e-01 6.30053091e-01 -1.79226254e-02 3.84662639e+02] [-6.29880401e-01 7.76552043e-01 1.47514101e-02 -2.28767827e+02] [ 2.32120230e-02 -1.63076061e-04 9.99730551e-01 8.53233736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.502755096 meters 0.01568118600196013 Centerline is valid? [True, True] Translation: X:384.71, Y:-228.81, Z:8.53 [[ 7.74431012e-01 6.32385481e-01 -1.85798758e-02 3.84708652e+02] [-6.32200633e-01 7.74653855e-01 1.52893911e-02 -2.28805006e+02] [ 2.40617614e-02 -9.43694091e-05 9.99710469e-01 8.53233474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.562755096 meters 0.015606235903012846 Centerline is valid? [True, True] Translation: X:384.75, Y:-228.84, Z:8.53 [[ 7.73167735e-01 6.33925583e-01 -1.87085117e-02 3.84753463e+02] [-6.33738676e-01 7.73394048e-01 1.53927890e-02 -2.28843108e+02] [ 2.42269343e-02 -4.49004412e-05 9.99706484e-01 8.53289568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.622755096 meters 0.015512669033009931 Centerline is valid? [True, True] Translation: X:384.80, Y:-228.88, Z:8.54 [[ 7.73807594e-01 6.33161254e-01 -1.81282640e-02 3.84796853e+02] [-6.32985607e-01 7.74019911e-01 1.49130628e-02 -2.28883577e+02] [ 2.34740108e-02 -6.49110227e-05 9.99724445e-01 8.53567880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.682755096 meters 0.015617060888246263 Centerline is valid? [True, True] Translation: X:384.84, Y:-228.92, Z:8.54 [[ 7.75082071e-01 6.31607107e-01 -1.78953963e-02 3.84841435e+02] [-6.31435572e-01 7.75288624e-01 1.47196265e-02 -2.28924765e+02] [ 2.31711179e-02 -1.09128836e-04 9.99731508e-01 8.53736100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.742755096 meters 0.016096807645786387 Centerline is valid? [True, True] Translation: X:384.88, Y:-228.97, Z:8.54 [[ 7.76792944e-01 6.29504047e-01 -1.78150561e-02 3.84883168e+02] [-6.29333504e-01 7.76997185e-01 1.46531924e-02 -2.28965694e+02] [ 2.30664923e-02 -1.70884750e-04 9.99733918e-01 8.53787854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.802755096 meters 0.016679235987309013 Centerline is valid? [True, True] Translation: X:384.93, Y:-229.01, Z:8.54 [[ 7.78881036e-01 6.26929514e-01 -1.74274509e-02 3.84926290e+02] [-6.26765696e-01 7.79075944e-01 1.43330005e-02 -2.29008544e+02] [ 2.25630888e-02 -2.40773864e-04 9.99745392e-01 8.53994720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.862755096 meters 0.016868933427750376 Centerline is valid? [True, True] Translation: X:384.97, Y:-229.05, Z:8.54 [[ 7.79524062e-01 6.26132409e-01 -1.73332972e-02 3.84973188e+02] [-6.25970123e-01 7.79716703e-01 1.42572195e-02 -2.29049891e+02] [ 2.24419686e-02 -2.63719502e-04 9.99748113e-01 8.54133273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.922755096 meters 0.01693908550719106 Centerline is valid? [True, True] Translation: X:385.02, Y:-229.09, Z:8.54 [[ 7.79523084e-01 6.26132257e-01 -1.73827127e-02 3.85021225e+02] [-6.25968832e-01 7.79716823e-01 1.43072677e-02 -2.29090225e+02] [ 2.25118353e-02 -2.71809059e-04 9.99746540e-01 8.54232615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.982755096 meters 0.016501394617131786 Centerline is valid? [True, True] Translation: X:385.07, Y:-229.12, Z:8.54 [[ 7.77880339e-01 6.28190296e-01 -1.67072123e-02 3.85071738e+02] [-6.28039637e-01 7.78059707e-01 1.37588780e-02 -2.29124625e+02] [ 2.16424023e-02 -2.09969143e-04 9.99765754e-01 8.54314523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.042755096 meters 0.01596608629617284 Centerline is valid? [True, True] Translation: X:385.12, Y:-229.16, Z:8.54 [[ 7.76061080e-01 6.30431712e-01 -1.68836246e-02 3.85121453e+02] [-6.30278369e-01 7.76244700e-01 1.39047716e-02 -2.29157344e+02] [ 2.18718331e-02 -1.49568672e-04 9.99760772e-01 8.54400066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.102755096 meters 0.01560064987207264 Centerline is valid? [True, True] Translation: X:385.17, Y:-229.19, Z:8.55 [[ 7.74960590e-01 6.31795559e-01 -1.64455534e-02 3.85170408e+02] [-6.31650420e-01 7.75135059e-01 1.35420218e-02 -2.29191814e+02] [ 2.13033142e-02 -1.06692522e-04 9.99773053e-01 8.54541032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.162755096 meters 0.015556009498127863 Centerline is valid? [True, True] Translation: X:385.22, Y:-229.23, Z:8.55 [[ 7.74730666e-01 6.32074015e-01 -1.65781321e-02 3.85217007e+02] [-6.31926617e-01 7.74908014e-01 1.36499244e-02 -2.29227525e+02] [ 2.14742900e-02 -9.88520827e-05 9.99769396e-01 8.54614948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.222755096 meters 0.015633509010029637 Centerline is valid? [True, True] Translation: X:385.26, Y:-229.26, Z:8.55 [[ 7.75085377e-01 6.31639454e-01 -1.65607229e-02 3.85264342e+02] [-6.31492311e-01 7.75262270e-01 1.36335488e-02 -2.29263526e+02] [ 2.14503910e-02 -1.09195120e-04 9.99769908e-01 8.54658364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.282755096 meters 0.015833586855112186 Centerline is valid? [True, True] Translation: X:385.31, Y:-229.30, Z:8.55 [[ 7.75607635e-01 6.31005087e-01 -1.62903780e-02 3.85309532e+02] [-6.30862595e-01 7.75778683e-01 1.34097716e-02 -2.29300899e+02] [ 2.10993621e-02 -1.23731094e-04 9.99777376e-01 8.54769845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.342755096 meters 0.01604219841592117 Centerline is valid? [True, True] Translation: X:385.35, Y:-229.34, Z:8.55 [[ 7.76357534e-01 6.30113886e-01 -1.50156618e-02 3.85353461e+02] [-6.29992692e-01 7.76502719e-01 1.23586117e-02 -2.29339337e+02] [ 1.94470351e-02 -1.34944089e-04 9.99810879e-01 8.54949715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.402755096 meters 0.01606354747774216 Centerline is valid? [True, True] Translation: X:385.40, Y:-229.38, Z:8.55 [[ 7.76664309e-01 6.29738370e-01 -1.49042256e-02 3.85398671e+02] [-6.29618936e-01 7.76807290e-01 1.22649766e-02 -2.29377922e+02] [ 1.93014375e-02 -1.41786938e-04 9.99813700e-01 8.55117094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.462755096 meters 0.0161792968778441 Centerline is valid? [True, True] Translation: X:385.44, Y:-229.42, Z:8.55 [[ 7.77062543e-01 6.29249754e-01 -1.47834979e-02 3.85442982e+02] [-6.29132178e-01 7.77203142e-01 1.21646169e-02 -2.29416983e+02] [ 1.91443632e-02 -1.51893943e-04 9.99816718e-01 8.55235509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.522755096 meters 0.01645849324025721 Centerline is valid? [True, True] Translation: X:385.49, Y:-229.46, Z:8.55 [[ 7.78109650e-01 6.27951537e-01 -1.49077294e-02 3.85487795e+02] [-6.27831774e-01 7.78252423e-01 1.22649966e-02 -2.29458813e+02] [ 1.93038000e-02 -1.83966043e-04 9.99813647e-01 8.55269611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.582755096 meters 0.016618046350849337 Centerline is valid? [True, True] Translation: X:385.53, Y:-229.50, Z:8.55 [[ 7.78533071e-01 6.27420692e-01 -1.51503103e-02 3.85534220e+02] [-6.27296871e-01 7.78680445e-01 1.24660162e-02 -2.29501566e+02] [ 1.96186869e-02 -2.01463621e-04 9.99807515e-01 8.55369810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.64275509600003 meters 0.017416881556530508 Centerline is valid? [True, True] Translation: X:385.58, Y:-229.54, Z:8.55 [[ 7.78773671e-01 6.27122133e-01 -1.51459103e-02 3.85578612e+02] [-6.26998177e-01 7.78920910e-01 1.24700670e-02 -2.29542151e+02] [ 1.96177213e-02 -2.14901728e-04 9.99807531e-01 8.55471859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.70275509600003 meters 0.016937486825518936 Centerline is valid? [True, True] Translation: X:385.63, Y:-229.58, Z:8.56 [[ 7.78740112e-01 6.27151470e-01 -1.56483569e-02 3.85626771e+02] [-6.27019133e-01 7.78897287e-01 1.28849741e-02 -2.29582507e+02] [ 2.02692932e-02 -2.22227040e-04 9.99794532e-01 8.55518691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76275509600003 meters 0.0169884386846087 Centerline is valid? [True, True] Translation: X:385.67, Y:-229.62, Z:8.56 [[ 7.78326747e-01 6.27646308e-01 -1.63580927e-02 3.85673639e+02] [-6.27501612e-01 7.78498595e-01 1.34783154e-02 -2.29623663e+02] [ 2.11943671e-02 -2.25803847e-04 9.99775349e-01 8.55665258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82275509600004 meters 0.016631699063665593 Centerline is valid? [True, True] Translation: X:385.72, Y:-229.66, Z:8.56 [[ 7.77496178e-01 6.28673717e-01 -1.64027888e-02 3.85722463e+02] [-6.28528296e-01 7.77669156e-01 1.35227471e-02 -2.29661877e+02] [ 2.12573387e-02 -2.04267271e-04 9.99774016e-01 8.55796016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.882755096 meters 0.0164192242100449 Centerline is valid? [True, True] Translation: X:385.77, Y:-229.70, Z:8.56 [[ 7.76396514e-01 6.30002370e-01 -1.74775992e-02 3.85772654e+02] [-6.29837399e-01 7.76593188e-01 1.44177463e-02 -2.29699512e+02] [ 2.26561988e-02 -1.85842298e-04 9.99743298e-01 8.55805947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.942755096 meters 0.016822120183582555 Centerline is valid? [True, True] Translation: X:385.82, Y:-229.74, Z:8.56 [[ 7.76925847e-01 6.29354863e-01 -1.72825206e-02 3.85818597e+02] [-6.29193231e-01 7.77118018e-01 1.42641178e-02 -2.29735384e+02] [ 2.24077501e-02 -2.08116867e-04 9.99748893e-01 8.55903915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.002755096 meters 0.01738705509121082 Centerline is valid? [True, True] Translation: X:385.87, Y:-229.77, Z:8.56 [[ 7.78496011e-01 6.27445312e-01 -1.60106549e-02 3.85865435e+02] [-6.27306222e-01 7.78660594e-01 1.32129572e-02 -2.29773025e+02] [ 2.07572741e-02 -2.42651009e-04 9.99784515e-01 8.56182442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.062755096 meters 0.018131628040417583 Centerline is valid? [True, True] Translation: X:385.91, Y:-229.81, Z:8.56 [[ 7.79901917e-01 6.25708948e-01 -1.55342200e-02 3.85912902e+02] [-6.25577675e-01 7.80056558e-01 1.28194612e-02 -2.29813537e+02] [ 2.01388218e-02 -2.80061145e-04 9.99797154e-01 8.56359787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.122755096 meters 0.019617925688632708 Centerline is valid? [True, True] Translation: X:385.96, Y:-229.85, Z:8.56 [[ 7.82022814e-01 6.23066086e-01 -1.51317786e-02 3.85958313e+02] [-6.22940904e-01 7.82169121e-01 1.24938290e-02 -2.29853712e+02] [ 1.96200911e-02 -3.44255463e-04 9.99807448e-01 8.56499655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.182755096 meters 0.019860968254049746 Centerline is valid? [True, True] Translation: X:386.01, Y:-229.89, Z:8.57 [[ 7.82893687e-01 6.21974812e-01 -1.49936079e-02 3.86005308e+02] [-6.21851699e-01 7.83037163e-01 1.23801004e-02 -2.29893704e+02] [ 1.94406628e-02 -3.68501961e-04 9.99810945e-01 8.56639861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.242755096 meters 0.020614054170203875 Centerline is valid? [True, True] Translation: X:386.05, Y:-229.93, Z:8.57 [[ 7.82590398e-01 6.22361453e-01 -1.47814309e-02 3.86052057e+02] [-6.22241738e-01 7.82729898e-01 1.22117504e-02 -2.29933551e+02] [ 1.91699906e-02 -3.59175311e-04 9.99816174e-01 8.56793833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.302755096 meters 0.0194184762780643 Centerline is valid? [True, True] Translation: X:386.10, Y:-229.97, Z:8.57 [[ 7.81761297e-01 6.23422833e-01 -1.39012608e-02 3.86101651e+02] [-6.23317018e-01 7.81884819e-01 1.14901993e-02 -2.29970518e+02] [ 1.80324374e-02 -3.17700715e-04 9.99837352e-01 8.56909684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.362755096 meters 0.019809047909178104 Centerline is valid? [True, True] Translation: X:386.15, Y:-230.01, Z:8.57 [[ 7.80282203e-01 6.25270792e-01 -1.40043293e-02 3.86147980e+02] [-6.25163577e-01 7.80407815e-01 1.15820704e-02 -2.30010095e+02] [ 1.81710183e-02 -2.82286805e-04 9.99834854e-01 8.57037009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.422755096 meters 0.01864328626555226 Centerline is valid? [True, True] Translation: X:386.20, Y:-230.05, Z:8.57 [[ 7.78584385e-01 6.27368389e-01 -1.46717617e-02 3.86195490e+02] [-6.27250961e-01 7.78722571e-01 1.21404359e-02 -2.30045175e+02] [ 1.90417577e-02 -2.49477182e-04 9.99818658e-01 8.57089653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.482755096 meters 0.018011571919576152 Centerline is valid? [True, True] Translation: X:386.24, Y:-230.08, Z:8.57 [[ 7.77367850e-01 6.28862499e-01 -1.52047289e-02 3.86244768e+02] [-6.28736696e-01 7.77516501e-01 1.25800218e-02 -2.30082383e+02] [ 1.97330315e-02 -2.19533490e-04 9.99805261e-01 8.57091369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.542755096 meters 0.018626491585502038 Centerline is valid? [True, True] Translation: X:386.29, Y:-230.12, Z:8.57 [[ 7.77618728e-01 6.28531860e-01 -1.60254487e-02 3.86288397e+02] [-6.28391895e-01 7.77783801e-01 1.32659696e-02 -2.30121366e+02] [ 2.08024190e-02 -2.45604360e-04 9.99783576e-01 8.57089040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.602755096 meters 0.018668378529007882 Centerline is valid? [True, True] Translation: X:386.34, Y:-230.16, Z:8.57 [[ 7.78328925e-01 6.27644317e-01 -1.63308131e-02 3.86335545e+02] [-6.27498780e-01 7.78500184e-01 1.35182999e-02 -2.30161674e+02] [ 2.11982250e-02 -2.74118534e-04 9.99775255e-01 8.57206168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.662755096 meters 0.019459908137011574 Centerline is valid? [True, True] Translation: X:386.38, Y:-230.20, Z:8.57 [[ 7.79673904e-01 6.25956560e-01 -1.69407071e-02 3.86382201e+02] [-6.25799369e-01 7.79857853e-01 1.40313679e-02 -2.30202887e+02] [ 2.19943703e-02 -3.38407533e-04 9.99758037e-01 8.57276823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.722755096 meters 0.02147049898484774 Centerline is valid? [True, True] Translation: X:386.43, Y:-230.24, Z:8.57 [[ 7.82715734e-01 6.22145101e-01 -1.70749129e-02 3.86425340e+02] [-6.21984341e-01 7.82901824e-01 1.41496788e-02 -2.30244518e+02] [ 2.21711338e-02 -4.54847778e-04 9.99754087e-01 8.57371966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.782755096 meters 0.023071635323404286 Centerline is valid? [True, True] Translation: X:386.47, Y:-230.29, Z:8.58 [[ 7.85925371e-01 6.18103683e-01 -1.64057374e-02 3.86469857e+02] [-6.17954336e-01 7.86096391e-01 1.35978678e-02 -2.30287250e+02] [ 2.13013831e-02 -5.48912770e-04 9.99772949e-01 8.57659518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.842755096 meters 0.02441424699744202 Centerline is valid? [True, True] Translation: X:386.52, Y:-230.33, Z:8.58 [[ 7.87861279e-01 6.15636623e-01 -1.63142051e-02 3.86515300e+02] [-6.15488332e-01 7.88029930e-01 1.35256424e-02 -2.30328895e+02] [ 2.11829627e-02 -6.15127051e-04 9.99775427e-01 8.57874934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.902755096 meters 0.02699426377964487 Centerline is valid? [True, True] Translation: X:386.56, Y:-230.37, Z:8.58 [[ 7.89525032e-01 6.13518999e-01 -1.56416918e-02 3.86560015e+02] [-6.13382192e-01 7.89679694e-01 1.29717968e-02 -2.30370730e+02] [ 2.03103702e-02 -6.47223098e-04 9.99793514e-01 8.58087091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.962755096 meters 0.02598920989922481 Centerline is valid? [True, True] Translation: X:386.61, Y:-230.41, Z:8.58 [[ 7.88968505e-01 6.14237251e-01 -1.55337860e-02 3.86608804e+02] [-6.14102330e-01 7.89121159e-01 1.28889366e-02 -2.30408985e+02] [ 2.01749042e-02 -6.29630903e-04 9.99796268e-01 8.58290015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.022755096 meters 0.02391196150795376 Centerline is valid? [True, True] Translation: X:386.66, Y:-230.45, Z:8.58 [[ 7.86090998e-01 6.17898605e-01 -1.61943568e-02 3.86658509e+02] [-6.17752591e-01 7.86257589e-01 1.34439751e-02 -2.30445006e+02] [ 2.10399494e-02 -5.64081967e-04 9.99778477e-01 8.58456484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.082755096 meters 0.02378289366032045 Centerline is valid? [True, True] Translation: X:386.71, Y:-230.48, Z:8.59 [[ 7.83830769e-01 6.20757323e-01 -1.64216894e-02 3.86705194e+02] [-6.20607788e-01 7.84002616e-01 1.36335088e-02 -2.30481346e+02] [ 2.13377478e-02 -4.94935350e-04 9.99772202e-01 8.58557655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.14275509600003 meters 0.020112668396507657 Centerline is valid? [True, True] Translation: X:386.76, Y:-230.51, Z:8.59 [[ 7.80432747e-01 6.25032754e-01 -1.60867378e-02 3.86757569e+02] [-6.24890179e-01 7.80598437e-01 1.33545916e-02 -2.30513903e+02] [ 2.09043396e-02 -3.69916126e-04 9.99781412e-01 8.58803802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.20275509600003 meters 0.018965837946651864 Centerline is valid? [True, True] Translation: X:386.80, Y:-230.55, Z:8.59 [[ 7.77886315e-01 6.28195277e-01 -1.62349867e-02 3.86803644e+02] [-6.28050744e-01 7.78055661e-01 1.34778086e-02 -2.30549126e+02] [ 2.10984191e-02 -2.87807386e-04 9.99777362e-01 8.58989396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26275509600003 meters 0.018121117610019992 Centerline is valid? [True, True] Translation: X:386.85, Y:-230.58, Z:8.59 [[ 7.76575566e-01 6.29805645e-01 -1.65903781e-02 3.86850728e+02] [-6.29655139e-01 7.76752720e-01 1.37701471e-02 -2.30584007e+02] [ 2.15591377e-02 -2.47342945e-04 9.99767544e-01 8.59108277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32275509600004 meters 0.018180448317226136 Centerline is valid? [True, True] Translation: X:386.90, Y:-230.62, Z:8.59 [[ 7.76650617e-01 6.29696612e-01 -1.72045510e-02 3.86895669e+02] [-6.29534781e-01 7.76841110e-01 1.42775616e-02 -2.30621739e+02] [ 2.23557346e-02 -2.57813767e-04 9.99750046e-01 8.59166413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.382755096 meters 0.01914781971327102 Centerline is valid? [True, True] Translation: X:386.94, Y:-230.66, Z:8.59 [[ 7.77940766e-01 6.28092012e-01 -1.75667110e-02 3.86937305e+02] [-6.27922942e-01 7.78139017e-01 1.45756531e-02 -2.30661757e+02] [ 2.28241945e-02 -3.08453908e-04 9.99739447e-01 8.59175905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.442755096 meters 0.02061231165828399 Centerline is valid? [True, True] Translation: X:386.98, Y:-230.70, Z:8.59 [[ 7.80124706e-01 6.25375145e-01 -1.76457093e-02 3.86979778e+02] [-6.25203919e-01 7.80324149e-01 1.46383662e-02 -2.30701942e+02] [ 2.29238435e-02 -3.87584522e-04 9.99737139e-01 8.59310180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.502755096 meters 0.020364066597146714 Centerline is valid? [True, True] Translation: X:387.03, Y:-230.74, Z:8.59 [[ 7.81817783e-01 6.23257286e-01 -1.76439691e-02 3.87027648e+02] [-6.23085584e-01 7.82016723e-01 1.46356061e-02 -2.30740752e+02] [ 2.29196270e-02 -4.48674371e-04 9.99737210e-01 8.59469811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.562755096 meters 0.020776591885660892 Centerline is valid? [True, True] Translation: X:387.07, Y:-230.78, Z:8.60 [[ 7.82840209e-01 6.21966594e-01 -1.78539324e-02 3.87073559e+02] [-6.21790324e-01 7.83043619e-01 1.48149614e-02 -2.30781888e+02] [ 2.31948189e-02 -4.96345082e-04 9.99730841e-01 8.59553855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.622755096 meters 0.0210634001146223 Centerline is valid? [True, True] Translation: X:387.12, Y:-230.82, Z:8.60 [[ 7.83188864e-01 6.21521114e-01 -1.80750597e-02 3.87120611e+02] [-6.21340139e-01 7.83397238e-01 1.50066480e-02 -2.30821998e+02] [ 2.34869004e-02 -5.22279513e-04 9.99724008e-01 8.59655069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.682755096 meters 0.02162473537078794 Centerline is valid? [True, True] Translation: X:387.17, Y:-230.86, Z:8.60 [[ 7.83386605e-01 6.21264356e-01 -1.83310536e-02 3.87166613e+02] [-6.21077959e-01 7.83600858e-01 1.52271013e-02 -2.30861804e+02] [ 2.38242846e-02 -5.43693861e-04 9.99716014e-01 8.59724436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.742755096 meters 0.021978978502601974 Centerline is valid? [True, True] Translation: X:387.21, Y:-230.90, Z:8.60 [[ 7.83503996e-01 6.21120626e-01 -1.81839527e-02 3.87213661e+02] [-6.20937041e-01 7.83714787e-01 1.51103644e-02 -2.30902170e+02] [ 2.36363917e-02 -5.47941080e-04 9.99720471e-01 8.59914964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.802755096 meters 0.022941990283112734 Centerline is valid? [True, True] Translation: X:387.26, Y:-230.94, Z:8.60 [[ 7.84297096e-01 6.20157383e-01 -1.68192044e-02 3.87258171e+02] [-6.19999972e-01 7.84477234e-01 1.39822863e-02 -2.30941281e+02] [ 2.18655010e-02 -5.38360304e-04 9.99760776e-01 8.60199608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.862755096 meters 0.023985827152451147 Centerline is valid? [True, True] Translation: X:387.30, Y:-230.98, Z:8.60 [[ 7.84931490e-01 6.19357817e-01 -1.66868568e-02 3.87301720e+02] [-6.19202711e-01 7.85108646e-01 1.38714098e-02 -2.30978898e+02] [ 2.16923617e-02 -5.55559362e-04 9.99764539e-01 8.60320617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.922755096 meters 0.024369575577478462 Centerline is valid? [True, True] Translation: X:387.35, Y:-231.02, Z:8.61 [[ 7.85284633e-01 6.18932657e-01 -1.58244102e-02 3.87347453e+02] [-6.18793134e-01 7.85443874e-01 1.31521331e-02 -2.31016085e+02] [ 2.05694707e-02 -5.36131638e-04 9.99788282e-01 8.60566350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.982755096 meters 0.023317182571593043 Centerline is valid? [True, True] Translation: X:387.40, Y:-231.05, Z:8.61 [[ 7.85109327e-01 6.19175509e-01 -1.50011345e-02 3.87396389e+02] [-6.19050206e-01 7.85252468e-01 1.24661420e-02 -2.31050670e+02] [ 1.94984077e-02 -5.00828979e-04 9.99809763e-01 8.60781704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.042755096 meters 0.02146565177399721 Centerline is valid? [True, True] Translation: X:387.45, Y:-231.09, Z:8.61 [[ 7.84012448e-01 6.20564709e-01 -1.49640810e-02 3.87448177e+02] [-6.20440287e-01 7.84155103e-01 1.24347963e-02 -2.31085539e+02] [ 1.94507562e-02 -4.64716435e-04 9.99810708e-01 8.60914239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.102755096 meters 0.02073863024288875 Centerline is valid? [True, True] Translation: X:387.50, Y:-231.12, Z:8.61 [[ 7.82636432e-01 6.22305133e-01 -1.47151929e-02 3.87498428e+02] [-6.22184992e-01 7.82774645e-01 1.22347953e-02 -2.31122971e+02] [ 1.91324558e-02 -4.19824350e-04 9.99816870e-01 8.61050881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.162755096 meters 0.020124973275080903 Centerline is valid? [True, True] Translation: X:387.55, Y:-231.16, Z:8.61 [[ 7.80330449e-01 6.25203437e-01 -1.43196315e-02 3.87547373e+02] [-6.25090111e-01 7.80461752e-01 1.19082803e-02 -2.31157115e+02] [ 1.86210224e-02 -3.41333647e-04 9.99826555e-01 8.61185786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.222755096 meters 0.020032569627301558 Centerline is valid? [True, True] Translation: X:387.59, Y:-231.19, Z:8.61 [[ 7.77404640e-01 6.28826278e-01 -1.48168249e-02 3.87594375e+02] [-6.28705613e-01 7.77545782e-01 1.23211117e-02 -2.31191411e+02] [ 1.92685985e-02 -2.63068395e-04 9.99814309e-01 8.61194962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.282755096 meters 0.017777347873689123 Centerline is valid? [True, True] Translation: X:387.64, Y:-231.22, Z:8.61 [[ 7.75477307e-01 6.31201182e-01 -1.48328645e-02 3.87644948e+02] [-6.31080753e-01 7.75619125e-01 1.23311061e-02 -2.31222901e+02] [ 1.92880621e-02 -2.01757701e-04 9.99813948e-01 8.61268496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.342755096 meters 0.01738691248915423 Centerline is valid? [True, True] Translation: X:387.69, Y:-231.26, Z:8.61 [[ 7.73291970e-01 6.33876318e-01 -1.48439286e-02 3.87692236e+02] [-6.33756240e-01 7.73434416e-01 1.23382653e-02 -2.31256079e+02] [ 1.93017394e-02 -1.33649097e-04 9.99813695e-01 8.61331019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.402755096 meters 0.017500192085810638 Centerline is valid? [True, True] Translation: X:387.74, Y:-231.29, Z:8.61 [[ 7.73354964e-01 6.33809441e-01 -1.44114931e-02 3.87736671e+02] [-6.33696291e-01 7.73489221e-01 1.19764788e-02 -2.31291367e+02] [ 1.87379399e-02 -1.29559653e-04 9.99824421e-01 8.61444081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.462755096 meters 0.01779616877895261 Centerline is valid? [True, True] Translation: X:387.78, Y:-231.33, Z:8.62 [[ 7.74948499e-01 6.31850515e-01 -1.48239897e-02 3.87781126e+02] [-6.31730500e-01 7.75090249e-01 1.23158978e-02 -2.31330421e+02] [ 1.92717362e-02 -1.79420102e-04 9.99814267e-01 8.61510661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.522755096 meters 0.018436868486027096 Centerline is valid? [True, True] Translation: X:387.82, Y:-231.37, Z:8.62 [[ 7.76556451e-01 6.29882815e-01 -1.44124014e-02 3.87824715e+02] [-6.29769067e-01 7.76690151e-01 1.19720927e-02 -2.31369281e+02] [ 1.87349856e-02 -2.20521234e-04 9.99824460e-01 8.61657263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.582755096 meters 0.019046747146939536 Centerline is valid? [True, True] Translation: X:387.87, Y:-231.41, Z:8.62 [[ 7.78354149e-01 6.27670103e-01 -1.39664209e-02 3.87869348e+02] [-6.27562970e-01 7.78479397e-01 1.15994196e-02 -2.31407900e+02] [ 1.81531798e-02 -2.63647763e-04 9.99835183e-01 8.61833725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.64275509600003 meters 0.021215852199947604 Centerline is valid? [True, True] Translation: X:387.91, Y:-231.45, Z:8.62 [[ 7.81322213e-01 6.23988861e-01 -1.31719487e-02 3.87910220e+02] [-6.23893073e-01 7.81433166e-01 1.09379802e-02 -2.31448721e+02] [ 1.71181753e-02 -3.28199350e-04 9.99853419e-01 8.61989680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.70275509600003 meters 0.021670697181366255 Centerline is valid? [True, True] Translation: X:387.95, Y:-231.49, Z:8.62 [[ 7.82890068e-01 6.22020427e-01 -1.31806857e-02 3.87954407e+02] [-6.21924270e-01 7.83000927e-01 1.09430491e-02 -2.31487439e+02] [ 1.71272892e-02 -3.69816145e-04 9.99853249e-01 8.62106920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76275509600003 meters 0.023599194272050414 Centerline is valid? [True, True] Translation: X:388.00, Y:-231.53, Z:8.62 [[ 7.84886827e-01 6.19491505e-01 -1.35257034e-02 3.87997099e+02] [-6.19389902e-01 7.85003240e-01 1.12277482e-02 -2.31527040e+02] [ 1.75732156e-02 -4.34827553e-04 9.99845485e-01 8.62109816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82275509600004 meters 0.024681833571571422 Centerline is valid? [True, True] Translation: X:388.04, Y:-231.57, Z:8.62 [[ 7.85920954e-01 6.18176457e-01 -1.36426208e-02 3.88040679e+02] [-6.18072946e-01 7.86039217e-01 1.13217820e-02 -2.31565951e+02] [ 1.77224941e-02 -4.65890853e-04 9.99842836e-01 8.62144981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.882755096 meters 0.02511158992129441 Centerline is valid? [True, True] Translation: X:388.08, Y:-231.60, Z:8.62 [[ 7.85900189e-01 6.18201941e-01 -1.36840626e-02 3.88084534e+02] [-6.18097841e-01 7.86019175e-01 1.13540654e-02 -2.31602924e+02] [ 1.77750409e-02 -4.65072524e-04 9.99841903e-01 8.62184965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.942755096 meters 0.02462464211976774 Centerline is valid? [True, True] Translation: X:388.13, Y:-231.64, Z:8.62 [[ 7.85174494e-01 6.19124922e-01 -1.36141878e-02 3.88130956e+02] [-6.19022070e-01 7.85292390e-01 1.12933065e-02 -2.31639580e+02] [ 1.76830856e-02 -4.39733462e-04 9.99843545e-01 8.62270395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.002755096 meters 0.02330564428437449 Centerline is valid? [True, True] Translation: X:388.18, Y:-231.67, Z:8.62 [[ 7.83098069e-01 6.21754098e-01 -1.33886742e-02 3.88177543e+02] [-6.21655110e-01 7.83212427e-01 1.11003878e-02 -2.31674854e+02] [ 1.73878876e-02 -3.69554477e-04 9.99848751e-01 8.62350680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.062755096 meters 0.02003452153398147 Centerline is valid? [True, True] Translation: X:388.23, Y:-231.71, Z:8.62 [[ 7.81163282e-01 6.24186641e-01 -1.32273933e-02 3.88227663e+02] [-6.24090399e-01 7.81275202e-01 1.09651253e-02 -2.31706990e+02] [ 1.71785190e-02 -3.10464092e-04 9.99852390e-01 8.62433061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.122755096 meters 0.018750857993930056 Centerline is valid? [True, True] Translation: X:388.28, Y:-231.74, Z:8.63 [[ 7.78604862e-01 6.27396466e-01 -1.21714363e-02 3.88275838e+02] [-6.27315392e-01 7.78699959e-01 1.00882502e-02 -2.31741833e+02] [ 1.58072295e-02 -2.19431273e-04 9.99875034e-01 8.62671675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.182755096 meters 0.01750236943022568 Centerline is valid? [True, True] Translation: X:388.32, Y:-231.78, Z:8.63 [[ 7.75325383e-01 6.31460569e-01 -1.13181140e-02 3.88324225e+02] [-6.31390910e-01 7.75407979e-01 9.38004949e-03 -2.31775291e+02] [ 1.46992873e-02 -1.26436183e-04 9.99891952e-01 8.62867232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.242755096 meters 0.017183595485683458 Centerline is valid? [True, True] Translation: X:388.37, Y:-231.81, Z:8.63 [[ 7.73869752e-01 6.33248301e-01 -1.10542494e-02 3.88370822e+02] [-6.33182055e-01 7.73948694e-01 9.15992175e-03 -2.31810919e+02] [ 1.43559267e-02 -8.92340520e-05 9.99896944e-01 8.62989372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.302755096 meters 0.01710806704207557 Centerline is valid? [True, True] Translation: X:388.42, Y:-231.85, Z:8.63 [[ 7.72883716e-01 6.34461110e-01 -1.04815012e-02 3.88415626e+02] [-6.34401678e-01 7.72954783e-01 8.68415078e-03 -2.31847373e+02] [ 1.36114824e-02 -6.23567717e-05 9.99907358e-01 8.63120403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.362755096 meters 0.017378440918286442 Centerline is valid? [True, True] Translation: X:388.46, Y:-231.89, Z:8.63 [[ 7.73688724e-01 6.33492008e-01 -9.67653419e-03 3.88459210e+02] [-6.33441298e-01 7.73749230e-01 8.01567102e-03 -2.31886562e+02] [ 1.25650744e-02 -7.21179045e-05 9.99921054e-01 8.63277026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.422755096 meters 0.017739754372887075 Centerline is valid? [True, True] Translation: X:388.50, Y:-231.93, Z:8.63 [[ 7.75441644e-01 6.31335379e-01 -1.02905655e-02 3.88501838e+02] [-6.31277858e-01 7.75509914e-01 8.52289103e-03 -2.31926649e+02] [ 1.33612382e-02 -1.12798489e-04 9.99910728e-01 8.63236328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.482755096 meters 0.018168614982669536 Centerline is valid? [True, True] Translation: X:388.55, Y:-231.97, Z:8.63 [[ 7.76976950e-01 6.29446666e-01 -1.01840090e-02 3.88545624e+02] [-6.29390185e-01 7.77043676e-01 8.43333886e-03 -2.31965797e+02] [ 1.32217568e-02 -1.42794571e-04 9.99912579e-01 8.63259185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.542755096 meters 0.01906922626809061 Centerline is valid? [True, True] Translation: X:388.59, Y:-232.01, Z:8.63 [[ 7.79364363e-01 6.26484214e-01 -1.04268486e-02 3.88588358e+02] [-6.26424760e-01 7.79434084e-01 8.63301327e-03 -2.32006974e+02] [ 1.35354877e-02 -1.96626756e-04 9.99908372e-01 8.63264345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.602755096 meters 0.019905058688766276 Centerline is valid? [True, True] Translation: X:388.63, Y:-232.05, Z:8.63 [[ 7.81586129e-01 6.23717499e-01 -9.98015220e-03 3.88634049e+02] [-6.23662855e-01 7.81649811e-01 8.25931899e-03 -2.32048775e+02] [ 1.29524659e-02 -2.31118951e-04 9.99916087e-01 8.63308339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.662755096 meters 0.020729023122309564 Centerline is valid? [True, True] Translation: X:388.68, Y:-232.09, Z:8.63 [[ 7.82969668e-01 6.21965262e-01 -1.08495061e-02 3.88679583e+02] [-6.21900408e-01 7.83044782e-01 8.98620860e-03 -2.32089290e+02] [ 1.40847587e-02 -2.88616513e-04 9.99900763e-01 8.63348975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.722755096 meters 0.02095704062386689 Centerline is valid? [True, True] Translation: X:388.72, Y:-232.13, Z:8.63 [[ 7.82855854e-01 6.22086243e-01 -1.20589410e-02 3.88723386e+02] [-6.22006136e-01 7.82948660e-01 9.98808628e-03 -2.32127710e+02] [ 1.56549828e-02 -3.18496497e-04 9.99877403e-01 8.63287673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.782755096 meters 0.020021875569861174 Centerline is valid? [True, True] Translation: X:388.77, Y:-232.16, Z:8.63 [[ 7.81598226e-01 6.23652943e-01 -1.26972502e-02 3.88770540e+02] [-6.23564352e-01 7.81701296e-01 1.05158336e-02 -2.32163746e+02] [ 1.64836876e-02 -3.01604295e-04 9.99864089e-01 8.63294132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.842755096 meters 0.019128856300106824 Centerline is valid? [True, True] Translation: X:388.82, Y:-232.20, Z:8.63 [[ 7.79750852e-01 6.25965996e-01 -1.24571643e-02 3.88817421e+02] [-6.25881031e-01 7.79850313e-01 1.03162378e-02 -2.32200054e+02] [ 1.61723376e-02 -2.47392378e-04 9.99869189e-01 8.63468489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.902755096 meters 0.017867404518121792 Centerline is valid? [True, True] Translation: X:388.86, Y:-232.24, Z:8.64 [[ 7.76388076e-01 6.30152125e-01 -1.13953910e-02 3.88864428e+02] [-6.30081490e-01 7.76471685e-01 9.43601834e-03 -2.32235743e+02] [ 1.47943254e-02 -1.45987208e-04 9.99890547e-01 8.63790261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.962755096 meters 0.017205350204306025 Centerline is valid? [True, True] Translation: X:388.91, Y:-232.27, Z:8.64 [[ 7.73505137e-01 6.33698335e-01 -1.07806808e-02 3.88911351e+02] [-6.33635476e-01 7.73580258e-01 8.92569093e-03 -2.32270928e+02] [ 1.39959173e-02 -7.30459581e-05 9.99902050e-01 8.63970581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.022755096 meters 0.017085846038002176 Centerline is valid? [True, True] Translation: X:388.96, Y:-232.31, Z:8.64 [[ 7.72321566e-01 6.35150568e-01 -1.01564842e-02 3.88957010e+02] [-6.35094919e-01 7.72388344e-01 8.40771852e-03 -2.32307312e+02] [ 1.31849172e-02 -4.31308062e-05 9.99913074e-01 8.64128911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.082755096 meters 0.017200260148931383 Centerline is valid? [True, True] Translation: X:389.00, Y:-232.35, Z:8.64 [[ 7.71959387e-01 6.35607874e-01 -9.01861978e-03 3.88999791e+02] [-6.35564037e-01 7.72012066e-01 7.46493564e-03 -2.32346140e+02] [ 1.17072552e-02 -3.07167397e-05 9.99931467e-01 8.64422199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.14275509600003 meters 0.01732045135427586 Centerline is valid? [True, True] Translation: X:389.04, Y:-232.39, Z:8.65 [[ 7.73250520e-01 6.34035667e-01 -9.07783263e-03 3.89042532e+02] [-6.33991164e-01 7.73303802e-01 7.51222679e-03 -2.32387058e+02] [ 1.17829422e-02 -5.35675948e-05 9.99930577e-01 8.64523281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.20275509600003 meters 0.01760684433686117 Centerline is valid? [True, True] Translation: X:389.08, Y:-232.43, Z:8.64 [[ 7.75374049e-01 6.31433883e-01 -9.29169579e-03 3.89084823e+02] [-6.31387086e-01 7.75429715e-01 7.68803278e-03 -2.32428814e+02] [ 1.20595414e-02 -9.44443785e-05 9.99927277e-01 8.64494539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26275509600003 meters 0.01813867442461257 Centerline is valid? [True, True] Translation: X:389.13, Y:-232.47, Z:8.65 [[ 7.76829976e-01 6.29633992e-01 -9.80942524e-03 3.89126042e+02] [-6.29581705e-01 7.76891897e-01 8.11525136e-03 -2.32469339e+02] [ 1.27305011e-02 -1.28335853e-04 9.99918956e-01 8.64584240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32275509600004 meters 0.018966930371369883 Centerline is valid? [True, True] Translation: X:389.17, Y:-232.51, Z:8.64 [[ 7.79539940e-01 6.26253696e-01 -1.11261421e-02 3.89168753e+02] [-6.26186127e-01 7.79619309e-01 9.20153358e-03 -2.32512318e+02] [ 1.44366496e-02 -2.05927100e-04 9.99895765e-01 8.64484196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.382755096 meters 0.02051330578117445 Centerline is valid? [True, True] Translation: X:389.21, Y:-232.56, Z:8.64 [[ 7.82290014e-01 6.22781044e-01 -1.28881732e-02 3.89212031e+02] [-6.22689915e-01 7.82396110e-01 1.06581587e-02 -2.32557242e+02] [ 1.67213558e-02 -3.12435642e-04 9.99860140e-01 8.64354494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.442755096 meters 0.0210790184680889 Centerline is valid? [True, True] Translation: X:389.26, Y:-232.60, Z:8.64 [[ 7.83154985e-01 6.21688611e-01 -1.30973387e-02 3.89256850e+02] [-6.21594235e-01 7.83264420e-01 1.08376872e-02 -2.32597771e+02] [ 1.69963461e-02 -3.46358579e-04 9.99855492e-01 8.64396076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.502755096 meters 0.022412628408961164 Centerline is valid? [True, True] Translation: X:389.30, Y:-232.64, Z:8.64 [[ 7.84386305e-01 6.20104801e-01 -1.44277830e-02 3.89298758e+02] [-6.19990008e-01 7.84518872e-01 1.19385997e-02 -2.32642240e+02] [ 1.87220510e-02 -4.19392773e-04 9.99824639e-01 8.64397172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.562755096 meters 0.023145296514006975 Centerline is valid? [True, True] Translation: X:389.34, Y:-232.68, Z:8.64 [[ 7.84715104e-01 6.19666535e-01 -1.53489367e-02 3.89340226e+02] [-6.19536525e-01 7.84865068e-01 1.27011349e-02 -2.32683241e+02] [ 1.99173126e-02 -4.57545482e-04 9.99801526e-01 8.64463572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.622755096 meters 0.022649386234003827 Centerline is valid? [True, True] Translation: X:389.38, Y:-232.72, Z:8.65 [[ 7.83945342e-01 6.20634203e-01 -1.55848255e-02 3.89383941e+02] [-6.20500405e-01 7.84100118e-01 1.28939274e-02 -2.32722227e+02] [ 2.02224759e-02 -4.37743819e-04 9.99795409e-01 8.64586159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.682755096 meters 0.02039132715307484 Centerline is valid? [True, True] Translation: X:389.43, Y:-232.76, Z:8.65 [[ 7.81344050e-01 6.23912785e-01 -1.53072532e-02 3.89430111e+02] [-6.23784374e-01 7.81493901e-01 1.26624425e-02 -2.32758751e+02] [ 1.98627848e-02 -3.45298798e-04 9.99802656e-01 8.64835270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.742755096 meters 0.017583983943797826 Centerline is valid? [True, True] Translation: X:389.48, Y:-232.79, Z:8.65 [[ 7.76884413e-01 6.29462936e-01 -1.50672175e-02 3.89480949e+02] [-6.29339592e-01 7.77030484e-01 1.24621419e-02 -2.32792381e+02] [ 1.95521437e-02 -1.99247255e-04 9.99808819e-01 8.65045235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.802755096 meters 0.016479467854371554 Centerline is valid? [True, True] Translation: X:389.53, Y:-232.83, Z:8.65 [[ 7.73232971e-01 6.33948513e-01 -1.48342596e-02 3.89531923e+02] [-6.33829770e-01 7.73375249e-01 1.22697480e-02 -2.32827725e+02] [ 1.92508377e-02 -8.49783195e-05 9.99814682e-01 8.65219741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.862755096 meters 0.01636550779811857 Centerline is valid? [True, True] Translation: X:389.58, Y:-232.87, Z:8.65 [[ 7.71886316e-01 6.35591821e-01 -1.46475790e-02 3.89580677e+02] [-6.35476213e-01 7.72025281e-01 1.21222261e-02 -2.32867100e+02] [ 1.90130891e-02 -4.87923811e-05 9.99819234e-01 8.65369639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.922755096 meters 0.016463613405908826 Centerline is valid? [True, True] Translation: X:389.63, Y:-232.91, Z:8.65 [[ 7.72183492e-01 6.35212689e-01 -1.54108184e-02 3.89627633e+02] [-6.35084475e-01 7.72337255e-01 1.27622598e-02 -2.32906716e+02] [ 2.00090986e-02 -6.76347939e-05 9.99799796e-01 8.65400881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.982755096 meters 0.01702283921739618 Centerline is valid? [True, True] Translation: X:389.67, Y:-232.95, Z:8.66 [[ 7.74737382e-01 6.32098332e-01 -1.52868819e-02 3.89671801e+02] [-6.31971488e-01 7.74888171e-01 1.26633706e-02 -2.32947538e+02] [ 1.98501194e-02 -1.49913090e-04 9.99802956e-01 8.65554948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.042755096 meters 0.018723036303538897 Centerline is valid? [True, True] Translation: X:389.72, Y:-232.99, Z:8.66 [[ 7.78884952e-01 6.26981594e-01 -1.52417940e-02 3.89715668e+02] [-6.26854505e-01 7.79034019e-01 1.26264563e-02 -2.32991206e+02] [ 1.97904317e-02 -2.80169579e-04 9.99804111e-01 8.65687896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.102755096 meters 0.021673726944846705 Centerline is valid? [True, True] Translation: X:389.76, Y:-233.03, Z:8.66 [[ 7.83712244e-01 6.20930461e-01 -1.55074845e-02 3.89758798e+02] [-6.20797585e-01 7.83865527e-01 1.28527755e-02 -2.33034886e+02] [ 2.01364623e-02 -4.45868551e-04 9.99797141e-01 8.65742417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.162755096 meters 0.02433026243902417 Centerline is valid? [True, True] Translation: X:389.80, Y:-233.08, Z:8.66 [[ 7.86753844e-01 6.17069719e-01 -1.55996978e-02 3.89804128e+02] [-6.16934484e-01 7.86908293e-01 1.29298435e-02 -2.33077728e+02] [ 2.02541465e-02 -5.48612606e-04 9.99794713e-01 8.65825483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.222755096 meters 0.02654798861931786 Centerline is valid? [True, True] Translation: X:389.85, Y:-233.12, Z:8.66 [[ 7.88892507e-01 6.14307358e-01 -1.65855919e-02 3.89851261e+02] [-6.14153829e-01 7.89066558e-01 1.37492308e-02 -2.33118569e+02] [ 2.15333896e-02 -6.60560404e-04 9.99767911e-01 8.65788161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.282755096 meters 0.0261134045913783 Centerline is valid? [True, True] Translation: X:389.90, Y:-233.15, Z:8.66 [[ 7.87676832e-01 6.15815280e-01 -1.83507178e-02 3.89899175e+02] [-6.15627688e-01 7.87890265e-01 1.52144904e-02 -2.33154876e+02] [ 2.38276675e-02 -6.86891607e-04 9.99715845e-01 8.65678619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.342755096 meters 0.02279555970808073 Centerline is valid? [True, True] Translation: X:389.95, Y:-233.19, Z:8.66 [[ 7.85121959e-01 6.19051530e-01 -1.89397098e-02 3.89951575e+02] [-6.18852630e-01 7.85350135e-01 1.57031294e-02 -2.33187347e+02] [ 2.45953500e-02 -6.07982509e-04 9.99697304e-01 8.65728459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.402755096 meters 0.022766599646848903 Centerline is valid? [True, True] Translation: X:390.00, Y:-233.22, Z:8.66 [[ 7.82773526e-01 6.22021713e-01 -1.88307004e-02 3.89999761e+02] [-6.21825934e-01 7.82999825e-01 1.56134883e-02 -2.33221407e+02] [ 2.44563639e-02 -5.12407472e-04 9.99700767e-01 8.65715345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.462755096 meters 0.020855263945769965 Centerline is valid? [True, True] Translation: X:390.05, Y:-233.25, Z:8.66 [[ 7.81708317e-01 6.23376504e-01 -1.82713258e-02 3.90048249e+02] [-6.23192581e-01 7.81921688e-01 1.51486231e-02 -2.33254413e+02] [ 2.37300416e-02 -4.55249986e-04 9.99718299e-01 8.65975166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.522755096 meters 0.01993272586184065 Centerline is valid? [True, True] Translation: X:390.10, Y:-233.29, Z:8.66 [[ 7.80690019e-01 6.24698185e-01 -1.65913398e-02 3.90096292e+02] [-6.24546870e-01 7.80866210e-01 1.37539075e-02 -2.33289442e+02] [ 2.15476577e-02 -3.75468955e-04 9.99767752e-01 8.66311125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.582755096 meters 0.018648655038482898 Centerline is valid? [True, True] Translation: X:390.15, Y:-233.33, Z:8.67 [[ 7.79755471e-01 6.25897570e-01 -1.52851891e-02 3.90147028e+02] [-6.25769389e-01 7.79905207e-01 1.26703913e-02 -2.33326092e+02] [ 1.98513657e-02 -3.14803471e-04 9.99802893e-01 8.66606277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.64275509600003 meters 0.019350739302600808 Centerline is valid? [True, True] Translation: X:390.19, Y:-233.37, Z:8.67 [[ 7.78906582e-01 6.26971307e-01 -1.45436225e-02 3.90194080e+02] [-6.26855327e-01 7.79042299e-01 1.20621733e-02 -2.33365256e+02] [ 1.88927337e-02 -2.78558929e-04 9.99821478e-01 8.66760566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.70275509600003 meters 0.01824052845441753 Centerline is valid? [True, True] Translation: X:390.24, Y:-233.40, Z:8.67 [[ 7.78186058e-01 6.27869102e-01 -1.43822646e-02 3.90242417e+02] [-6.27755765e-01 7.78318909e-01 1.19320653e-02 -2.33399922e+02] [ 1.86857637e-02 -2.56817309e-04 9.99825373e-01 8.66853051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76275509600003 meters 0.017857349932328414 Centerline is valid? [True, True] Translation: X:390.29, Y:-233.44, Z:8.67 [[ 7.77659402e-01 6.28526082e-01 -1.41710718e-02 3.90291690e+02] [-6.28416214e-01 7.77788473e-01 1.17538502e-02 -2.33438752e+02] [ 1.84096977e-02 -2.35160769e-04 9.99830499e-01 8.66948427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82275509600004 meters 0.018026872328495765 Centerline is valid? [True, True] Translation: X:390.34, Y:-233.48, Z:8.67 [[ 7.77771792e-01 6.28387149e-01 -1.41644222e-02 3.90337949e+02] [-6.28277219e-01 7.77900721e-01 1.17560344e-02 -2.33476068e+02] [ 1.84058552e-02 -2.44328140e-04 9.99830568e-01 8.66994383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.882755096 meters 0.01810800470245802 Centerline is valid? [True, True] Translation: X:390.38, Y:-233.51, Z:8.67 [[ 7.77740414e-01 6.28436285e-01 -1.36997790e-02 3.90382421e+02] [-6.28333472e-01 7.77861029e-01 1.13695477e-02 -2.33513865e+02] [ 1.78015606e-02 -2.34527016e-04 9.99841512e-01 8.67227698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.942755096 meters 0.018161374327301704 Centerline is valid? [True, True] Translation: X:390.43, Y:-233.55, Z:8.67 [[ 7.78036208e-01 6.28070482e-01 -1.36794829e-02 3.90428704e+02] [-6.27967951e-01 7.78156418e-01 1.13508303e-02 -2.33553378e+02] [ 1.77738989e-02 -2.41080180e-04 9.99842003e-01 8.67361157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.002755096 meters 0.018027052971753162 Centerline is valid? [True, True] Translation: X:390.48, Y:-233.59, Z:8.67 [[ 7.77914238e-01 6.28211563e-01 -1.41304737e-02 3.90477508e+02] [-6.28102183e-01 7.78042526e-01 1.17250050e-02 -2.33593341e+02] [ 1.83598932e-02 -2.45666979e-04 9.99831413e-01 8.67374448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.062755096 meters 0.018476930228732504 Centerline is valid? [True, True] Translation: X:390.52, Y:-233.63, Z:8.67 [[ 7.78451365e-01 6.27535282e-01 -1.45925559e-02 3.90524682e+02] [-6.27418358e-01 7.78588077e-01 1.21165234e-02 -2.33633029e+02] [ 1.89651360e-02 -2.76486716e-04 9.99820107e-01 8.67337202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.122755096 meters 0.01892656533754461 Centerline is valid? [True, True] Translation: X:390.57, Y:-233.67, Z:8.67 [[ 7.79756668e-01 6.25905495e-01 -1.48946201e-02 3.90570583e+02] [-6.25783301e-01 7.79898843e-01 1.23715509e-02 -2.33674631e+02] [ 1.93597187e-02 -3.25994797e-04 9.99812530e-01 8.67432872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.182755096 meters 0.020964864107456953 Centerline is valid? [True, True] Translation: X:390.61, Y:-233.72, Z:8.68 [[ 7.81257208e-01 6.24031464e-01 -1.48965272e-02 3.90614430e+02] [-6.23908760e-01 7.81399122e-01 1.23802690e-02 -2.33717191e+02] [ 1.93658107e-02 -3.78100594e-04 9.99812394e-01 8.67529554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.242755096 meters 0.022618096123655253 Centerline is valid? [True, True] Translation: X:390.66, Y:-233.76, Z:8.68 [[ 7.84645664e-01 6.19773143e-01 -1.45750960e-02 3.90660461e+02] [-6.19654823e-01 7.84780876e-01 1.21192751e-02 -2.33758727e+02] [ 1.89494578e-02 -4.77808171e-04 9.99820329e-01 8.67688085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.302755096 meters 0.02445507688113082 Centerline is valid? [True, True] Translation: X:390.71, Y:-233.80, Z:8.68 [[ 7.88213119e-01 6.15249725e-01 -1.37060253e-02 3.90705037e+02] [-6.15144379e-01 7.88332081e-01 1.13983799e-02 -2.33801022e+02] [ 1.78177495e-02 -5.53168154e-04 9.99841098e-01 8.67906503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.362755096 meters 0.02517109850529143 Centerline is valid? [True, True] Translation: X:390.75, Y:-233.84, Z:8.68 [[ 7.88843239e-01 6.14449751e-01 -1.33359438e-02 3.90751513e+02] [-6.14349894e-01 7.88955762e-01 1.10911389e-02 -2.33841796e+02] [ 1.73364172e-02 -5.56234269e-04 9.99849558e-01 8.68099359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.422755096 meters 0.024997122391459733 Centerline is valid? [True, True] Translation: X:390.80, Y:-233.88, Z:8.68 [[ 7.89495471e-01 6.13624918e-01 -1.27027971e-02 3.90799503e+02] [-6.13534118e-01 7.89597465e-01 1.05702281e-02 -2.33881248e+02] [ 1.65162517e-02 -5.51547807e-04 9.99863445e-01 8.68296082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.482755096 meters 0.025011062668280792 Centerline is valid? [True, True] Translation: X:390.85, Y:-233.92, Z:8.68 [[ 7.86986939e-01 6.16817716e-01 -1.36917389e-02 3.90846206e+02] [-6.16712577e-01 7.87105855e-01 1.14004900e-02 -2.33919128e+02] [ 1.78088721e-02 -5.28169095e-04 9.99841270e-01 8.68361682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.542755096 meters 0.021819795870069457 Centerline is valid? [True, True] Translation: X:390.90, Y:-233.95, Z:8.68 [[ 7.83636061e-01 6.21067730e-01 -1.37622107e-02 3.90897637e+02] [-6.20962149e-01 7.83756777e-01 1.14596131e-02 -2.33953584e+02] [ 1.79034218e-02 -4.34354199e-04 9.99839627e-01 8.68481667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.602755096 meters 0.019988493471462573 Centerline is valid? [True, True] Translation: X:390.95, Y:-233.99, Z:8.69 [[ 7.78985275e-01 6.26887504e-01 -1.39283594e-02 3.90946471e+02] [-6.26780256e-01 7.79109725e-01 1.15994268e-02 -2.33988190e+02] [ 1.81232560e-02 -3.05761984e-04 9.99835714e-01 8.68675890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.662755096 meters 0.018275636505968796 Centerline is valid? [True, True] Translation: X:390.99, Y:-234.02, Z:8.69 [[ 7.76292576e-01 6.30221817e-01 -1.37948631e-02 3.90994332e+02] [-6.30117148e-01 7.76415102e-01 1.14878254e-02 -2.34023296e+02] [ 1.79504182e-02 -2.25533738e-04 9.99838853e-01 8.68946861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.722755096 meters 0.01765754046585727 Centerline is valid? [True, True] Translation: X:391.04, Y:-234.06, Z:8.69 [[ 7.75554878e-01 6.31125437e-01 -1.39754623e-02 3.91039913e+02] [-6.31018179e-01 7.75680759e-01 1.16368692e-02 -2.34059900e+02] [ 1.81848214e-02 -2.06259927e-04 9.99834621e-01 8.69146618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.782755096 meters 0.017812977797510503 Centerline is valid? [True, True] Translation: X:391.09, Y:-234.10, Z:8.69 [[ 7.75661875e-01 6.30997106e-01 -1.38314175e-02 3.91085252e+02] [-6.30892060e-01 7.75785157e-01 1.15151200e-02 -2.34097903e+02] [ 1.79962158e-02 -2.05708116e-04 9.99838034e-01 8.69304601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.842755096 meters 0.018476093454487953 Centerline is valid? [True, True] Translation: X:391.13, Y:-234.14, Z:8.70 [[ 7.76979959e-01 6.29363784e-01 -1.42607954e-02 3.91128352e+02] [-6.29251876e-01 7.77110780e-01 1.18706556e-02 -2.34137606e+02] [ 1.85531785e-02 -2.49629214e-04 9.99827844e-01 8.69516056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.902755096 meters 0.01879202770408249 Centerline is valid? [True, True] Translation: X:391.17, Y:-234.18, Z:8.70 [[ 7.78506828e-01 6.27444986e-01 -1.54889911e-02 3.91174360e+02] [-6.27312617e-01 7.78660830e-01 1.28915703e-02 -2.34178719e+02] [ 2.01494218e-02 -3.19736002e-04 9.99796929e-01 8.69553918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.962755096 meters 0.021401453879037354 Centerline is valid? [True, True] Translation: X:391.22, Y:-234.22, Z:8.70 [[ 7.79521014e-01 6.26172723e-01 -1.59596360e-02 3.91218254e+02] [-6.26031769e-01 7.79684286e-01 1.32905634e-02 -2.34222199e+02] [ 2.07656657e-02 -3.69034311e-04 9.99784302e-01 8.69588459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.022755096 meters 0.021014360099532125 Centerline is valid? [True, True] Translation: X:391.27, Y:-234.26, Z:8.70 [[ 7.81212421e-01 6.24047163e-01 -1.65012583e-02 3.91265892e+02] [-6.23895845e-01 7.81386550e-01 1.37490052e-02 -2.34261241e+02] [ 2.14738890e-02 -4.45827152e-04 9.99769310e-01 8.69728173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.082755096 meters 0.022746598079521972 Centerline is valid? [True, True] Translation: X:391.31, Y:-234.30, Z:8.70 [[ 7.83856307e-01 6.20724443e-01 -1.64455085e-02 3.91310889e+02] [-6.20573276e-01 7.84028618e-01 1.37089378e-02 -2.34304550e+02] [ 2.14032220e-02 -5.40194284e-04 9.99770779e-01 8.69962152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.14275509600003 meters 0.022887587859678926 Centerline is valid? [True, True] Translation: X:391.36, Y:-234.35, Z:8.70 [[ 7.85432532e-01 6.18708880e-01 -1.71772833e-02 3.91357552e+02] [-6.18543401e-01 7.85620094e-01 1.43223493e-02 -2.34345482e+02] [ 2.23561836e-02 -6.24343807e-04 9.99749874e-01 8.70110977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.20275509600003 meters 0.023516580334518367 Centerline is valid? [True, True] Translation: X:391.41, Y:-234.39, Z:8.70 [[ 7.85290614e-01 6.18852321e-01 -1.84514615e-02 3.91405534e+02] [-6.18661185e-01 7.85507066e-01 1.53943905e-02 -2.34385919e+02] [ 2.40206077e-02 -6.73867321e-04 9.99711236e-01 8.70098167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26275509600003 meters 0.022107435355967583 Centerline is valid? [True, True] Translation: X:391.46, Y:-234.42, Z:8.70 [[ 7.83100864e-01 6.21575620e-01 -1.99194661e-02 3.91455684e+02] [-6.21353446e-01 7.83353899e-01 1.66301893e-02 -2.34422234e+02] [ 2.59409116e-02 -6.46086720e-04 9.99663269e-01 8.70150672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32275509600004 meters 0.021138707601941774 Centerline is valid? [True, True] Translation: X:391.50, Y:-234.46, Z:8.70 [[ 7.79901819e-01 6.25548516e-01 -2.10287100e-02 3.91504061e+02] [-6.25302140e-01 7.80185076e-01 1.75636355e-02 -2.34458441e+02] [ 2.73931919e-02 -5.48613911e-04 9.99624586e-01 8.70180088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.382755096 meters 0.0197691475472919 Centerline is valid? [True, True] Translation: X:391.55, Y:-234.49, Z:8.70 [[ 7.77960207e-01 6.27955780e-01 -2.12003731e-02 3.91551722e+02] [-6.27706267e-01 7.78248881e-01 1.77065606e-02 -2.34492982e+02] [ 2.76181037e-02 -4.67392503e-04 9.99618438e-01 8.70311013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.442755096 meters 0.01863154060599024 Centerline is valid? [True, True] Translation: X:391.60, Y:-234.53, Z:8.71 [[ 7.75555951e-01 6.30933360e-01 -2.08821176e-02 3.91599452e+02] [-6.30692433e-01 7.75836948e-01 1.74380127e-02 -2.34527619e+02] [ 2.72033423e-02 -3.53960912e-04 9.99629858e-01 8.70566326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.502755096 meters 0.01852354802073247 Centerline is valid? [True, True] Translation: X:391.65, Y:-234.57, Z:8.71 [[ 7.75232339e-01 6.31361934e-01 -1.99230716e-02 3.91645184e+02] [-6.31142841e-01 7.75488237e-01 1.66345758e-02 -2.34565087e+02] [ 2.59525456e-02 -3.21357076e-04 9.99663124e-01 8.70816899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.562755096 meters 0.019093197750677388 Centerline is valid? [True, True] Translation: X:391.69, Y:-234.60, Z:8.71 [[ 7.75937860e-01 6.30510046e-01 -1.94298529e-02 3.91688822e+02] [-6.30301470e-01 7.76181014e-01 1.62200587e-02 -2.34603298e+02] [ 2.53079929e-02 -3.39092780e-04 9.99679644e-01 8.70925166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.622755096 meters 0.019685158794304453 Centerline is valid? [True, True] Translation: X:391.73, Y:-234.64, Z:8.71 [[ 7.77381479e-01 6.28755628e-01 -1.85579128e-02 3.91733450e+02] [-6.28564922e-01 7.77602867e-01 1.54893666e-02 -2.34641570e+02] [ 2.41697126e-02 -3.76293744e-04 9.99707799e-01 8.71128317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.682755096 meters 0.021134719431845125 Centerline is valid? [True, True] Translation: X:391.78, Y:-234.68, Z:8.71 [[ 7.79189021e-01 6.26497845e-01 -1.91028787e-02 3.91775759e+02] [-6.26295163e-01 7.79423018e-01 1.59413479e-02 -2.34681827e+02] [ 2.48764435e-02 -4.57282688e-04 9.99690429e-01 8.71112104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.742755096 meters 0.020694292916655598 Centerline is valid? [True, True] Translation: X:391.82, Y:-234.72, Z:8.71 [[ 7.80199912e-01 6.25214206e-01 -1.98819832e-02 3.91823242e+02] [-6.24994245e-01 7.80453027e-01 1.65911519e-02 -2.34721143e+02] [ 2.58899778e-02 -5.18290212e-04 9.99664664e-01 8.71236836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.802755096 meters 0.021562220782361134 Centerline is valid? [True, True] Translation: X:391.87, Y:-234.76, Z:8.71 [[ 7.81398322e-01 6.23709342e-01 -2.00828002e-02 3.91870167e+02] [-6.23484178e-01 7.81656139e-01 1.67678494e-02 -2.34762108e+02] [ 2.61561084e-02 -5.81061270e-04 9.99657702e-01 8.71227567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.862755096 meters 0.02207537280485672 Centerline is valid? [True, True] Translation: X:391.92, Y:-234.80, Z:8.71 [[ 7.81972197e-01 6.22942633e-01 -2.14932380e-02 3.91916375e+02] [-6.22684182e-01 7.82267247e-01 1.79545062e-02 -2.34802883e+02] [ 2.79980835e-02 -6.56425314e-04 9.99607761e-01 8.71142926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.922755096 meters 0.022304865717068918 Centerline is valid? [True, True] Translation: X:391.96, Y:-234.84, Z:8.71 [[ 7.81402613e-01 6.23611824e-01 -2.27651130e-02 3.91963218e+02] [-6.23321923e-01 7.81733866e-01 1.90248194e-02 -2.34843876e+02] [ 2.96603621e-02 -6.76049527e-04 9.99559806e-01 8.71121875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.982755096 meters 0.022368524814832536 Centerline is valid? [True, True] Translation: X:392.01, Y:-234.88, Z:8.71 [[ 7.81282954e-01 6.23781594e-01 -2.22141541e-02 3.92008224e+02] [-6.23505455e-01 7.81598420e-01 1.85703204e-02 -2.34882804e+02] [ 2.89463718e-02 -6.58028473e-04 9.99580749e-01 8.71258140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.042755096 meters 0.022359206521238507 Centerline is valid? [True, True] Translation: X:392.05, Y:-234.92, Z:8.71 [[ 7.81024128e-01 6.24147800e-01 -2.09960603e-02 3.92052321e+02] [-6.23901302e-01 7.81306057e-01 1.75502520e-02 -2.34921480e+02] [ 2.73583003e-02 -6.07700885e-04 9.99625507e-01 8.71470833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.102755096 meters 0.02224631111150937 Centerline is valid? [True, True] Translation: X:392.10, Y:-234.96, Z:8.72 [[ 7.80649937e-01 6.24647539e-01 -2.00281592e-02 3.92096025e+02] [-6.24423478e-01 7.80906612e-01 1.67386801e-02 -2.34960617e+02] [ 2.60958973e-02 -5.60996763e-04 9.99659287e-01 8.71762381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.162755096 meters 0.021174669578510313 Centerline is valid? [True, True] Translation: X:392.14, Y:-235.00, Z:8.72 [[ 7.79872482e-01 6.25630807e-01 -1.96215617e-02 3.92144530e+02] [-6.25416043e-01 7.80119110e-01 1.63996224e-02 -2.34999874e+02] [ 2.55672642e-02 -5.17974745e-04 9.99672970e-01 8.71982536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.222755096 meters 0.019856670211429703 Centerline is valid? [True, True] Translation: X:392.19, Y:-235.04, Z:8.72 [[ 7.78142968e-01 6.27808464e-01 -1.87097281e-02 3.92193504e+02] [-6.27613621e-01 7.78367744e-01 1.56460041e-02 -2.35037878e+02] [ 2.43857426e-02 -4.32347830e-04 9.99702530e-01 8.72213240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.282755096 meters 0.01985391990034809 Centerline is valid? [True, True] Translation: X:392.24, Y:-235.08, Z:8.72 [[ 7.77337442e-01 6.28813696e-01 -1.84346879e-02 3.92240216e+02] [-6.28624616e-01 7.77555898e-01 1.54245749e-02 -2.35077352e+02] [ 2.40331842e-02 -4.01601033e-04 9.99711081e-01 8.72353939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.342755096 meters 0.019035348806303965 Centerline is valid? [True, True] Translation: X:392.29, Y:-235.12, Z:8.73 [[ 7.75782275e-01 6.30764577e-01 -1.72600938e-02 3.92288198e+02] [-6.30599145e-01 7.75974190e-01 1.44490515e-02 -2.35116051e+02] [ 2.25073371e-02 -3.25117653e-04 9.99746625e-01 8.72591928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.402755096 meters 0.01893356948823507 Centerline is valid? [True, True] Translation: X:392.33, Y:-235.15, Z:8.73 [[ 7.74999586e-01 6.31730691e-01 -1.70872781e-02 3.92332903e+02] [-6.31568650e-01 7.75187877e-01 1.43107202e-02 -2.35154220e+02] [ 2.22863720e-02 -2.99013025e-04 9.99751583e-01 8.72682998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.462755096 meters 0.01886498415643855 Centerline is valid? [True, True] Translation: X:392.38, Y:-235.19, Z:8.73 [[ 7.74467428e-01 6.32387409e-01 -1.69224070e-02 3.92377949e+02] [-6.32228675e-01 7.74652237e-01 1.41708780e-02 -2.35192049e+02] [ 2.20704652e-02 -2.76052450e-04 9.99756380e-01 8.72685216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.522755096 meters 0.018839806992809044 Centerline is valid? [True, True] Translation: X:392.42, Y:-235.23, Z:8.73 [[ 7.74089137e-01 6.32848622e-01 -1.69890981e-02 3.92421845e+02] [-6.32688797e-01 7.74275502e-01 1.42244000e-02 -2.35229441e+02] [ 2.21561344e-02 -2.62141472e-04 9.99754488e-01 8.72734709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.582755096 meters 0.01861613868944703 Centerline is valid? [True, True] Translation: X:392.47, Y:-235.27, Z:8.73 [[ 7.74222588e-01 6.32664020e-01 -1.77657337e-02 3.92467239e+02] [-6.32489259e-01 7.74426343e-01 1.48720210e-02 -2.35268303e+02] [ 2.31672448e-02 -2.77618805e-04 9.99731565e-01 8.72683630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.64275509600003 meters 0.01922920106015116 Centerline is valid? [True, True] Translation: X:392.51, Y:-235.31, Z:8.73 [[ 7.74584931e-01 6.32229888e-01 -1.74227831e-02 3.92509378e+02] [-6.32061734e-01 7.74780800e-01 1.45834075e-02 -2.35307615e+02] [ 2.27189039e-02 -2.83813247e-04 9.99741852e-01 8.72711690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.70275509600003 meters 0.01950135597136624 Centerline is valid? [True, True] Translation: X:392.55, Y:-235.35, Z:8.73 [[ 7.74801257e-01 6.31952245e-01 -1.78710097e-02 3.92554547e+02] [-6.31775326e-01 7.75007273e-01 1.49554423e-02 -2.35345986e+02] [ 2.33012878e-02 -2.97032524e-04 9.99728444e-01 8.72782223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76275509600003 meters 0.019042564400350844 Centerline is valid? [True, True] Translation: X:392.60, Y:-235.38, Z:8.73 [[ 7.75083731e-01 6.31632061e-01 -1.69159586e-02 3.92600364e+02] [-6.31473516e-01 7.75268248e-01 1.41542010e-02 -2.35382562e+02] [ 2.20546527e-02 -2.88711027e-04 9.99756725e-01 8.72943482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.822755096 meters 0.019083693794797463 Centerline is valid? [True, True] Translation: X:392.65, Y:-235.42, Z:8.73 [[ 7.75626051e-01 6.30984402e-01 -1.62146050e-02 3.92647955e+02] [-6.30838606e-01 7.75795461e-01 1.35667017e-02 -2.35423132e+02] [ 2.11395941e-02 -2.93888465e-04 9.99776491e-01 8.73154546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.882755096 meters 0.01894087636086725 Centerline is valid? [True, True] Translation: X:392.70, Y:-235.46, Z:8.73 [[ 7.75498509e-01 6.31156247e-01 -1.56158601e-02 3.92696194e+02] [-6.31020889e-01 7.75655665e-01 1.30738825e-02 -2.35463949e+02] [ 2.03641930e-02 -2.84842434e-04 9.99792588e-01 8.73292313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.942755096 meters 0.019202621880062304 Centerline is valid? [True, True] Translation: X:392.74, Y:-235.50, Z:8.73 [[ 7.75599712e-01 6.31037091e-01 -1.54038022e-02 3.92743973e+02] [-6.30905194e-01 7.75752606e-01 1.29046594e-02 -2.35504475e+02] [ 2.00928584e-02 -2.90511257e-04 9.99798076e-01 8.73475840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.002755096 meters 0.019384611304316207 Centerline is valid? [True, True] Translation: X:392.79, Y:-235.55, Z:8.74 [[ 7.75453472e-01 6.31216755e-01 -1.54052389e-02 3.92790157e+02] [-6.31084704e-01 7.75606423e-01 1.29140642e-02 -2.35545066e+02] [ 2.00999759e-02 -2.92245257e-04 9.99797932e-01 8.73671983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.062755096 meters 0.019226080926230838 Centerline is valid? [True, True] Translation: X:392.84, Y:-235.58, Z:8.74 [[ 7.74928281e-01 6.31854801e-01 -1.56738528e-02 3.92835628e+02] [-6.31718111e-01 7.75086724e-01 1.31453143e-02 -2.35583194e+02] [ 2.04545251e-02 -2.85219099e-04 9.99790744e-01 8.73780936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.122755096 meters 0.019047400065613725 Centerline is valid? [True, True] Translation: X:392.88, Y:-235.62, Z:8.74 [[ 7.74110710e-01 6.32857022e-01 -1.56396385e-02 3.92882119e+02] [-6.32721164e-01 7.74268638e-01 1.31150518e-02 -2.35619553e+02] [ 2.04092343e-02 -2.56971798e-04 9.99791677e-01 8.73933511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.182755096 meters 0.019226273433745805 Centerline is valid? [True, True] Translation: X:392.93, Y:-235.66, Z:8.74 [[ 7.74191354e-01 6.32744796e-01 -1.61793076e-02 3.92925986e+02] [-6.32599424e-01 7.74360350e-01 1.35652870e-02 -2.35656236e+02] [ 2.11119791e-02 -2.67107191e-04 9.99777082e-01 8.73915217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.242755096 meters 0.01957649085581056 Centerline is valid? [True, True] Translation: X:392.97, Y:-235.70, Z:8.74 [[ 7.74606530e-01 6.32204697e-01 -1.73765572e-02 3.92969730e+02] [-6.32036960e-01 7.74801350e-01 1.45653558e-02 -2.35695046e+02] [ 2.26716663e-02 -2.99793328e-04 9.99742920e-01 8.73880835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.302755096 meters 0.020379693788622703 Centerline is valid? [True, True] Translation: X:393.01, Y:-235.73, Z:8.74 [[ 7.75640933e-01 6.30931952e-01 -1.74932840e-02 3.93012760e+02] [-6.30761690e-01 7.75838101e-01 1.46605390e-02 -2.35733000e+02] [ 2.28217587e-02 -3.37220786e-04 9.99739493e-01 8.73978803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.362755096 meters 0.020156132048170752 Centerline is valid? [True, True] Translation: X:393.06, Y:-235.77, Z:8.74 [[ 7.76302288e-01 6.30100675e-01 -1.81079068e-02 3.93058684e+02] [-6.29918116e-01 7.76513362e-01 1.51712103e-02 -2.35769172e+02] [ 2.36204215e-02 -3.70946744e-04 9.99720930e-01 8.74199082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.422755096 meters 0.02057017489692594 Centerline is valid? [True, True] Translation: X:393.10, Y:-235.81, Z:8.74 [[ 7.76826973e-01 6.29443594e-01 -1.84557749e-02 3.93103835e+02] [-6.29253825e-01 7.77046076e-01 1.54602685e-02 -2.35807154e+02] [ 2.40723544e-02 -3.96586649e-04 9.99710140e-01 8.74271128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.482755096 meters 0.020758697343441723 Centerline is valid? [True, True] Translation: X:393.15, Y:-235.84, Z:8.74 [[ 7.77546523e-01 6.28543806e-01 -1.88172361e-02 3.93149989e+02] [-6.28346325e-01 7.77774066e-01 1.57606348e-02 -2.35844203e+02] [ 2.45418076e-02 -4.30885646e-04 9.99698712e-01 8.74461443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.542755096 meters 0.02097102571048796 Centerline is valid? [True, True] Translation: X:393.20, Y:-235.88, Z:8.75 [[ 7.78251743e-01 6.27674864e-01 -1.86678401e-02 3.93196080e+02] [-6.27480315e-01 7.78475471e-01 1.56331197e-02 -2.35881445e+02] [ 2.43449718e-02 -4.52800458e-04 9.99703515e-01 8.74644318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.602755096 meters 0.02134709602702308 Centerline is valid? [True, True] Translation: X:393.24, Y:-235.92, Z:8.75 [[ 7.78977173e-01 6.26766001e-01 -1.89458335e-02 3.93241405e+02] [-6.26565405e-01 7.79207382e-01 1.58634488e-02 -2.35919634e+02] [ 2.47054037e-02 -4.86460672e-04 9.99694657e-01 8.74789181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.662755096 meters 0.0206951312493757 Centerline is valid? [True, True] Translation: X:393.29, Y:-235.96, Z:8.75 [[ 7.79074706e-01 6.26637607e-01 -1.91810123e-02 3.93290664e+02] [-6.26431939e-01 7.79310633e-01 1.60612610e-02 -2.35959263e+02] [ 2.50125569e-02 -4.97323464e-04 9.99687013e-01 8.75013330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.722755096 meters 0.021595577597388182 Centerline is valid? [True, True] Translation: X:393.34, Y:-236.00, Z:8.75 [[ 7.79817799e-01 6.25716251e-01 -1.90623603e-02 3.93337007e+02] [-6.25512595e-01 7.80050569e-01 1.59719160e-02 -2.36000100e+02] [ 2.48634924e-02 -5.31437978e-04 9.99690714e-01 8.75195363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.782755096 meters 0.02154059961467908 Centerline is valid? [True, True] Translation: X:393.39, Y:-236.04, Z:8.75 [[ 7.79784403e-01 6.25758261e-01 -1.90495043e-02 3.93385836e+02] [-6.25554660e-01 7.80016866e-01 1.59704692e-02 -2.36040328e+02] [ 2.48525877e-02 -5.37016603e-04 9.99690983e-01 8.75343450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.842755096 meters 0.02303201318860619 Centerline is valid? [True, True] Translation: X:393.43, Y:-236.08, Z:8.75 [[ 7.78992879e-01 6.26742013e-01 -1.90930512e-02 3.93430269e+02] [-6.26537529e-01 7.79226658e-01 1.60168599e-02 -2.36081901e+02] [ 2.49162535e-02 -5.14506646e-04 9.99689410e-01 8.75451472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.902755096 meters 0.020663062065482247 Centerline is valid? [True, True] Translation: X:393.48, Y:-236.12, Z:8.76 [[ 7.77316881e-01 6.28816300e-01 -1.91970765e-02 3.93480085e+02] [-6.28610062e-01 7.77553762e-01 1.61101458e-02 -2.36115973e+02] [ 2.50570813e-02 -4.55212794e-04 9.99685918e-01 8.75669903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.962755096 meters 0.019464716473902535 Centerline is valid? [True, True] Translation: X:393.53, Y:-236.15, Z:8.76 [[ 7.74366252e-01 6.32426378e-01 -1.98440014e-02 3.93527470e+02] [-6.32207220e-01 7.74620394e-01 1.66516362e-02 -2.36149160e+02] [ 2.59025022e-02 -3.48944182e-04 9.99664413e-01 8.75694327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.022755096 meters 0.018076861585090517 Centerline is valid? [True, True] Translation: X:393.58, Y:-236.18, Z:8.76 [[ 7.71331555e-01 6.36124288e-01 -1.98373987e-02 3.93577003e+02] [-6.35906572e-01 7.71586574e-01 1.66430370e-02 -2.36181330e+02] [ 2.58933106e-02 -2.22567382e-04 9.99664687e-01 8.75855843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.082755096 meters 0.017650114853470854 Centerline is valid? [True, True] Translation: X:393.62, Y:-236.22, Z:8.76 [[ 7.69779332e-01 6.37999074e-01 -1.99238890e-02 3.93623886e+02] [-6.37780152e-01 7.70037113e-01 1.67129314e-02 -2.36216829e+02] [ 2.60049688e-02 -1.58208258e-04 9.99661801e-01 8.75943112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.14275509600003 meters 0.017447001581860223 Centerline is valid? [True, True] Translation: X:393.67, Y:-236.25, Z:8.76 [[ 7.68766667e-01 6.39209624e-01 -2.02204990e-02 3.93670679e+02] [-6.38984623e-01 7.69032537e-01 1.69590129e-02 -2.36252119e+02] [ 2.63905860e-02 -1.16935918e-04 9.99651701e-01 8.76087244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.20275509600003 meters 0.017465437197721242 Centerline is valid? [True, True] Translation: X:393.72, Y:-236.29, Z:8.76 [[ 7.68906402e-01 6.39046815e-01 -2.00527505e-02 3.93715759e+02] [-6.38825559e-01 7.69167832e-01 1.68152125e-02 -2.36289258e+02] [ 2.61696386e-02 -1.19115000e-04 9.99657509e-01 8.76189769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26275509600003 meters 0.017733860288998152 Centerline is valid? [True, True] Translation: X:393.76, Y:-236.33, Z:8.76 [[ 7.70354093e-01 6.37324850e-01 -1.92771141e-02 3.93759672e+02] [-6.37119928e-01 7.70595229e-01 1.61613747e-02 -2.36327906e+02] [ 2.51548979e-02 -1.68147622e-04 9.99683551e-01 8.76341669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.322755096 meters 0.0187148941623145 Centerline is valid? [True, True] Translation: X:393.80, Y:-236.37, Z:8.77 [[ 7.73813375e-01 6.33135639e-01 -1.87649822e-02 3.93803605e+02] [-6.32940270e-01 7.74040810e-01 1.57301905e-02 -2.36369232e+02] [ 2.44842063e-02 -2.95118893e-04 9.99700173e-01 8.76571507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.382755096 meters 0.020723146298116016 Centerline is valid? [True, True] Translation: X:393.85, Y:-236.41, Z:8.77 [[ 7.78071837e-01 6.27906472e-01 -1.83760437e-02 3.93847499e+02] [-6.27717646e-01 7.78288674e-01 1.54044395e-02 -2.36412423e+02] [ 2.39744139e-02 -4.50793617e-04 9.99712471e-01 8.76716137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.442755096 meters 0.02225725802708441 Centerline is valid? [True, True] Translation: X:393.89, Y:-236.45, Z:8.77 [[ 7.80505023e-01 6.24877825e-01 -1.84285664e-02 3.93892859e+02] [-6.24687005e-01 7.80722360e-01 1.54513041e-02 -2.36454116e+02] [ 2.40427711e-02 -5.47734517e-04 9.99710781e-01 8.76798097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.502755096 meters 0.023447961603089235 Centerline is valid? [True, True] Translation: X:393.94, Y:-236.49, Z:8.77 [[ 7.82730763e-01 6.22082773e-01 -1.85897091e-02 3.93939842e+02] [-6.21887644e-01 7.82951217e-01 1.55932788e-02 -2.36494675e+02] [ 2.42551455e-02 -6.44628631e-04 9.99705593e-01 8.76833832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.562755096 meters 0.02382897972654693 Centerline is valid? [True, True] Translation: X:393.99, Y:-236.53, Z:8.77 [[ 7.83308901e-01 6.21338564e-01 -1.91194595e-02 3.93988545e+02] [-6.21131823e-01 7.83541902e-01 1.60420114e-02 -2.36533050e+02] [ 2.49484180e-02 -6.90145592e-04 9.99688502e-01 8.76894010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.622755096 meters 0.02412257997299663 Centerline is valid? [True, True] Translation: X:394.04, Y:-236.57, Z:8.77 [[ 7.82765473e-01 6.22032636e-01 -1.88046130e-02 3.94036092e+02] [-6.21832665e-01 7.82991034e-01 1.57853321e-02 -2.36570110e+02] [ 2.45428351e-02 -6.62890348e-04 9.99698559e-01 8.77014361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.682755096 meters 0.022750081509799035 Centerline is valid? [True, True] Translation: X:394.09, Y:-236.61, Z:8.77 [[ 7.81480898e-01 6.23640414e-01 -1.89799944e-02 3.94085773e+02] [-6.23437046e-01 7.81711102e-01 1.59374273e-02 -2.36607059e+02] [ 2.47760961e-02 -6.21963327e-04 9.99692832e-01 8.77208217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.742755096 meters 0.022241956261526967 Centerline is valid? [True, True] Translation: X:394.13, Y:-236.64, Z:8.77 [[ 7.80172762e-01 6.25281883e-01 -1.87890427e-02 3.94133051e+02] [-6.25082901e-01 7.80398772e-01 1.57836555e-02 -2.36644180e+02] [ 2.45321797e-02 -5.69268813e-04 9.99698879e-01 8.77359800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.802755096 meters 0.02113357765604418 Centerline is valid? [True, True] Translation: X:394.18, Y:-236.68, Z:8.77 [[ 7.77603691e-01 6.28486090e-01 -1.83775501e-02 3.94180587e+02] [-6.28296645e-01 7.77820690e-01 1.54369490e-02 -2.36678485e+02] [ 2.39963464e-02 -4.57275463e-04 9.99711942e-01 8.77493337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.862755096 meters 0.01970478993316717 Centerline is valid? [True, True] Translation: X:394.23, Y:-236.71, Z:8.78 [[ 7.75018380e-01 6.31693325e-01 -1.76083333e-02 3.94229165e+02] [-6.31520284e-01 7.75218309e-01 1.47886699e-02 -2.36712837e+02] [ 2.29922064e-02 -3.41471396e-04 9.99735586e-01 8.77677804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.922755096 meters 0.018459460019079093 Centerline is valid? [True, True] Translation: X:394.28, Y:-236.75, Z:8.78 [[ 7.73345688e-01 6.33728085e-01 -1.80322421e-02 3.94277301e+02] [-6.33547208e-01 7.73555837e-01 1.51427533e-02 -2.36746759e+02] [ 2.35453342e-02 -2.86306386e-04 9.99722729e-01 8.77812195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.982755096 meters 0.018772123018010404 Centerline is valid? [True, True] Translation: X:394.32, Y:-236.78, Z:8.78 [[ 7.72479554e-01 6.34760095e-01 -1.88403631e-02 3.94323456e+02] [-6.34563012e-01 7.72709228e-01 1.58187444e-02 -2.36783569e+02] [ 2.45992301e-02 -2.64259127e-04 9.99697358e-01 8.77782815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.042755096 meters 0.018079344197713277 Centerline is valid? [True, True] Translation: X:394.37, Y:-236.82, Z:8.78 [[ 7.72531019e-01 6.34675320e-01 -1.95719857e-02 3.94367454e+02] [-6.34462703e-01 7.72778858e-01 1.64291162e-02 -2.36820484e+02] [ 2.55519713e-02 -2.74306919e-04 9.99673457e-01 8.77864574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.102755096 meters 0.018309910792690762 Centerline is valid? [True, True] Translation: X:394.41, Y:-236.86, Z:8.78 [[ 7.73713339e-01 6.33224219e-01 -1.98685259e-02 3.94412236e+02] [-6.33004781e-01 7.73968336e-01 1.66721961e-02 -2.36858971e+02] [ 2.59348483e-02 -3.22628607e-04 9.99663583e-01 8.78052015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.162755096 meters 0.019213325558263727 Centerline is valid? [True, True] Translation: X:394.46, Y:-236.90, Z:8.78 [[ 7.74690625e-01 6.32029383e-01 -1.98316355e-02 3.94457335e+02] [-6.31810438e-01 7.74944339e-01 1.66385611e-02 -2.36897470e+02] [ 2.58844732e-02 -3.59902939e-04 9.99664876e-01 8.78121688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.222755096 meters 0.020597877951741922 Centerline is valid? [True, True] Translation: X:394.50, Y:-236.94, Z:8.78 [[ 7.77055211e-01 6.29121080e-01 -1.97956072e-02 3.94498862e+02] [-6.28902058e-01 7.77307185e-01 1.66054378e-02 -2.36938544e+02] [ 2.58340987e-02 -4.53843845e-04 9.99666141e-01 8.78222720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.282755096 meters 0.02117224010814965 Centerline is valid? [True, True] Translation: X:394.54, Y:-236.98, Z:8.79 [[ 7.80200913e-01 6.25237804e-01 -1.90846220e-02 3.94543648e+02] [-6.25033136e-01 7.80434094e-01 1.60063973e-02 -2.36977914e+02] [ 2.49020944e-02 -5.59684635e-04 9.99689738e-01 8.78508025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.342755096 meters 0.022443375376049096 Centerline is valid? [True, True] Translation: X:394.59, Y:-237.02, Z:8.79 [[ 7.82437528e-01 6.22445945e-01 -1.87765754e-02 3.94587597e+02] [-6.22247053e-01 7.82662532e-01 1.57469396e-02 -2.37019063e+02] [ 2.44973407e-02 -6.37327773e-04 9.99699692e-01 8.78702919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.402755096 meters 0.02230331908821364 Centerline is valid? [True, True] Translation: X:394.63, Y:-237.06, Z:8.79 [[ 7.82751945e-01 6.22060986e-01 -1.84261321e-02 3.94634982e+02] [-6.21869348e-01 7.82968533e-01 1.54528637e-02 -2.37058235e+02] [ 2.40397052e-02 -6.37112368e-04 9.99710802e-01 8.78852110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.462755096 meters 0.021685866972430804 Centerline is valid? [True, True] Translation: X:394.68, Y:-237.09, Z:8.79 [[ 7.81373084e-01 6.23790218e-01 -1.84896669e-02 3.94682092e+02] [-6.23597722e-01 7.81591594e-01 1.55068233e-02 -2.37094657e+02] [ 2.41243729e-02 -5.86500155e-04 9.99708793e-01 8.78906755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.522755096 meters 0.02069161046130929 Centerline is valid? [True, True] Translation: X:394.73, Y:-237.13, Z:8.79 [[ 7.79421144e-01 6.26237780e-01 -1.81362232e-02 3.94728605e+02] [-6.26053269e-01 7.79631960e-01 1.52089243e-02 -2.37130492e+02] [ 2.36639823e-02 -4.99915338e-04 9.99719844e-01 8.79114465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.582755096 meters 0.01909406690389084 Centerline is valid? [True, True] Translation: X:394.78, Y:-237.16, Z:8.79 [[ 7.77060390e-01 6.29194525e-01 -1.70704431e-02 3.94776772e+02] [-6.29031825e-01 7.77247774e-01 1.43129826e-02 -2.37164778e+02] [ 2.22736142e-02 -3.84199863e-04 9.99751838e-01 8.79351702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.64275509600003 meters 0.018940458128897233 Centerline is valid? [True, True] Translation: X:394.82, Y:-237.20, Z:8.79 [[ 7.75638237e-01 6.30949937e-01 -1.69558697e-02 3.94821892e+02] [-6.30789886e-01 7.75823477e-01 1.42145040e-02 -2.37201101e+02] [ 2.21234022e-02 -3.29721699e-04 9.99755193e-01 8.79446624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.70275509600003 meters 0.018288454659829995 Centerline is valid? [True, True] Translation: X:394.87, Y:-237.24, Z:8.80 [[ 7.74069141e-01 6.32897462e-01 -1.60551619e-02 3.94868105e+02] [-6.32754436e-01 7.74235582e-01 1.34568974e-02 -2.37237287e+02] [ 2.09473139e-02 -2.57594095e-04 9.99780548e-01 8.79658381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76275509600003 meters 0.017873672195786065 Centerline is valid? [True, True] Translation: X:394.91, Y:-237.27, Z:8.80 [[ 7.72741493e-01 6.34550306e-01 -1.47137372e-02 3.94913955e+02] [-6.34430517e-01 7.72881538e-01 1.23307547e-02 -2.37274598e+02] [ 1.91964600e-02 -1.93641932e-04 9.99815712e-01 8.79959486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.822755096 meters 0.019418279464478834 Centerline is valid? [True, True] Translation: X:394.96, Y:-237.31, Z:8.80 [[ 7.71752466e-01 6.35739928e-01 -1.52602722e-02 3.94957622e+02] [-6.35611351e-01 7.71903307e-01 1.27865205e-02 -2.37313206e+02] [ 1.99083562e-02 -1.68426451e-04 9.99801795e-01 8.79887699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.882755096 meters 0.01773896241234366 Centerline is valid? [True, True] Translation: X:395.00, Y:-237.35, Z:8.80 [[ 7.71117074e-01 6.36543159e-01 -1.38298462e-02 3.95002452e+02] [-6.36437744e-01 7.71241071e-01 1.15848784e-02 -2.37351743e+02] [ 1.80404205e-02 -1.31461417e-04 9.99837250e-01 8.80163487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.942755096 meters 0.017737949106668607 Centerline is valid? [True, True] Translation: X:395.05, Y:-237.39, Z:8.80 [[ 7.71000687e-01 6.36683688e-01 -1.38499799e-02 3.95045758e+02] [-6.36578020e-01 7.71125065e-01 1.15999729e-02 -2.37390479e+02] [ 1.80655801e-02 -1.26994317e-04 9.99836796e-01 8.80239910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.002755096 meters 0.018069954952763766 Centerline is valid? [True, True] Translation: X:395.09, Y:-237.43, Z:8.80 [[ 7.71635977e-01 6.35908381e-01 -1.40871986e-02 3.95086141e+02] [-6.35798985e-01 7.71764543e-01 1.17957884e-02 -2.37431691e+02] [ 1.83730411e-02 -1.45428148e-04 9.99831191e-01 8.80231552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.062755096 meters 0.018458296132824834 Centerline is valid? [True, True] Translation: X:395.13, Y:-237.47, Z:8.80 [[ 7.72489339e-01 6.34861792e-01 -1.45163677e-02 3.95128543e+02] [-6.34745513e-01 7.72625702e-01 1.21515236e-02 -2.37473419e+02] [ 1.89302569e-02 -1.72723193e-04 9.99820792e-01 8.80264722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.122755096 meters 0.019059156201301535 Centerline is valid? [True, True] Translation: X:395.17, Y:-237.52, Z:8.80 [[ 7.74383805e-01 6.32541786e-01 -1.48529935e-02 3.95170072e+02] [-6.32419660e-01 7.74526200e-01 1.24313570e-02 -2.37515024e+02] [ 1.93673854e-02 -2.33316437e-04 9.99812407e-01 8.80285609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.182755096 meters 0.020382777921371643 Centerline is valid? [True, True] Translation: X:395.21, Y:-237.56, Z:8.80 [[ 7.77801568e-01 6.28321095e-01 -1.54052334e-02 3.95211968e+02] [-6.28188915e-01 7.77954034e-01 1.28922058e-02 -2.37561590e+02] [ 2.00850083e-02 -3.50181031e-04 9.99798215e-01 8.80404300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.242755096 meters 0.021679902227584945 Centerline is valid? [True, True] Translation: X:395.25, Y:-237.61, Z:8.80 [[ 7.79539887e-01 6.26160610e-01 -1.55066376e-02 3.95253488e+02] [-6.26026116e-01 7.79693991e-01 1.29839313e-02 -2.37606891e+02] [ 2.02204585e-02 -4.13932202e-04 9.99795460e-01 8.80456232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.302755096 meters 0.022000134495645893 Centerline is valid? [True, True] Translation: X:395.30, Y:-237.65, Z:8.81 [[ 7.79195781e-01 6.26575922e-01 -1.60171288e-02 3.95296563e+02] [-6.26432422e-01 7.79360275e-01 1.34157773e-02 -2.37650799e+02] [ 2.08891169e-02 -4.19868332e-04 9.99781710e-01 8.80504464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.362755096 meters 0.020964333140647957 Centerline is valid? [True, True] Translation: X:395.34, Y:-237.69, Z:8.81 [[ 7.78267475e-01 6.27719925e-01 -1.63533775e-02 3.95342912e+02] [-6.27570436e-01 7.78439165e-01 1.37045731e-02 -2.37691584e+02] [ 2.13327431e-02 -4.02927294e-04 9.99772350e-01 8.80640563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.422755096 meters 0.020125963888190213 Centerline is valid? [True, True] Translation: X:395.39, Y:-237.73, Z:8.81 [[ 7.76492871e-01 6.29912277e-01 -1.64117480e-02 3.95389178e+02] [-6.29762053e-01 7.76666210e-01 1.37606179e-02 -2.37733896e+02] [ 2.14144323e-02 -3.49525560e-04 9.99770624e-01 8.80752928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.482755096 meters 0.018864949815047213 Centerline is valid? [True, True] Translation: X:395.44, Y:-237.77, Z:8.81 [[ 7.72560499e-01 6.34719644e-01 -1.67704849e-02 3.95437606e+02] [-6.34563828e-01 7.72742469e-01 1.40650536e-02 -2.37771635e+02] [ 2.18866317e-02 -2.24161709e-04 9.99760434e-01 8.80809977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.542755096 meters 0.01815937280887292 Centerline is valid? [True, True] Translation: X:395.49, Y:-237.81, Z:8.81 [[ 7.69720624e-01 6.38156876e-01 -1.69104492e-02 3.95485036e+02] [-6.37999135e-01 7.69906348e-01 1.41887232e-02 -2.37809791e+02] [ 2.20740934e-02 -1.32500967e-04 9.99756329e-01 8.80905704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.602755096 meters 0.017877338625283276 Centerline is valid? [True, True] Translation: X:395.53, Y:-237.85, Z:8.81 [[ 7.68559178e-01 6.39561496e-01 -1.66698100e-02 3.95533606e+02] [-6.39408513e-01 7.68739933e-01 1.39881975e-02 -2.37849100e+02] [ 2.17610611e-02 -9.19391841e-05 9.99763196e-01 8.81093995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.662755096 meters 0.017936883380136933 Centerline is valid? [True, True] Translation: X:395.58, Y:-237.89, Z:8.81 [[ 7.68640673e-01 6.39480388e-01 -1.60108945e-02 3.95580689e+02] [-6.39339068e-01 7.68807404e-01 1.34436701e-02 -2.37889898e+02] [ 2.09062576e-02 -9.69612501e-05 9.99781436e-01 8.81256643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.722755096 meters 0.02055938254892556 Centerline is valid? [True, True] Translation: X:395.63, Y:-237.93, Z:8.81 [[ 7.71459025e-01 6.36078020e-01 -1.59914302e-02 3.95625952e+02] [-6.35936143e-01 7.71624724e-01 1.34353396e-02 -2.37932232e+02] [ 2.08853071e-02 -1.95285554e-04 9.99781859e-01 8.81272294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.782755096 meters 0.018755869000848115 Centerline is valid? [True, True] Translation: X:395.67, Y:-237.97, Z:8.82 [[ 7.71753562e-01 6.35745451e-01 -1.49719809e-02 3.95673007e+02] [-6.35620897e-01 7.71898751e-01 1.25854377e-02 -2.37971088e+02] [ 1.95579881e-02 -1.96352516e-04 9.99808705e-01 8.81571297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.842755096 meters 0.019364573480890202 Centerline is valid? [True, True] Translation: X:395.72, Y:-238.01, Z:8.82 [[ 7.73047886e-01 6.34168830e-01 -1.50618828e-02 3.95720632e+02] [-6.34042347e-01 7.73194565e-01 1.26675520e-02 -2.38010816e+02] [ 1.96791326e-02 -2.42752793e-04 9.99806318e-01 8.81553495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.902755096 meters 0.019804126316661733 Centerline is valid? [True, True] Translation: X:395.77, Y:-238.05, Z:8.81 [[ 7.73800905e-01 6.33228785e-01 -1.59206333e-02 3.95768217e+02] [-6.33087107e-01 7.73964614e-01 1.33974406e-02 -2.38049966e+02] [ 2.08056518e-02 -2.87803993e-04 9.99783498e-01 8.81479086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.962755096 meters 0.02012092923740689 Centerline is valid? [True, True] Translation: X:395.82, Y:-238.09, Z:8.82 [[ 7.74339242e-01 6.32579038e-01 -1.55723872e-02 3.95816361e+02] [-6.32443224e-01 7.74495751e-01 1.31110401e-02 -2.38088560e+02] [ 2.03545169e-02 -3.03742034e-04 9.99792779e-01 8.81521133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.022755096 meters 0.02130644185605677 Centerline is valid? [True, True] Translation: X:395.86, Y:-238.13, Z:8.82 [[ 7.75335990e-01 6.31370836e-01 -1.49990137e-02 3.95862169e+02] [-6.31244482e-01 7.75480986e-01 1.26350697e-02 -2.38128905e+02] [ 1.96088645e-02 -3.28379643e-04 9.99807674e-01 8.81750205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.082755096 meters 0.021689892501058673 Centerline is valid? [True, True] Translation: X:395.91, Y:-238.17, Z:8.82 [[ 7.76581042e-01 6.29864682e-01 -1.38696486e-02 3.95909640e+02] [-6.29756300e-01 7.76704812e-01 1.16892017e-02 -2.38168198e+02] [ 1.81352381e-02 -3.43113826e-04 9.99835484e-01 8.82040983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.14275509600003 meters 0.022903688954492695 Centerline is valid? [True, True] Translation: X:395.96, Y:-238.21, Z:8.82 [[ 7.77454362e-01 6.28793971e-01 -1.35224990e-02 3.95955071e+02] [-6.28690684e-01 7.77571868e-01 1.14023535e-02 -2.38209011e+02] [ 1.76844459e-02 -3.63340301e-04 9.99843552e-01 8.82250857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.20275509600003 meters 0.023551278605702504 Centerline is valid? [True, True] Translation: X:396.00, Y:-238.25, Z:8.82 [[ 7.78684673e-01 6.27277465e-01 -1.31591180e-02 3.96003033e+02] [-6.27179345e-01 7.78795755e-01 1.11013715e-02 -2.38248467e+02] [ 1.72119054e-02 -3.91340819e-04 9.99851788e-01 8.82406878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26275509600003 meters 0.02474319981991564 Centerline is valid? [True, True] Translation: X:396.05, Y:-238.29, Z:8.83 [[ 7.79959691e-01 6.25697639e-01 -1.28586240e-02 3.96049025e+02] [-6.25603638e-01 7.80065566e-01 1.08536356e-02 -2.38290144e+02] [ 1.68216640e-02 -4.20996289e-04 9.99858417e-01 8.82590227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.322755096 meters 0.025825645132644293 Centerline is valid? [True, True] Translation: X:396.10, Y:-238.33, Z:8.83 [[ 7.81117401e-01 6.24253470e-01 -1.27753657e-02 3.96095467e+02] [-6.24160384e-01 7.81221735e-01 1.07896729e-02 -2.38330321e+02] [ 1.67158841e-02 -4.54124165e-04 9.99860177e-01 8.82736836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.382755096 meters 0.026665091565433095 Centerline is valid? [True, True] Translation: X:396.14, Y:-238.37, Z:8.83 [[ 7.81483149e-01 6.23795237e-01 -1.27901994e-02 3.96139575e+02] [-6.23701858e-01 7.81587670e-01 1.08030935e-02 -2.38368243e+02] [ 1.67355804e-02 -4.65164408e-04 9.99859842e-01 8.82906171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.442755096 meters 0.02517492705865072 Centerline is valid? [True, True] Translation: X:396.19, Y:-238.41, Z:8.83 [[ 7.81169672e-01 6.24190400e-01 -1.26604896e-02 3.96189634e+02] [-6.24098967e-01 7.81272129e-01 1.06929654e-02 -2.38407056e+02] [ 1.65657340e-02 -4.51621856e-04 9.99862677e-01 8.82980467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.502755096 meters 0.026230892206701797 Centerline is valid? [True, True] Translation: X:396.24, Y:-238.45, Z:8.83 [[ 7.81023523e-01 6.24376169e-01 -1.25162547e-02 3.96236416e+02] [-6.24286722e-01 7.81123677e-01 1.05777827e-02 -2.38448218e+02] [ 1.63812583e-02 -4.47765439e-04 9.99865718e-01 8.83125957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.562755096 meters 0.024278989783049425 Centerline is valid? [True, True] Translation: X:396.29, Y:-238.49, Z:8.83 [[ 7.79986734e-01 6.25687129e-01 -1.16752069e-02 3.96285745e+02] [-6.25609366e-01 7.80074009e-01 9.87229802e-03 -2.38485581e+02] [ 1.52844952e-02 -3.96142729e-04 9.99883107e-01 8.83351928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.622755096 meters 0.02433410438237756 Centerline is valid? [True, True] Translation: X:396.33, Y:-238.53, Z:8.84 [[ 7.77377085e-01 6.28928488e-01 -1.15682844e-02 3.96332482e+02] [-6.28852417e-01 7.77463083e-01 9.78736640e-03 -2.38525261e+02] [ 1.51494676e-02 -3.33730775e-04 9.99885185e-01 8.83533645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.682755096 meters 0.02131429700425932 Centerline is valid? [True, True] Translation: X:396.38, Y:-238.56, Z:8.84 [[ 7.75061240e-01 6.31776861e-01 -1.17504505e-02 3.96384116e+02] [-6.31698624e-01 7.75150254e-01 9.94646750e-03 -2.38560120e+02] [ 1.53923127e-02 -2.86378007e-04 9.99881490e-01 8.83529808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.742755096 meters 0.0199154577496515 Centerline is valid? [True, True] Translation: X:396.43, Y:-238.60, Z:8.84 [[ 7.71170868e-01 6.36519561e-01 -1.17618099e-02 3.96434298e+02] [-6.36441633e-01 7.71260533e-01 9.96181517e-03 -2.38597007e+02] [ 1.54123100e-02 -1.96556149e-04 9.99881204e-01 8.83594766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.802755096 meters 0.0191546429025747 Centerline is valid? [True, True] Translation: X:396.48, Y:-238.63, Z:8.84 [[ 7.68008581e-01 6.40336405e-01 -1.14938340e-02 3.96482892e+02] [-6.40262315e-01 7.68094573e-01 9.74136709e-03 -2.38634982e+02] [ 1.50661035e-02 -1.22384769e-04 9.99886492e-01 8.83757160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.862755096 meters 0.018849307208044466 Centerline is valid? [True, True] Translation: X:396.53, Y:-238.67, Z:8.84 [[ 7.66671178e-01 6.41940379e-01 -1.13072837e-02 3.96530405e+02] [-6.41868838e-01 7.66754551e-01 9.58401588e-03 -2.38674225e+02] [ 1.48222780e-02 -8.99957260e-05 9.99890140e-01 8.83909215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.922755096 meters 0.018792643225522793 Centerline is valid? [True, True] Translation: X:396.57, Y:-238.71, Z:8.84 [[ 7.66947809e-01 6.41602279e-01 -1.17291657e-02 3.96573422e+02] [-6.41525241e-01 7.67037486e-01 9.94284417e-03 -2.38713763e+02] [ 1.53760612e-02 -1.01086723e-04 9.99881776e-01 8.84066210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.982755096 meters 0.018800740057257938 Centerline is valid? [True, True] Translation: X:396.62, Y:-238.75, Z:8.84 [[ 7.67275432e-01 6.41211008e-01 -1.16985069e-02 3.96617914e+02] [-6.41134343e-01 7.67364602e-01 9.91575044e-03 -2.38752931e+02] [ 1.53351084e-02 -1.07797166e-04 9.99882405e-01 8.84138609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.042755096 meters 0.018989303407676978 Centerline is valid? [True, True] Translation: X:396.66, Y:-238.80, Z:8.84 [[ 7.68661728e-01 6.39540195e-01 -1.21444088e-02 3.96662592e+02] [-6.39457411e-01 7.68757646e-01 1.02908335e-02 -2.38796163e+02] [ 1.59175087e-02 -1.44337657e-04 9.99873298e-01 8.84175174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.102755096 meters 0.019670948628232914 Centerline is valid? [True, True] Translation: X:396.71, Y:-238.84, Z:8.84 [[ 7.70854858e-01 6.36885213e-01 -1.26496436e-02 3.96705207e+02] [-6.36794926e-01 7.70958611e-01 1.07257752e-02 -2.38840597e+02] [ 1.65834393e-02 -2.12787008e-04 9.99862463e-01 8.84202037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.162755096 meters 0.02029188397028087 Centerline is valid? [True, True] Translation: X:396.75, Y:-238.88, Z:8.84 [[ 7.72232250e-01 6.35206675e-01 -1.30319655e-02 3.96749255e+02] [-6.35110600e-01 7.72342161e-01 1.10504251e-02 -2.38884091e+02] [ 1.70844402e-02 -2.56755217e-04 9.99854017e-01 8.84275924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.222755096 meters 0.02124532887906138 Centerline is valid? [True, True] Translation: X:396.79, Y:-238.93, Z:8.84 [[ 7.73857383e-01 6.33215178e-01 -1.35384007e-02 3.96791243e+02] [-6.33111065e-01 7.73975734e-01 1.14865976e-02 -2.38927525e+02] [ 1.77518816e-02 -3.17677129e-04 9.99842372e-01 8.84327343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.282755096 meters 0.0213104627072113 Centerline is valid? [True, True] Translation: X:396.83, Y:-238.97, Z:8.84 [[ 7.73517681e-01 6.33612699e-01 -1.43298633e-02 3.96834077e+02] [-6.33496125e-01 7.73650335e-01 1.21580711e-02 -2.38966026e+02] [ 1.87898118e-02 -3.26570102e-04 9.99823403e-01 8.84319955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.342755096 meters 0.020049053199654773 Centerline is valid? [True, True] Translation: X:396.88, Y:-239.00, Z:8.84 [[ 7.72221232e-01 6.35191570e-01 -1.43540509e-02 3.96882381e+02] [-6.35074916e-01 7.72354574e-01 1.21763451e-02 -2.39002406e+02] [ 1.88207286e-02 -2.86934575e-04 9.99822833e-01 8.84381686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.402755096 meters 0.019121621900495062 Centerline is valid? [True, True] Translation: X:396.93, Y:-239.04, Z:8.84 [[ 7.70706573e-01 6.37016963e-01 -1.48581924e-02 3.96931114e+02] [-6.36892302e-01 7.70849742e-01 1.26043649e-02 -2.39040661e+02] [ 1.94826280e-02 -2.51198538e-04 9.99810164e-01 8.84442044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.462755096 meters 0.018967709316192093 Centerline is valid? [True, True] Translation: X:396.98, Y:-239.08, Z:8.85 [[ 7.70809547e-01 6.36907973e-01 -1.41730669e-02 3.96978071e+02] [-6.36794408e-01 7.70939798e-01 1.20295110e-02 -2.39082228e+02] [ 1.85882728e-02 -2.47132180e-04 9.99827193e-01 8.84675270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.522755096 meters 0.018897153028459845 Centerline is valid? [True, True] Translation: X:397.03, Y:-239.12, Z:8.85 [[ 7.71118607e-01 6.36542118e-01 -1.37922788e-02 3.97025983e+02] [-6.36434383e-01 7.71241899e-01 1.17136319e-02 -2.39122969e+02] [ 1.80934034e-02 -2.54719020e-04 9.99836269e-01 8.84878800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.582755096 meters 0.018786822344397585 Centerline is valid? [True, True] Translation: X:397.07, Y:-239.16, Z:8.85 [[ 7.70941638e-01 6.36755177e-01 -1.38504559e-02 3.97074585e+02] [-6.36646425e-01 7.71066001e-01 1.17707776e-02 -2.39162637e+02] [ 1.81747192e-02 -2.56739332e-04 9.99834793e-01 8.84954168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.64275509600003 meters 0.018273058916393747 Centerline is valid? [True, True] Translation: X:397.12, Y:-239.20, Z:8.85 [[ 7.70098360e-01 6.37774334e-01 -1.38714087e-02 3.97122956e+02] [-6.37665277e-01 7.70223242e-01 1.17962965e-02 -2.39201848e+02] [ 1.82074565e-02 -2.38992885e-04 9.99834202e-01 8.85052891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.70275509600003 meters 0.017917127856446 Centerline is valid? [True, True] Translation: X:397.17, Y:-239.24, Z:8.85 [[ 7.69067674e-01 6.39021547e-01 -1.36519020e-02 3.97171154e+02] [-6.38915996e-01 7.69188805e-01 1.16160573e-02 -2.39241288e+02] [ 1.79238011e-02 -2.11115619e-04 9.99839333e-01 8.85142349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76275509600003 meters 0.01727100305147535 Centerline is valid? [True, True] Translation: X:397.22, Y:-239.28, Z:8.85 [[ 7.67724076e-01 6.40650825e-01 -1.28943175e-02 3.97219177e+02] [-6.40556795e-01 7.67832334e-01 1.09772498e-02 -2.39280424e+02] [ 1.69332580e-02 -1.67956240e-04 9.99856608e-01 8.85301836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.822755096 meters 0.016966701369189468 Centerline is valid? [True, True] Translation: X:397.27, Y:-239.32, Z:8.85 [[ 7.66883154e-01 6.41659752e-01 -1.27667708e-02 3.97265598e+02] [-6.41567602e-01 7.66989401e-01 1.08752988e-02 -2.39318502e+02] [ 1.67702194e-02 -1.49336960e-04 9.99859359e-01 8.85356184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.882755096 meters 0.016777511865037488 Centerline is valid? [True, True] Translation: X:397.31, Y:-239.36, Z:8.85 [[ 7.66778219e-01 6.41780888e-01 -1.29790015e-02 3.97310148e+02] [-6.41685680e-01 7.66888042e-01 1.10552726e-02 -2.39356607e+02] [ 1.70485038e-02 -1.48502867e-04 9.99854653e-01 8.85362111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.942755096 meters 0.01702365926526791 Centerline is valid? [True, True] Translation: X:397.35, Y:-239.40, Z:8.85 [[ 7.67403674e-01 6.41031339e-01 -1.30546057e-02 3.97354538e+02] [-6.40934940e-01 7.67514687e-01 1.11179435e-02 -2.39395358e+02] [ 1.71465518e-02 -1.64797789e-04 9.99852973e-01 8.85420867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.002755096 meters 0.017392859490655867 Centerline is valid? [True, True] Translation: X:397.40, Y:-239.43, Z:8.85 [[ 7.68526372e-01 6.39664819e-01 -1.40048142e-02 3.97398616e+02] [-6.39553682e-01 7.68653938e-01 1.19252393e-02 -2.39433730e+02] [ 1.83930117e-02 -2.08030426e-04 9.99830813e-01 8.85333340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.062755096 meters 0.01825405631482416 Centerline is valid? [True, True] Translation: X:397.44, Y:-239.47, Z:8.85 [[ 7.69669866e-01 6.38268750e-01 -1.48761292e-02 3.97441903e+02] [-6.38143133e-01 7.69813573e-01 1.26651134e-02 -2.39472446e+02] [ 1.95355923e-02 -2.54856463e-04 9.99809130e-01 8.85241456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.122755096 meters 0.019436386117440148 Centerline is valid? [True, True] Translation: X:397.49, Y:-239.51, Z:8.85 [[ 7.71224656e-01 6.36368221e-01 -1.57485655e-02 3.97485863e+02] [-6.36227093e-01 7.71385368e-01 1.34052531e-02 -2.39510844e+02] [ 2.06788901e-02 -3.18797628e-04 9.99786118e-01 8.85066300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.182755096 meters 0.021764611989871677 Centerline is valid? [True, True] Translation: X:397.53, Y:-239.55, Z:8.85 [[ 7.73571270e-01 6.33482995e-01 -1.69347430e-02 3.97528659e+02] [-6.33319173e-01 7.73756496e-01 1.44121428e-02 -2.39549593e+02] [ 2.22332148e-02 -4.23722179e-04 9.99752722e-01 8.84785251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.242755096 meters 0.023679422740816324 Centerline is valid? [True, True] Translation: X:397.57, Y:-239.59, Z:8.85 [[ 7.75525426e-01 6.31075072e-01 -1.74518277e-02 3.97571829e+02] [-6.30900541e-01 7.75721598e-01 1.48495784e-02 -2.39589399e+02] [ 2.29089585e-02 -5.05858107e-04 9.99737427e-01 8.84717659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.302755096 meters 0.026475689757335538 Centerline is valid? [True, True] Translation: X:397.62, Y:-239.63, Z:8.85 [[ 7.78013329e-01 6.27985101e-01 -1.81651402e-02 3.97615461e+02] [-6.27795213e-01 7.78225114e-01 1.54545221e-02 -2.39630226e+02] [ 2.38417780e-02 -6.19836135e-04 9.99715552e-01 8.84697551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.362755096 meters 0.0283318934302408 Centerline is valid? [True, True] Translation: X:397.66, Y:-239.67, Z:8.85 [[ 7.79289596e-01 6.26404885e-01 -1.80179217e-02 3.97660386e+02] [-6.26217680e-01 7.79497583e-01 1.53275786e-02 -2.39667243e+02] [ 2.36461965e-02 -6.61481444e-04 9.99720171e-01 8.84787154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.422755096 meters 0.029295300674378456 Centerline is valid? [True, True] Translation: X:397.71, Y:-239.70, Z:8.85 [[ 7.79867896e-01 6.25688060e-01 -1.79029945e-02 3.97707144e+02] [-6.25503155e-01 7.80073071e-01 1.52252090e-02 -2.39703843e+02] [ 2.34918754e-02 -6.75272105e-04 9.99723800e-01 8.84871701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.482755096 meters 0.0293614309136083 Centerline is valid? [True, True] Translation: X:397.75, Y:-239.74, Z:8.85 [[ 7.79614196e-01 6.25999452e-01 -1.80663226e-02 3.97753576e+02] [-6.25811414e-01 7.79823212e-01 1.53568168e-02 -2.39740650e+02] [ 2.37018966e-02 -6.66281473e-04 9.99718849e-01 8.84999530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.542755096 meters 0.021942092094667135 Centerline is valid? [True, True] Translation: X:397.81, Y:-239.77, Z:8.85 [[ 7.77720377e-01 6.28360316e-01 -1.77293073e-02 3.97810455e+02] [-6.28179927e-01 7.77922218e-01 1.50666027e-02 -2.39769479e+02] [ 2.32592773e-02 -5.80409021e-04 9.99729298e-01 8.85346213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.602755096 meters 0.020484925898507825 Centerline is valid? [True, True] Translation: X:397.86, Y:-239.80, Z:8.86 [[ 7.75727440e-01 6.30839614e-01 -1.69800095e-02 3.97859706e+02] [-6.30674606e-01 7.75913102e-01 1.44360367e-02 -2.39803473e+02] [ 2.22818357e-02 -4.89568965e-04 9.99751609e-01 8.85535597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.662755096 meters 0.01955294603804583 Centerline is valid? [True, True] Translation: X:397.91, Y:-239.84, Z:8.86 [[ 7.73891366e-01 6.33088710e-01 -1.70540065e-02 3.97906532e+02] [-6.32922835e-01 7.74079133e-01 1.44975972e-02 -2.39838297e+02] [ 2.23794157e-02 -4.25695199e-04 9.99749459e-01 8.85675425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.722755096 meters 0.018903570790284267 Centerline is valid? [True, True] Translation: X:397.95, Y:-239.87, Z:8.86 [[ 7.73060798e-01 6.34101160e-01 -1.71091119e-02 3.97952908e+02] [-6.33934511e-01 7.73250000e-01 1.45421638e-02 -2.39874395e+02] [ 2.24508237e-02 -3.95920294e-04 9.99747870e-01 8.85843946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.782755096 meters 0.018986033731950794 Centerline is valid? [True, True] Translation: X:398.00, Y:-239.91, Z:8.86 [[ 7.72521632e-01 6.34763087e-01 -1.69159888e-02 3.97997660e+02] [-6.34600389e-01 7.72706727e-01 1.43756935e-02 -2.39911657e+02] [ 2.21962579e-02 -3.70641172e-04 9.99753564e-01 8.86021376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.842755096 meters 0.018288380871297354 Centerline is valid? [True, True] Translation: X:398.04, Y:-239.95, Z:8.86 [[ 7.72914012e-01 6.34270594e-01 -1.74569049e-02 3.98043173e+02] [-6.34097257e-01 7.73111025e-01 1.48327676e-02 -2.39949560e+02] [ 2.29041140e-02 -3.95078359e-04 9.99737588e-01 8.86212920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.902755096 meters 0.018253545197797122 Centerline is valid? [True, True] Translation: X:398.09, Y:-239.99, Z:8.86 [[ 7.73159835e-01 6.33970466e-01 -1.74733418e-02 3.98089241e+02] [-6.33796748e-01 7.73357153e-01 1.48457691e-02 -2.39989290e+02] [ 2.29249131e-02 -4.03605188e-04 9.99737108e-01 8.86374996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.962755096 meters 0.020244705614939504 Centerline is valid? [True, True] Translation: X:398.13, Y:-240.03, Z:8.86 [[ 7.74342752e-01 6.32513695e-01 -1.78809166e-02 3.98130626e+02] [-6.32331380e-01 7.74549040e-01 1.51924414e-02 -2.40031717e+02] [ 2.34590741e-02 -4.57492256e-04 9.99724693e-01 8.86463031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.022755096 meters 0.0206833038446456 Centerline is valid? [True, True] Translation: X:398.17, Y:-240.07, Z:8.87 [[ 7.76110650e-01 6.30338898e-01 -1.80314229e-02 3.98173335e+02] [-6.30152884e-01 7.76319904e-01 1.53214959e-02 -2.40073179e+02] [ 2.36558874e-02 -5.28622957e-04 9.99720021e-01 8.86667366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.082755096 meters 0.021708748602484854 Centerline is valid? [True, True] Translation: X:398.22, Y:-240.12, Z:8.87 [[ 7.77505179e-01 6.28604688e-01 -1.84890136e-02 3.98216853e+02] [-6.28408637e-01 7.77724753e-01 1.57096453e-02 -2.40117217e+02] [ 2.42545202e-02 -5.95674693e-04 9.99705638e-01 8.86917688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.14275509600003 meters 0.02053217343085888 Centerline is valid? [True, True] Translation: X:398.26, Y:-240.16, Z:8.87 [[ 7.76845211e-01 6.29376670e-01 -1.99129647e-02 3.98263431e+02] [-6.29149394e-01 7.77100138e-01 1.69238201e-02 -2.40158879e+02] [ 2.61258252e-02 -6.18958931e-04 9.99658471e-01 8.87044007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.20275509600003 meters 0.01995720445881454 Centerline is valid? [True, True] Translation: X:398.31, Y:-240.20, Z:8.87 [[ 7.75680371e-01 6.30783836e-01 -2.07777305e-02 3.98310205e+02] [-6.30536578e-01 7.75958366e-01 1.76702795e-02 -2.40199573e+02] [ 2.72687805e-02 -6.05369893e-04 9.99627954e-01 8.87137018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26275509600003 meters 0.01934140734975464 Centerline is valid? [True, True] Translation: X:398.36, Y:-240.24, Z:8.87 [[ 7.73861947e-01 6.32988218e-01 -2.15314275e-02 3.98356660e+02] [-6.32723238e-01 7.74161228e-01 1.83220430e-02 -2.40241411e+02] [ 2.82664337e-02 -5.55297359e-04 9.99600270e-01 8.87279093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.322755096 meters 0.021042719471472262 Centerline is valid? [True, True] Translation: X:398.40, Y:-240.29, Z:8.87 [[ 7.73514879e-01 6.33401036e-01 -2.18599792e-02 3.98400098e+02] [-6.33127756e-01 7.73823505e-01 1.86125492e-02 -2.40286451e+02] [ 2.87049737e-02 -5.56924106e-04 9.99587772e-01 8.87420860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.382755096 meters 0.020158895821295313 Centerline is valid? [True, True] Translation: X:398.45, Y:-240.33, Z:8.88 [[ 7.74178456e-01 6.32607938e-01 -2.13287296e-02 3.98446130e+02] [-6.32347187e-01 7.74471988e-01 1.81707124e-02 -2.40327872e+02] [ 2.80134405e-02 -5.80211876e-04 9.99607378e-01 8.87854671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.442755096 meters 0.02000550726312363 Centerline is valid? [True, True] Translation: X:398.49, Y:-240.37, Z:8.88 [[ 7.74782306e-01 6.31893766e-01 -2.05583975e-02 3.98492320e+02] [-6.31651001e-01 7.75054785e-01 1.75240833e-02 -2.40369193e+02] [ 2.70072433e-02 -5.91617348e-04 9.99635063e-01 8.88162635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.502755096 meters 0.020742908817393123 Centerline is valid? [True, True] Translation: X:398.54, Y:-240.41, Z:8.88 [[ 7.75599758e-01 6.30918735e-01 -1.96612552e-02 3.98536383e+02] [-6.30696146e-01 7.75848686e-01 1.67686797e-02 -2.40412649e+02] [ 2.58338332e-02 -6.05506054e-04 9.99666067e-01 8.88482450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.562755096 meters 0.022033148588390335 Centerline is valid? [True, True] Translation: X:398.58, Y:-240.46, Z:8.89 [[ 7.76370747e-01 6.29976068e-01 -1.94581020e-02 3.98580246e+02] [-6.29757524e-01 7.76614285e-01 1.66046105e-02 -2.40455572e+02] [ 2.55719472e-02 -6.37447679e-04 9.99672781e-01 8.88666163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.622755096 meters 0.02072477233030868 Centerline is valid? [True, True] Translation: X:398.63, Y:-240.49, Z:8.89 [[ 7.75505659e-01 6.31046578e-01 -1.92662645e-02 3.98629271e+02] [-6.30832431e-01 7.75744709e-01 1.64496540e-02 -2.40493800e+02] [ 2.53262006e-02 -6.03015323e-04 9.99679058e-01 8.88962416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.682755096 meters 0.020103941296297907 Centerline is valid? [True, True] Translation: X:398.68, Y:-240.53, Z:8.89 [[ 7.73826099e-01 6.33090900e-01 -1.97251306e-02 3.98677130e+02] [-6.32866837e-01 7.74077259e-01 1.68512269e-02 -2.40532995e+02] [ 2.59371335e-02 -5.56538128e-04 9.99663421e-01 8.89082350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.742755096 meters 0.01915240257965091 Centerline is valid? [True, True] Translation: X:398.73, Y:-240.57, Z:8.89 [[ 7.71615566e-01 6.35750087e-01 -2.07664570e-02 3.98725989e+02] [-6.35502413e-01 7.71894797e-01 1.77512370e-02 -2.40571535e+02] [ 2.73148706e-02 -4.99997310e-04 9.99626754e-01 8.89214782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.802755096 meters 0.01761474609600059 Centerline is valid? [True, True] Translation: X:398.78, Y:-240.61, Z:8.89 [[ 7.68929120e-01 6.38985936e-01 -2.10945997e-02 3.98776240e+02] [-6.38731297e-01 7.69218313e-01 1.80420595e-02 -2.40608140e+02] [ 2.77549746e-02 -3.99283883e-04 9.99614677e-01 8.89341309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.862755096 meters 0.016841336562681608 Centerline is valid? [True, True] Translation: X:398.83, Y:-240.65, Z:8.89 [[ 7.66729360e-01 6.41618400e-01 -2.12583684e-02 3.98825486e+02] [-6.41360505e-01 7.67023944e-01 1.81926513e-02 -2.40645835e+02] [ 2.79784174e-02 -3.14562007e-04 9.99608478e-01 8.89445782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.922755096 meters 0.01623760409583032 Centerline is valid? [True, True] Translation: X:398.87, Y:-240.68, Z:8.89 [[ 7.63580633e-01 6.45354849e-01 -2.14880179e-02 3.98874622e+02] [-6.45092530e-01 7.63882899e-01 1.83995803e-02 -2.40682647e+02] [ 2.82885878e-02 -1.87803376e-04 9.99599780e-01 8.89450188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.982755096 meters 0.015507191635418026 Centerline is valid? [True, True] Translation: X:398.92, Y:-240.72, Z:8.90 [[ 7.60454123e-01 6.49049291e-01 -2.10842297e-02 3.98923777e+02] [-6.48798007e-01 7.60746354e-01 1.80590816e-02 -2.40715888e+02] [ 2.77609850e-02 -5.36967846e-05 9.99614588e-01 8.89604259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.042755096 meters 0.015310996596098702 Centerline is valid? [True, True] Translation: X:398.97, Y:-240.75, Z:8.90 [[ 7.58695632e-01 6.51131005e-01 -2.02324890e-02 3.98972166e+02] [-6.50900427e-01 7.58965358e-01 1.73268424e-02 -2.40750157e+02] [ 2.66378026e-02 2.35361204e-05 9.99645151e-01 8.89723918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.102755096 meters 0.015310135604299167 Centerline is valid? [True, True] Translation: X:399.02, Y:-240.79, Z:8.90 [[ 7.58551204e-01 6.51303308e-01 -2.01015399e-02 3.99016811e+02] [-6.51075856e-01 7.58817501e-01 1.72113349e-02 -2.40786400e+02] [ 2.64631997e-02 3.19484833e-05 9.99649788e-01 8.89823143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.162755096 meters 0.01509054366585497 Centerline is valid? [True, True] Translation: X:399.06, Y:-240.82, Z:8.90 [[ 7.59989542e-01 6.49654650e-01 -1.90979596e-02 3.99061644e+02] [-6.49448922e-01 7.60229462e-01 1.63481856e-02 -2.40824645e+02] [ 2.51395064e-02 -2.13008213e-05 9.99683952e-01 8.90083664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.222755096 meters 0.015418696329389353 Centerline is valid? [True, True] Translation: X:399.11, Y:-240.86, Z:8.90 [[ 7.62734211e-01 6.46448176e-01 -1.84737453e-02 3.99106670e+02] [-6.46254788e-01 7.62957889e-01 1.58116586e-02 -2.40864181e+02] [ 2.43161076e-02 -1.21346581e-04 9.99704312e-01 8.90270764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.282755096 meters 0.016462131696226266 Centerline is valid? [True, True] Translation: X:399.15, Y:-240.90, Z:8.90 [[ 7.66224468e-01 6.42305944e-01 -1.85240032e-02 3.99150302e+02] [-6.42110317e-01 7.66448309e-01 1.58533876e-02 -2.40904644e+02] [ 2.43804161e-02 -2.52799913e-04 9.99702722e-01 8.90366496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.342755096 meters 0.018190273171359638 Centerline is valid? [True, True] Translation: X:399.19, Y:-240.95, Z:8.90 [[ 7.69202098e-01 6.38704861e-01 -1.96018301e-02 3.99194535e+02] [-6.38484666e-01 7.69451720e-01 1.67744303e-02 -2.40945244e+02] [ 2.57965721e-02 -3.87459060e-04 9.99667138e-01 8.90299358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.402755096 meters 0.02112688362370118 Centerline is valid? [True, True] Translation: X:399.24, Y:-240.99, Z:8.90 [[ 7.72308843e-01 6.34874143e-01 -2.17686456e-02 3.99240890e+02] [-6.34601037e-01 7.72615360e-01 1.86287328e-02 -2.40986605e+02] [ 2.86456908e-02 -5.72730025e-04 9.99589464e-01 8.90103950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.462755096 meters 0.021056460629937535 Centerline is valid? [True, True] Translation: X:399.29, Y:-241.03, Z:8.90 [[ 7.73675944e-01 6.33185231e-01 -2.24052825e-02 3.99285302e+02] [-6.32895136e-01 7.74000021e-01 1.91758453e-02 -2.41026981e+02] [ 2.94835511e-02 -6.55695870e-04 9.99565051e-01 8.90198488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.522755096 meters 0.022077512817480643 Centerline is valid? [True, True] Translation: X:399.33, Y:-241.07, Z:8.90 [[ 7.74426939e-01 6.32229676e-01 -2.34212147e-02 3.99329783e+02] [-6.31912248e-01 7.74780687e-01 2.00448956e-02 -2.41065976e+02] [ 3.08192826e-02 -7.23154693e-04 9.99524711e-01 8.90222658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.582755096 meters 0.022377458830137992 Centerline is valid? [True, True] Translation: X:399.38, Y:-241.11, Z:8.90 [[ 7.73554208e-01 6.33241630e-01 -2.48782107e-02 3.99378215e+02] [-6.32883841e-01 7.73953814e-01 2.12964132e-02 -2.41105571e+02] [ 3.27403615e-02 -7.28912507e-04 9.99463625e-01 8.90376117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.64275509600003 meters 0.020561395112039037 Centerline is valid? [True, True] Translation: X:399.42, Y:-241.14, Z:8.91 [[ 7.71778268e-01 6.35369356e-01 -2.57698890e-02 3.99423585e+02] [-6.34986399e-01 7.72208092e-01 2.20666265e-02 -2.41143125e+02] [ 3.39201751e-02 -6.67013689e-04 9.99424323e-01 8.90684164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.70275509600003 meters 0.022022002498985723 Centerline is valid? [True, True] Translation: X:399.47, Y:-241.18, Z:8.91 [[ 7.71361115e-01 6.35863274e-01 -2.60754141e-02 3.99467848e+02] [-6.35471569e-01 7.71801447e-01 2.23251389e-02 -2.41181802e+02] [ 3.43207782e-02 -6.50559763e-04 9.99410657e-01 8.90787720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76275509600003 meters 0.019252307511401723 Centerline is valid? [True, True] Translation: X:399.51, Y:-241.22, Z:8.91 [[ 7.70144199e-01 6.37339049e-01 -2.60163248e-02 3.99514624e+02] [-6.36949994e-01 7.70583284e-01 2.22734707e-02 -2.41220671e+02] [ 3.42434976e-02 -5.82686371e-04 9.99413350e-01 8.91389191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.822755096 meters 0.019988173278477565 Centerline is valid? [True, True] Translation: X:399.56, Y:-241.26, Z:8.92 [[ 7.70130219e-01 6.37367382e-01 -2.57345315e-02 3.99557957e+02] [-6.36986750e-01 7.70559855e-01 2.20315817e-02 -2.41259761e+02] [ 3.38722084e-02 -5.74631247e-04 9.99426007e-01 8.91521350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.882755096 meters 0.019458567791296132 Centerline is valid? [True, True] Translation: X:399.60, Y:-241.30, Z:8.92 [[ 7.70362592e-01 6.37103394e-01 -2.53128829e-02 3.99603275e+02] [-6.36735108e-01 7.70778136e-01 2.16671690e-02 -2.41297875e+02] [ 3.33148436e-02 -5.73975176e-04 9.99444742e-01 8.91957626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.942755096 meters 0.02325336815758686 Centerline is valid? [True, True] Translation: X:399.65, Y:-241.34, Z:8.92 [[ 7.72470861e-01 6.34557685e-01 -2.50062647e-02 3.99646346e+02] [-6.34197020e-01 7.72875210e-01 2.14020687e-02 -2.41339221e+02] [ 3.29075693e-02 -6.73575864e-04 9.99458172e-01 8.91983242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.002755096 meters 0.024344688252690257 Centerline is valid? [True, True] Translation: X:399.69, Y:-241.38, Z:8.92 [[ 7.74119372e-01 6.32582006e-01 -2.40666431e-02 3.99689542e+02] [-6.32247070e-01 7.74493045e-01 2.05952872e-02 -2.41378490e+02] [ 3.16676558e-02 -7.27146212e-04 9.99498190e-01 8.92080362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.062755096 meters 0.022069546487325363 Centerline is valid? [True, True] Translation: X:399.73, Y:-241.42, Z:8.92 [[ 7.74453754e-01 6.32199402e-01 -2.33516275e-02 3.99734438e+02] [-6.31884011e-01 7.74805395e-01 1.99798972e-02 -2.41416796e+02] [ 3.07242460e-02 -7.17986289e-04 9.99527641e-01 8.92395291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.122755096 meters 0.022816254499398475 Centerline is valid? [True, True] Translation: X:399.78, Y:-241.45, Z:8.92 [[ 7.73807803e-01 6.32977226e-01 -2.36920917e-02 3.99778287e+02] [-6.32653041e-01 7.74170103e-01 2.02677426e-02 -2.41454580e+02] [ 3.11707286e-02 -6.94463478e-04 9.99513834e-01 8.92254980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.182755096 meters 0.02219625072732633 Centerline is valid? [True, True] Translation: X:399.82, Y:-241.49, Z:8.92 [[ 7.72558712e-01 6.34494498e-01 -2.38698384e-02 3.99824606e+02] [-6.34166262e-01 7.72927117e-01 2.04162643e-02 -2.41491138e+02] [ 3.14036527e-02 -6.35316618e-04 9.99506582e-01 8.92198155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.242755096 meters 0.019448425544563327 Centerline is valid? [True, True] Translation: X:399.87, Y:-241.52, Z:8.92 [[ 7.69674795e-01 6.37986923e-01 -2.39456935e-02 3.99873870e+02] [-6.37658366e-01 7.70047040e-01 2.04784026e-02 -2.41524735e+02] [ 3.15042634e-02 -4.92538600e-04 9.99503496e-01 8.92293378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.302755096 meters 0.017963186618334483 Centerline is valid? [True, True] Translation: X:399.92, Y:-241.56, Z:8.93 [[ 7.67737893e-01 6.40348952e-01 -2.30596389e-02 3.99920388e+02] [-6.40045405e-01 7.68084029e-01 1.97180849e-02 -2.41561147e+02] [ 3.03381954e-02 -3.79105011e-04 9.99539619e-01 8.92601968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.362755096 meters 0.01791466199680238 Centerline is valid? [True, True] Translation: X:399.96, Y:-241.60, Z:8.93 [[ 7.67382354e-01 6.40825814e-01 -2.16008903e-02 3.99963900e+02] [-6.40559734e-01 7.67686240e-01 1.84679124e-02 -2.41599993e+02] [ 2.84174212e-02 -3.35289602e-04 9.99596087e-01 8.92809324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.422755096 meters 0.01807741940997104 Centerline is valid? [True, True] Translation: X:400.01, Y:-241.64, Z:8.93 [[ 7.67602101e-01 6.40604465e-01 -2.03207638e-02 4.00007665e+02] [-6.40368985e-01 7.67870963e-01 1.73708551e-02 -2.41638593e+02] [ 2.67315719e-02 -3.21117984e-04 9.99642596e-01 8.93097923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.482755096 meters 0.017859069740008247 Centerline is valid? [True, True] Translation: X:400.05, Y:-241.68, Z:8.93 [[ 7.68067775e-01 6.40067296e-01 -1.96405276e-02 4.00053160e+02] [-6.39847201e-01 7.68318781e-01 1.67871964e-02 -2.41677351e+02] [ 2.58351216e-02 -3.26767951e-04 9.99666164e-01 8.93362037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.542755096 meters 0.018460152419626983 Centerline is valid? [True, True] Translation: X:400.10, Y:-241.72, Z:8.94 [[ 7.68969376e-01 6.39007226e-01 -1.88643587e-02 4.00096505e+02] [-6.38803898e-01 7.69200653e-01 1.61225343e-02 -2.41718445e+02] [ 2.48128930e-02 -3.47109223e-04 9.99692053e-01 8.93643179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.602755096 meters 0.019456195864238288 Centerline is valid? [True, True] Translation: X:400.14, Y:-241.76, Z:8.94 [[ 7.70404141e-01 6.37250154e-01 -1.97408456e-02 4.00140452e+02] [-6.37026947e-01 7.70656904e-01 1.68702405e-02 -2.41759443e+02] [ 2.59639824e-02 -4.21452546e-04 9.99662790e-01 8.93576117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.662755096 meters 0.01993677805770299 Centerline is valid? [True, True] Translation: X:400.19, Y:-241.80, Z:8.94 [[ 7.71227089e-01 6.36204741e-01 -2.12674572e-02 4.00185995e+02] [-6.35945211e-01 7.71520112e-01 1.81770553e-02 -2.41800944e+02] [ 2.79725997e-02 -4.93699891e-04 9.99608568e-01 8.93534296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.722755096 meters 0.02146534778110405 Centerline is valid? [True, True] Translation: X:400.23, Y:-241.85, Z:8.93 [[ 7.72910306e-01 6.34100427e-01 -2.29414123e-02 4.00228851e+02] [-6.33797274e-01 7.73250454e-01 1.96151000e-02 -2.41845461e+02] [ 3.01774008e-02 -6.20508313e-04 9.99544366e-01 8.93484385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.782755096 meters 0.022697659236142934 Centerline is valid? [True, True] Translation: X:400.27, Y:-241.89, Z:8.94 [[ 7.75322529e-01 6.31102481e-01 -2.41792123e-02 4.00272576e+02] [-6.30764086e-01 7.75699070e-01 2.06789767e-02 -2.41888886e+02] [ 3.18063460e-02 -7.81497716e-04 9.99493745e-01 8.93517969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.842755096 meters 0.02418310557369387 Centerline is valid? [True, True] Translation: X:400.32, Y:-241.93, Z:8.94 [[ 7.78024149e-01 6.27745720e-01 -2.47736773e-02 4.00315944e+02] [-6.27388512e-01 7.78417891e-01 2.11953288e-02 -2.41933368e+02] [ 3.25895506e-02 -9.47757162e-04 9.99468370e-01 8.93673589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.902755096 meters 0.030878174143881557 Centerline is valid? [True, True] Translation: X:400.35, Y:-241.98, Z:8.93 [[ 7.80495065e-01 6.24649397e-01 -2.53097640e-02 4.00354194e+02] [-6.24274797e-01 7.80904548e-01 2.16578971e-02 -2.41980775e+02] [ 3.32931021e-02 -1.10363400e-03 9.99445022e-01 8.93481762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.962755096 meters 0.026487117193954128 Centerline is valid? [True, True] Translation: X:400.41, Y:-242.02, Z:8.94 [[ 7.79974047e-01 6.25283790e-01 -2.57034634e-02 4.00405975e+02] [-6.24897488e-01 7.80396676e-01 2.20035906e-02 -2.42016590e+02] [ 3.38173859e-02 -1.10019995e-03 9.99427423e-01 8.93957641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.022755096 meters 0.027401128858529775 Centerline is valid? [True, True] Translation: X:400.45, Y:-242.06, Z:8.94 [[ 7.79355709e-01 6.26047912e-01 -2.58590654e-02 4.00451994e+02] [-6.25656899e-01 7.79783840e-01 2.21496411e-02 -2.42057052e+02] [ 3.40312179e-02 -1.08354655e-03 9.99420183e-01 8.94024040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.082755096 meters 0.025267008304944966 Centerline is valid? [True, True] Translation: X:400.50, Y:-242.09, Z:8.94 [[ 7.77514164e-01 6.28343972e-01 -2.56042551e-02 4.00501893e+02] [-6.27961480e-01 7.77935015e-01 2.19429198e-02 -2.42094257e+02] [ 3.37061480e-02 -9.82445024e-04 9.99431303e-01 8.94361582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.14275509600003 meters 0.023963629177410187 Centerline is valid? [True, True] Translation: X:400.55, Y:-242.13, Z:8.95 [[ 7.74889286e-01 6.31597291e-01 -2.51288040e-02 4.00550433e+02] [-6.31230375e-01 7.75296184e-01 2.15416167e-02 -2.42128567e+02] [ 3.30878925e-02 -8.30303637e-04 9.99452101e-01 8.94530280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.20275509600003 meters 0.02350935153082658 Centerline is valid? [True, True] Translation: X:400.60, Y:-242.16, Z:8.95 [[ 7.73455029e-01 6.33388614e-01 -2.42112022e-02 4.00597003e+02] [-6.33048944e-01 7.73833534e-01 2.07532082e-02 -2.42164314e+02] [ 3.18802860e-02 -7.24797294e-04 9.99491432e-01 8.94674221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26275509600003 meters 0.021851271365917975 Centerline is valid? [True, True] Translation: X:400.64, Y:-242.20, Z:8.95 [[ 7.72484283e-01 6.34603182e-01 -2.33844713e-02 4.00642220e+02] [-6.34286968e-01 7.72837874e-01 2.00415281e-02 -2.42201468e+02] [ 3.07908226e-02 -6.49300100e-04 9.99525639e-01 8.95056707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.322755096 meters 0.02226184678651871 Centerline is valid? [True, True] Translation: X:400.69, Y:-242.24, Z:8.95 [[ 7.72908579e-01 6.34088882e-01 -2.33156374e-02 4.00686016e+02] [-6.33774387e-01 7.73259883e-01 1.99794707e-02 -2.42240703e+02] [ 3.06978073e-02 -6.65450528e-04 9.99528490e-01 8.95217375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.382755096 meters 0.02128429006784783 Centerline is valid? [True, True] Translation: X:400.73, Y:-242.28, Z:8.96 [[ 7.73178765e-01 6.33805386e-01 -2.20302145e-02 4.00732486e+02] [-6.33524555e-01 7.73492292e-01 1.88762460e-02 -2.42278724e+02] [ 2.90040675e-02 -6.38030715e-04 9.99579090e-01 8.95542100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.442755096 meters 0.021817672142373134 Centerline is valid? [True, True] Translation: X:400.78, Y:-242.32, Z:8.96 [[ 7.73624830e-01 6.33296006e-01 -2.09950287e-02 4.00776796e+02] [-6.33040778e-01 7.73909411e-01 1.79888004e-02 -2.42318143e+02] [ 2.76404858e-02 -6.25873363e-04 9.99617733e-01 8.95675609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.502755096 meters 0.021366689303909774 Centerline is valid? [True, True] Translation: X:400.82, Y:-242.36, Z:8.96 [[ 7.73024262e-01 6.34050653e-01 -2.03288001e-02 4.00821385e+02] [-6.33811675e-01 7.73291300e-01 1.74162404e-02 -2.42355950e+02] [ 2.67628628e-02 -5.78545487e-04 9.99641643e-01 8.95726483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.562755096 meters 0.020947939532812328 Centerline is valid? [True, True] Translation: X:400.87, Y:-242.39, Z:8.96 [[ 7.72177798e-01 6.35074834e-01 -2.05280934e-02 4.00867144e+02] [-6.34831581e-01 7.72450423e-01 1.75842869e-02 -2.42393237e+02] [ 2.70242725e-02 -5.46313924e-04 9.99634628e-01 8.95663874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.622755096 meters 0.018975296726449212 Centerline is valid? [True, True] Translation: X:400.91, Y:-242.43, Z:8.96 [[ 7.70782927e-01 6.36760402e-01 -2.07333221e-02 4.00914360e+02] [-6.36512930e-01 7.71061574e-01 1.77578063e-02 -2.42429420e+02] [ 2.72941359e-02 -4.90386357e-04 9.99627325e-01 8.95672170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.682755096 meters 0.019932337107881417 Centerline is valid? [True, True] Translation: X:400.96, Y:-242.47, Z:8.96 [[ 7.70514581e-01 6.37074916e-01 -2.10435643e-02 4.00957328e+02] [-6.36820157e-01 7.70801736e-01 1.80213993e-02 -2.42468746e+02] [ 2.77013973e-02 -4.84784995e-04 9.99616125e-01 8.95601583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.742755096 meters 0.0185951713633881 Centerline is valid? [True, True] Translation: X:401.00, Y:-242.51, Z:8.96 [[ 7.70550070e-01 6.37042997e-01 -2.07077104e-02 4.01003474e+02] [-6.36796370e-01 7.70828122e-01 1.77310390e-02 -2.42505941e+02] [ 2.72575198e-02 -4.76058539e-04 9.99628331e-01 8.95829884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.802755096 meters 0.018633603442161646 Centerline is valid? [True, True] Translation: X:401.05, Y:-242.54, Z:8.96 [[ 7.70939645e-01 6.36604030e-01 -1.96817834e-02 4.01048667e+02] [-6.36381130e-01 7.71190697e-01 1.68513053e-02 -2.42544846e+02] [ 2.59060171e-02 -4.66223809e-04 9.99664274e-01 8.95997107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.862755096 meters 0.01838771904363313 Centerline is valid? [True, True] Translation: X:401.10, Y:-242.59, Z:8.96 [[ 7.71552528e-01 6.35909335e-01 -1.80558544e-02 4.01096521e+02] [-6.35721523e-01 7.71763640e-01 1.54605779e-02 -2.42586166e+02] [ 2.37663777e-02 -4.50152706e-04 9.99717438e-01 8.96234861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.922755096 meters 0.01910424407031092 Centerline is valid? [True, True] Translation: X:401.14, Y:-242.63, Z:8.96 [[ 7.72255596e-01 6.35087633e-01 -1.68817505e-02 4.01142462e+02] [-6.34923066e-01 7.72439962e-01 1.44638979e-02 -2.42627707e+02] [ 2.22259813e-02 -4.51213316e-04 9.99752871e-01 8.96445097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.982755096 meters 0.019987116911684637 Centerline is valid? [True, True] Translation: X:401.19, Y:-242.67, Z:8.97 [[ 7.73686635e-01 6.33379342e-01 -1.54789844e-02 4.01187905e+02] [-6.33240510e-01 7.73841323e-01 1.32688948e-02 -2.42670172e+02] [ 2.03825217e-02 -4.64046625e-04 9.99792147e-01 8.96700474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.042755096 meters 0.02170649038184094 Centerline is valid? [True, True] Translation: X:401.23, Y:-242.71, Z:8.97 [[ 7.74702542e-01 6.32132444e-01 -1.56379240e-02 4.01232225e+02] [-6.31990339e-01 7.74860191e-01 1.34125302e-02 -2.42711536e+02] [ 2.05957003e-02 -5.07704363e-04 9.99787757e-01 8.96691889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.102755096 meters 0.021631052180511093 Centerline is valid? [True, True] Translation: X:401.28, Y:-242.75, Z:8.97 [[ 7.74923321e-01 6.31861217e-01 -1.56604097e-02 4.01279541e+02] [-6.31718538e-01 7.75081371e-01 1.34371472e-02 -2.42751219e+02] [ 2.06285040e-02 -5.19787595e-04 9.99787075e-01 8.96608750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.162755096 meters 0.020907499493634303 Centerline is valid? [True, True] Translation: X:401.33, Y:-242.79, Z:8.97 [[ 7.74809527e-01 6.32001249e-01 -1.56402716e-02 4.01328020e+02] [-6.31858927e-01 7.74967196e-01 1.34216869e-02 -2.42791734e+02] [ 2.06032203e-02 -5.16805588e-04 9.99787598e-01 8.96578899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.222755096 meters 0.02042748888689477 Centerline is valid? [True, True] Translation: X:401.38, Y:-242.83, Z:8.97 [[ 7.74375531e-01 6.32530722e-01 -1.57296668e-02 4.01376425e+02] [-6.32386698e-01 7.74535101e-01 1.35070740e-02 -2.42832605e+02] [ 2.07268183e-02 -5.12315555e-04 9.99785045e-01 8.96611376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.282755096 meters 0.0208202954979116 Centerline is valid? [True, True] Translation: X:401.42, Y:-242.87, Z:8.97 [[ 7.73202014e-01 6.33969856e-01 -1.55199046e-02 4.01421697e+02] [-6.33829767e-01 7.73357612e-01 1.33352913e-02 -2.42873414e+02] [ 2.04566090e-02 -4.73896597e-04 9.99790629e-01 8.96712657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.342755096 meters 0.019150207998207675 Centerline is valid? [True, True] Translation: X:401.47, Y:-242.91, Z:8.97 [[ 7.71827115e-01 6.35653989e-01 -1.50635767e-02 4.01469767e+02] [-6.35522208e-01 7.71973982e-01 1.29497266e-02 -2.42912506e+02] [ 1.98602346e-02 -4.21712597e-04 9.99802677e-01 8.96915054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.402755096 meters 0.01824930319719986 Centerline is valid? [True, True] Translation: X:401.52, Y:-242.95, Z:8.97 [[ 7.70076143e-01 6.37798475e-01 -1.39942503e-02 4.01517546e+02] [-6.37684978e-01 7.70203211e-01 1.20367134e-02 -2.42951663e+02] [ 1.84554140e-02 -3.45262663e-04 9.99829625e-01 8.97124272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.462755096 meters 0.017791699953937735 Centerline is valid? [True, True] Translation: X:401.56, Y:-242.99, Z:8.97 [[ 7.68441709e-01 6.39785970e-01 -1.30863479e-02 4.01563256e+02] [-6.39686902e-01 7.68553077e-01 1.12621319e-02 -2.42989318e+02] [ 1.72629069e-02 -2.83126545e-04 9.99850945e-01 8.97278384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.522755096 meters 0.016897231289842086 Centerline is valid? [True, True] Translation: X:401.61, Y:-243.03, Z:8.97 [[ 7.66853942e-01 6.41694685e-01 -1.27657273e-02 4.01608856e+02] [-6.41600688e-01 7.66960154e-01 1.09854506e-02 -2.43026957e+02] [ 1.68401094e-02 -2.33736720e-04 9.99858168e-01 8.97343296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.582755096 meters 0.01601783676831862 Centerline is valid? [True, True] Translation: X:401.66, Y:-243.07, Z:8.97 [[ 7.65960197e-01 6.42767204e-01 -1.24618345e-02 4.01657436e+02] [-6.42677814e-01 7.66061538e-01 1.07213812e-02 -2.43065092e+02] [ 1.64378843e-02 -2.03206701e-04 9.99864868e-01 8.97331454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.64275509600003 meters 0.01656427373206516 Centerline is valid? [True, True] Translation: X:401.70, Y:-243.11, Z:8.97 [[ 7.65922695e-01 6.42825135e-01 -1.17588801e-02 4.01704258e+02] [-6.42745470e-01 7.66012929e-01 1.01219207e-02 -2.43106252e+02] [ 1.55140792e-02 -1.94641876e-04 9.99879630e-01 8.97292649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.70275509600003 meters 0.017471937224142562 Centerline is valid? [True, True] Translation: X:401.75, Y:-243.15, Z:8.97 [[ 7.67387083e-01 6.41101809e-01 -1.02730417e-02 4.01750281e+02] [-6.41040790e-01 7.67455816e-01 8.84745453e-03 -2.43147863e+02] [ 1.35562247e-02 -2.03983563e-04 9.99908089e-01 8.97354448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76275509600003 meters 0.019568293278276437 Centerline is valid? [True, True] Translation: X:401.80, Y:-243.19, Z:8.97 [[ 7.69003339e-01 6.39183482e-01 -8.85102534e-03 4.01796493e+02] [-6.39138020e-01 7.69054246e-01 7.62612816e-03 -2.43189422e+02] [ 1.16814138e-02 -2.07491208e-04 9.99931748e-01 8.97385005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.822755096 meters 0.020241822860997384 Centerline is valid? [True, True] Translation: X:401.84, Y:-243.23, Z:8.98 [[ 7.69401046e-01 6.38717305e-01 -7.88890723e-03 4.01840953e+02] [-6.38681131e-01 7.69441464e-01 6.80046511e-03 -2.43230869e+02] [ 1.04136271e-02 -1.93788781e-04 9.99945758e-01 8.97659141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.882755096 meters 0.020675214932927816 Centerline is valid? [True, True] Translation: X:401.89, Y:-243.27, Z:8.98 [[ 7.68326577e-01 6.40020813e-01 -6.90135850e-03 4.01887979e+02] [-6.39993124e-01 7.68357555e-01 5.95546396e-03 -2.43266083e+02] [ 9.11433183e-03 -1.58919250e-04 9.99958451e-01 8.97685371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.942755096 meters 0.017732814143296593 Centerline is valid? [True, True] Translation: X:401.94, Y:-243.30, Z:8.98 [[ 7.65348638e-01 6.43579689e-01 -6.82981106e-03 4.01936689e+02] [-6.43552720e-01 7.65379103e-01 5.89282351e-03 -2.43299401e+02] [ 9.01989618e-03 -1.14720959e-04 9.99959313e-01 8.97731960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.002755096 meters 0.016452382843773247 Centerline is valid? [True, True] Translation: X:401.98, Y:-243.33, Z:8.98 [[ 7.62371982e-01 6.47093768e-01 -7.65618070e-03 4.01983627e+02] [-6.47060065e-01 7.62410421e-01 6.60478480e-03 -2.43333453e+02] [ 1.01110670e-02 -8.12941011e-05 9.99948879e-01 8.97786623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.062755096 meters 0.01567405455031349 Centerline is valid? [True, True] Translation: X:402.03, Y:-243.37, Z:8.98 [[ 7.60342050e-01 6.49486878e-01 -6.83831721e-03 4.02030922e+02] [-6.49460097e-01 7.60372799e-01 5.89819162e-03 -2.43368163e+02] [ 9.03046846e-03 -4.34289478e-05 9.99959224e-01 8.97928937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.122755096 meters 0.01547621576294323 Centerline is valid? [True, True] Translation: X:402.08, Y:-243.41, Z:8.98 [[ 7.60047916e-01 6.49831431e-01 -6.80277839e-03 4.02075782e+02] [-6.49804950e-01 7.60078358e-01 5.86662464e-03 -2.43405508e+02] [ 8.98296171e-03 -3.84367574e-05 9.99959652e-01 8.98096518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.182755096 meters 0.015540043014403758 Centerline is valid? [True, True] Translation: X:402.12, Y:-243.45, Z:8.98 [[ 7.60914951e-01 6.48813331e-01 -7.04970441e-03 4.02118571e+02] [-6.48784856e-01 7.60947606e-01 6.07883867e-03 -2.43445096e+02] [ 9.30848726e-03 -5.17377708e-05 9.99956674e-01 8.98368894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.242755096 meters 0.016044770297224956 Centerline is valid? [True, True] Translation: X:402.16, Y:-243.49, Z:8.99 [[ 7.63370554e-01 6.45928395e-01 -6.47351944e-03 4.02162186e+02] [-6.45904291e-01 7.63397998e-01 5.58067895e-03 -2.43485149e+02] [ 8.54659077e-03 -7.88519909e-05 9.99963474e-01 8.98533741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.302755096 meters 0.016639470184681808 Centerline is valid? [True, True] Translation: X:402.21, Y:-243.53, Z:8.99 [[ 7.65515056e-01 6.43384150e-01 -6.59808395e-03 4.02208472e+02] [-6.43359063e-01 7.65543483e-01 5.68253266e-03 -2.43527229e+02] [ 8.70717161e-03 -1.05127198e-04 9.99962086e-01 8.98626433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.362755096 meters 0.017992864322727817 Centerline is valid? [True, True] Translation: X:402.25, Y:-243.57, Z:8.99 [[ 7.67741666e-01 6.40722323e-01 -6.90210253e-03 4.02252232e+02] [-6.40694701e-01 7.67772676e-01 5.95124838e-03 -2.43568583e+02] [ 9.11234343e-03 -1.46880827e-04 9.99958471e-01 8.98716497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.422755096 meters 0.019610055075489765 Centerline is valid? [True, True] Translation: X:402.29, Y:-243.61, Z:8.99 [[ 7.69199796e-01 6.38967199e-01 -7.25208905e-03 4.02294361e+02] [-6.38936611e-01 7.69233961e-01 6.25463505e-03 -2.43607983e+02] [ 9.57505982e-03 -1.77438805e-04 9.99954142e-01 8.98831163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.482755096 meters 0.019361435917518526 Centerline is valid? [True, True] Translation: X:402.34, Y:-243.65, Z:8.99 [[ 7.70724750e-01 6.37125480e-01 -7.38122783e-03 4.02342189e+02] [-6.37093760e-01 7.70760068e-01 6.36070414e-03 -2.43647013e+02] [ 9.74172235e-03 -1.99817910e-04 9.99952528e-01 8.98815226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.542755096 meters 0.020622653560573943 Centerline is valid? [True, True] Translation: X:402.39, Y:-243.69, Z:8.99 [[ 7.72212998e-01 6.35316860e-01 -7.71838946e-03 4.02388926e+02] [-6.35282049e-01 7.72251535e-01 6.65478586e-03 -2.43687484e+02] [ 1.01884358e-02 -2.35557874e-04 9.99948069e-01 8.98854138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.602755096 meters 0.02156534941832656 Centerline is valid? [True, True] Translation: X:402.43, Y:-243.73, Z:8.99 [[ 7.72777417e-01 6.34627552e-01 -7.93306129e-03 4.02433524e+02] [-6.34590667e-01 7.72818092e-01 6.84697998e-03 -2.43727208e+02] [ 1.04760954e-02 -2.56944849e-04 9.99945091e-01 8.98945061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.662755096 meters 0.02095937805103088 Centerline is valid? [True, True] Translation: X:402.48, Y:-243.77, Z:8.99 [[ 7.72415506e-01 6.35049779e-01 -9.27707886e-03 4.02481410e+02] [-6.34999401e-01 7.72471160e-01 8.00419552e-03 -2.43766442e+02] [ 1.22493385e-02 -2.91625212e-04 9.99924932e-01 8.98856345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.722755096 meters 0.020158066089795076 Centerline is valid? [True, True] Translation: X:402.53, Y:-243.81, Z:8.99 [[ 7.71454261e-01 6.36205925e-01 -1.00171859e-02 4.02529389e+02] [-6.36147216e-01 7.71519236e-01 8.64804098e-03 -2.43805810e+02] [ 1.32303865e-02 -2.99163152e-04 9.99912430e-01 8.98852826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.782755096 meters 0.019391627395706486 Centerline is valid? [True, True] Translation: X:402.57, Y:-243.84, Z:8.99 [[ 7.69484213e-01 6.38574871e-01 -1.07786784e-02 4.02574732e+02] [-6.38507019e-01 7.69559649e-01 9.31308180e-03 -2.43842501e+02] [ 1.42419360e-02 -2.84007573e-04 9.99898538e-01 8.98838083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.842755096 meters 0.018375653150802102 Centerline is valid? [True, True] Translation: X:402.62, Y:-243.88, Z:8.99 [[ 7.67539125e-01 6.40911699e-01 -1.07650420e-02 4.02620403e+02] [-6.40844262e-01 7.67614576e-01 9.30030833e-03 -2.43879345e+02] [ 1.42240796e-02 -2.39635126e-04 9.99898804e-01 8.99067763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.902755096 meters 0.01783437707556045 Centerline is valid? [True, True] Translation: X:402.66, Y:-243.92, Z:8.99 [[ 7.65836477e-01 6.42932702e-01 -1.14905145e-02 4.02664515e+02] [-6.42856119e-01 7.65922643e-01 9.92545809e-03 -2.43917385e+02] [ 1.51822468e-02 -2.14530299e-04 9.99884720e-01 8.99157846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.962755096 meters 0.01729668582565659 Centerline is valid? [True, True] Translation: X:402.71, Y:-243.96, Z:8.99 [[ 7.64795097e-01 6.44164217e-01 -1.18710692e-02 4.02708707e+02] [-6.44082659e-01 7.64887197e-01 1.02520598e-02 -2.43955517e+02] [ 1.56840389e-02 -1.94775239e-04 9.99876979e-01 8.99303408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.022755096 meters 0.017093307002932247 Centerline is valid? [True, True] Translation: X:402.75, Y:-243.99, Z:8.99 [[ 7.63991913e-01 6.45107248e-01 -1.23691729e-02 4.02751235e+02] [-6.45018853e-01 7.64092014e-01 1.06805178e-02 -2.43994792e+02] [ 1.63412657e-02 -1.81479529e-04 9.99866456e-01 8.99420530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.082755096 meters 0.017137115455535226 Centerline is valid? [True, True] Translation: X:402.79, Y:-244.04, Z:8.99 [[ 7.63659898e-01 6.45478299e-01 -1.34657237e-02 4.02793293e+02] [-6.45373637e-01 7.63778588e-01 1.16248899e-02 -2.44035580e+02] [ 1.77884456e-02 -1.87039168e-04 9.99841756e-01 8.99439451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.14275509600003 meters 0.017004036647545594 Centerline is valid? [True, True] Translation: X:402.84, Y:-244.08, Z:9.00 [[ 7.63712672e-01 6.45403901e-01 -1.40270517e-02 4.02836339e+02] [-6.45290354e-01 7.63841454e-01 1.21075533e-02 -2.44076423e+02] [ 1.85287057e-02 -1.95170751e-04 9.99828310e-01 8.99520668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.20275509600003 meters 0.017685356340453345 Centerline is valid? [True, True] Translation: X:402.88, Y:-244.12, Z:9.00 [[ 7.64727777e-01 6.44189821e-01 -1.45224298e-02 4.02876820e+02] [-6.44067931e-01 7.64865623e-01 1.25331200e-02 -2.44119341e+02] [ 1.91814157e-02 -2.30993630e-04 9.99815993e-01 8.99554524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26275509600003 meters 0.018578351467379427 Centerline is valid? [True, True] Translation: X:402.92, Y:-244.17, Z:9.00 [[ 7.66435682e-01 6.42149187e-01 -1.48582300e-02 4.02919324e+02] [-6.42021239e-01 7.66579637e-01 1.28214285e-02 -2.44165215e+02] [ 1.96232864e-02 -2.87501094e-04 9.99807403e-01 8.99658652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.322755096 meters 0.01941997970295111 Centerline is valid? [True, True] Translation: X:402.96, Y:-244.21, Z:9.00 [[ 7.67421250e-01 6.40967616e-01 -1.50047052e-02 4.02960105e+02] [-6.40836764e-01 7.67567853e-01 1.29550368e-02 -2.44211823e+02] [ 1.98208883e-02 -3.26403805e-04 9.99803494e-01 8.99796549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.382755096 meters 0.019581424539936828 Centerline is valid? [True, True] Translation: X:403.00, Y:-244.26, Z:9.00 [[ 7.67991106e-01 6.40273314e-01 -1.54836844e-02 4.03004380e+02] [-6.40133689e-01 7.68147091e-01 1.33756161e-02 -2.44255019e+02] [ 2.04577971e-02 -3.60726198e-04 9.99790652e-01 8.99874193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.442755096 meters 0.019154805132002028 Centerline is valid? [True, True] Translation: X:403.05, Y:-244.29, Z:9.00 [[ 7.65946023e-01 6.42707142e-01 -1.59442336e-02 4.03051241e+02] [-6.42559454e-01 7.66111893e-01 1.37809581e-02 -2.44294238e+02] [ 2.10721872e-02 -3.10352033e-04 9.99777909e-01 8.99994203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.502755096 meters 0.018092129207466893 Centerline is valid? [True, True] Translation: X:403.10, Y:-244.33, Z:9.00 [[ 7.63363605e-01 6.45738032e-01 -1.72742700e-02 4.03098504e+02] [-6.45565357e-01 7.63558990e-01 1.49344462e-02 -2.44331447e+02] [ 2.28336641e-02 -2.48742411e-04 9.99739247e-01 8.99925819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.562755096 meters 0.017418068087561314 Centerline is valid? [True, True] Translation: X:403.15, Y:-244.37, Z:9.00 [[ 7.61856357e-01 6.47510868e-01 -1.74518227e-02 4.03146372e+02] [-6.47335071e-01 7.62056189e-01 1.50887199e-02 -2.44371433e+02] [ 2.30693796e-02 -1.98260285e-04 9.99733847e-01 9.00033071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.622755096 meters 0.01737536446711297 Centerline is valid? [True, True] Translation: X:403.19, Y:-244.41, Z:9.00 [[ 7.61628511e-01 6.47795802e-01 -1.68110142e-02 4.03194634e+02] [-6.47632567e-01 7.61813995e-01 1.45429008e-02 -2.44411541e+02] [ 2.22276960e-02 -1.88927636e-04 9.99752916e-01 9.00153661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.682755096 meters 0.017988048442189642 Centerline is valid? [True, True] Translation: X:403.24, Y:-244.45, Z:9.00 [[ 7.62888978e-01 6.46331466e-01 -1.60013498e-02 4.03240308e+02] [-6.46183077e-01 7.63056737e-01 1.38508801e-02 -2.44453610e+02] [ 2.11621974e-02 -2.26882351e-04 9.99776030e-01 9.00276343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.742755096 meters 0.01916671037942629 Centerline is valid? [True, True] Translation: X:403.28, Y:-244.50, Z:9.00 [[ 7.65506841e-01 6.43258078e-01 -1.47757113e-02 4.03284654e+02] [-6.43130849e-01 7.65649371e-01 1.27965458e-02 -2.44497668e+02] [ 1.95444956e-02 -2.93127599e-04 9.99808945e-01 9.00494490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.802755096 meters 0.020973707673818433 Centerline is valid? [True, True] Translation: X:403.33, Y:-244.54, Z:9.01 [[ 7.67743412e-01 6.40613597e-01 -1.35747141e-02 4.03329019e+02] [-6.40505690e-01 7.67863339e-01 1.17624005e-02 -2.44539059e+02] [ 1.79586790e-02 -3.35823814e-04 9.99838674e-01 9.00554497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.862755096 meters 0.02114131401078877 Centerline is valid? [True, True] Translation: X:403.38, Y:-244.58, Z:9.01 [[ 7.68161439e-01 6.40114339e-01 -1.34772833e-02 4.03376687e+02] [-6.40007846e-01 7.68279580e-01 1.16809789e-02 -2.44578320e+02] [ 1.78314836e-02 -3.47310517e-04 9.99840946e-01 9.00535690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.922755096 meters 0.021638780453551835 Centerline is valid? [True, True] Translation: X:403.42, Y:-244.62, Z:9.00 [[ 7.68149358e-01 6.40130020e-01 -1.34209251e-02 4.03423211e+02] [-6.40024302e-01 7.68266513e-01 1.16386679e-02 -2.44616792e+02] [ 1.77611080e-02 -3.50517102e-04 9.99842198e-01 9.00485414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.982755096 meters 0.02231824608572253 Centerline is valid? [True, True] Translation: X:403.47, Y:-244.65, Z:9.01 [[ 7.68573230e-01 6.39626393e-01 -1.31631170e-02 4.03467357e+02] [-6.39524614e-01 7.68685859e-01 1.14156776e-02 -2.44654073e+02] [ 1.74200706e-02 -3.55646881e-04 9.99848196e-01 9.00500170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.042755096 meters 0.02279029558987316 Centerline is valid? [True, True] Translation: X:403.51, Y:-244.69, Z:9.00 [[ 7.69651519e-01 6.38321013e-01 -1.35212338e-02 4.03514331e+02] [-6.38213460e-01 7.69770179e-01 1.17239226e-02 -2.44692265e+02] [ 1.78918688e-02 -3.93901418e-04 9.99839850e-01 9.00466339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.102755096 meters 0.023487429210947652 Centerline is valid? [True, True] Translation: X:403.56, Y:-244.73, Z:9.01 [[ 7.70503713e-01 6.37306504e-01 -1.28237482e-02 4.03562168e+02] [-6.37209630e-01 7.70610319e-01 1.11186225e-02 -2.44731934e+02] [ 1.69680831e-02 -3.95524136e-04 9.99855953e-01 9.00529082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.162755096 meters 0.024581011693480825 Centerline is valid? [True, True] Translation: X:403.61, Y:-244.77, Z:9.01 [[ 7.71327458e-01 6.36315086e-01 -1.25325173e-02 4.03606030e+02] [-6.36222323e-01 7.71429155e-01 1.08726779e-02 -2.44770214e+02] [ 1.65863982e-02 -4.12927680e-04 9.99862351e-01 9.00594742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.222755096 meters 0.02477823559480953 Centerline is valid? [True, True] Translation: X:403.65, Y:-244.81, Z:9.01 [[ 7.71697609e-01 6.35886067e-01 -1.14765040e-02 4.03652041e+02] [-6.35808254e-01 7.71782846e-01 9.95500994e-03 -2.44808722e+02] [ 1.51876210e-02 -3.85401404e-04 9.99884587e-01 9.00733192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.282755096 meters 0.02451797740618376 Centerline is valid? [True, True] Translation: X:403.70, Y:-244.85, Z:9.01 [[ 7.71340594e-01 6.36320234e-01 -1.14126102e-02 4.03698886e+02] [-6.36243346e-01 7.71424928e-01 9.89875741e-03 -2.44846529e+02] [ 1.51027517e-02 -3.74116095e-04 9.99885877e-01 9.00829358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.342755096 meters 0.022759199471730416 Centerline is valid? [True, True] Translation: X:403.75, Y:-244.88, Z:9.01 [[ 7.69480266e-01 6.38572541e-01 -1.11906302e-02 4.03748347e+02] [-6.38498878e-01 7.69561567e-01 9.70445750e-03 -2.44884288e+02] [ 1.48088790e-02 -3.22183707e-04 9.99890291e-01 9.00949354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.402755096 meters 0.022819583216937167 Centerline is valid? [True, True] Translation: X:403.79, Y:-244.92, Z:9.01 [[ 7.68391562e-01 6.39884014e-01 -1.10840929e-02 4.03792979e+02] [-6.39811782e-01 7.68471444e-01 9.61893771e-03 -2.44921752e+02] [ 1.46728133e-02 -2.99377344e-04 9.99892304e-01 9.01044787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.462755096 meters 0.02117148269757701 Centerline is valid? [True, True] Translation: X:403.84, Y:-244.96, Z:9.01 [[ 7.66832582e-01 6.41752495e-01 -1.10239090e-02 4.03841573e+02] [-6.41681280e-01 7.66911773e-01 9.56390038e-03 -2.44960104e+02] [ 1.45920225e-02 -2.60074395e-04 9.99893497e-01 9.01109997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.522755096 meters 0.02126317518053661 Centerline is valid? [True, True] Translation: X:403.89, Y:-245.00, Z:9.01 [[ 7.66553915e-01 6.42077640e-01 -1.14629802e-02 4.03888653e+02] [-6.42000589e-01 7.66639571e-01 9.95047462e-03 -2.45002252e+02] [ 1.51769515e-02 -2.68335231e-04 9.99884787e-01 9.01263745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.582755096 meters 0.021394854817308788 Centerline is valid? [True, True] Translation: X:403.94, Y:-245.04, Z:9.01 [[ 7.66639002e-01 6.41984640e-01 -1.09710106e-02 4.03935303e+02] [-6.41913968e-01 7.66717453e-01 9.52911484e-03 -2.45044001e+02] [ 1.45292107e-02 -2.62946119e-04 9.99894411e-01 9.01411229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.64275509600003 meters 0.0222893947755265 Centerline is valid? [True, True] Translation: X:403.98, Y:-245.09, Z:9.02 [[ 7.67672909e-01 6.40754858e-01 -1.05601888e-02 4.03978352e+02] [-6.40689178e-01 7.67745488e-01 9.17843051e-03 -2.45086895e+02] [ 1.39886612e-02 -2.80233768e-04 9.99902115e-01 9.01560759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.70275509600003 meters 0.023288422180629827 Centerline is valid? [True, True] Translation: X:404.02, Y:-245.13, Z:9.02 [[ 7.68780866e-01 6.39434520e-01 -9.97373374e-03 4.04021806e+02] [-6.39375760e-01 7.68845505e-01 8.67338616e-03 -2.45130330e+02] [ 1.32143229e-02 -2.90969733e-04 9.99912645e-01 9.01703829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76275509600003 meters 0.024003760913156924 Centerline is valid? [True, True] Translation: X:404.07, Y:-245.17, Z:9.02 [[ 7.69349016e-01 6.38745697e-01 -1.02969291e-02 4.04065623e+02] [-6.38682989e-01 7.69417855e-01 8.95564429e-03 -2.45170889e+02] [ 1.36430203e-02 -3.13542690e-04 9.99906881e-01 9.01739007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.822755096 meters 0.02416094210607335 Centerline is valid? [True, True] Translation: X:404.11, Y:-245.21, Z:9.02 [[ 7.68846354e-01 6.39353068e-01 -1.01458115e-02 4.04109912e+02] [-6.39292244e-01 7.68913236e-01 8.82392062e-03 -2.45208588e+02] [ 1.34428495e-02 -2.98100614e-04 9.99909596e-01 9.01804118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.882755096 meters 0.024127945547798887 Centerline is valid? [True, True] Translation: X:404.15, Y:-245.25, Z:9.02 [[ 7.68777396e-01 6.39440185e-01 -9.87748943e-03 4.04153509e+02] [-6.39382561e-01 7.68840794e-01 8.58913589e-03 -2.45246394e+02] [ 1.30864555e-02 -2.87639039e-04 9.99914327e-01 9.02022355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.942755096 meters 0.022803682816908102 Centerline is valid? [True, True] Translation: X:404.20, Y:-245.29, Z:9.02 [[ 7.68130521e-01 6.40228710e-01 -9.09405372e-03 4.04203504e+02] [-6.40179981e-01 7.68184312e-01 7.90281458e-03 -2.45285493e+02] [ 1.20455182e-02 -2.48561947e-04 9.99927419e-01 9.02168611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.002755096 meters 0.02459490800339583 Centerline is valid? [True, True] Translation: X:404.25, Y:-245.33, Z:9.02 [[ 7.68138429e-01 6.40225418e-01 -8.64679348e-03 4.04247483e+02] [-6.40181285e-01 7.68187057e-01 7.52113787e-03 -2.45326240e+02] [ 1.14575785e-02 -2.41759675e-04 9.99934331e-01 9.02435090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.062755096 meters 0.022262490632398296 Centerline is valid? [True, True] Translation: X:404.30, Y:-245.36, Z:9.02 [[ 7.66725956e-01 6.41910609e-01 -9.05965241e-03 4.04296079e+02] [-6.41862268e-01 7.66779445e-01 7.88105979e-03 -2.45361331e+02] [ 1.20056911e-02 -2.27564059e-04 9.99927903e-01 9.02443580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.122755096 meters 0.022279474612556138 Centerline is valid? [True, True] Translation: X:404.34, Y:-245.40, Z:9.03 [[ 7.65578578e-01 6.43274583e-01 -9.34091719e-03 4.04340047e+02] [-6.43223297e-01 7.65635531e-01 8.12552841e-03 -2.45398879e+02] [ 1.23786840e-02 -2.12434928e-04 9.99923359e-01 9.02528122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.182755096 meters 0.02079840947609367 Centerline is valid? [True, True] Translation: X:404.39, Y:-245.43, Z:9.03 [[ 7.64005421e-01 6.45140335e-01 -9.46912478e-03 4.04387327e+02] [-6.45087796e-01 7.64064078e-01 8.23533614e-03 -2.45433818e+02] [ 1.25479656e-02 -1.83424625e-04 9.99921254e-01 9.02520843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.242755096 meters 0.020948397117324845 Centerline is valid? [True, True] Translation: X:404.43, Y:-245.47, Z:9.03 [[ 7.63713289e-01 6.45483304e-01 -9.66002821e-03 4.04430435e+02] [-6.45428670e-01 7.63774359e-01 8.40002129e-03 -2.45473133e+02] [ 1.28001554e-02 -1.80348723e-04 9.99918058e-01 9.02667729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.302755096 meters 0.021096979088613334 Centerline is valid? [True, True] Translation: X:404.47, Y:-245.51, Z:9.03 [[ 7.64054023e-01 6.45095027e-01 -8.59399536e-03 4.04473994e+02] [-6.45051772e-01 7.64102336e-01 7.47210380e-03 -2.45512194e+02] [ 1.13869089e-02 -1.65519034e-04 9.99935153e-01 9.02870908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.362755096 meters 0.021515635469617714 Centerline is valid? [True, True] Translation: X:404.52, Y:-245.55, Z:9.03 [[ 7.64660875e-01 6.44380417e-01 -8.22336061e-03 4.04517939e+02] [-6.44340783e-01 7.64705074e-01 7.14884522e-03 -2.45551250e+02] [ 1.08950214e-02 -1.67795633e-04 9.99940633e-01 9.03070902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.422755096 meters 0.02187039059937157 Centerline is valid? [True, True] Translation: X:404.56, Y:-245.59, Z:9.03 [[ 7.65197419e-01 6.43740519e-01 -8.42934293e-03 4.04561438e+02] [-6.43698846e-01 7.65243825e-01 7.32693365e-03 -2.45590011e+02] [ 1.11671467e-02 -1.80592402e-04 9.99937629e-01 9.03140423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.482755096 meters 0.022412496232663733 Centerline is valid? [True, True] Translation: X:404.60, Y:-245.63, Z:9.03 [[ 7.65900920e-01 6.42894073e-01 -9.10999597e-03 4.04604877e+02] [-6.42845360e-01 7.65955069e-01 7.91676462e-03 -2.45630093e+02] [ 1.20674886e-02 -2.07138665e-04 9.99927164e-01 9.03100116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.542755096 meters 0.022067800230320473 Centerline is valid? [True, True] Translation: X:404.65, Y:-245.67, Z:9.03 [[ 7.66634052e-01 6.42009285e-01 -9.81364154e-03 4.04649742e+02] [-6.41952701e-01 7.66696825e-01 8.52690271e-03 -2.45668227e+02] [ 1.29984385e-02 -2.37120281e-04 9.99915489e-01 9.03043200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.602755096 meters 0.02406390664153943 Centerline is valid? [True, True] Translation: X:404.70, Y:-245.71, Z:9.03 [[ 7.68035829e-01 6.40321973e-01 -1.04276417e-02 4.04695639e+02] [-6.40257981e-01 7.68106563e-01 9.05678499e-03 -2.45710355e+02] [ 1.38087985e-02 -2.79554541e-04 9.99904615e-01 9.02780050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.662755096 meters 0.024037799089022437 Centerline is valid? [True, True] Translation: X:404.74, Y:-245.75, Z:9.03 [[ 7.68713144e-01 6.39500350e-01 -1.09272516e-02 4.04739728e+02] [-6.39429894e-01 7.68790742e-01 9.49772873e-03 -2.45750446e+02] [ 1.44745707e-02 -3.13817585e-04 9.99895189e-01 9.03089461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.722755096 meters 0.026678665280451083 Centerline is valid? [True, True] Translation: X:404.78, Y:-245.79, Z:9.03 [[ 7.69865857e-01 6.38099676e-01 -1.16346442e-02 4.04781347e+02] [-6.38019644e-01 7.69953682e-01 1.01124483e-02 -2.45790164e+02] [ 1.54108872e-02 -3.62097139e-04 9.99881180e-01 9.03182383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.782755096 meters 0.024448772527521145 Centerline is valid? [True, True] Translation: X:404.83, Y:-245.83, Z:9.03 [[ 7.70804147e-01 6.36959193e-01 -1.19980243e-02 4.04830540e+02] [-6.36873982e-01 7.70897418e-01 1.04260263e-02 -2.45825918e+02] [ 1.58901993e-02 -3.95194759e-04 9.99873665e-01 9.03182341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.842755096 meters 0.025724683977803378 Centerline is valid? [True, True] Translation: X:404.87, Y:-245.86, Z:9.03 [[ 7.71844796e-01 6.35700473e-01 -1.18541004e-02 4.04874955e+02] [-6.35617142e-01 7.71935707e-01 1.03011650e-02 -2.45863780e+02] [ 1.56990588e-02 -4.16231134e-04 9.99876676e-01 9.03311906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.902755096 meters 0.025992334124455 Centerline is valid? [True, True] Translation: X:404.92, Y:-245.90, Z:9.03 [[ 7.71987641e-01 6.35523262e-01 -1.20526448e-02 4.04920105e+02] [-6.35437110e-01 7.72081604e-01 1.04726667e-02 -2.45899599e+02] [ 1.59612486e-02 -4.26071493e-04 9.99872520e-01 9.03409802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.962755096 meters 0.024798825221000177 Centerline is valid? [True, True] Translation: X:404.97, Y:-245.93, Z:9.03 [[ 7.69886435e-01 6.38050673e-01 -1.28925132e-02 4.04969119e+02] [-6.37952495e-01 7.69994273e-01 1.11996918e-02 -2.45933397e+02] [ 1.70731322e-02 -3.97679825e-04 9.99854164e-01 9.03359384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.022755096 meters 0.022992937655220775 Centerline is valid? [True, True] Translation: X:405.02, Y:-245.97, Z:9.03 [[ 7.66942640e-01 6.41579318e-01 -1.32274884e-02 4.05017492e+02] [-6.41476524e-01 7.67056629e-01 1.14889854e-02 -2.45965542e+02] [ 1.75173281e-02 -3.26269520e-04 9.99846507e-01 9.03391365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.082755096 meters 0.021055690188579425 Centerline is valid? [True, True] Translation: X:405.07, Y:-246.00, Z:9.03 [[ 7.63721460e-01 6.45402797e-01 -1.35926646e-02 4.05067613e+02] [-6.45294890e-01 7.63842373e-01 1.18040060e-02 -2.45998414e+02] [ 1.80009916e-02 -2.43695708e-04 9.99837939e-01 9.03455828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.14275509600003 meters 0.020274645692091055 Centerline is valid? [True, True] Translation: X:405.11, Y:-246.03, Z:9.04 [[ 7.62283539e-01 6.47100001e-01 -1.36160097e-02 4.05114473e+02] [-6.46992042e-01 7.62405108e-01 1.18215539e-02 -2.46034283e+02] [ 1.80306428e-02 -2.01926000e-04 9.99837414e-01 9.03592697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.20275509600003 meters 0.019712501547152886 Centerline is valid? [True, True] Translation: X:405.16, Y:-246.07, Z:9.04 [[ 7.61243379e-01 6.48331831e-01 -1.32043457e-02 4.05158891e+02] [-6.48230585e-01 7.61357873e-01 1.14585110e-02 -2.46070706e+02] [ 1.74821500e-02 -1.63254878e-04 9.99847162e-01 9.03792503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.26275509600003 meters 0.020187944103774755 Centerline is valid? [True, True] Translation: X:405.20, Y:-246.11, Z:9.04 [[ 7.62184463e-01 6.47227305e-01 -1.31019208e-02 4.05201707e+02] [-6.47127494e-01 7.62297043e-01 1.13677132e-02 -2.46108845e+02] [ 1.73450499e-02 -1.85681208e-04 9.99849546e-01 9.03900971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.322755096 meters 0.020301362583295044 Centerline is valid? [True, True] Translation: X:405.25, Y:-246.15, Z:9.04 [[ 7.64949818e-01 6.43964542e-01 -1.27061052e-02 4.05245168e+02] [-6.43870257e-01 7.65055296e-01 1.10220796e-02 -2.46149056e+02] [ 1.68187015e-02 -2.50254549e-04 9.99858524e-01 9.04023826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.382755096 meters 0.023614267809612673 Centerline is valid? [True, True] Translation: X:405.29, Y:-246.19, Z:9.04 [[ 7.66373955e-01 6.42262028e-01 -1.30555718e-02 4.05286288e+02] [-6.42162268e-01 7.66485095e-01 1.13234520e-02 -2.46189458e+02] [ 1.72795244e-02 -2.94203105e-04 9.99850655e-01 9.03822864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.442755096 meters 0.023860626021483606 Centerline is valid? [True, True] Translation: X:405.33, Y:-246.23, Z:9.04 [[ 7.68165679e-01 6.40119944e-01 -1.29594288e-02 4.05328334e+02] [-6.40021380e-01 7.68274914e-01 1.12379087e-02 -2.46230665e+02] [ 1.71500136e-02 -3.38264258e-04 9.99852870e-01 9.04019431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.502755096 meters 0.02224137420954651 Centerline is valid? [True, True] Translation: X:405.37, Y:-246.27, Z:9.04 [[ 7.69425564e-01 6.38590507e-01 -1.36552534e-02 4.05373467e+02] [-6.38480867e-01 7.69546627e-01 1.18394099e-02 -2.46269042e+02] [ 1.80688890e-02 -3.90926611e-04 9.99836668e-01 9.04237057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.562755096 meters 0.022594362993478133 Centerline is valid? [True, True] Translation: X:405.42, Y:-246.31, Z:9.04 [[ 7.69759858e-01 6.38183028e-01 -1.38630650e-02 4.05417044e+02] [-6.38069976e-01 7.69884575e-01 1.20186346e-02 -2.46308487e+02] [ 1.83430485e-02 -4.05856880e-04 9.99831670e-01 9.04276617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.622755096 meters 0.02401295913499618 Centerline is valid? [True, True] Translation: X:405.46, Y:-246.35, Z:9.04 [[ 7.69084461e-01 6.38965316e-01 -1.52452192e-02 4.05461063e+02] [-6.38828794e-01 7.69235429e-01 1.32146677e-02 -2.46347847e+02] [ 2.01708770e-02 -4.24110577e-04 9.99796457e-01 9.03981010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.682755096 meters 0.022167909275147665 Centerline is valid? [True, True] Translation: X:405.51, Y:-246.39, Z:9.04 [[ 7.68260903e-01 6.39941015e-01 -1.58329413e-02 4.05505173e+02] [-6.39794019e-01 7.68423924e-01 1.37217436e-02 -2.46385106e+02] [ 2.09475174e-02 -4.12057970e-04 9.99780492e-01 9.04229077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.742755096 meters 0.02370038349405457 Centerline is valid? [True, True] Translation: X:405.55, Y:-246.42, Z:9.04 [[ 7.68013524e-01 6.40222824e-01 -1.64305162e-02 4.05550313e+02] [-6.40064669e-01 7.68189145e-01 1.42358094e-02 -2.46423335e+02] [ 2.17358343e-02 -4.16701200e-04 9.99763662e-01 9.04092480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.802755096 meters 0.021545847374550182 Centerline is valid? [True, True] Translation: X:405.59, Y:-246.46, Z:9.05 [[ 7.67583302e-01 6.40743128e-01 -1.62516942e-02 4.05594521e+02] [-6.40588559e-01 7.67755226e-01 1.40787485e-02 -2.46461249e+02] [ 2.14981846e-02 -3.95962905e-04 9.99768809e-01 9.04645659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.862755096 meters 0.021848150134652272 Centerline is valid? [True, True] Translation: X:405.64, Y:-246.50, Z:9.05 [[ 7.68026628e-01 6.40224606e-01 -1.57338166e-02 4.05638528e+02] [-6.40079665e-01 7.68187670e-01 1.36281300e-02 -2.46499909e+02] [ 2.08115881e-02 -3.95870660e-04 9.99783337e-01 9.04850846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.922755096 meters 0.021574511055050125 Centerline is valid? [True, True] Translation: X:405.68, Y:-246.54, Z:9.05 [[ 7.67382942e-01 6.41018769e-01 -1.47769514e-02 4.05682634e+02] [-6.40891105e-01 7.67525123e-01 1.27975141e-02 -2.46537020e+02] [ 1.95451282e-02 -3.50177323e-04 9.99808914e-01 9.05198407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.982755096 meters 0.02091186630136379 Centerline is valid? [True, True] Translation: X:405.73, Y:-246.57, Z:9.05 [[ 7.66606417e-01 6.41956264e-01 -1.43790410e-02 4.05728110e+02] [-6.41835593e-01 7.66741192e-01 1.24505817e-02 -2.46574195e+02] [ 1.90177319e-02 -3.15715493e-04 9.99819097e-01 9.05413506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.042755096 meters 0.019491472028268713 Centerline is valid? [True, True] Translation: X:405.78, Y:-246.61, Z:9.06 [[ 7.65488746e-01 6.43283439e-01 -1.46081168e-02 4.05775350e+02] [-6.43159258e-01 7.65628067e-01 1.26424254e-02 -2.46610265e+02] [ 1.93170472e-02 -2.82288792e-04 9.99813369e-01 9.05561842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.102755096 meters 0.018991429391971015 Centerline is valid? [True, True] Translation: X:405.82, Y:-246.65, Z:9.06 [[ 7.64516144e-01 6.44449925e-01 -1.41194497e-02 4.05821422e+02] [-6.44334221e-01 7.64646478e-01 1.22137132e-02 -2.46646945e+02] [ 1.86675140e-02 -2.39936287e-04 9.99825718e-01 9.05691702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.162755096 meters 0.018260398716100718 Centerline is valid? [True, True] Translation: X:405.87, Y:-246.68, Z:9.06 [[ 7.63108006e-01 6.46114499e-01 -1.42206163e-02 4.05866893e+02] [-6.45997455e-01 7.63240470e-01 1.22993342e-02 -2.46683075e+02] [ 1.88005281e-02 -1.99238446e-04 9.99823235e-01 9.05803775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.222755096 meters 0.018033976435425092 Centerline is valid? [True, True] Translation: X:405.91, Y:-246.72, Z:9.06 [[ 7.62646419e-01 6.46662514e-01 -1.40723867e-02 4.05911937e+02] [-6.46548033e-01 7.62776219e-01 1.21688444e-02 -2.46719193e+02] [ 1.86032174e-02 -1.82051693e-04 9.99826929e-01 9.05900349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.282755096 meters 0.017818486285661773 Centerline is valid? [True, True] Translation: X:405.96, Y:-246.76, Z:9.06 [[ 7.62922630e-01 6.46348505e-01 -1.35155865e-02 4.05956967e+02] [-6.46242978e-01 7.63042318e-01 1.16805546e-02 -2.46756963e+02] [ 1.78626735e-02 -1.77006530e-04 9.99840434e-01 9.05964241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.342755096 meters 0.01809198976881387 Centerline is valid? [True, True] Translation: X:406.00, Y:-246.80, Z:9.06 [[ 7.64522719e-01 6.44461034e-01 -1.32282874e-02 4.06000986e+02] [-6.44359693e-01 7.64637123e-01 1.14305391e-02 -2.46796269e+02] [ 1.74813766e-02 -2.15131649e-04 9.99847166e-01 9.06021668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.402755096 meters 0.018416349026150487 Centerline is valid? [True, True] Translation: X:406.05, Y:-246.84, Z:9.06 [[ 7.65611683e-01 6.43178118e-01 -1.26751004e-02 4.06046286e+02] [-6.43084930e-01 7.65716562e-01 1.09507459e-02 -2.46835301e+02] [ 1.67488144e-02 -2.32852983e-04 9.99859702e-01 9.06106365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.462755096 meters 0.019626542070795047 Centerline is valid? [True, True] Translation: X:406.09, Y:-246.87, Z:9.06 [[ 7.67505988e-01 6.40928221e-01 -1.20653522e-02 4.06089812e+02] [-6.40843516e-01 7.67600771e-01 1.04232770e-02 -2.46874015e+02] [ 1.59419460e-02 -2.67924755e-04 9.99872883e-01 9.06133595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.522755096 meters 0.020835519928937552 Centerline is valid? [True, True] Translation: X:406.13, Y:-246.91, Z:9.06 [[ 7.70000730e-01 6.37950328e-01 -1.08744576e-02 4.06133491e+02] [-6.37881244e-01 7.70077458e-01 9.39293039e-03 -2.46914938e+02] [ 1.43663977e-02 -2.95950732e-04 9.99896754e-01 9.06252184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.582755096 meters 0.02136821326729878 Centerline is valid? [True, True] Translation: X:406.18, Y:-246.96, Z:9.06 [[ 7.71148188e-01 6.36572630e-01 -1.02839608e-02 4.06179823e+02] [-6.36510759e-01 7.71216698e-01 8.88016024e-03 -2.46956414e+02] [ 1.35840292e-02 -3.02067799e-04 9.99907687e-01 9.06333568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.64275509600003 meters 0.02289948707760401 Centerline is valid? [True, True] Translation: X:406.22, Y:-247.00, Z:9.06 [[ 7.72864037e-01 6.34497307e-01 -9.71328303e-03 4.06223015e+02] [-6.34441864e-01 7.72925004e-01 8.39400097e-03 -2.46996997e+02] [ 1.28336103e-02 -3.24908094e-04 9.99917593e-01 9.06334012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.70275509600003 meters 0.023543045932659903 Centerline is valid? [True, True] Translation: X:406.27, Y:-247.04, Z:9.06 [[ 7.73112640e-01 6.34200102e-01 -9.33148285e-03 4.06266125e+02] [-6.34148907e-01 7.73168888e-01 8.06437991e-03 -2.47035668e+02] [ 1.23292428e-02 -3.17124385e-04 9.99923942e-01 9.06392643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.76275509600003 meters 0.023536530766344967 Centerline is valid? [True, True] Translation: X:406.31, Y:-247.07, Z:9.06 [[ 7.72519733e-01 6.34929973e-01 -8.78593916e-03 4.06309523e+02] [-6.34884650e-01 7.72569639e-01 7.59166989e-03 -2.47073967e+02] [ 1.16079286e-02 -2.86656880e-04 9.99932585e-01 9.06400101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.822755096 meters 0.023206696792708887 Centerline is valid? [True, True] Translation: X:406.35, Y:-247.11, Z:9.06 [[ 7.71673365e-01 6.35952639e-01 -9.19017747e-03 4.06353300e+02] [-6.35903142e-01 7.71728036e-01 7.93933024e-03 -2.47112225e+02] [ 1.21413556e-02 -2.82506960e-04 9.99926251e-01 9.06389254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.882755096 meters 0.023331840821417534 Centerline is valid? [True, True] Translation: X:406.40, Y:-247.15, Z:9.06 [[ 7.71320934e-01 6.36383616e-01 -8.93925524e-03 4.06397240e+02] [-6.36336844e-01 7.71372687e-01 7.72001472e-03 -2.47151685e+02] [ 1.18083882e-02 -2.66231495e-04 9.99930243e-01 9.06438094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.942755096 meters 0.022364321305688207 Centerline is valid? [True, True] Translation: X:406.44, Y:-247.19, Z:9.07 [[ 7.71551779e-01 6.36113781e-01 -8.19210875e-03 4.06441532e+02] [-6.36074495e-01 7.71595229e-01 7.07391302e-03 -2.47190366e+02] [ 1.08208056e-02 -2.47098743e-04 9.99941423e-01 9.06522316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.002755096 meters 0.020925582888462704 Centerline is valid? [True, True] Translation: X:406.49, Y:-247.23, Z:9.07 [[ 7.70672473e-01 6.37188405e-01 -7.40781916e-03 4.06488814e+02] [-6.37156379e-01 7.70708047e-01 6.39175418e-03 -2.47230994e+02] [ 9.78201749e-03 -2.06009770e-04 9.99952134e-01 9.06641296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.062755096 meters 0.021880142586705998 Centerline is valid? [True, True] Translation: X:406.53, Y:-247.27, Z:9.07 [[ 7.69033868e-01 6.39175027e-01 -6.49578168e-03 4.06532926e+02] [-6.39150449e-01 7.69061284e-01 5.60748918e-03 -2.47273073e+02] [ 8.57982125e-03 -1.60567318e-04 9.99963180e-01 9.06898745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.122755096 meters 0.019529659854894493 Centerline is valid? [True, True] Translation: X:406.58, Y:-247.31, Z:9.07 [[ 7.67398530e-01 6.41127797e-01 -7.39211211e-03 4.06582346e+02] [-6.41096000e-01 7.67434115e-01 6.38723840e-03 -2.47311678e+02] [ 9.76799511e-03 -1.62503853e-04 9.99952279e-01 9.06757688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.182755096 meters 0.018091881518402683 Centerline is valid? [True, True] Translation: X:406.63, Y:-247.35, Z:9.07 [[ 7.64041564e-01 6.45105222e-01 -8.92971925e-03 4.06627127e+02] [-6.45059047e-01 7.64093733e-01 7.71962190e-03 -2.47348631e+02] [ 1.18031109e-02 -1.37915803e-04 9.99930331e-01 9.06684243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.242755096 meters 0.01712262437180478 Centerline is valid? [True, True] Translation: X:406.67, Y:-247.39, Z:9.07 [[ 7.61854303e-01 6.47672538e-01 -9.91490784e-03 4.06672716e+02] [-6.47615859e-01 7.61918810e-01 8.56893913e-03 -2.47386987e+02] [ 1.31042213e-02 -1.07231591e-04 9.99914130e-01 9.06583019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.302755096 meters 0.017052921778169236 Centerline is valid? [True, True] Translation: X:406.72, Y:-247.43, Z:9.07 [[ 7.61702188e-01 6.47846135e-01 -1.02549044e-02 4.06717047e+02] [-6.47785524e-01 7.61771209e-01 8.86228924e-03 -2.47425976e+02] [ 1.35532907e-02 -1.07446489e-04 9.99908144e-01 9.06666104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.362755096 meters 0.017107729923045323 Centerline is valid? [True, True] Translation: X:406.76, Y:-247.47, Z:9.07 [[ 7.62114452e-01 6.47354368e-01 -1.06716709e-02 4.06761285e+02] [-6.47288733e-01 7.62189156e-01 9.21882800e-03 -2.47470009e+02] [ 1.41016804e-02 -1.18149737e-04 9.99900559e-01 9.06739438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.422755096 meters 0.018179118825924514 Centerline is valid? [True, True] Translation: X:406.80, Y:-247.52, Z:9.07 [[ 7.64668631e-01 6.44347700e-01 -9.89571565e-03 4.06803223e+02] [-6.44290954e-01 7.64732642e-01 8.55290587e-03 -2.47516734e+02] [ 1.30786220e-02 -1.64418749e-04 9.99914458e-01 9.06976351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.482755096 meters 0.01906890002971553 Centerline is valid? [True, True] Translation: X:406.85, Y:-247.56, Z:9.07 [[ 7.66863799e-01 6.41738452e-01 -9.57456518e-03 4.06847048e+02] [-6.41685071e-01 7.66923540e-01 8.27969104e-03 -2.47561273e+02] [ 1.26563555e-02 -2.05539798e-04 9.99919884e-01 9.07199802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.542755096 meters 0.021561807784641163 Centerline is valid? [True, True] Translation: X:406.89, Y:-247.61, Z:9.08 [[ 7.69368584e-01 6.38747983e-01 -8.54380757e-03 4.06888411e+02] [-6.38705250e-01 7.69415987e-01 7.39203077e-03 -2.47606587e+02] [ 1.12953869e-02 -2.30221487e-04 9.99936179e-01 9.07528191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.602755096 meters 0.020364386555199662 Centerline is valid? [True, True] Translation: X:406.94, Y:-247.64, Z:9.08 [[ 7.68896978e-01 6.39318110e-01 -8.35417445e-03 4.06938518e+02] [-6.39277254e-01 7.68942330e-01 7.23095408e-03 -2.47644968e+02] [ 1.10467583e-02 -2.19225038e-04 9.99938959e-01 9.07574877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.662755096 meters 0.01957937219038968 Centerline is valid? [True, True] Translation: X:406.99, Y:-247.68, Z:9.07 [[ 7.67108766e-01 6.41429064e-01 -1.06253103e-02 4.06987756e+02] [-6.41363057e-01 7.67182309e-01 9.20506185e-03 -2.47683522e+02] [ 1.40559443e-02 -2.46602127e-04 9.99901180e-01 9.07468873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.722755096 meters 0.019620602040463113 Centerline is valid? [True, True] Translation: X:407.03, Y:-247.72, Z:9.07 [[ 7.65510985e-01 6.43309860e-01 -1.20563874e-02 4.07033207e+02] [-6.43224984e-01 7.65605880e-01 1.04525817e-02 -2.47721397e+02] [ 1.59546900e-02 -2.46596541e-04 9.99872685e-01 9.07431506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.782755096 meters 0.018198296342970006 Centerline is valid? [True, True] Translation: X:407.08, Y:-247.75, Z:9.07 [[ 7.64240323e-01 6.44779484e-01 -1.40051901e-02 4.07082836e+02] [-6.44665216e-01 7.64368598e-01 1.21410432e-02 -2.47754251e+02] [ 1.85334231e-02 -2.50015921e-04 9.99828210e-01 9.07215071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.842755096 meters 0.018353897176938704 Centerline is valid? [True, True] Translation: X:407.13, Y:-247.79, Z:9.07 [[ 7.64616575e-01 6.44312090e-01 -1.49474064e-02 4.07128847e+02] [-6.44181881e-01 7.64762613e-01 1.29557110e-02 -2.47791203e+02] [ 1.97787388e-02 -2.77303014e-04 9.99804343e-01 9.07212326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.902755096 meters 0.0196506894895897 Centerline is valid? [True, True] Translation: X:407.17, Y:-247.83, Z:9.07 [[ 7.65852238e-01 6.42843612e-01 -1.49144378e-02 4.07171136e+02] [-6.42713738e-01 7.65997384e-01 1.29251079e-02 -2.47830758e+02] [ 1.97332434e-02 -3.13008706e-04 9.99805232e-01 9.07385866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.962755096 meters 0.020410824478001605 Centerline is valid? [True, True] Translation: X:407.22, Y:-247.87, Z:9.08 [[ 7.68631139e-01 6.39545131e-01 -1.37184940e-02 4.07215666e+02] [-6.39434764e-01 7.68753467e-01 1.18865799e-02 -2.47870666e+02] [ 1.81481441e-02 -3.64313497e-04 9.99835242e-01 9.07732869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.022755096 meters 0.02171028523543421 Centerline is valid? [True, True] Translation: X:407.26, Y:-247.91, Z:9.08 [[ 7.70918843e-01 6.36823166e-01 -1.18487117e-02 4.07260728e+02] [-6.36740531e-01 7.71009804e-01 1.02653849e-02 -2.47911278e+02] [ 1.56727078e-02 -3.69223614e-04 9.99877107e-01 9.08113099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.082755096 meters 0.022719204689129493 Centerline is valid? [True, True] Translation: X:407.31, Y:-247.95, Z:9.08 [[ 7.72149843e-01 6.35351812e-01 -1.06157604e-02 4.07307032e+02] [-6.35285325e-01 7.72222731e-01 9.19837634e-03 -2.47950810e+02] [ 1.40419365e-02 -3.58488082e-04 9.99901343e-01 9.08355984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.14275509600003 meters 0.021785556450543208 Centerline is valid? [True, True] Translation: X:407.36, Y:-247.99, Z:9.08 [[ 7.71684311e-01 6.35918923e-01 -1.05094445e-02 4.07356106e+02] [-6.35853813e-01 7.71755794e-01 9.10624933e-03 -2.47990475e+02] [ 1.39015609e-02 -3.44679377e-04 9.99903309e-01 9.08497612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.20275509600003 meters 0.020842200042272226 Centerline is valid? [True, True] Translation: X:407.40, Y:-248.03, Z:9.08 [[ 7.69433158e-01 6.38618456e-01 -1.17933381e-02 4.07403914e+02] [-6.38536645e-01 7.69523458e-01 1.02274546e-02 -2.48027636e+02] [ 1.56066916e-02 -3.38864178e-04 9.99878151e-01 9.08455820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.26275509600003 meters 0.018889981074902282 Centerline is valid? [True, True] Translation: X:407.45, Y:-248.06, Z:9.08 [[ 7.66100632e-01 6.42577272e-01 -1.35746559e-02 4.07452962e+02] [-6.42469486e-01 7.66220830e-01 1.17728213e-02 -2.48062943e+02] [ 1.79661315e-02 -2.97863648e-04 9.99838552e-01 9.08365845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.322755096 meters 0.018682300928124822 Centerline is valid? [True, True] Translation: X:407.50, Y:-248.10, Z:9.08 [[ 7.64356862e-01 6.44633968e-01 -1.43399671e-02 4.07497516e+02] [-6.44514056e-01 7.64491319e-01 1.24359819e-02 -2.48100586e+02] [ 1.89794367e-02 -2.63217742e-04 9.99819840e-01 9.08315582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.382755096 meters 0.017695590345826875 Centerline is valid? [True, True] Translation: X:407.54, Y:-248.14, Z:9.08 [[ 7.63042611e-01 6.46143150e-01 -1.62789397e-02 4.07541153e+02] [-6.45989010e-01 7.63216198e-01 1.41150162e-02 -2.48139415e+02] [ 2.15446715e-02 -2.54342695e-04 9.99767854e-01 9.08273136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.442755096 meters 0.017884704591331336 Centerline is valid? [True, True] Translation: X:407.58, Y:-248.18, Z:9.08 [[ 7.63300397e-01 6.45847719e-01 -1.59131584e-02 4.07583405e+02] [-6.45700412e-01 7.63466213e-01 1.37955958e-02 -2.48179388e+02] [ 2.10590128e-02 -2.55050807e-04 9.99778202e-01 9.08429907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.502755096 meters 0.01870386942947806 Centerline is valid? [True, True] Translation: X:407.62, Y:-248.22, Z:9.09 [[ 7.64634853e-01 6.44275460e-01 -1.55779704e-02 4.07623460e+02] [-6.44134032e-01 7.64793467e-01 1.35019173e-02 -2.48220739e+02] [ 2.06128840e-02 -2.89735640e-04 9.99787490e-01 9.08612582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.562755096 meters 0.01836554309693066 Centerline is valid? [True, True] Translation: X:407.67, Y:-248.26, Z:9.09 [[ 7.64925218e-01 6.43948574e-01 -1.48204258e-02 4.07668697e+02] [-6.43820561e-01 7.65068725e-01 1.28425630e-02 -2.48258086e+02] [ 1.96085944e-02 -2.81905431e-04 9.99807693e-01 9.08890821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.622755096 meters 0.018587120922389302 Centerline is valid? [True, True] Translation: X:407.71, Y:-248.30, Z:9.09 [[ 7.65004517e-01 6.43833505e-01 -1.57005178e-02 4.07712245e+02] [-6.43689857e-01 7.65165556e-01 1.36029347e-02 -2.48297133e+02] [ 2.07715205e-02 -3.00042455e-04 9.99784204e-01 9.08887844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.682755096 meters 0.018504108879389615 Centerline is valid? [True, True] Translation: X:407.76, Y:-248.34, Z:9.09 [[ 7.64864957e-01 6.43977191e-01 -1.65823838e-02 4.07756070e+02] [-6.43817037e-01 7.65044627e-01 1.43646378e-02 -2.48336466e+02] [ 2.19367628e-02 -3.10986867e-04 9.99759312e-01 9.08880745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.742755096 meters 0.01859520458820137 Centerline is valid? [True, True] Translation: X:407.80, Y:-248.37, Z:9.09 [[ 7.64309379e-01 6.44602475e-01 -1.78556002e-02 4.07800642e+02] [-6.44417012e-01 7.64517855e-01 1.54648973e-02 -2.48373531e+02] [ 2.36196362e-02 -3.13513538e-04 9.99720968e-01 9.08757256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.802755096 meters 0.01791344443570643 Centerline is valid? [True, True] Translation: X:407.85, Y:-248.41, Z:9.09 [[ 7.63456376e-01 6.45597115e-01 -1.84045180e-02 4.07847428e+02] [-6.45400434e-01 7.63678127e-01 1.59373333e-02 -2.48409073e+02] [ 2.43442242e-02 -2.89174878e-04 9.99703594e-01 9.08852969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.862755096 meters 0.018292066493062236 Centerline is valid? [True, True] Translation: X:407.89, Y:-248.45, Z:9.09 [[ 7.63764177e-01 6.45237107e-01 -1.82581093e-02 4.07890818e+02] [-6.45043502e-01 7.63982322e-01 1.58079761e-02 -2.48446773e+02] [ 2.41487655e-02 -2.96291073e-04 9.99708332e-01 9.09005221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.922755096 meters 0.019084876677382373 Centerline is valid? [True, True] Translation: X:407.93, Y:-248.49, Z:9.09 [[ 7.64732132e-01 6.44105527e-01 -1.76872024e-02 4.07933253e+02] [-6.43923605e-01 7.64936578e-01 1.53108522e-02 -2.48485554e+02] [ 2.33913926e-02 -3.19493487e-04 9.99726333e-01 9.09171713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.982755096 meters 0.021536380325037498 Centerline is valid? [True, True] Translation: X:407.97, Y:-248.53, Z:9.09 [[ 7.68463872e-01 6.39662099e-01 -1.71952861e-02 4.07974575e+02] [-6.39489121e-01 7.68656104e-01 1.48814596e-02 -2.48527481e+02] [ 2.27363673e-02 -4.39665653e-04 9.99741399e-01 9.09361625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.042755096 meters 0.02378358482827566 Centerline is valid? [True, True] Translation: X:408.02, Y:-248.57, Z:9.10 [[ 7.72162468e-01 6.35218330e-01 -1.62109816e-02 4.08016939e+02] [-6.35063735e-01 7.72332434e-01 1.40237104e-02 -2.48569508e+02] [ 2.14283848e-02 -5.33576331e-04 9.99770243e-01 9.09588854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.102755096 meters 0.025036471081690072 Centerline is valid? [True, True] Translation: X:408.06, Y:-248.61, Z:9.10 [[ 7.73810195e-01 6.33220702e-01 -1.57900249e-02 4.08060378e+02] [-6.33073641e-01 7.73971068e-01 1.36583848e-02 -2.48608405e+02] [ 2.08697944e-02 -5.72748904e-04 9.99782038e-01 9.09729601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.162755096 meters 0.026023887003989082 Centerline is valid? [True, True] Translation: X:408.10, Y:-248.65, Z:9.10 [[ 7.74369919e-01 6.32539442e-01 -1.56551405e-02 4.08103632e+02] [-6.32394795e-01 7.74527929e-01 1.35392156e-02 -2.48646244e+02] [ 2.06894314e-02 -5.84131954e-04 9.99785780e-01 9.09924747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.222755096 meters 0.025718130349453083 Centerline is valid? [True, True] Translation: X:408.15, Y:-248.68, Z:9.10 [[ 7.73688689e-01 6.33367156e-01 -1.58700634e-02 4.08149313e+02] [-6.33218735e-01 7.73851228e-01 1.37226139e-02 -2.48683052e+02] [ 2.09725209e-02 -5.67809654e-04 9.99779891e-01 9.09939126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.282755096 meters 0.023026414364631737 Centerline is valid? [True, True] Translation: X:408.20, Y:-248.72, Z:9.10 [[ 7.71756914e-01 6.35689209e-01 -1.70439340e-02 4.08197499e+02] [-6.35518632e-01 7.71944906e-01 1.47353679e-02 -2.48717498e+02] [ 2.25240924e-02 -5.40384422e-04 9.99746154e-01 9.09864035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.342755096 meters 0.021705763482339636 Centerline is valid? [True, True] Translation: X:408.24, Y:-248.75, Z:9.10 [[ 7.70494225e-01 6.37207153e-01 -1.74840945e-02 4.08243814e+02] [-6.37028094e-01 7.70692408e-01 1.51135781e-02 -2.48754361e+02] [ 2.31053389e-02 -5.07065209e-04 9.99732907e-01 9.09957068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.402755096 meters 0.020756532224248697 Centerline is valid? [True, True] Translation: X:408.29, Y:-248.79, Z:9.10 [[ 7.69214527e-01 6.38769125e-01 -1.68231013e-02 4.08289646e+02] [-6.38603771e-01 7.69398343e-01 1.45400450e-02 -2.48791672e+02] [ 2.22313981e-02 -4.41117906e-04 9.99752755e-01 9.10168535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.462755096 meters 0.020079460513854234 Centerline is valid? [True, True] Translation: X:408.33, Y:-248.83, Z:9.10 [[ 7.68453779e-01 6.39713472e-01 -1.56672882e-02 4.08334773e+02] [-6.39570297e-01 7.68613379e-01 1.35391414e-02 -2.48829448e+02] [ 2.07032584e-02 -3.83872185e-04 9.99785591e-01 9.10470025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.522755096 meters 0.02038048101812211 Centerline is valid? [True, True] Translation: X:408.38, Y:-248.87, Z:9.11 [[ 7.68670677e-01 6.39460315e-01 -1.53589085e-02 4.08377070e+02] [-6.39322713e-01 7.68824011e-01 1.32706008e-02 -2.48868494e+02] [ 2.02943203e-02 -3.81422644e-04 9.99793976e-01 9.10682578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.582755096 meters 0.02085834979988054 Centerline is valid? [True, True] Translation: X:408.42, Y:-248.91, Z:9.11 [[ 7.68497984e-01 6.39671337e-01 -1.52127623e-02 4.08419810e+02] [-6.39536433e-01 7.68648452e-01 1.31418635e-02 -2.48907652e+02] [ 2.00997396e-02 -3.70379894e-04 9.99797911e-01 9.10749006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.64275509600003 meters 0.02060488810973495 Centerline is valid? [True, True] Translation: X:408.46, Y:-248.95, Z:9.11 [[ 7.68608945e-01 6.39550518e-01 -1.46773607e-02 4.08462836e+02] [-6.39424965e-01 7.68748988e-01 1.26770468e-02 -2.48946412e+02] [ 1.93908180e-02 -3.58620688e-04 9.99811916e-01 9.10873054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.70275509600003 meters 0.01958812107518786 Centerline is valid? [True, True] Translation: X:408.51, Y:-248.99, Z:9.11 [[ 7.68415643e-01 6.39766320e-01 -1.53771076e-02 4.08508312e+02] [-6.39628612e-01 7.68569399e-01 1.32785024e-02 -2.48985063e+02] [ 2.03135130e-02 -3.67770956e-04 9.99793592e-01 9.10897677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.76275509600003 meters 0.0194081672367911 Centerline is valid? [True, True] Translation: X:408.55, Y:-249.02, Z:9.11 [[ 7.67849531e-01 6.40423341e-01 -1.62801096e-02 4.08552341e+02] [-6.40269158e-01 7.68022010e-01 1.40569450e-02 -2.49023522e+02] [ 2.15058782e-02 -3.69966505e-04 9.99768653e-01 9.10948654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.822755096 meters 0.019084258900809187 Centerline is valid? [True, True] Translation: X:408.60, Y:-249.06, Z:9.11 [[ 7.66882568e-01 6.41580982e-01 -1.62779263e-02 4.08597156e+02] [-6.41427146e-01 7.67055233e-01 1.40529325e-02 -2.49062390e+02] [ 2.15021628e-02 -3.35845144e-04 9.99768745e-01 9.11020535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.882755096 meters 0.01856737995423557 Centerline is valid? [True, True] Translation: X:408.64, Y:-249.10, Z:9.11 [[ 7.66208072e-01 6.42382636e-01 -1.64237571e-02 4.08642865e+02] [-6.42226253e-01 7.66384009e-01 1.41770856e-02 -2.49099501e+02] [ 2.16940185e-02 -3.14829436e-04 9.99764608e-01 9.11020404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.942755096 meters 0.018947163557620827 Centerline is valid? [True, True] Translation: X:408.69, Y:-249.14, Z:9.11 [[ 7.67235067e-01 6.41145149e-01 -1.68300433e-02 4.08686359e+02] [-6.40980686e-01 7.67419553e-01 1.45254681e-02 -2.49139471e+02] [ 2.22286377e-02 -3.56715756e-04 9.99752850e-01 9.11104827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.002755096 meters 0.020501773122046218 Centerline is valid? [True, True] Translation: X:408.73, Y:-249.18, Z:9.11 [[ 7.68843436e-01 6.39210986e-01 -1.70025175e-02 4.08727911e+02] [-6.39042716e-01 7.69031301e-01 1.46718978e-02 -2.49180379e+02] [ 2.24539064e-02 -4.15057363e-04 9.99747793e-01 9.11203794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.062755096 meters 0.01964069454475909 Centerline is valid? [True, True] Translation: X:408.78, Y:-249.22, Z:9.11 [[ 7.69269900e-01 6.38696269e-01 -1.70557134e-02 4.08776270e+02] [-6.38526836e-01 7.69458829e-01 1.47169691e-02 -2.49218833e+02] [ 2.25233425e-02 -4.30790613e-04 9.99746225e-01 9.11355335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.122755096 meters 0.02010599435169106 Centerline is valid? [True, True] Translation: X:408.82, Y:-249.26, Z:9.11 [[ 7.69291021e-01 6.38653237e-01 -1.77021981e-02 4.08822900e+02] [-6.38470534e-01 7.69494533e-01 1.52820635e-02 -2.49256122e+02] [ 2.33816840e-02 -4.54022420e-04 9.99726508e-01 9.11334456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.182755096 meters 0.021226918508421944 Centerline is valid? [True, True] Translation: X:408.87, Y:-249.29, Z:9.11 [[ 7.68600987e-01 6.39471605e-01 -1.81270532e-02 4.08867678e+02] [-6.39280252e-01 7.68814590e-01 1.56488040e-02 -2.49293612e+02] [ 2.39433087e-02 -4.39419056e-04 9.99713221e-01 9.11306702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.242755096 meters 0.02057679118776352 Centerline is valid? [True, True] Translation: X:408.91, Y:-249.33, Z:9.11 [[ 7.68668953e-01 6.39385122e-01 -1.82949912e-02 4.08913621e+02] [-6.39190249e-01 7.68886512e-01 1.57910540e-02 -2.49329321e+02] [ 2.41633369e-02 -4.44112987e-04 9.99707925e-01 9.11391581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.302755096 meters 0.02020739622916472 Centerline is valid? [True, True] Translation: X:408.96, Y:-249.37, Z:9.12 [[ 7.69131614e-01 6.38831089e-01 -1.82043924e-02 4.08959186e+02] [-6.38638065e-01 7.69346886e-01 1.57095730e-02 -2.49366435e+02] [ 2.40412562e-02 -4.56711349e-04 9.99710863e-01 9.11507646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.362755096 meters 0.019972468714743834 Centerline is valid? [True, True] Translation: X:409.01, Y:-249.40, Z:9.12 [[ 7.69693910e-01 6.38184145e-01 -1.70962652e-02 4.09005969e+02] [-6.38013794e-01 7.69883626e-01 1.47513160e-02 -2.49403907e+02] [ 2.25761907e-02 -4.46345066e-04 9.99745026e-01 9.11721891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.422755096 meters 0.021624287230022056 Centerline is valid? [True, True] Translation: X:409.05, Y:-249.44, Z:9.12 [[ 7.70272795e-01 6.37508230e-01 -1.62196561e-02 4.09048140e+02] [-6.37354782e-01 7.70443419e-01 1.39935825e-02 -2.49444283e+02] [ 2.14173513e-02 -4.41200544e-04 9.99770525e-01 9.11849105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.482755096 meters 0.022918303690368274 Centerline is valid? [True, True] Translation: X:409.09, Y:-249.48, Z:9.12 [[ 7.71272508e-01 6.36326703e-01 -1.50680493e-02 4.09090556e+02] [-6.36194102e-01 7.71419559e-01 1.29973037e-02 -2.49484298e+02] [ 1.98943193e-02 -4.38258947e-04 9.99801992e-01 9.11993892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.542755096 meters 0.023371495357801326 Centerline is valid? [True, True] Translation: X:409.13, Y:-249.52, Z:9.12 [[ 7.72104328e-01 6.35335678e-01 -1.42647218e-02 4.09133842e+02] [-6.35216711e-01 7.72235964e-01 1.23022346e-02 -2.49523429e+02] [ 1.88317797e-02 -4.37418924e-04 9.99822571e-01 9.12250211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.602755096 meters 0.02086920285188337 Centerline is valid? [True, True] Translation: X:409.18, Y:-249.56, Z:9.13 [[ 7.71652287e-01 6.35912290e-01 -1.29733314e-02 4.09182822e+02] [-6.35814007e-01 7.71761241e-01 1.11864404e-02 -2.49560349e+02] [ 1.71259092e-02 -3.83416499e-04 9.99853267e-01 9.12572613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.662755096 meters 0.019952259894710292 Centerline is valid? [True, True] Translation: X:409.23, Y:-249.60, Z:9.13 [[ 7.69796281e-01 6.38170070e-01 -1.23550687e-02 4.09228856e+02] [-6.38081204e-01 7.69895357e-01 1.06543692e-02 -2.49598404e+02] [ 1.63114096e-02 -3.18156708e-04 9.99866909e-01 9.12683654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.722755096 meters 0.019104884432325855 Centerline is valid? [True, True] Translation: X:409.27, Y:-249.63, Z:9.13 [[ 7.67769978e-01 6.40598500e-01 -1.27601854e-02 4.09273521e+02] [-6.40504059e-01 7.67875958e-01 1.10029346e-02 -2.49634755e+02] [ 1.68467030e-02 -2.74772345e-04 9.99858046e-01 9.12742356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.782755096 meters 0.017651327820503097 Centerline is valid? [True, True] Translation: X:409.32, Y:-249.67, Z:9.13 [[ 7.65370241e-01 6.43459304e-01 -1.29814262e-02 4.09321782e+02] [-6.43362011e-01 7.65480292e-01 1.11913022e-02 -2.49671995e+02] [ 1.71381734e-02 -2.13733208e-04 9.99853108e-01 9.12794322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.842755096 meters 0.01753246375524797 Centerline is valid? [True, True] Translation: X:409.37, Y:-249.71, Z:9.13 [[ 7.63885713e-01 6.45215370e-01 -1.32568422e-02 4.09365188e+02] [-6.45114166e-01 7.64000716e-01 1.14288642e-02 -2.49710253e+02] [ 1.75023158e-02 -1.78169416e-04 9.99846807e-01 9.12903528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.902755096 meters 0.01729946864869172 Centerline is valid? [True, True] Translation: X:409.41, Y:-249.75, Z:9.13 [[ 7.63824105e-01 6.45285422e-01 -1.33962841e-02 4.09409545e+02] [-6.45182129e-01 7.63941551e-01 1.15467651e-02 -2.49748274e+02] [ 1.76849373e-02 -1.76654428e-04 9.99843594e-01 9.13018597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.962755096 meters 0.017541933356079325 Centerline is valid? [True, True] Translation: X:409.45, Y:-249.79, Z:9.13 [[ 7.64554136e-01 6.44448325e-01 -1.19720338e-02 4.09452993e+02] [-6.44365761e-01 7.64647845e-01 1.03169136e-02 -2.49787974e+02] [ 1.58031076e-02 -1.73470309e-04 9.99875108e-01 9.13252142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.022755096 meters 0.017848386522480737 Centerline is valid? [True, True] Translation: X:409.50, Y:-249.83, Z:9.13 [[ 7.65494380e-01 6.43342970e-01 -1.13214959e-02 4.09497572e+02] [-6.43269042e-01 7.65578075e-01 9.75451491e-03 -2.49828739e+02] [ 1.49429876e-02 -1.84258536e-04 9.99888330e-01 9.13486847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.082755096 meters 0.018425345511813775 Centerline is valid? [True, True] Translation: X:409.54, Y:-249.87, Z:9.14 [[ 7.66592219e-01 6.42038987e-01 -1.10593441e-02 4.09543340e+02] [-6.41968328e-01 7.66671963e-01 9.52722018e-03 -2.49871157e+02] [ 1.45957359e-02 -2.03744198e-04 9.99893456e-01 9.13698327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.14275509600003 meters 0.019340779223835602 Centerline is valid? [True, True] Translation: X:409.59, Y:-249.91, Z:9.14 [[ 7.67884462e-01 6.40501563e-01 -1.05452366e-02 4.09586669e+02] [-6.40437083e-01 7.67956833e-01 9.09094706e-03 -2.49912547e+02] [ 1.39210523e-02 -2.27236419e-04 9.99903072e-01 9.13881523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.20275509600003 meters 0.02006705783686797 Centerline is valid? [True, True] Translation: X:409.63, Y:-249.95, Z:9.14 [[ 7.69138697e-01 6.39004845e-01 -9.92337893e-03 4.09630596e+02] [-6.38947626e-01 7.69202672e-01 8.55453794e-03 -2.49953404e+02] [ 1.30994808e-02 -2.39106749e-04 9.99914170e-01 9.14105267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.26275509600003 meters 0.020827065364014782 Centerline is valid? [True, True] Translation: X:409.67, Y:-249.99, Z:9.14 [[ 7.69822701e-01 6.38190665e-01 -9.25656616e-03 4.09673874e+02] [-6.38140818e-01 7.69878315e-01 7.97973574e-03 -2.49992558e+02] [ 1.22190224e-02 -2.35989016e-04 9.99925317e-01 9.14319817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.322755096 meters 0.020122068647826757 Centerline is valid? [True, True] Translation: X:409.72, Y:-250.03, Z:9.14 [[ 7.69915627e-01 6.38078127e-01 -9.28609743e-03 4.09722444e+02] [-6.38028003e-01 7.69971589e-01 8.00115256e-03 -2.50032156e+02] [ 1.22553916e-02 -2.35422180e-04 9.99924872e-01 9.14370907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.382755096 meters 0.02038224253743391 Centerline is valid? [True, True] Translation: X:409.77, Y:-250.07, Z:9.14 [[ 7.69788370e-01 6.38229563e-01 -9.42814763e-03 4.09768778e+02] [-6.38177826e-01 7.69846066e-01 8.12994553e-03 -2.50073582e+02] [ 1.24469940e-02 -2.41502753e-04 9.99922504e-01 9.14487865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.442755096 meters 0.021548665380651217 Centerline is valid? [True, True] Translation: X:409.81, Y:-250.11, Z:9.14 [[ 7.69346584e-01 6.38738471e-01 -1.09087202e-02 4.09813323e+02] [-6.38669177e-01 7.69423869e-01 9.41233862e-03 -2.50113537e+02] [ 1.44054524e-02 -2.74287243e-04 9.99896198e-01 9.14470984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.502755096 meters 0.01943338481599592 Centerline is valid? [True, True] Translation: X:409.86, Y:-250.15, Z:9.14 [[ 7.67429111e-01 6.41016335e-01 -1.22726586e-02 4.09861567e+02] [-6.40928924e-01 7.67527192e-01 1.05888814e-02 -2.50147297e+02] [ 1.62072452e-02 -2.60313962e-04 9.99868620e-01 9.14317671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.562755096 meters 0.018857916311419882 Centerline is valid? [True, True] Translation: X:409.91, Y:-250.18, Z:9.14 [[ 7.66253213e-01 6.42412075e-01 -1.27569454e-02 4.09908029e+02] [-6.42317851e-01 7.66359360e-01 1.10049257e-02 -2.50184158e+02] [ 1.68461017e-02 -2.38545910e-04 9.99858066e-01 9.14434255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.622755096 meters 0.01826755976843017 Centerline is valid? [True, True] Translation: X:409.96, Y:-250.22, Z:9.15 [[ 7.65504899e-01 6.43304034e-01 -1.27345682e-02 4.09955785e+02] [-6.43210295e-01 7.65610784e-01 1.09838187e-02 -2.50220306e+02] [ 1.68156577e-02 -2.17161633e-04 9.99858583e-01 9.14568123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.682755096 meters 0.018677014739142832 Centerline is valid? [True, True] Translation: X:410.00, Y:-250.26, Z:9.15 [[ 7.66050611e-01 6.42654788e-01 -1.26998201e-02 4.09999470e+02] [-6.42561483e-01 7.66155840e-01 1.09530953e-02 -2.50257592e+02] [ 1.67691004e-02 -2.30210102e-04 9.99859362e-01 9.14727346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.742755096 meters 0.018870472889210843 Centerline is valid? [True, True] Translation: X:410.04, Y:-250.30, Z:9.15 [[ 7.67078983e-01 6.41421979e-01 -1.29490895e-02 4.10044113e+02] [-6.41324838e-01 7.67188228e-01 1.11657868e-02 -2.50295578e+02] [ 1.70963701e-02 -2.60467696e-04 9.99853812e-01 9.14849299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.802755096 meters 0.019648777305708593 Centerline is valid? [True, True] Translation: X:410.09, Y:-250.34, Z:9.15 [[ 7.68384864e-01 6.39855984e-01 -1.30007963e-02 4.10087592e+02] [-6.39757872e-01 7.68494784e-01 1.12085766e-02 -2.50335114e+02] [ 1.71629190e-02 -2.95138834e-04 9.99852663e-01 9.14979713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.862755096 meters 0.021758787300606715 Centerline is valid? [True, True] Translation: X:410.13, Y:-250.38, Z:9.15 [[ 7.70421778e-01 6.37404215e-01 -1.28899408e-02 4.10129050e+02] [-6.37307455e-01 7.70529524e-01 1.11112984e-02 -2.50375758e+02] [ 1.70144684e-02 -3.45530877e-04 9.99855184e-01 9.15178427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.922755096 meters 0.022302537817687828 Centerline is valid? [True, True] Translation: X:410.17, Y:-250.42, Z:9.15 [[ 7.72688539e-01 6.34649347e-01 -1.31387814e-02 4.10173593e+02] [-6.34548456e-01 7.72800127e-01 1.13234745e-02 -2.50415388e+02] [ 1.73400876e-02 -4.12325551e-04 9.99849564e-01 9.15250944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.982755096 meters 0.024596652613308137 Centerline is valid? [True, True] Translation: X:410.22, Y:-250.46, Z:9.15 [[ 7.75240155e-01 6.31526800e-01 -1.32892213e-02 4.10215355e+02] [-6.31423141e-01 7.75353896e-01 1.14522490e-02 -2.50456847e+02] [ 1.75362517e-02 -4.87121464e-04 9.99846109e-01 9.15338914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.042755096 meters 0.026042319575317645 Centerline is valid? [True, True] Translation: X:410.26, Y:-250.50, Z:9.15 [[ 7.76696827e-01 6.29734128e-01 -1.33028873e-02 4.10258093e+02] [-6.29630015e-01 7.76810562e-01 1.14627545e-02 -2.50496599e+02] [ 1.75523111e-02 -5.27187930e-04 9.99845807e-01 9.15449788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.102755096 meters 0.025623328922266306 Centerline is valid? [True, True] Translation: X:410.30, Y:-250.53, Z:9.16 [[ 7.77218754e-01 6.29096610e-01 -1.29793705e-02 4.10303817e+02] [-6.28997446e-01 7.77326944e-01 1.11818641e-02 -2.50534177e+02] [ 1.71236873e-02 -5.26763588e-04 9.99853240e-01 9.15561992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.162755096 meters 0.02573821459637064 Centerline is valid? [True, True] Translation: X:410.35, Y:-250.57, Z:9.16 [[ 7.74952843e-01 6.31883177e-01 -1.31050576e-02 4.10349068e+02] [-6.31782503e-01 7.75063501e-01 1.12888442e-02 -2.50571161e+02] [ 1.72904825e-02 -4.68775801e-04 9.99850399e-01 9.15556931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.222755096 meters 0.020781932156057583 Centerline is valid? [True, True] Translation: X:410.40, Y:-250.60, Z:9.15 [[ 7.70445985e-01 6.37332708e-01 -1.48325274e-02 4.10401242e+02] [-6.37204786e-01 7.70588649e-01 1.27747723e-02 -2.50601702e+02] [ 1.95715575e-02 -3.90914532e-04 9.99808382e-01 9.15400937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.282755096 meters 0.01834214115435535 Centerline is valid? [True, True] Translation: X:410.45, Y:-250.63, Z:9.15 [[ 7.65524139e-01 6.43223360e-01 -1.53786422e-02 4.10450867e+02] [-6.43087046e-01 7.65678554e-01 1.32440088e-02 -2.50634935e+02] [ 2.02939524e-02 -2.48802815e-04 9.99794026e-01 9.15399379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.342755096 meters 0.017386727424604263 Centerline is valid? [True, True] Translation: X:410.50, Y:-250.67, Z:9.16 [[ 7.62738610e-01 6.46543677e-01 -1.45288281e-02 4.10498464e+02] [-6.46422641e-01 7.62876956e-01 1.25107140e-02 -2.50670600e+02] [ 1.91724312e-02 -1.50641146e-04 9.99816181e-01 9.15609149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.402755096 meters 0.016866150277268642 Centerline is valid? [True, True] Translation: X:410.55, Y:-250.71, Z:9.16 [[ 7.60277081e-01 6.49454508e-01 -1.36968250e-02 4.10545406e+02] [-6.49347468e-01 7.60400445e-01 1.17910091e-02 -2.50706319e+02] [ 1.80727958e-02 -7.04353152e-05 9.99836671e-01 9.15891950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.462755096 meters 0.01709871388165055 Centerline is valid? [True, True] Translation: X:410.59, Y:-250.74, Z:9.16 [[ 7.60611087e-01 6.49086876e-01 -1.25300096e-02 4.10588519e+02] [-6.48997272e-01 7.60714284e-01 1.07851275e-02 -2.50743803e+02] [ 1.65322420e-02 -7.13455360e-05 9.99863331e-01 9.16108757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.522755096 meters 0.017416484891575795 Centerline is valid? [True, True] Translation: X:410.63, Y:-250.78, Z:9.16 [[ 7.62443205e-01 6.46939736e-01 -1.22203526e-02 4.10631503e+02] [-6.46854278e-01 7.62541123e-01 1.05155897e-02 -2.50784269e+02] [ 1.61214743e-02 -1.12752520e-04 9.99870034e-01 9.16284450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.582755096 meters 0.0185156028286692 Centerline is valid? [True, True] Translation: X:410.67, Y:-250.83, Z:9.16 [[ 7.66169513e-01 6.42534927e-01 -1.15388775e-02 4.10672823e+02] [-6.42458256e-01 7.66256374e-01 9.92766549e-03 -2.50826979e+02] [ 1.52206102e-02 -1.93027525e-04 9.99884141e-01 9.16447266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.64275509600003 meters 0.02060901935092836 Centerline is valid? [True, True] Translation: X:410.71, Y:-250.87, Z:9.16 [[ 7.69044398e-01 6.39076886e-01 -1.23063828e-02 4.10712935e+02] [-6.38989254e-01 7.69142806e-01 1.05866214e-02 -2.50870132e+02] [ 1.62310309e-02 -2.77935511e-04 9.99868230e-01 9.16452995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.70275509600003 meters 0.021312108193784554 Centerline is valid? [True, True] Translation: X:410.76, Y:-250.91, Z:9.16 [[ 7.71383558e-01 6.36234855e-01 -1.31382999e-02 4.10755288e+02] [-6.36134585e-01 7.71495353e-01 1.13008731e-02 -2.50910634e+02] [ 1.73261466e-02 -3.59580768e-04 9.99849826e-01 9.16391719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.76275509600003 meters 0.023530426891849077 Centerline is valid? [True, True] Translation: X:410.80, Y:-250.95, Z:9.16 [[ 7.72503545e-01 6.34873723e-01 -1.31767855e-02 4.10795584e+02] [-6.34772697e-01 7.72615819e-01 1.13322293e-02 -2.50952273e+02] [ 1.73751275e-02 -3.89923628e-04 9.99848965e-01 9.16449167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.822755096 meters 0.02527169691258296 Centerline is valid? [True, True] Translation: X:410.84, Y:-250.99, Z:9.16 [[ 7.74066813e-01 6.32955866e-01 -1.36909089e-02 4.10836225e+02] [-6.32846544e-01 7.74187749e-01 1.17720351e-02 -2.50993765e+02] [ 1.80505126e-02 -4.48097292e-04 9.99836976e-01 9.16460523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.882755096 meters 0.025462203157750246 Centerline is valid? [True, True] Translation: X:410.88, Y:-251.03, Z:9.17 [[ 7.75521636e-01 6.31182135e-01 -1.32402649e-02 4.10879569e+02] [-6.31079668e-01 7.75634508e-01 1.13825685e-02 -2.51033078e+02] [ 1.74540803e-02 -4.71766208e-04 9.99847555e-01 9.16527496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.942755096 meters 0.022440190312219565 Centerline is valid? [True, True] Translation: X:410.93, Y:-251.07, Z:9.17 [[ 7.74980912e-01 6.31837628e-01 -1.36307763e-02 4.10928031e+02] [-6.31729164e-01 7.75100634e-01 1.17162706e-02 -2.51071321e+02] [ 1.79680040e-02 -4.68927183e-04 9.99838452e-01 9.16625984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.002755096 meters 0.024197447281714975 Centerline is valid? [True, True] Translation: X:410.97, Y:-251.11, Z:9.17 [[ 7.74360373e-01 6.32594677e-01 -1.37835981e-02 4.10972301e+02] [-6.32483761e-01 7.74482900e-01 1.18545310e-02 -2.51114131e+02] [ 1.81742742e-02 -4.61777049e-04 9.99834728e-01 9.16696054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.062755096 meters 0.02115395596146909 Centerline is valid? [True, True] Translation: X:411.02, Y:-251.15, Z:9.17 [[ 7.72006951e-01 6.35457833e-01 -1.40929046e-02 4.11022532e+02] [-6.35342237e-01 7.72135465e-01 1.21270605e-02 -2.51150601e+02] [ 1.85878670e-02 -4.08357481e-04 9.99827147e-01 9.16793942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.122755096 meters 0.01980944754349316 Centerline is valid? [True, True] Translation: X:411.07, Y:-251.19, Z:9.17 [[ 7.69157538e-01 6.38910761e-01 -1.37739179e-02 4.11071019e+02] [-6.38800771e-01 7.69280791e-01 1.18591507e-02 -2.51189862e+02] [ 1.81729494e-02 -3.22765757e-04 9.99834806e-01 9.16943284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.182755096 meters 0.01972381315973077 Centerline is valid? [True, True] Translation: X:411.12, Y:-251.23, Z:9.17 [[ 7.67489656e-01 6.40921207e-01 -1.34027898e-02 4.11115104e+02] [-6.40817253e-01 7.67606626e-01 1.15462604e-02 -2.51230680e+02] [ 1.76883134e-02 -2.72896411e-04 9.99843512e-01 9.17101638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.242755096 meters 0.01829449880291864 Centerline is valid? [True, True] Translation: X:411.16, Y:-251.27, Z:9.17 [[ 7.65048298e-01 6.43822903e-01 -1.38986093e-02 4.11160833e+02] [-6.43711582e-01 7.65174506e-01 1.19739084e-02 -2.51268590e+02] [ 1.83439380e-02 -2.13922421e-04 9.99831713e-01 9.17177590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.302755096 meters 0.01759863050525617 Centerline is valid? [True, True] Translation: X:411.20, Y:-251.31, Z:9.17 [[ 7.63279290e-01 6.45904730e-01 -1.45535255e-02 4.11204568e+02] [-6.45783078e-01 7.63418005e-01 1.25365745e-02 -2.51307825e+02] [ 1.92078562e-02 -1.70487226e-04 9.99815498e-01 9.17170900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.362755096 meters 0.017323440654665612 Centerline is valid? [True, True] Translation: X:411.25, Y:-251.35, Z:9.17 [[ 7.62630219e-01 6.46678325e-01 -1.42229897e-02 4.11248246e+02] [-6.46562306e-01 7.62762822e-01 1.22499855e-02 -2.51347112e+02] [ 1.87705679e-02 -1.46160061e-04 9.99823807e-01 9.17247724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.422755096 meters 0.01682466472861446 Centerline is valid? [True, True] Translation: X:411.29, Y:-251.38, Z:9.17 [[ 7.60703027e-01 6.48969923e-01 -1.29977885e-02 4.11293317e+02] [-6.48873393e-01 7.60814059e-01 1.11932099e-02 -2.51383732e+02] [ 1.71529568e-02 -8.07895438e-05 9.99852874e-01 9.17494224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.482755096 meters 0.01655307981557165 Centerline is valid? [True, True] Translation: X:411.34, Y:-251.42, Z:9.18 [[ 7.59286992e-01 6.50622902e-01 -1.31568888e-02 4.11339991e+02] [-6.50524279e-01 7.59400973e-01 1.13280198e-02 -2.51419989e+02] [ 1.73616233e-02 -4.23424701e-05 9.99849275e-01 9.17542519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.542755096 meters 0.016534267415603456 Centerline is valid? [True, True] Translation: X:411.39, Y:-251.46, Z:9.18 [[ 7.59926449e-01 6.49863601e-01 -1.37510550e-02 4.11387619e+02] [-6.49755782e-01 7.60050851e-01 1.18375813e-02 -2.51460624e+02] [ 1.81443143e-02 -6.08636140e-05 9.99835377e-01 9.17525859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.602755096 meters 0.016854448591001596 Centerline is valid? [True, True] Translation: X:411.43, Y:-251.50, Z:9.17 [[ 7.61692255e-01 6.47758611e-01 -1.52869452e-02 4.11433402e+02] [-6.47624742e-01 7.61845630e-01 1.31692553e-02 -2.51501534e+02] [ 2.01767909e-02 -1.30715794e-04 9.99796419e-01 9.17464942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.662755096 meters 0.01727770309118647 Centerline is valid? [True, True] Translation: X:411.48, Y:-251.54, Z:9.17 [[ 7.62930061e-01 6.46282205e-01 -1.60322525e-02 4.11477714e+02] [-6.46134501e-01 7.63098472e-01 1.38177181e-02 -2.51540158e+02] [ 2.11643327e-02 -1.82961002e-04 9.99775994e-01 9.17484204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.722755096 meters 0.01782754345695851 Centerline is valid? [True, True] Translation: X:411.52, Y:-251.58, Z:9.17 [[ 7.64734280e-01 6.44129047e-01 -1.67108123e-02 4.11522812e+02] [-6.43968109e-01 7.64916798e-01 1.44002187e-02 -2.51577945e+02] [ 2.20579802e-02 -2.51110672e-04 9.99756662e-01 9.17460344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.782755096 meters 0.019287170592306932 Centerline is valid? [True, True] Translation: X:411.57, Y:-251.62, Z:9.18 [[ 7.67544836e-01 6.40775721e-01 -1.67749912e-02 4.11565097e+02] [-6.40612795e-01 7.67728047e-01 1.44530832e-02 -2.51617428e+02] [ 2.21398160e-02 -3.47115314e-04 9.99754824e-01 9.17543226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.842755096 meters 0.019950359153414657 Centerline is valid? [True, True] Translation: X:411.61, Y:-251.66, Z:9.18 [[ 7.69413318e-01 6.38546103e-01 -1.61870230e-02 4.11610972e+02] [-6.38393937e-01 7.69583470e-01 1.39450401e-02 -2.51659278e+02] [ 2.13618163e-02 -3.95802256e-04 9.99771732e-01 9.17729322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.902755096 meters 0.02140965494574462 Centerline is valid? [True, True] Translation: X:411.66, Y:-251.70, Z:9.18 [[ 7.71625419e-01 6.35876241e-01 -1.59880640e-02 4.11656106e+02] [-6.35727057e-01 7.71790895e-01 1.37812826e-02 -2.51701999e+02] [ 2.11026324e-02 -4.69943095e-04 9.99777204e-01 9.17893299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.962755096 meters 0.022088795224425174 Centerline is valid? [True, True] Translation: X:411.70, Y:-251.74, Z:9.18 [[ 7.71918120e-01 6.35522292e-01 -1.59321174e-02 4.11700489e+02] [-6.35373935e-01 7.72082368e-01 1.37397221e-02 -2.51742068e+02] [ 2.10328066e-02 -4.83088283e-04 9.99778669e-01 9.18019743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.022755096 meters 0.02132356868083036 Centerline is valid? [True, True] Translation: X:411.75, Y:-251.78, Z:9.18 [[ 7.70580418e-01 6.37145640e-01 -1.58509716e-02 4.11746236e+02] [-6.36999148e-01 7.70743306e-01 1.36690217e-02 -2.51778507e+02] [ 2.09261879e-02 -4.36025050e-04 9.99780928e-01 9.18116690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.082755096 meters 0.020228195416735855 Centerline is valid? [True, True] Translation: X:411.79, Y:-251.81, Z:9.18 [[ 7.69122931e-01 6.38904750e-01 -1.58315225e-02 4.11793416e+02] [-6.38759033e-01 7.69285754e-01 1.36501301e-02 -2.51814367e+02] [ 2.09000977e-02 -3.86100083e-04 9.99781495e-01 9.18232186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.14275509600003 meters 0.019445858760431804 Centerline is valid? [True, True] Translation: X:411.84, Y:-251.85, Z:9.18 [[ 7.67564625e-01 6.40766074e-01 -1.62291422e-02 4.11840430e+02] [-6.40613408e-01 7.67736101e-01 1.39907137e-02 -2.51849815e+02] [ 2.14244730e-02 -3.42170826e-04 9.99770411e-01 9.18269627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.20275509600003 meters 0.01954855060184701 Centerline is valid? [True, True] Translation: X:411.88, Y:-251.89, Z:9.18 [[ 7.67340542e-01 6.41037639e-01 -1.61008889e-02 4.11884564e+02] [-6.40887483e-01 7.67509372e-01 1.38779420e-02 -2.51886601e+02] [ 2.12538663e-02 -3.30249391e-04 9.99774057e-01 9.18443593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.26275509600003 meters 0.02028010409289859 Centerline is valid? [True, True] Translation: X:411.93, Y:-251.92, Z:9.19 [[ 7.68359047e-01 6.39826853e-01 -1.56835192e-02 4.11929446e+02] [-6.39684180e-01 7.68519014e-01 1.35157307e-02 -2.51924662e+02] [ 2.07008101e-02 -3.52434778e-04 9.99785653e-01 9.18644330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.322755096 meters 0.022003376262728126 Centerline is valid? [True, True] Translation: X:411.97, Y:-251.96, Z:9.19 [[ 7.70291295e-01 6.37516307e-01 -1.49759246e-02 4.11972136e+02] [-6.37385820e-01 7.70436761e-01 1.29040458e-02 -2.51963861e+02] [ 1.97645425e-02 -3.94432208e-04 9.99804585e-01 9.18830621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.382755096 meters 0.023009915305267668 Centerline is valid? [True, True] Translation: X:412.02, Y:-252.00, Z:9.19 [[ 7.71577552e-01 6.35957201e-01 -1.50505706e-02 4.12015788e+02] [-6.35825160e-01 7.71724206e-01 1.29659847e-02 -2.52003292e+02] [ 1.98607010e-02 -4.34731237e-04 9.99802662e-01 9.18942761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.442755096 meters 0.024373979558228568 Centerline is valid? [True, True] Translation: X:412.06, Y:-252.04, Z:9.19 [[ 7.72767480e-01 6.34499879e-01 -1.55024514e-02 4.12057990e+02] [-6.34359538e-01 7.72922809e-01 1.33532142e-02 -2.52042363e+02] [ 2.04548111e-02 -4.84801799e-04 9.99790661e-01 9.19021092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.502755096 meters 0.021208161989451496 Centerline is valid? [True, True] Translation: X:412.11, Y:-252.08, Z:9.19 [[ 7.71993837e-01 6.35425900e-01 -1.61071879e-02 4.12108513e+02] [-6.35274622e-01 7.72161704e-01 1.38728871e-02 -2.52079138e+02] [ 2.12525455e-02 -4.77295629e-04 9.99774025e-01 9.19119796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.562755096 meters 0.020627650448560703 Centerline is valid? [True, True] Translation: X:412.15, Y:-252.12, Z:9.19 [[ 7.70248288e-01 6.37530398e-01 -1.65095859e-02 4.12154365e+02] [-6.37371800e-01 7.70425079e-01 1.42262552e-02 -2.52116326e+02] [ 2.17890691e-02 -4.35004229e-04 9.99762495e-01 9.19206016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.622755096 meters 0.019621955493705445 Centerline is valid? [True, True] Translation: X:412.20, Y:-252.16, Z:9.19 [[ 7.68768577e-01 6.39309744e-01 -1.66710883e-02 4.12203075e+02] [-6.39148448e-01 7.68949218e-01 1.43652785e-02 -2.52155221e+02] [ 2.20030828e-02 -3.88274510e-04 9.99757827e-01 9.19289274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.682755096 meters 0.01910683914646363 Centerline is valid? [True, True] Translation: X:412.25, Y:-252.19, Z:9.19 [[ 7.67477140e-01 6.40857312e-01 -1.67554918e-02 4.12248661e+02] [-6.40694597e-01 7.67659940e-01 1.44447369e-02 -2.52193406e+02] [ 2.21195351e-02 -3.50852304e-04 9.99755272e-01 9.19406269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.742755096 meters 0.019018209712458833 Centerline is valid? [True, True] Translation: X:412.29, Y:-252.23, Z:9.20 [[ 7.67041405e-01 6.41385654e-01 -1.64901670e-02 4.12292621e+02] [-6.41228199e-01 7.67218570e-01 1.42148750e-02 -2.52233792e+02] [ 2.17687792e-02 -3.29437605e-04 9.99762978e-01 9.19566323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.802755096 meters 0.019924743108699162 Centerline is valid? [True, True] Translation: X:412.33, Y:-252.27, Z:9.20 [[ 7.68132921e-01 6.40071489e-01 -1.67422704e-02 4.12333384e+02] [-6.39908899e-01 7.68315268e-01 1.44308704e-02 -2.52274395e+02] [ 2.21001307e-02 -3.71298838e-04 9.99755693e-01 9.19664033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.862755096 meters 0.020055436045007553 Centerline is valid? [True, True] Translation: X:412.38, Y:-252.31, Z:9.20 [[ 7.69135083e-01 6.38876282e-01 -1.63805282e-02 4.12377857e+02] [-6.38720411e-01 7.69309392e-01 1.41172247e-02 -2.52314006e+02] [ 2.16208542e-02 -3.95475107e-04 9.99766164e-01 9.19857718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.922755096 meters 0.02058227261307103 Centerline is valid? [True, True] Translation: X:412.42, Y:-252.35, Z:9.20 [[ 7.69748456e-01 6.38128819e-01 -1.67010507e-02 4.12421239e+02] [-6.37966642e-01 7.69929497e-01 1.43921140e-02 -2.52353425e+02] [ 2.20426543e-02 -4.23594343e-04 9.99756941e-01 9.19930437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.982755096 meters 0.020652474024883825 Centerline is valid? [True, True] Translation: X:412.47, Y:-252.39, Z:9.20 [[ 7.69635027e-01 6.38249950e-01 -1.72894956e-02 4.12465205e+02] [-6.38076227e-01 7.69829081e-01 1.48968048e-02 -2.52392073e+02] [ 2.28178414e-02 -4.33086619e-04 9.99739545e-01 9.20060964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.042755096 meters 0.020478081888612106 Centerline is valid? [True, True] Translation: X:412.51, Y:-252.43, Z:9.20 [[ 7.68837567e-01 6.39206547e-01 -1.74294619e-02 4.12510676e+02] [-6.39030299e-01 7.69034996e-01 1.50150605e-02 -2.52429822e+02] [ 2.30015911e-02 -4.06188341e-04 9.99735346e-01 9.20155674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.102755096 meters 0.019107359485856873 Centerline is valid? [True, True] Translation: X:412.56, Y:-252.47, Z:9.20 [[ 7.67750349e-01 6.40506149e-01 -1.76430020e-02 4.12557965e+02] [-6.40325946e-01 7.67952952e-01 1.51969016e-02 -2.52465733e+02] [ 2.32827044e-02 -3.70154528e-04 9.99728853e-01 9.20296972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.162755096 meters 0.019718982906537886 Centerline is valid? [True, True] Translation: X:412.60, Y:-252.51, Z:9.20 [[ 7.66941347e-01 6.41474457e-01 -1.76491225e-02 4.12599895e+02] [-6.41294424e-01 7.67144319e-01 1.52005228e-02 -2.52505138e+02] [ 2.32901711e-02 -3.39625573e-04 9.99728689e-01 9.20407525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.222755096 meters 0.019134949320589265 Centerline is valid? [True, True] Translation: X:412.65, Y:-252.54, Z:9.20 [[ 7.66622914e-01 6.41855896e-01 -1.76158021e-02 4.12645553e+02] [-6.41676715e-01 7.66825210e-01 1.51687326e-02 -2.52542497e+02] [ 2.32443816e-02 -3.25047967e-04 9.99729760e-01 9.20466264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.282755096 meters 0.019208854084987882 Centerline is valid? [True, True] Translation: X:412.69, Y:-252.58, Z:9.21 [[ 7.66680895e-01 6.41791985e-01 -1.74199158e-02 4.12692721e+02] [-6.41616787e-01 7.66878702e-01 1.49984840e-02 -2.52581673e+02] [ 2.29848693e-02 -3.22140712e-04 9.99735761e-01 9.20572329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.342755096 meters 0.018982165319963256 Centerline is valid? [True, True] Translation: X:412.74, Y:-252.62, Z:9.21 [[ 7.66979224e-01 6.41442829e-01 -1.71454400e-02 4.12736419e+02] [-6.41273008e-01 7.67170769e-01 1.47627989e-02 -2.52620893e+02] [ 2.26229719e-02 -3.27852200e-04 9.99744014e-01 9.20764778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.402755096 meters 0.01966842454757161 Centerline is valid? [True, True] Translation: X:412.78, Y:-252.66, Z:9.21 [[ 7.67541973e-01 6.40795112e-01 -1.61537644e-02 4.12778626e+02] [-6.40644263e-01 7.67711872e-01 1.39072151e-02 -2.52660558e+02] [ 2.13131122e-02 -3.25554778e-04 9.99772797e-01 9.21012236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.462755096 meters 0.01937134476990777 Centerline is valid? [True, True] Translation: X:412.82, Y:-252.70, Z:9.21 [[ 7.67809733e-01 6.40494887e-01 -1.53138216e-02 4.12824372e+02] [-6.40359308e-01 7.67962369e-01 1.31816943e-02 -2.52697852e+02] [ 2.02032465e-02 -3.14684957e-04 9.99795844e-01 9.21351751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.522755096 meters 0.01920742566756088 Centerline is valid? [True, True] Translation: X:412.87, Y:-252.73, Z:9.22 [[ 7.67411694e-01 6.40988324e-01 -1.46034302e-02 4.12869974e+02] [-6.40865158e-01 7.67550576e-01 1.25683196e-02 -2.52734932e+02] [ 1.92650174e-02 -2.86245888e-04 9.99814371e-01 9.21581188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.582755096 meters 0.01916372929152852 Centerline is valid? [True, True] Translation: X:412.91, Y:-252.77, Z:9.22 [[ 7.67293610e-01 6.41120146e-01 -1.50157818e-02 4.12914922e+02] [-6.40989993e-01 7.67440470e-01 1.29210836e-02 -2.52772197e+02] [ 1.98076856e-02 -2.89298992e-04 9.99803767e-01 9.21696460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.64275509600003 meters 0.018654890829600233 Centerline is valid? [True, True] Translation: X:412.96, Y:-252.81, Z:9.22 [[ 7.66855023e-01 6.41634188e-01 -1.54577919e-02 4.12961326e+02] [-6.41496423e-01 7.67010750e-01 1.32984501e-02 -2.52809412e+02] [ 2.03890327e-02 -2.81865035e-04 9.99792082e-01 9.21834283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.70275509600003 meters 0.019046467802192667 Centerline is valid? [True, True] Translation: X:413.00, Y:-252.85, Z:9.22 [[ 7.66493073e-01 6.42061433e-01 -1.56679454e-02 4.13004193e+02] [-6.41920012e-01 7.66653143e-01 1.34779847e-02 -2.52847592e+02] [ 2.06655738e-02 -2.73214183e-04 9.99786407e-01 9.21962972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.76275509600003 meters 0.018463661062015337 Centerline is valid? [True, True] Translation: X:413.05, Y:-252.88, Z:9.22 [[ 7.66269656e-01 6.42329958e-01 -1.55897034e-02 4.13050033e+02] [-6.42190055e-01 7.66428181e-01 1.34081025e-02 -2.52884380e+02] [ 2.05608139e-02 -2.62669629e-04 9.99788570e-01 9.22122281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.822755096 meters 0.01797257281647366 Centerline is valid? [True, True] Translation: X:413.10, Y:-252.92, Z:9.22 [[ 7.65177811e-01 6.43629167e-01 -1.56337300e-02 4.13095463e+02] [-6.43488787e-01 7.65337471e-01 1.34438391e-02 -2.52921974e+02] [ 2.06179263e-02 -2.26797464e-04 9.99787402e-01 9.22298193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.882755096 meters 0.01789758775602072 Centerline is valid? [True, True] Translation: X:413.14, Y:-252.96, Z:9.22 [[ 7.65103513e-01 6.43704538e-01 -1.61580084e-02 4.13140500e+02] [-6.43554650e-01 7.65274078e-01 1.38923989e-02 -2.52960598e+02] [ 2.13079052e-02 -2.30561773e-04 9.99772934e-01 9.22354551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.942755096 meters 0.01879579665319062 Centerline is valid? [True, True] Translation: X:413.18, Y:-253.00, Z:9.23 [[ 7.67057906e-01 6.41387672e-01 -1.56212571e-02 4.13182857e+02] [-6.41247139e-01 7.67216901e-01 1.34287944e-02 -2.52999690e+02] [ 2.05979557e-02 -2.83576456e-04 9.99787799e-01 9.22519785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.002755096 meters 0.020290985570264597 Centerline is valid? [True, True] Translation: X:413.23, Y:-253.04, Z:9.23 [[ 7.70074698e-01 6.37785375e-01 -1.46551675e-02 4.13225758e+02] [-6.37661078e-01 7.70214054e-01 1.25960539e-02 -2.53040917e+02] [ 1.93211950e-02 -3.54872538e-04 9.99813265e-01 9.22776800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.062755096 meters 0.02158268573010324 Centerline is valid? [True, True] Translation: X:413.27, Y:-253.08, Z:9.23 [[ 7.72907338e-01 6.34368526e-01 -1.38137496e-02 4.13272478e+02] [-6.34257563e-01 7.73030660e-01 1.18719410e-02 -2.53082054e+02] [ 1.82096377e-02 -4.14435150e-04 9.99834105e-01 9.23036145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.122755096 meters 0.022319198651641583 Centerline is valid? [True, True] Translation: X:413.32, Y:-253.12, Z:9.23 [[ 7.73761298e-01 6.33335521e-01 -1.34004679e-02 4.13319995e+02] [-6.33230915e-01 7.73877210e-01 1.15183451e-02 -2.53121922e+02] [ 1.76652939e-02 -4.26859121e-04 9.99843865e-01 9.23176446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.182755096 meters 0.02343740363962412 Centerline is valid? [True, True] Translation: X:413.37, Y:-253.16, Z:9.23 [[ 7.74490173e-01 6.32435016e-01 -1.38174805e-02 4.13365462e+02] [-6.32323528e-01 7.74613280e-01 1.18837302e-02 -2.53158455e+02] [ 1.82188910e-02 -4.66714237e-04 9.99833913e-01 9.23232110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.242755096 meters 0.02406026020381763 Centerline is valid? [True, True] Translation: X:413.41, Y:-253.19, Z:9.23 [[ 7.74753506e-01 6.32113268e-01 -1.37775343e-02 4.13411874e+02] [-6.32002399e-01 7.74875857e-01 1.18479952e-02 -2.53194176e+02] [ 1.81651537e-02 -4.71841075e-04 9.99834889e-01 9.23282891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.302755096 meters 0.02393213950551756 Centerline is valid? [True, True] Translation: X:413.46, Y:-253.23, Z:9.23 [[ 7.74259235e-01 6.32711238e-01 -1.41111992e-02 4.13458793e+02] [-6.32595067e-01 7.74387675e-01 1.21330373e-02 -2.53229668e+02] [ 1.86042478e-02 -4.67441155e-04 9.99826817e-01 9.23264442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.362755096 meters 0.023066680088022918 Centerline is valid? [True, True] Translation: X:413.51, Y:-253.26, Z:9.23 [[ 7.73072863e-01 6.34154011e-01 -1.43888293e-02 4.13507037e+02] [-6.34033508e-01 7.73206633e-01 1.23698506e-02 -2.53264350e+02] [ 1.89699287e-02 -4.39795916e-04 9.99819958e-01 9.23288834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.422755096 meters 0.02082083451299152 Centerline is valid? [True, True] Translation: X:413.56, Y:-253.30, Z:9.23 [[ 7.71630140e-01 6.35927894e-01 -1.35144658e-02 4.13556573e+02] [-6.35821893e-01 7.71748389e-01 1.16165429e-02 -2.53297159e+02] [ 1.78170509e-02 -3.70881398e-04 9.99841195e-01 9.23465131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.482755096 meters 0.01991053791312559 Centerline is valid? [True, True] Translation: X:413.61, Y:-253.33, Z:9.24 [[ 7.70568980e-01 6.37233174e-01 -1.25430634e-02 4.13605532e+02] [-6.37142064e-01 7.70670995e-01 1.07799773e-02 -2.53330876e+02] [ 1.65359343e-02 -3.15002813e-04 9.99863222e-01 9.23550035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.542755096 meters 0.019802732770646064 Centerline is valid? [True, True] Translation: X:413.65, Y:-253.37, Z:9.24 [[ 7.70114191e-01 6.37781466e-01 -1.26069587e-02 4.13651909e+02] [-6.37689527e-01 7.70217314e-01 1.08331197e-02 -2.53367163e+02] [ 1.66192609e-02 -3.03413684e-04 9.99861845e-01 9.23543538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.602755096 meters 0.01966934097976935 Centerline is valid? [True, True] Translation: X:413.70, Y:-253.40, Z:9.24 [[ 7.69813010e-01 6.38150535e-01 -1.23217016e-02 4.13698004e+02] [-6.38062785e-01 7.69911561e-01 1.05863450e-02 -2.53403339e+02] [ 1.62423022e-02 -2.87486823e-04 9.99868044e-01 9.23640591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.662755096 meters 0.019136030731779625 Centerline is valid? [True, True] Translation: X:413.75, Y:-253.44, Z:9.24 [[ 7.69384843e-01 6.38665362e-01 -1.23902542e-02 4.13745569e+02] [-6.38576728e-01 7.69484554e-01 1.06434770e-02 -2.53439080e+02] [ 1.63317293e-02 -2.76801925e-04 9.99866590e-01 9.23658226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.722755096 meters 0.019888465008383545 Centerline is valid? [True, True] Translation: X:413.79, Y:-253.48, Z:9.24 [[ 7.69801706e-01 6.38147835e-01 -1.31405589e-02 4.13790152e+02] [-6.38048089e-01 7.69913793e-01 1.12865972e-02 -2.53476661e+02] [ 1.73196151e-02 -3.04133271e-04 9.99849958e-01 9.23560409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.782755096 meters 0.021099935625369683 Centerline is valid? [True, True] Translation: X:413.83, Y:-253.52, Z:9.23 [[ 7.71908751e-01 6.35581796e-01 -1.38801862e-02 4.13833194e+02] [-6.35470136e-01 7.72033442e-01 1.19193531e-02 -2.53516772e+02] [ 1.82916917e-02 -3.80209166e-04 9.99832621e-01 9.23495174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.842755096 meters 0.021566899959276763 Centerline is valid? [True, True] Translation: X:413.88, Y:-253.56, Z:9.24 [[ 7.73090490e-01 6.34143507e-01 -1.38962951e-02 4.13877024e+02] [-6.34031388e-01 7.73215263e-01 1.19313257e-02 -2.53555730e+02] [ 1.83110002e-02 -4.13307217e-04 9.99832254e-01 9.23586353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.902755096 meters 0.024064401251945068 Centerline is valid? [True, True] Translation: X:413.92, Y:-253.60, Z:9.24 [[ 7.76169722e-01 6.30380520e-01 -1.34522189e-02 4.13919236e+02] [-6.30274919e-01 7.76286136e-01 1.15482348e-02 -2.53598600e+02] [ 1.77225533e-02 -4.84794057e-04 9.99842826e-01 9.23631607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.962755096 meters 0.02636753533968796 Centerline is valid? [True, True] Translation: X:413.96, Y:-253.64, Z:9.24 [[ 7.78448634e-01 6.27580179e-01 -1.26823788e-02 4.13961186e+02] [-6.27485961e-01 7.78551766e-01 1.08865570e-02 -2.53641648e+02] [ 1.67060758e-02 -5.16610738e-04 9.99860310e-01 9.23764824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.022755096 meters 0.02715619408520723 Centerline is valid? [True, True] Translation: X:414.00, Y:-253.68, Z:9.24 [[ 7.79352874e-01 6.26467984e-01 -1.21227985e-02 4.14004414e+02] [-6.26381773e-01 7.79446983e-01 1.04055807e-02 -2.53682003e+02] [ 1.59678419e-02 -5.16119198e-04 9.99872373e-01 9.23933834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.082755096 meters 0.02475104937758769 Centerline is valid? [True, True] Translation: X:414.05, Y:-253.72, Z:9.24 [[ 7.77749756e-01 6.28472739e-01 -1.12842375e-02 4.14051143e+02] [-6.28398274e-01 7.77831487e-01 9.68437501e-03 -2.53718443e+02] [ 1.48636009e-02 -4.41024923e-04 9.99889433e-01 9.24040601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.14275509600003 meters 0.023298836756045216 Centerline is valid? [True, True] Translation: X:414.10, Y:-253.76, Z:9.24 [[ 7.75472069e-01 6.31264854e-01 -1.21553999e-02 4.14096703e+02] [-6.31178809e-01 7.75567219e-01 1.04307421e-02 -2.53755343e+02] [ 1.60118906e-02 -4.16518360e-04 9.99871715e-01 9.24059777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.20275509600003 meters 0.020401460230589193 Centerline is valid? [True, True] Translation: X:414.14, Y:-253.79, Z:9.24 [[ 7.70743852e-01 6.37011854e-01 -1.30312190e-02 4.14143967e+02] [-6.36913811e-01 7.70853940e-01 1.11803365e-02 -2.53791564e+02] [ 1.71671734e-02 -3.17412312e-04 9.99852583e-01 9.24096478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.26275509600003 meters 0.018498803683416654 Centerline is valid? [True, True] Translation: X:414.19, Y:-253.83, Z:9.24 [[ 7.66561825e-01 6.42024095e-01 -1.37124376e-02 4.14190460e+02] [-6.41916347e-01 7.66684430e-01 1.17638447e-02 -2.53828139e+02] [ 1.80657841e-02 -2.15476407e-04 9.99836777e-01 9.24150888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.322755096 meters 0.017991547719604026 Centerline is valid? [True, True] Translation: X:414.23, Y:-253.87, Z:9.24 [[ 7.65123553e-01 6.43735563e-01 -1.38012525e-02 4.14233760e+02] [-6.43626726e-01 7.65247996e-01 1.18381942e-02 -2.53865839e+02] [ 1.81820474e-02 -1.74826199e-04 9.99834678e-01 9.24250787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.382755096 meters 0.017591074329775032 Centerline is valid? [True, True] Translation: X:414.28, Y:-253.91, Z:9.24 [[ 7.64309721e-01 6.44699156e-01 -1.39157462e-02 4.14276637e+02] [-6.44588708e-01 7.64436377e-01 1.19341009e-02 -2.53906254e+02] [ 1.83316074e-02 -1.51416461e-04 9.99831951e-01 9.24395841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.442755096 meters 0.017745150890266136 Centerline is valid? [True, True] Translation: X:414.32, Y:-253.95, Z:9.24 [[ 7.65387810e-01 6.43417990e-01 -1.39567329e-02 4.14317064e+02] [-6.43306711e-01 7.65515028e-01 1.19673338e-02 -2.53949272e+02] [ 1.83840866e-02 -1.81191505e-04 9.99830982e-01 9.24471437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.502755096 meters 0.018329561623357454 Centerline is valid? [True, True] Translation: X:414.36, Y:-253.99, Z:9.25 [[ 7.66732013e-01 6.41821762e-01 -1.36691439e-02 4.14357220e+02] [-6.41714803e-01 7.66853819e-01 1.17188861e-02 -2.53993060e+02] [ 1.80036713e-02 -2.13553098e-04 9.99837898e-01 9.24656541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.562755096 meters 0.019635926025177493 Centerline is valid? [True, True] Translation: X:414.40, Y:-254.04, Z:9.25 [[ 7.68737747e-01 6.39422518e-01 -1.34580974e-02 4.14395577e+02] [-6.39318499e-01 7.68855496e-01 1.15361694e-02 -2.54036663e+02] [ 1.77238186e-02 -2.64278273e-04 9.99842886e-01 9.24794552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.622755096 meters 0.02054354265964649 Centerline is valid? [True, True] Translation: X:414.44, Y:-254.08, Z:9.25 [[ 7.70622701e-01 6.37163786e-01 -1.27656911e-02 4.14436389e+02] [-6.37069919e-01 7.70728371e-01 1.09406338e-02 -2.54078708e+02] [ 1.68098559e-02 -2.98462933e-04 9.99858660e-01 9.24946633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.682755096 meters 0.02224054342462162 Centerline is valid? [True, True] Translation: X:414.47, Y:-254.12, Z:9.25 [[ 7.72901892e-01 6.34397187e-01 -1.27622498e-02 4.14474571e+02] [-6.34303028e-01 7.73007168e-01 1.09355848e-02 -2.54122828e+02] [ 1.68028148e-02 -3.57000529e-04 9.99858759e-01 9.25140105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.742755096 meters 0.021845053137898206 Centerline is valid? [True, True] Translation: X:414.52, Y:-254.16, Z:9.25 [[ 7.73189566e-01 6.34054728e-01 -1.23489694e-02 4.14518046e+02] [-6.33966559e-01 7.73288096e-01 1.05793785e-02 -2.54164416e+02] [ 1.62572160e-02 -3.51031405e-04 9.99867781e-01 9.25305505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.802755096 meters 0.02128715266848394 Centerline is valid? [True, True] Translation: X:414.56, Y:-254.20, Z:9.26 [[ 7.70991741e-01 6.36732005e-01 -1.20037337e-02 4.14563003e+02] [-6.36649030e-01 7.71085127e-01 1.02829765e-02 -2.54201544e+02] [ 1.58034008e-02 -2.85924579e-04 9.99875078e-01 9.25514401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.862755096 meters 0.018564344790155594 Centerline is valid? [True, True] Translation: X:414.61, Y:-254.23, Z:9.25 [[ 7.66421916e-01 6.42193599e-01 -1.35951432e-02 4.14613018e+02] [-6.42088051e-01 7.66542460e-01 1.16443627e-02 -2.54234375e+02] [ 1.78991897e-02 -1.95215791e-04 9.99839778e-01 9.25354352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.922755096 meters 0.016955688308246675 Centerline is valid? [True, True] Translation: X:414.66, Y:-254.27, Z:9.25 [[ 7.62348434e-01 6.46997627e-01 -1.47965042e-02 4.14662776e+02] [-6.46873621e-01 7.62492009e-01 1.26671121e-02 -2.54266189e+02] [ 1.94778077e-02 -8.52848372e-05 9.99810286e-01 9.25233395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.982755096 meters 0.016770204505867428 Centerline is valid? [True, True] Translation: X:414.71, Y:-254.30, Z:9.25 [[ 7.61598459e-01 6.47858641e-01 -1.57152401e-02 4.14708917e+02] [-6.47718986e-01 7.61760578e-01 1.34513314e-02 -2.54300000e+02] [ 2.06858117e-02 -6.54538409e-05 9.99786024e-01 9.25188365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.042755096 meters 0.017382609770957794 Centerline is valid? [True, True] Translation: X:414.75, Y:-254.34, Z:9.25 [[ 7.64261598e-01 6.44716325e-01 -1.56547104e-02 4.14752036e+02] [-6.44577154e-01 7.64421898e-01 1.33960352e-02 -2.54338518e+02] [ 2.06034460e-02 -1.47406558e-04 9.99787716e-01 9.25294694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.102755096 meters 0.018654680880788144 Centerline is valid? [True, True] Translation: X:414.79, Y:-254.38, Z:9.26 [[ 7.67683662e-01 6.40649569e-01 -1.51632834e-02 4.14794560e+02] [-6.40518268e-01 7.67833361e-01 1.29722093e-02 -2.54378763e+02] [ 1.99535151e-02 -2.46193051e-04 9.99800878e-01 9.25523488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.162755096 meters 0.02275717691105205 Centerline is valid? [True, True] Translation: X:414.83, Y:-254.42, Z:9.26 [[ 7.73506503e-01 6.33617803e-01 -1.47027137e-02 4.14833814e+02] [-6.33493115e-01 7.73646113e-01 1.25763846e-02 -2.54423061e+02] [ 1.93433185e-02 -4.13847375e-04 9.99812815e-01 9.25752562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.222755096 meters 0.024802177970853424 Centerline is valid? [True, True] Translation: X:414.88, Y:-254.46, Z:9.26 [[ 7.77480021e-01 6.28732558e-01 -1.48386981e-02 4.14877809e+02] [-6.28604686e-01 7.77621424e-01 1.26913123e-02 -2.54463212e+02] [ 1.95183308e-02 -5.39566607e-04 9.99809354e-01 9.25860896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.282755096 meters 0.023955383814458414 Centerline is valid? [True, True] Translation: X:414.93, Y:-254.50, Z:9.26 [[ 7.78196439e-01 6.27842265e-01 -1.49797585e-02 4.14926696e+02] [-6.27711794e-01 7.78340394e-01 1.28114876e-02 -2.54502073e+02] [ 1.97029445e-02 -5.66882905e-04 9.99805717e-01 9.25886804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.342755096 meters 0.022301631935400957 Centerline is valid? [True, True] Translation: X:414.98, Y:-254.54, Z:9.26 [[ 7.75787115e-01 6.30805421e-01 -1.54555318e-02 4.14975945e+02] [-6.30666959e-01 7.75940886e-01 1.32260782e-02 -2.54540447e+02] [ 2.03356608e-02 -5.13327815e-04 9.99793077e-01 9.25930852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.402755096 meters 0.02176746703554724 Centerline is valid? [True, True] Translation: X:415.02, Y:-254.58, Z:9.26 [[ 7.73231010e-01 6.33925778e-01 -1.58717767e-02 4.15022196e+02] [-6.33780264e-01 7.73393759e-01 1.35893724e-02 -2.54578747e+02] [ 2.08897865e-02 -4.48505323e-04 9.99781684e-01 9.26023751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.462755096 meters 0.0196656401575446 Centerline is valid? [True, True] Translation: X:415.07, Y:-254.61, Z:9.26 [[ 7.69918065e-01 6.37951559e-01 -1.56199098e-02 4.15069661e+02] [-6.37811446e-01 7.70076422e-01 1.33739860e-02 -2.54614246e+02] [ 2.05604795e-02 -3.34316156e-04 9.99788555e-01 9.26118375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.522755096 meters 0.018956413374631973 Centerline is valid? [True, True] Translation: X:415.11, Y:-254.65, Z:9.26 [[ 7.69046202e-01 6.38985192e-01 -1.63053159e-02 4.15114009e+02] [-6.38832791e-01 7.69218969e-01 1.39585848e-02 -2.54652761e+02] [ 2.14616873e-02 -3.18426121e-04 9.99769621e-01 9.26214001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.582755096 meters 0.019390691795693735 Centerline is valid? [True, True] Translation: X:415.16, Y:-254.69, Z:9.26 [[ 7.69704982e-01 6.38196535e-01 -1.61066172e-02 4.15156365e+02] [-6.38047699e-01 7.69873412e-01 1.37863218e-02 -2.54693254e+02] [ 2.11984392e-02 -3.34610550e-04 9.99775232e-01 9.26364094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.64275509600003 meters 0.019793366068858353 Centerline is valid? [True, True] Translation: X:415.20, Y:-254.73, Z:9.27 [[ 7.70032565e-01 6.37825563e-01 -1.51129278e-02 4.15199688e+02] [-6.37694495e-01 7.70180789e-01 1.29338292e-02 -2.54731969e+02] [ 1.98892135e-02 -3.22038838e-04 9.99802138e-01 9.26549482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.70275509600003 meters 0.020169992011309805 Centerline is valid? [True, True] Translation: X:415.24, Y:-254.77, Z:9.27 [[ 7.70546741e-01 6.37208860e-01 -1.49194033e-02 4.15243893e+02] [-6.37081059e-01 7.70691092e-01 1.27658007e-02 -2.54771285e+02] [ 1.96327325e-02 -3.31776825e-04 9.99807204e-01 9.26660859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.76275509600003 meters 0.02032811550772538 Centerline is valid? [True, True] Translation: X:415.29, Y:-254.81, Z:9.27 [[ 7.70778190e-01 6.36932185e-01 -1.47774353e-02 4.15288730e+02] [-6.36806791e-01 7.70919762e-01 1.26424212e-02 -2.54809757e+02] [ 1.94445819e-02 -3.34131324e-04 9.99810880e-01 9.26814838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.822755096 meters 0.02024428734139718 Centerline is valid? [True, True] Translation: X:415.33, Y:-254.85, Z:9.27 [[ 7.70318724e-01 6.37491392e-01 -1.46214938e-02 4.15334219e+02] [-6.37368768e-01 7.70457413e-01 1.25071102e-02 -2.54845961e+02] [ 1.92384134e-02 -3.15177721e-04 9.99814875e-01 9.26935082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.882755096 meters 0.019853390677646545 Centerline is valid? [True, True] Translation: X:415.38, Y:-254.88, Z:9.27 [[ 7.70468328e-01 6.37287440e-01 -1.55972822e-02 4.15381635e+02] [-6.37147912e-01 7.70626111e-01 1.33391951e-02 -2.54880524e+02] [ 2.05205744e-02 -3.39651573e-04 9.99789373e-01 9.26880508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.942755096 meters 0.019916769119204022 Centerline is valid? [True, True] Translation: X:415.43, Y:-254.92, Z:9.27 [[ 7.70748484e-01 6.36931704e-01 -1.62720564e-02 4.15426919e+02] [-6.36779810e-01 7.70920147e-01 1.39140528e-02 -2.54917482e+02] [ 2.14067575e-02 -3.62518127e-04 9.99770783e-01 9.26967192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.002755096 meters 0.020329505176927283 Centerline is valid? [True, True] Translation: X:415.47, Y:-254.96, Z:9.27 [[ 7.71341415e-01 6.36219087e-01 -1.60529005e-02 4.15471046e+02] [-6.36071147e-01 7.71508349e-01 1.37245564e-02 -2.54956308e+02] [ 2.11167715e-02 -3.75531971e-04 9.99776946e-01 9.27141207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.062755096 meters 0.02188628488158632 Centerline is valid? [True, True] Translation: X:415.51, Y:-255.00, Z:9.27 [[ 7.72801381e-01 6.34460881e-01 -1.54083111e-02 4.15513538e+02] [-6.34324275e-01 7.72954867e-01 1.31714778e-02 -2.54995894e+02] [ 2.02667165e-02 -4.05070474e-04 9.99794527e-01 9.27373646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.122755096 meters 0.023110327855296087 Centerline is valid? [True, True] Translation: X:415.56, Y:-255.04, Z:9.28 [[ 7.74738370e-01 6.32127051e-01 -1.39946083e-02 4.15556903e+02] [-6.32014020e-01 7.74864642e-01 1.19609629e-02 -2.55035509e+02] [ 1.84047754e-02 -4.21828301e-04 9.99830529e-01 9.27751320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.182755096 meters 0.02207800829724902 Centerline is valid? [True, True] Translation: X:415.61, Y:-255.07, Z:9.28 [[ 7.75381440e-01 6.31367886e-01 -1.25783630e-02 4.15605418e+02] [-6.31276514e-01 7.75483358e-01 1.07482165e-02 -2.55074915e+02] [ 1.65403899e-02 -3.93542420e-04 9.99863121e-01 9.28105269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.242755096 meters 0.022047579777816607 Centerline is valid? [True, True] Translation: X:415.65, Y:-255.11, Z:9.28 [[ 7.74964776e-01 6.31878703e-01 -1.26056099e-02 4.15652025e+02] [-6.31786891e-01 7.75067193e-01 1.07782138e-02 -2.55113777e+02] [ 1.65807185e-02 -3.88676928e-04 9.99862455e-01 9.28284095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.302755096 meters 0.02085758762144293 Centerline is valid? [True, True] Translation: X:415.70, Y:-255.15, Z:9.28 [[ 7.73386418e-01 6.33800377e-01 -1.30587468e-02 4.15702100e+02] [-6.33702127e-01 7.73496576e-01 1.11651880e-02 -2.55150295e+02] [ 1.71773963e-02 -3.59649103e-04 9.99852393e-01 9.28297677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.362755096 meters 0.020378486628316903 Centerline is valid? [True, True] Translation: X:415.75, Y:-255.19, Z:9.28 [[ 7.71634510e-01 6.35904769e-01 -1.43285719e-02 4.15749142e+02] [-6.35786702e-01 7.71767454e-01 1.22583211e-02 -2.55186191e+02] [ 1.88534503e-02 -3.49028182e-04 9.99822197e-01 9.28201897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.422755096 meters 0.020252785748061875 Centerline is valid? [True, True] Translation: X:415.79, Y:-255.22, Z:9.28 [[ 7.70896926e-01 6.36775231e-01 -1.53373739e-02 4.15794030e+02] [-6.36640146e-01 7.71049404e-01 1.31202471e-02 -2.55222812e+02] [ 2.01805213e-02 -3.49970191e-04 9.99796291e-01 9.28137230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.482755096 meters 0.02021465144502909 Centerline is valid? [True, True] Translation: X:415.84, Y:-255.26, Z:9.28 [[ 7.71155141e-01 6.36429030e-01 -1.66684904e-02 4.15839782e+02] [-6.36269459e-01 7.71335167e-01 1.42560665e-02 -2.55259366e+02] [ 2.19299674e-02 -3.87987598e-04 9.99759434e-01 9.28075212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.542755096 meters 0.020190931471412387 Centerline is valid? [True, True] Translation: X:415.88, Y:-255.30, Z:9.28 [[ 7.71854234e-01 6.35581983e-01 -1.66308413e-02 4.15884629e+02] [-6.35422985e-01 7.72033273e-01 1.42216301e-02 -2.55297616e+02] [ 2.18785747e-02 -4.09406572e-04 9.99760552e-01 9.28242790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.602755096 meters 0.020457850710318807 Centerline is valid? [True, True] Translation: X:415.93, Y:-255.34, Z:9.28 [[ 7.72752620e-01 6.34502261e-01 -1.61328771e-02 4.15930377e+02] [-6.34352450e-01 7.72920889e-01 1.37937877e-02 -2.55335786e+02] [ 2.12216271e-02 -4.25255470e-04 9.99774705e-01 9.28429050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.662755096 meters 0.02029681265451347 Centerline is valid? [True, True] Translation: X:415.98, Y:-255.38, Z:9.29 [[ 7.72549872e-01 6.34753035e-01 -1.59774787e-02 4.15977873e+02] [-6.34606150e-01 7.72714963e-01 1.36609119e-02 -2.55375042e+02] [ 2.10173421e-02 -4.14329515e-04 9.99779025e-01 9.28607297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.722755096 meters 0.020564072887695413 Centerline is valid? [True, True] Translation: X:416.02, Y:-255.41, Z:9.29 [[ 7.71860310e-01 6.35596280e-01 -1.57807146e-02 4.16022301e+02] [-6.35453029e-01 7.72021513e-01 1.34993301e-02 -2.55413938e+02] [ 2.07631751e-02 -3.91694194e-04 9.99784345e-01 9.28766330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.782755096 meters 0.019870130470517652 Centerline is valid? [True, True] Translation: X:416.07, Y:-255.45, Z:9.29 [[ 7.70745386e-01 6.36940085e-01 -1.60897063e-02 4.16068591e+02] [-6.36791498e-01 7.70913224e-01 1.37618854e-02 -2.55450655e+02] [ 2.11692638e-02 -3.61121445e-04 9.99775841e-01 9.28857001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.842755096 meters 0.01892720951797612 Centerline is valid? [True, True] Translation: X:416.11, Y:-255.49, Z:9.29 [[ 7.67932377e-01 6.40321237e-01 -1.63883270e-02 4.16114924e+02] [-6.40167901e-01 7.68107180e-01 1.40149627e-02 -2.55485746e+02] [ 2.15620698e-02 -2.71262715e-04 9.99767475e-01 9.28855773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.902755096 meters 0.018067943491284072 Centerline is valid? [True, True] Translation: X:416.16, Y:-255.52, Z:9.29 [[ 7.65020332e-01 6.43776134e-01 -1.72099098e-02 4.16162417e+02] [-6.43607972e-01 7.65213864e-01 1.47146769e-02 -2.55521362e+02] [ 2.26422194e-02 -1.80591926e-04 9.99743616e-01 9.28811544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.962755096 meters 0.017458147257134706 Centerline is valid? [True, True] Translation: X:416.21, Y:-255.56, Z:9.29 [[ 7.62994256e-01 6.46137647e-01 -1.85985445e-02 4.16209408e+02] [-6.45942013e-01 7.63220890e-01 1.58993396e-02 -2.55557102e+02] [ 2.44679596e-02 -1.17523498e-04 9.99700608e-01 9.28860175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.022755096 meters 0.017381804239907102 Centerline is valid? [True, True] Translation: X:416.25, Y:-255.59, Z:9.29 [[ 7.62680028e-01 6.46498498e-01 -1.89437730e-02 4.16252246e+02] [-6.46295721e-01 7.62915251e-01 1.61913515e-02 -2.55594423e+02] [ 2.49201778e-02 -1.05541025e-04 9.99689439e-01 9.28957098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.082755096 meters 0.017502906622647665 Centerline is valid? [True, True] Translation: X:416.30, Y:-255.63, Z:9.29 [[ 7.63832004e-01 6.45151750e-01 -1.84360675e-02 4.16295232e+02] [-6.44959398e-01 7.64054448e-01 1.57536143e-02 -2.55634474e+02] [ 2.42496312e-02 -1.42599818e-04 9.99705924e-01 9.29232829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.14275509600003 meters 0.018323652366048323 Centerline is valid? [True, True] Translation: X:416.34, Y:-255.68, Z:9.29 [[ 7.66608748e-01 6.41881645e-01 -1.72910800e-02 4.16337272e+02] [-6.41711685e-01 7.66803691e-01 1.47719985e-02 -2.55676103e+02] [ 2.27407387e-02 -2.28455135e-04 9.99741370e-01 9.29445626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.20275509600003 meters 0.018765053939856346 Centerline is valid? [True, True] Translation: X:416.38, Y:-255.72, Z:9.30 [[ 7.68585116e-01 6.39519336e-01 -1.70861950e-02 4.16380163e+02] [-6.39352946e-01 7.68774958e-01 1.45902212e-02 -2.55716896e+02] [ 2.24661674e-02 -2.89717714e-04 9.99747562e-01 9.29632682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.26275509600003 meters 0.0204542133666588 Centerline is valid? [True, True] Translation: X:416.42, Y:-255.76, Z:9.30 [[ 7.70414595e-01 6.37333483e-01 -1.63518464e-02 4.16420141e+02] [-6.37180645e-01 7.70588034e-01 1.39609593e-02 -2.55758918e+02] [ 2.14983240e-02 -3.36646782e-04 9.99768828e-01 9.29697092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.322755096 meters 0.01955088602817841 Centerline is valid? [True, True] Translation: X:416.47, Y:-255.80, Z:9.30 [[ 7.70117626e-01 6.37675305e-01 -1.70014042e-02 4.16465684e+02] [-6.37510227e-01 7.70305193e-01 1.45127265e-02 -2.55796580e+02] [ 2.23506773e-02 -3.37937440e-04 9.99750135e-01 9.29685128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.382755096 meters 0.019121515619455597 Centerline is valid? [True, True] Translation: X:416.51, Y:-255.83, Z:9.30 [[ 7.68183757e-01 6.39988706e-01 -1.75548257e-02 4.16509785e+02] [-6.39813366e-01 7.68384265e-01 1.49825505e-02 -2.55833420e+02] [ 2.30775150e-02 -2.77539791e-04 9.99733640e-01 9.29604138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.442755096 meters 0.01830127755214098 Centerline is valid? [True, True] Translation: X:416.56, Y:-255.87, Z:9.30 [[ 7.65860278e-01 6.42755311e-01 -1.79901592e-02 4.16556192e+02] [-6.42571997e-01 7.66071519e-01 1.53511325e-02 -2.55870045e+02] [ 2.36487706e-02 -1.96850041e-04 9.99720309e-01 9.29560060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.502755096 meters 0.018051239254187886 Centerline is valid? [True, True] Translation: X:416.60, Y:-255.91, Z:9.30 [[ 7.65321192e-01 6.43381423e-01 -1.85423353e-02 4.16598751e+02] [-6.43186935e-01 7.65545761e-01 1.58194475e-02 -2.55909330e+02] [ 2.43729448e-02 -1.80770592e-04 9.99702919e-01 9.29681344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.562755096 meters 0.018299847147191843 Centerline is valid? [True, True] Translation: X:416.64, Y:-255.95, Z:9.30 [[ 7.66127370e-01 6.42430100e-01 -1.82323565e-02 4.16641863e+02] [-6.42241872e-01 7.66344260e-01 1.55516491e-02 -2.55950062e+02] [ 2.39631092e-02 -2.04961251e-04 9.99712822e-01 9.29903348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.622755096 meters 0.01849122464132948 Centerline is valid? [True, True] Translation: X:416.69, Y:-255.99, Z:9.30 [[ 7.66829258e-01 6.41605116e-01 -1.77697525e-02 4.16685471e+02] [-6.41426152e-01 7.67035087e-01 1.51547562e-02 -2.55989040e+02] [ 2.33533928e-02 -2.23126448e-04 9.99727247e-01 9.30054495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.682755096 meters 0.018794837346661316 Centerline is valid? [True, True] Translation: X:416.73, Y:-256.03, Z:9.30 [[ 7.68429155e-01 6.39735612e-01 -1.59681221e-02 4.16727942e+02] [-6.39590737e-01 7.68595007e-01 1.36163392e-02 -2.56029673e+02] [ 2.09838759e-02 -2.50129029e-04 9.99779783e-01 9.30441816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.742755096 meters 0.019567441423028138 Centerline is valid? [True, True] Translation: X:416.77, Y:-256.07, Z:9.31 [[ 7.69227220e-01 6.38814125e-01 -1.43526218e-02 4.16769797e+02] [-6.38696957e-01 7.69361068e-01 1.22370195e-02 -2.56070322e+02] [ 1.88595293e-02 -2.46072689e-04 9.99822113e-01 9.30772744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.802755096 meters 0.018873549593531585 Centerline is valid? [True, True] Translation: X:416.82, Y:-256.11, Z:9.31 [[ 7.68909961e-01 6.39201890e-01 -1.40859792e-02 4.16816090e+02] [-6.39089142e-01 7.69038940e-01 1.20073983e-02 -2.56108388e+02] [ 1.85078182e-02 -2.30411837e-04 9.99828689e-01 9.30926263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.862755096 meters 0.018412513825589102 Centerline is valid? [True, True] Translation: X:416.86, Y:-256.15, Z:9.31 [[ 7.67725726e-01 6.40622807e-01 -1.41290072e-02 4.16861212e+02] [-6.40509627e-01 7.67855703e-01 1.20431098e-02 -2.56145501e+02] [ 1.85641295e-02 -1.96040052e-04 9.99827652e-01 9.31043549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.922755096 meters 0.018078341035373136 Centerline is valid? [True, True] Translation: X:416.91, Y:-256.18, Z:9.31 [[ 7.66833418e-01 6.41693144e-01 -1.40149200e-02 4.16905429e+02] [-6.41581998e-01 7.66961460e-01 1.19440036e-02 -2.56182139e+02] [ 1.84132887e-02 -1.67340695e-04 9.99830447e-01 9.31183526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.982755096 meters 0.017352571720318996 Centerline is valid? [True, True] Translation: X:416.95, Y:-256.22, Z:9.31 [[ 7.65156118e-01 6.43693429e-01 -1.39601470e-02 4.16952391e+02] [-6.43583536e-01 7.65283448e-01 1.18943359e-02 -2.56218197e+02] [ 1.83397753e-02 -1.16503169e-04 9.99831805e-01 9.31345145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.042755096 meters 0.017200596374221458 Centerline is valid? [True, True] Translation: X:417.00, Y:-256.26, Z:9.32 [[ 7.64545771e-01 6.44423589e-01 -1.37113926e-02 4.16996500e+02] [-6.44317729e-01 7.64668705e-01 1.16805615e-02 -2.56255090e+02] [ 1.80119022e-02 -9.58305231e-05 9.99837768e-01 9.31529927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.102755096 meters 0.01745866832856884 Centerline is valid? [True, True] Translation: X:417.04, Y:-256.29, Z:9.32 [[ 7.65311172e-01 6.43534914e-01 -1.27131338e-02 4.17040236e+02] [-6.43443822e-01 7.65416751e-01 1.08279711e-02 -2.56294407e+02] [ 1.66990230e-02 -1.06579886e-04 9.99860556e-01 9.31855486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.162755096 meters 0.017570929145772036 Centerline is valid? [True, True] Translation: X:417.09, Y:-256.33, Z:9.32 [[ 7.66299834e-01 6.42375183e-01 -1.17766270e-02 4.17085698e+02] [-6.42296906e-01 7.66390311e-01 1.00286901e-02 -2.56333980e+02] [ 1.54676744e-02 -1.20892458e-04 9.99880361e-01 9.32074665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.222755096 meters 0.017989292610289278 Centerline is valid? [True, True] Translation: X:417.13, Y:-256.38, Z:9.32 [[ 7.67621152e-01 6.40809960e-01 -1.09709542e-02 4.17131578e+02] [-6.40741870e-01 7.67699535e-01 9.34238742e-03 -2.56375202e+02] [ 1.44090914e-02 -1.41864461e-04 9.99896174e-01 9.32298147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.282755096 meters 0.017919376991706974 Centerline is valid? [True, True] Translation: X:417.18, Y:-256.41, Z:9.32 [[ 7.67323878e-01 6.41158664e-01 -1.13856604e-02 4.17178552e+02] [-6.41085351e-01 7.67408331e-01 9.69671256e-03 -2.56412738e+02] [ 1.49545819e-02 -1.41338988e-04 9.99888164e-01 9.32320965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.342755096 meters 0.017859207685223286 Centerline is valid? [True, True] Translation: X:417.22, Y:-256.45, Z:9.32 [[ 7.66596820e-01 6.42013961e-01 -1.21403990e-02 4.17223557e+02] [-6.41930723e-01 7.66692935e-01 1.03387963e-02 -2.56448737e+02] [ 1.59456097e-02 -1.32393246e-04 9.99872852e-01 9.32283280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.402755096 meters 0.017520438615981727 Centerline is valid? [True, True] Translation: X:417.27, Y:-256.49, Z:9.32 [[ 7.66105582e-01 6.42586907e-01 -1.28181273e-02 4.17270644e+02] [-6.42494235e-01 7.66212798e-01 1.09135646e-02 -2.56485355e+02] [ 1.68343269e-02 -1.25369820e-04 9.99858285e-01 9.32308709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.462755096 meters 0.01729377975206522 Centerline is valid? [True, True] Translation: X:417.32, Y:-256.52, Z:9.32 [[ 7.64508856e-01 6.44486523e-01 -1.27800935e-02 4.17319920e+02] [-6.44394682e-01 7.64615665e-01 1.08802203e-02 -2.56521025e+02] [ 1.67840151e-02 -8.26005157e-05 9.99859135e-01 9.32465306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.522755096 meters 0.017201224703896324 Centerline is valid? [True, True] Translation: X:417.37, Y:-256.56, Z:9.33 [[ 7.62349085e-01 6.47047620e-01 -1.23794071e-02 4.17366871e+02] [-6.46961781e-01 7.62449590e-01 1.05393311e-02 -2.56557207e+02] [ 1.62581230e-02 -2.56461740e-05 9.99867828e-01 9.32734152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.582755096 meters 0.017294062084404937 Centerline is valid? [True, True] Translation: X:417.41, Y:-256.59, Z:9.33 [[ 7.60469330e-01 6.49263226e-01 -1.19858933e-02 4.17413222e+02] [-6.49183057e-01 7.60563780e-01 1.02027231e-02 -2.56593449e+02] [ 1.57402892e-02 2.21808841e-05 9.99876114e-01 9.32869768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.64275509600003 meters 0.01743400476402067 Centerline is valid? [True, True] Translation: X:417.46, Y:-256.63, Z:9.33 [[ 7.60480244e-01 6.49257354e-01 -1.16054777e-02 4.17458002e+02] [-6.49182215e-01 7.60568792e-01 9.87742893e-03 -2.56630147e+02] [ 1.52397575e-02 2.24801819e-05 9.99883868e-01 9.32965687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.70275509600003 meters 0.017513445239977984 Centerline is valid? [True, True] Translation: X:417.50, Y:-256.67, Z:9.33 [[ 7.61749879e-01 6.47773140e-01 -1.12730530e-02 4.17500510e+02] [-6.47702108e-01 7.61833289e-01 9.59272327e-03 -2.56669736e+02] [ 1.48020955e-02 -5.67562254e-06 9.99890443e-01 9.33094612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.76275509600003 meters 0.017795305015870632 Centerline is valid? [True, True] Translation: X:417.54, Y:-256.71, Z:9.33 [[ 7.64165251e-01 6.44928996e-01 -1.08655122e-02 4.17542023e+02] [-6.44862751e-01 7.64242492e-01 9.24365796e-03 -2.56711724e+02] [ 1.42653892e-02 -5.69181280e-05 9.99898243e-01 9.33155265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.822755096 meters 0.018313843263679498 Centerline is valid? [True, True] Translation: X:417.59, Y:-256.75, Z:9.33 [[ 7.66808596e-01 6.41768179e-01 -1.17550371e-02 4.17585165e+02] [-6.41690300e-01 7.66898682e-01 9.99850544e-03 -2.56753128e+02] [ 1.54316451e-02 -1.23846629e-04 9.99880917e-01 9.33063102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.882755096 meters 0.01934865876297041 Centerline is valid? [True, True] Translation: X:417.63, Y:-256.79, Z:9.33 [[ 7.68451576e-01 6.39799048e-01 -1.18048346e-02 4.17627920e+02] [-6.39720284e-01 7.68542225e-01 1.00402773e-02 -2.56792336e+02] [ 1.54962737e-02 -1.63674817e-04 9.99879912e-01 9.33164001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.942755096 meters 0.019244501135677192 Centerline is valid? [True, True] Translation: X:417.67, Y:-256.83, Z:9.33 [[ 7.69228260e-01 6.38871520e-01 -1.14483767e-02 4.17672917e+02] [-6.38797367e-01 7.69313428e-01 9.73517256e-03 -2.56829603e+02] [ 1.50269144e-02 -1.75376935e-04 9.99887074e-01 9.33261269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.002755096 meters 0.019525919554605375 Centerline is valid? [True, True] Translation: X:417.72, Y:-256.87, Z:9.33 [[ 7.70179615e-01 6.37718489e-01 -1.17681286e-02 4.17719521e+02] [-6.37640048e-01 7.70269491e-01 1.00040258e-02 -2.56870191e+02] [ 1.54443826e-02 -2.01066665e-04 9.99880708e-01 9.33293361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.062755096 meters 0.02018557893078722 Centerline is valid? [True, True] Translation: X:417.76, Y:-256.91, Z:9.33 [[ 7.71261824e-01 6.36396481e-01 -1.24385358e-02 4.17764602e+02] [-6.36308572e-01 7.71362080e-01 1.05803292e-02 -2.56912677e+02] [ 1.63278991e-02 -2.45457053e-04 9.99866661e-01 9.33359727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.122755096 meters 0.02087965090640038 Centerline is valid? [True, True] Translation: X:417.81, Y:-256.96, Z:9.34 [[ 7.72199360e-01 6.35258211e-01 -1.24561179e-02 4.17809515e+02] [-6.35169806e-01 7.72299767e-01 1.06012528e-02 -2.56955047e+02] [ 1.63543899e-02 -2.74530609e-04 9.99866220e-01 9.33527862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.182755096 meters 0.02184556720228389 Centerline is valid? [True, True] Translation: X:417.85, Y:-256.99, Z:9.34 [[ 7.73124915e-01 6.34135917e-01 -1.22271958e-02 4.17852473e+02] [-6.34050484e-01 7.73221540e-01 1.04131410e-02 -2.56994463e+02] [ 1.60576779e-02 -2.97999337e-04 9.99871023e-01 9.33669838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.242755096 meters 0.022645721967707783 Centerline is valid? [True, True] Translation: X:417.90, Y:-257.04, Z:9.34 [[ 7.74643963e-01 6.32281239e-01 -1.21311449e-02 4.17897826e+02] [-6.32196952e-01 7.74738875e-01 1.03290435e-02 -2.57036784e+02] [ 1.59293300e-02 -3.32058399e-04 9.99873065e-01 9.33812453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.302755096 meters 0.023732826959383686 Centerline is valid? [True, True] Translation: X:417.94, Y:-257.08, Z:9.34 [[ 7.76353911e-01 6.30172728e-01 -1.25274941e-02 4.17942412e+02] [-6.30082467e-01 7.76454879e-01 1.06726545e-02 -2.57079546e+02] [ 1.64526497e-02 -3.92402668e-04 9.99864569e-01 9.34019842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.362755096 meters 0.024691354010996886 Centerline is valid? [True, True] Translation: X:417.99, Y:-257.12, Z:9.34 [[ 7.78361688e-01 6.27696178e-01 -1.22715338e-02 4.17989515e+02] [-6.27609167e-01 7.78458293e-01 1.04603631e-02 -2.57119900e+02] [ 1.61188073e-02 -4.40218778e-04 9.99869987e-01 9.34166219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.422755096 meters 0.025297866828678583 Centerline is valid? [True, True] Translation: X:418.04, Y:-257.16, Z:9.34 [[ 7.78941835e-01 6.26984133e-01 -1.18538785e-02 4.18037306e+02] [-6.26902849e-01 7.79031901e-01 1.01051650e-02 -2.57159769e+02] [ 1.55703276e-02 -4.40105578e-04 9.99878678e-01 9.34343882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.482755096 meters 0.02536944000149766 Centerline is valid? [True, True] Translation: X:418.09, Y:-257.20, Z:9.34 [[ 7.79013153e-01 6.26899922e-01 -1.16187517e-02 4.18086853e+02] [-6.26821742e-01 7.79099671e-01 9.90993111e-03 -2.57198874e+02] [ 1.52647007e-02 -4.37080478e-04 9.99883392e-01 9.34456063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.542755096 meters 0.02518091098598768 Centerline is valid? [True, True] Translation: X:418.14, Y:-257.24, Z:9.35 [[ 7.78489444e-01 6.27551681e-01 -1.15357290e-02 4.18135797e+02] [-6.27474589e-01 7.78574792e-01 9.84551734e-03 -2.57237786e+02] [ 1.51599987e-02 -4.26254538e-04 9.99884990e-01 9.34560720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.602755096 meters 0.02525894161565821 Centerline is valid? [True, True] Translation: X:418.18, Y:-257.28, Z:9.35 [[ 7.77635393e-01 6.28611103e-01 -1.14575749e-02 4.18183626e+02] [-6.28535084e-01 7.77719689e-01 9.78433943e-03 -2.57276258e+02] [ 1.50613260e-02 -4.07160855e-04 9.99886489e-01 9.34673994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.662755096 meters 0.02461783821165697 Centerline is valid? [True, True] Translation: X:418.23, Y:-257.31, Z:9.35 [[ 7.76223440e-01 6.30344532e-01 -1.19558418e-02 4.18232256e+02] [-6.30261857e-01 7.76315409e-01 1.02164934e-02 -2.57310429e+02] [ 1.57214150e-02 -3.94970569e-04 9.99876333e-01 9.34701159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.722755096 meters 0.02360478093537705 Centerline is valid? [True, True] Translation: X:418.28, Y:-257.34, Z:9.35 [[ 7.74303449e-01 6.32696591e-01 -1.22144831e-02 4.18280313e+02] [-6.32610617e-01 7.74399703e-01 1.04359091e-02 -2.57343374e+02] [ 1.60616562e-02 -3.53548730e-04 9.99870941e-01 9.34778364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.782755096 meters 0.02324679306314849 Centerline is valid? [True, True] Translation: X:418.33, Y:-257.38, Z:9.35 [[ 7.73377676e-01 6.33826008e-01 -1.23110402e-02 4.18327054e+02] [-6.33738846e-01 7.73475586e-01 1.05163281e-02 -2.57379302e+02] [ 1.61878113e-02 -3.31108972e-04 9.99868914e-01 9.34923779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.842755096 meters 0.023969508474727154 Centerline is valid? [True, True] Translation: X:418.37, Y:-257.41, Z:9.35 [[ 7.74034566e-01 6.33016317e-01 -1.26819955e-02 4.18372829e+02] [-6.32923742e-01 7.74138369e-01 1.08315671e-02 -2.57414120e+02] [ 1.66741780e-02 -3.57271328e-04 9.99860912e-01 9.34992744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.902755096 meters 0.022495854454226534 Centerline is valid? [True, True] Translation: X:418.42, Y:-257.45, Z:9.35 [[ 7.74905226e-01 6.31941366e-01 -1.31148856e-02 4.18421439e+02] [-6.31842246e-01 7.75016101e-01 1.11991024e-02 -2.57448417e+02] [ 1.72414236e-02 -3.91704154e-04 9.99851279e-01 9.35004053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.962755096 meters 0.023504125769733226 Centerline is valid? [True, True] Translation: X:418.47, Y:-257.49, Z:9.35 [[ 7.76210029e-01 6.30330817e-01 -1.34555765e-02 4.18467626e+02] [-6.30226263e-01 7.76326523e-01 1.14885956e-02 -2.57485260e+02] [ 1.76875368e-02 -4.37505448e-04 9.99843468e-01 9.35076744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.022755096 meters 0.023760798270154683 Centerline is valid? [True, True] Translation: X:418.52, Y:-257.52, Z:9.35 [[ 7.76606682e-01 6.29834410e-01 -1.38086307e-02 4.18515366e+02] [-6.29724253e-01 7.76729300e-01 1.17880928e-02 -2.57519769e+02] [ 1.81501145e-02 -4.59082027e-04 9.99835168e-01 9.35110712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.082755096 meters 0.02526282546554676 Centerline is valid? [True, True] Translation: X:418.56, Y:-257.56, Z:9.35 [[ 7.76650468e-01 6.29762861e-01 -1.45872886e-02 4.18559040e+02] [-6.29639960e-01 7.76787296e-01 1.24506097e-02 -2.57556503e+02] [ 1.91721520e-02 -4.85032028e-04 9.99816080e-01 9.35150958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.14275509600003 meters 0.02434344806370572 Centerline is valid? [True, True] Translation: X:418.61, Y:-257.59, Z:9.35 [[ 7.76972714e-01 6.29330509e-01 -1.60160192e-02 4.18607841e+02] [-6.29182369e-01 7.77137580e-01 1.36648448e-02 -2.57590489e+02] [ 2.10463542e-02 -5.40214685e-04 9.99778355e-01 9.35087046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.20275509600003 meters 0.025024449410280238 Centerline is valid? [True, True] Translation: X:418.65, Y:-257.63, Z:9.35 [[ 7.77973230e-01 6.28068654e-01 -1.69534388e-02 4.18654305e+02] [-6.27902417e-01 7.78157695e-01 1.44622671e-02 -2.57626721e+02] [ 2.22757455e-02 -6.06151456e-04 9.99751681e-01 9.35090525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.26275509600003 meters 0.026354140110478885 Centerline is valid? [True, True] Translation: X:418.70, Y:-257.66, Z:9.35 [[ 7.78942861e-01 6.26875061e-01 -1.66035128e-02 4.18698699e+02] [-6.26715395e-01 7.79119546e-01 1.41614768e-02 -2.57663582e+02] [ 2.18135980e-02 -6.25304219e-04 9.99761860e-01 9.35316768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.322755096 meters 0.024661425461126686 Centerline is valid? [True, True] Translation: X:418.75, Y:-257.70, Z:9.36 [[ 7.79582679e-01 6.26080815e-01 -1.65426733e-02 4.18746321e+02] [-6.25922196e-01 7.79757911e-01 1.41068951e-02 -2.57698868e+02] [ 2.17313368e-02 -6.43064658e-04 9.99763640e-01 9.35551213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.382755096 meters 0.026607005713367687 Centerline is valid? [True, True] Translation: X:418.79, Y:-257.74, Z:9.36 [[ 7.80612384e-01 6.24802287e-01 -1.63219951e-02 4.18788355e+02] [-6.24647644e-01 7.80782720e-01 1.39163603e-02 -2.57738002e+02] [ 2.14389055e-02 -6.67787453e-04 9.99769937e-01 9.35737648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.442755096 meters 0.027906972743194966 Centerline is valid? [True, True] Translation: X:418.83, Y:-257.78, Z:9.36 [[ 7.80473082e-01 6.24979249e-01 -1.62082430e-02 4.18832818e+02] [-6.24826859e-01 7.80641088e-01 1.38162257e-02 -2.57776462e+02] [ 2.12876749e-02 -6.55846685e-04 9.99773177e-01 9.35889506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.502755096 meters 0.027651354247093418 Centerline is valid? [True, True] Translation: X:419.20, Y:-257.37, Z:10.54 [[ 7.92327852e-01 -6.09991558e-01 1.12638522e-02 4.19197021e+02] [-6.09911193e-01 -7.92407261e-01 -9.95335928e-03 -2.57371341e+02] [ 1.49970234e-02 1.01637425e-03 -9.99887022e-01 1.05431795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.562755096 meters 0.027244338803899038 Centerline is valid? [True, True] Translation: X:418.96, Y:-257.83, Z:9.36 [[ 8.25024043e-01 5.64809964e-01 -1.80286735e-02 4.18962155e+02] [-5.64658992e-01 8.25220782e-01 1.30722398e-02 -2.57833531e+02] [ 2.22609674e-02 -6.04859535e-04 9.99752011e-01 9.35977504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.622755096 meters 0.0227560179405841 Centerline is valid? [True, True] Translation: X:419.01, Y:-257.86, Z:9.36 [[ 8.23190956e-01 5.67461620e-01 -1.85461617e-02 4.19014674e+02] [-5.67302705e-01 8.23399670e-01 1.34396640e-02 -2.57862325e+02] [ 2.28973969e-02 -5.42122117e-04 9.99737673e-01 9.36057508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.682755096 meters 0.021123845750449823 Centerline is valid? [True, True] Translation: X:419.06, Y:-257.89, Z:9.36 [[ 8.20486783e-01 5.71334271e-01 -1.94573612e-02 4.19064001e+02] [-5.71160612e-01 8.20717338e-01 1.40927864e-02 -2.57894495e+02] [ 2.40206855e-02 -4.49666668e-04 9.99711361e-01 9.36077436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.742755096 meters 0.020246858388240786 Centerline is valid? [True, True] Translation: X:419.11, Y:-257.93, Z:9.36 [[ 8.19018826e-01 5.73415324e-01 -2.00755912e-02 4.19112198e+02] [-5.73231137e-01 8.19264736e-01 1.45381002e-02 -2.57928044e+02] [ 2.47835933e-02 -3.99023773e-04 9.99692760e-01 9.36058771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.802755096 meters 0.019836040447354358 Centerline is valid? [True, True] Translation: X:419.16, Y:-257.96, Z:9.36 [[ 8.18001991e-01 5.74822555e-01 -2.12549820e-02 4.19159342e+02] [-5.74616631e-01 8.18278003e-01 1.53895395e-02 -2.57963640e+02] [ 2.62387386e-02 -3.75207808e-04 9.99655635e-01 9.36037247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.862755096 meters 0.019950466923520954 Centerline is valid? [True, True] Translation: X:419.20, Y:-258.00, Z:9.36 [[ 8.17780899e-01 5.75117177e-01 -2.17861129e-02 4.19204487e+02] [-5.74901021e-01 8.18070959e-01 1.57708993e-02 -2.57998088e+02] [ 2.68927014e-02 -3.72281625e-04 9.99638257e-01 9.36051083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.922755096 meters 0.019919916577446354 Centerline is valid? [True, True] Translation: X:419.25, Y:-258.03, Z:9.36 [[ 8.17990444e-01 5.74832396e-01 -2.14324526e-02 4.19249724e+02] [-5.74623214e-01 8.18271091e-01 1.55107767e-02 -2.58034681e+02] [ 2.64536533e-02 -3.72082298e-04 9.99649972e-01 9.36191486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.982755096 meters 0.019728492828502708 Centerline is valid? [True, True] Translation: X:419.30, Y:-258.07, Z:9.36 [[ 8.18539773e-01 5.74067818e-01 -2.09470663e-02 4.19295075e+02] [-5.73867838e-01 8.18807665e-01 1.51562764e-02 -2.58072741e+02] [ 2.58523490e-02 -3.85167357e-04 9.99665698e-01 9.36479003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.042755096 meters 0.020502667938241924 Centerline is valid? [True, True] Translation: X:419.34, Y:-258.11, Z:9.37 [[ 8.18764542e-01 5.73762611e-01 -2.05204860e-02 4.19338338e+02] [-5.73570663e-01 8.19021562e-01 1.48450917e-02 -2.58112137e+02] [ 2.53242791e-02 -3.84685951e-04 9.99679215e-01 9.36584051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.102755096 meters 0.020443387007646526 Centerline is valid? [True, True] Translation: X:419.38, Y:-258.15, Z:9.37 [[ 8.18766002e-01 5.73765633e-01 -2.03772357e-02 4.19384049e+02] [-5.73576433e-01 8.19019447e-01 1.47384209e-02 -2.58148606e+02] [ 2.51457517e-02 -3.79415832e-04 9.99683724e-01 9.36705865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.162755096 meters 0.019426071355200438 Centerline is valid? [True, True] Translation: X:419.43, Y:-258.19, Z:9.37 [[ 8.18576914e-01 5.74038062e-01 -2.03012105e-02 4.19429921e+02] [-5.73850432e-01 8.18828534e-01 1.46803715e-02 -2.58186048e+02] [ 2.50503025e-02 -3.67154725e-04 9.99686125e-01 9.36955465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.222755096 meters 0.019559048112521696 Centerline is valid? [True, True] Translation: X:419.47, Y:-258.22, Z:9.37 [[ 8.18741126e-01 5.73817369e-01 -1.99147178e-02 4.19474843e+02] [-5.73636807e-01 8.18983207e-01 1.43986166e-02 -2.58224398e+02] [ 2.45719958e-02 -3.64924437e-04 9.99697996e-01 9.37084567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.282755096 meters 0.019562525596961203 Centerline is valid? [True, True] Translation: X:419.52, Y:-258.27, Z:9.37 [[ 8.19557202e-01 5.72664203e-01 -1.95372279e-02 4.19522345e+02] [-5.72490088e-01 8.19789947e-01 1.41259302e-02 -2.58265098e+02] [ 2.41058376e-02 -3.92138535e-04 9.99709335e-01 9.37238629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.342755096 meters 0.020196701745536113 Centerline is valid? [True, True] Translation: X:419.57, Y:-258.31, Z:9.37 [[ 8.20331391e-01 5.71555877e-01 -1.95009685e-02 4.19569692e+02] [-5.71381899e-01 8.20563035e-01 1.41078488e-02 -2.58305641e+02] [ 2.40651978e-02 -4.30610815e-04 9.99710298e-01 9.37388018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.402755096 meters 0.021307816475664796 Centerline is valid? [True, True] Translation: X:419.62, Y:-258.35, Z:9.38 [[ 8.21207015e-01 5.70301855e-01 -1.93606087e-02 4.19615157e+02] [-5.70129853e-01 8.21435070e-01 1.40134570e-02 -2.58346884e+02] [ 2.38953835e-02 -4.69888206e-04 9.99714354e-01 9.37521831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.462755096 meters 0.021223348925852044 Centerline is valid? [True, True] Translation: X:419.67, Y:-258.38, Z:9.38 [[ 8.21131261e-01 5.70410904e-01 -1.93611119e-02 4.19665517e+02] [-5.70238795e-01 8.21359348e-01 1.40192018e-02 -2.58384977e+02] [ 2.38991358e-02 -4.71147770e-04 9.99714264e-01 9.37637508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.522755096 meters 0.019923861527177355 Centerline is valid? [True, True] Translation: X:419.72, Y:-258.42, Z:9.38 [[ 8.20129562e-01 5.71791553e-01 -2.10219101e-02 4.19715337e+02] [-5.71588835e-01 8.20398801e-01 1.52318868e-02 -2.58422679e+02] [ 2.59558141e-02 -4.76231558e-04 9.99662978e-01 9.37683817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.582755096 meters 0.018692184770217682 Centerline is valid? [True, True] Translation: X:419.76, Y:-258.46, Z:9.38 [[ 8.17970460e-01 5.74858956e-01 -2.14827289e-02 4.19764775e+02] [-5.74648059e-01 8.18252421e-01 1.55751053e-02 -2.58460647e+02] [ 2.65317837e-02 -3.94967566e-04 9.99647892e-01 9.37829270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.64275509600003 meters 0.017742283547359305 Centerline is valid? [True, True] Translation: X:419.81, Y:-258.50, Z:9.38 [[ 8.15346928e-01 5.78571797e-01 -2.15421180e-02 4.19814326e+02] [-5.78360777e-01 8.15631409e-01 1.56274086e-02 -2.58498432e+02] [ 2.66120059e-02 -2.82643476e-04 9.99645798e-01 9.38001863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.70275509600003 meters 0.017462221453521325 Centerline is valid? [True, True] Translation: X:419.86, Y:-258.53, Z:9.38 [[ 8.13876598e-01 5.80633908e-01 -2.16598352e-02 4.19862828e+02] [-5.80421064e-01 8.14164734e-01 1.57217661e-02 -2.58534971e+02] [ 2.67632644e-02 -2.23752910e-04 9.99641775e-01 9.38087318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.76275509600003 meters 0.016883518103227947 Centerline is valid? [True, True] Translation: X:419.91, Y:-258.57, Z:9.38 [[ 8.12404461e-01 5.82676155e-01 -2.20791829e-02 4.19911727e+02] [-5.82455497e-01 8.12704418e-01 1.60350482e-02 -2.58573425e+02] [ 2.72870897e-02 -1.66803255e-04 9.99627624e-01 9.38375798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.822755096 meters 0.016989675298996008 Centerline is valid? [True, True] Translation: X:419.96, Y:-258.61, Z:9.39 [[ 8.12347582e-01 5.82744905e-01 -2.23558081e-02 4.19960476e+02] [-5.82518434e-01 8.12655121e-01 1.62458802e-02 -2.58613722e+02] [ 2.76347659e-02 -1.74631173e-04 9.99618072e-01 9.38520844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.882755096 meters 0.016916267543210864 Centerline is valid? [True, True] Translation: X:420.01, Y:-258.65, Z:9.39 [[ 8.11519625e-01 5.83873110e-01 -2.29802158e-02 4.20011182e+02] [-5.83633941e-01 8.11844917e-01 1.67108679e-02 -2.58651484e+02] [ 2.84133978e-02 -1.49163305e-04 9.99596247e-01 9.38632472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.942755096 meters 0.016925284500037344 Centerline is valid? [True, True] Translation: X:420.06, Y:-258.69, Z:9.39 [[ 8.10618298e-01 5.85091361e-01 -2.37923238e-02 4.20062838e+02] [-5.84835169e-01 8.10967376e-01 1.73130077e-02 -2.58687241e+02] [ 2.94244896e-02 -1.19653088e-04 9.99566999e-01 9.38652341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.002755096 meters 0.017129373702518987 Centerline is valid? [True, True] Translation: X:420.11, Y:-258.72, Z:9.39 [[ 8.10407724e-01 5.85310590e-01 -2.55114551e-02 4.20113661e+02] [-5.85015760e-01 8.10809162e-01 1.85758796e-02 -2.58722547e+02] [ 3.15575806e-02 -1.29433005e-04 9.99501927e-01 9.38638072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.062755096 meters 0.01739460731861446 Centerline is valid? [True, True] Translation: X:420.16, Y:-258.76, Z:9.39 [[ 8.12135160e-01 5.82913310e-01 -2.54667356e-02 4.20162005e+02] [-5.82618121e-01 8.12534320e-01 1.85500437e-02 -2.58760641e+02] [ 3.15056641e-02 -2.27761064e-04 9.99503547e-01 9.38851394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.122755096 meters 0.017718621524455778 Centerline is valid? [True, True] Translation: X:420.21, Y:-258.80, Z:9.39 [[ 8.13653248e-01 5.80801481e-01 -2.52592935e-02 4.20211949e+02] [-5.80509901e-01 8.14045173e-01 1.84041390e-02 -2.58796833e+02] [ 3.12513571e-02 -3.11317474e-04 9.99511509e-01 9.39122049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.182755096 meters 0.018151727975280096 Centerline is valid? [True, True] Translation: X:420.26, Y:-258.83, Z:9.39 [[ 8.14431726e-01 5.79671107e-01 -2.61222359e-02 4.20262506e+02] [-5.79358315e-01 8.14850456e-01 1.90440770e-02 -2.58832325e+02] [ 3.23250171e-02 -3.75965937e-04 9.99477339e-01 9.39195101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.242755096 meters 0.018286940390238298 Centerline is valid? [True, True] Translation: X:420.31, Y:-258.87, Z:9.39 [[ 8.14283299e-01 5.79815836e-01 -2.75010294e-02 4.20314140e+02] [-5.79468816e-01 8.14747468e-01 2.00612527e-02 -2.58867688e+02] [ 3.40382261e-02 -3.99554090e-04 9.99420452e-01 9.39231947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.302755096 meters 0.01852002411555317 Centerline is valid? [True, True] Translation: X:420.36, Y:-258.90, Z:9.39 [[ 8.13933969e-01 5.80263658e-01 -2.83827579e-02 4.20364164e+02] [-5.79893881e-01 8.14428588e-01 2.07162103e-02 -2.58902615e+02] [ 3.51365934e-02 -4.02639632e-04 9.99382438e-01 9.39365077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.362755096 meters 0.017902203137708534 Centerline is valid? [True, True] Translation: X:420.42, Y:-258.94, Z:9.40 [[ 8.12734079e-01 5.81942394e-01 -2.83965926e-02 4.20415537e+02] [-5.81572876e-01 8.13229939e-01 2.07377832e-02 -2.58937032e+02] [ 3.51611545e-02 -3.39615128e-04 9.99381598e-01 9.39670971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.422755096 meters 0.017518641554258016 Centerline is valid? [True, True] Translation: X:420.47, Y:-258.97, Z:9.40 [[ 8.11967061e-01 5.83035661e-01 -2.79089577e-02 4.20465401e+02] [-5.82679133e-01 8.12446510e-01 2.03886129e-02 -2.58972442e+02] [ 3.45618237e-02 -2.92914850e-04 9.99402519e-01 9.39852708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.482755096 meters 0.017057938256374635 Centerline is valid? [True, True] Translation: X:420.51, Y:-259.01, Z:9.40 [[ 8.11698167e-01 5.83469078e-01 -2.66443199e-02 4.20514762e+02] [-5.83144180e-01 8.12135311e-01 1.94705452e-02 -2.59010049e+02] [ 3.29992541e-02 -2.66725760e-04 9.99455341e-01 9.40241855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.542755096 meters 0.017106373894135683 Centerline is valid? [True, True] Translation: X:420.56, Y:-259.05, Z:9.41 [[ 8.12354457e-01 5.82637349e-01 -2.47781415e-02 4.20563494e+02] [-5.82355686e-01 8.12732205e-01 1.81167705e-02 -2.59048767e+02] [ 3.06935007e-02 -2.87547609e-04 9.99528802e-01 9.40589962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.602755096 meters 0.017744736040413912 Centerline is valid? [True, True] Translation: X:420.61, Y:-259.09, Z:9.41 [[ 8.13606262e-01 5.80948668e-01 -2.33129862e-02 4.20612331e+02] [-5.80698360e-01 8.13940127e-01 1.70553235e-02 -2.59088901e+02] [ 2.88836425e-02 -3.38505141e-04 9.99582723e-01 9.40825031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.662755096 meters 0.0192128928635757 Centerline is valid? [True, True] Translation: X:420.66, Y:-259.13, Z:9.41 [[ 8.14091398e-01 5.80287906e-01 -2.28285328e-02 4.20661807e+02] [-5.80047334e-01 8.14411330e-01 1.67115634e-02 -2.59128009e+02] [ 2.82893339e-02 -3.63110426e-04 9.99599711e-01 9.40895150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.722755096 meters 0.01936865147380223 Centerline is valid? [True, True] Translation: X:420.71, Y:-259.17, Z:9.41 [[ 8.15164560e-01 5.78836577e-01 -2.13297165e-02 4.20709323e+02] [-5.78625816e-01 8.15443475e-01 1.56238194e-02 -2.59167646e+02] [ 2.64368163e-02 -3.94059239e-04 9.99650409e-01 9.41144029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.782755096 meters 0.020312162921280266 Centerline is valid? [True, True] Translation: X:420.76, Y:-259.21, Z:9.41 [[ 8.16447021e-01 5.77038102e-01 -2.10069216e-02 4.20758020e+02] [-5.76832845e-01 8.16717101e-01 1.53962679e-02 -2.59206641e+02] [ 2.60409453e-02 -4.52754670e-04 9.99660775e-01 9.41302243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.842755096 meters 0.020539497692124046 Centerline is valid? [True, True] Translation: X:420.81, Y:-259.24, Z:9.41 [[ 8.16426903e-01 5.77096694e-01 -2.01622980e-02 4.20808445e+02] [-5.76907436e-01 8.16675709e-01 1.47850535e-02 -2.59243596e+02] [ 2.49984645e-02 -4.39135853e-04 9.99687393e-01 9.41466153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.902755096 meters 0.020256225591240212 Centerline is valid? [True, True] Translation: X:420.86, Y:-259.28, Z:9.42 [[ 8.15769443e-01 5.78029801e-01 -2.00440851e-02 4.20857243e+02] [-5.77842891e-01 8.16015551e-01 1.47042180e-02 -2.59278635e+02] [ 2.48557613e-02 -4.12919632e-04 9.99690963e-01 9.41591604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.962755096 meters 0.018609039939673975 Centerline is valid? [True, True] Translation: X:420.91, Y:-259.31, Z:9.42 [[ 8.13830087e-01 5.80771059e-01 -1.96358339e-02 4.20909635e+02] [-5.80592436e-01 8.14066872e-01 1.44066801e-02 -2.59312295e+02] [ 2.43518647e-02 -3.24173111e-04 9.99703397e-01 9.41758228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.022755096 meters 0.017684351196546554 Centerline is valid? [True, True] Translation: X:420.96, Y:-259.34, Z:9.42 [[ 8.11792014e-01 5.83659952e-01 -1.82971857e-02 4.20959098e+02] [-5.83505466e-01 8.11998159e-01 1.34298625e-02 -2.59343495e+02] [ 2.26957540e-02 -2.25747239e-04 9.99742393e-01 9.42012795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.082755096 meters 0.017027251429205324 Centerline is valid? [True, True] Translation: X:421.01, Y:-259.38, Z:9.42 [[ 8.10666414e-01 5.85236925e-01 -1.78243561e-02 4.21010360e+02] [-5.85090702e-01 8.10862325e-01 1.30828297e-02 -2.59377938e+02] [ 2.21096539e-02 -1.76945588e-04 9.99755536e-01 9.42222051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.14275509600003 meters 0.016990083806527438 Centerline is valid? [True, True] Translation: X:421.06, Y:-259.41, Z:9.42 [[ 8.09798290e-01 5.86451666e-01 -1.73543215e-02 4.21059575e+02] [-5.86313180e-01 8.09984211e-01 1.27449014e-02 -2.59413714e+02] [ 2.15309950e-02 -1.45731948e-04 9.99768171e-01 9.42298679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.20275509600003 meters 0.0170424544148343 Centerline is valid? [True, True] Translation: X:421.11, Y:-259.45, Z:9.42 [[ 8.09407597e-01 5.87000757e-01 -1.70133201e-02 4.21110128e+02] [-5.86867642e-01 8.09586371e-01 1.25011158e-02 -2.59451575e+02] [ 2.11119165e-02 -1.33931035e-04 9.99777110e-01 9.42421564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.26275509600003 meters 0.01718708724224925 Centerline is valid? [True, True] Translation: X:421.16, Y:-259.49, Z:9.43 [[ 8.09272369e-01 5.87195250e-01 -1.67323233e-02 4.21161769e+02] [-5.87066375e-01 8.09445317e-01 1.23024851e-02 -2.59487561e+02] [ 2.07678616e-02 -1.33076898e-04 9.99784316e-01 9.42517500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.322755096 meters 0.01720262707818294 Centerline is valid? [True, True] Translation: X:421.21, Y:-259.53, Z:9.43 [[ 8.09178793e-01 5.87320197e-01 -1.68720446e-02 4.21212837e+02] [-5.87189016e-01 8.09354661e-01 1.24134004e-02 -2.59525027e+02] [ 2.09461088e-02 -1.37581077e-04 9.99780597e-01 9.42587579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.382755096 meters 0.017566646493819803 Centerline is valid? [True, True] Translation: X:421.26, Y:-259.56, Z:9.43 [[ 8.09610804e-01 5.86703131e-01 -1.76006072e-02 4.21262373e+02] [-5.86560053e-01 8.09802080e-01 1.29574704e-02 -2.59561547e+02] [ 2.18551968e-02 -1.66694939e-04 9.99761133e-01 9.42608638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.442755096 meters 0.017708154309397445 Centerline is valid? [True, True] Translation: X:421.31, Y:-259.60, Z:9.43 [[ 8.10337883e-01 5.85698292e-01 -1.76075413e-02 4.21311242e+02] [-5.85554790e-01 8.10529131e-01 1.29659574e-02 -2.59596845e+02] [ 2.18655643e-02 -1.96626353e-04 9.99760901e-01 9.42678001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.502755096 meters 0.018077398910812406 Centerline is valid? [True, True] Translation: X:421.36, Y:-259.63, Z:9.43 [[ 8.12080558e-01 5.83264355e-01 -1.81068855e-02 4.21360305e+02] [-5.83111959e-01 8.12282351e-01 1.33350888e-02 -2.59634358e+02] [ 2.24857855e-02 -2.70824887e-04 9.99747126e-01 9.42808617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.562755096 meters 0.01967114942280176 Centerline is valid? [True, True] Translation: X:421.41, Y:-259.67, Z:9.43 [[ 8.15001415e-01 5.79184580e-01 -1.78301941e-02 4.21407949e+02] [-5.79035659e-01 8.15196341e-01 1.31389306e-02 -2.59673985e+02] [ 2.21449750e-02 -3.83928827e-04 9.99754696e-01 9.42961151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.622755096 meters 0.022779646383569885 Centerline is valid? [True, True] Translation: X:421.45, Y:-259.71, Z:9.43 [[ 8.18557703e-01 5.74114011e-01 -1.88782763e-02 4.21452897e+02] [-5.73945539e-01 8.18775177e-01 1.39186276e-02 -2.59713532e+02] [ 2.34479431e-02 -5.58097377e-04 9.99724903e-01 9.42931254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.682755096 meters 0.02360509907419119 Centerline is valid? [True, True] Translation: X:421.50, Y:-259.75, Z:9.43 [[ 8.21199199e-01 5.70334295e-01 -1.87261244e-02 4.21502600e+02] [-5.70167480e-01 8.21412413e-01 1.38091558e-02 -2.59750741e+02] [ 2.32577061e-02 -6.63040545e-04 9.99729283e-01 9.43022968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.742755096 meters 0.02396864695638912 Centerline is valid? [True, True] Translation: X:421.55, Y:-259.79, Z:9.43 [[ 8.21523410e-01 5.69869612e-01 -1.86524068e-02 4.21552562e+02] [-5.69703907e-01 8.21734852e-01 1.37582830e-02 -2.59786962e+02] [ 2.31677601e-02 -6.76402542e-04 9.99731363e-01 9.43172825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.802755096 meters 0.023407560520294367 Centerline is valid? [True, True] Translation: X:421.60, Y:-259.82, Z:9.43 [[ 8.20238040e-01 5.71725070e-01 -1.84391557e-02 4.21604595e+02] [-5.71563443e-01 8.20445036e-01 1.36078661e-02 -2.59821788e+02] [ 2.29082719e-02 -6.22542089e-04 9.99737377e-01 9.43385971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.862755096 meters 0.021190906314156613 Centerline is valid? [True, True] Translation: X:421.66, Y:-259.85, Z:9.44 [[ 8.16554073e-01 5.77002501e-01 -1.75373559e-02 4.21657339e+02] [-5.76857461e-01 8.16742253e-01 1.29445774e-02 -2.59851467e+02] [ 2.17925532e-02 -4.53392813e-04 9.99762411e-01 9.43594960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.922755096 meters 0.01857127199502844 Centerline is valid? [True, True] Translation: X:421.71, Y:-259.88, Z:9.44 [[ 8.12077322e-01 5.83318410e-01 -1.64333828e-02 4.21710336e+02] [-5.83192336e-01 8.12243536e-01 1.21300449e-02 -2.59879975e+02] [ 2.04235875e-02 -2.66711435e-04 9.99791381e-01 9.43848745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.982755096 meters 0.0171711915022782 Centerline is valid? [True, True] Translation: X:421.76, Y:-259.91, Z:9.44 [[ 8.09519209e-01 5.86871584e-01 -1.61367303e-02 4.21763840e+02] [-5.86750730e-01 8.09680007e-01 1.19108033e-02 -2.59912677e+02] [ 2.00556999e-02 -1.73785833e-04 9.99798849e-01 9.44042179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.042755096 meters 0.016640043954784724 Centerline is valid? [True, True] Translation: X:421.82, Y:-259.95, Z:9.44 [[ 8.07190738e-01 5.90103915e-01 -1.48486147e-02 4.21815753e+02] [-5.90002022e-01 8.07327295e-01 1.09659966e-02 -2.59946959e+02] [ 1.84587695e-02 -9.09382227e-05 9.99829618e-01 9.44323266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.102755096 meters 0.0166664640085428 Centerline is valid? [True, True] Translation: X:421.86, Y:-259.98, Z:9.45 [[ 8.06768120e-01 5.90702878e-01 -1.39753329e-02 4.21864265e+02] [-5.90612606e-01 8.06889152e-01 1.03269713e-02 -2.59983277e+02] [ 1.73767162e-02 -7.74634479e-05 9.99849010e-01 9.44614695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.162755096 meters 0.016656178328801934 Centerline is valid? [True, True] Translation: X:421.91, Y:-260.02, Z:9.45 [[ 8.06801294e-01 5.90657642e-01 -1.39722210e-02 4.21914988e+02] [-5.90567373e-01 8.06922266e-01 1.03263751e-02 -2.60020745e+02] [ 1.73738486e-02 -7.97948793e-05 9.99849060e-01 9.44681643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.222755096 meters 0.017138350458947134 Centerline is valid? [True, True] Translation: X:421.96, Y:-260.06, Z:9.45 [[ 8.07609065e-01 5.89530949e-01 -1.48613182e-02 4.21962011e+02] [-5.89428492e-01 8.07745781e-01 1.09912047e-02 -2.60060492e+02] [ 1.84838224e-02 -1.16912167e-04 9.99829153e-01 9.44659098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.282755096 meters 0.01750875584035226 Centerline is valid? [True, True] Translation: X:422.01, Y:-260.10, Z:9.45 [[ 8.09534967e-01 5.86872652e-01 -1.52848580e-02 4.22009491e+02] [-5.86763683e-01 8.09679230e-01 1.13103851e-02 -2.60098180e+02] [ 1.90135877e-02 -1.87552617e-04 9.99819208e-01 9.44722269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.342755096 meters 0.018084024770340136 Centerline is valid? [True, True] Translation: X:422.06, Y:-260.14, Z:9.45 [[ 8.11376556e-01 5.84296960e-01 -1.62833525e-02 4.22057692e+02] [-5.84172755e-01 8.11539890e-01 1.20498843e-02 -2.60138158e+02] [ 2.02553009e-02 -2.64702689e-04 9.99794805e-01 9.44728051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.402755096 meters 0.01874666884678102 Centerline is valid? [True, True] Translation: X:422.11, Y:-260.18, Z:9.45 [[ 8.12437891e-01 5.82809210e-01 -1.66762608e-02 4.22105827e+02] [-5.82678472e-01 8.12608962e-01 1.23479765e-02 -2.60177703e+02] [ 2.07477934e-02 -3.15065816e-04 9.99784692e-01 9.44776924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.462755096 meters 0.019437007237958593 Centerline is valid? [True, True] Translation: X:422.15, Y:-260.22, Z:9.45 [[ 8.13445325e-01 5.81387551e-01 -1.71819481e-02 4.22154036e+02] [-5.81248285e-01 8.13626684e-01 1.27299110e-02 -2.60216390e+02] [ 2.13807033e-02 -3.68108692e-04 9.99771339e-01 9.44822338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.522755096 meters 0.01947959040803015 Centerline is valid? [True, True] Translation: X:422.20, Y:-260.25, Z:9.45 [[ 8.13059165e-01 5.81925350e-01 -1.72534432e-02 4.22204815e+02] [-5.81784884e-01 8.13242126e-01 1.27903370e-02 -2.60253680e+02] [ 2.14742482e-02 -3.61508262e-04 9.99769336e-01 9.44873645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.582755096 meters 0.01879816981641806 Centerline is valid? [True, True] Translation: X:422.26, Y:-260.29, Z:9.45 [[ 8.11278367e-01 5.84409789e-01 -1.71058518e-02 4.22255906e+02] [-5.84272097e-01 8.11458630e-01 1.26888998e-02 -2.60289583e+02] [ 2.12962083e-02 -2.99757990e-04 9.99773165e-01 9.45007005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.64275509600003 meters 0.017681709155045515 Centerline is valid? [True, True] Translation: X:422.31, Y:-260.33, Z:9.45 [[ 8.09667715e-01 5.86637079e-01 -1.71793259e-02 4.22306833e+02] [-5.86498547e-01 8.09849909e-01 1.27506456e-02 -2.60325345e+02] [ 2.13926770e-02 -2.48136345e-04 9.99771120e-01 9.45219012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.70275509600003 meters 0.01693326719596511 Centerline is valid? [True, True] Translation: X:422.36, Y:-260.36, Z:9.45 [[ 8.07314182e-01 5.89887819e-01 -1.66184682e-02 4.22355610e+02] [-5.89758749e-01 8.07485192e-01 1.23403138e-02 -2.60358068e+02] [ 2.06985677e-02 -1.61623322e-04 9.99785749e-01 9.45377145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.76275509600003 meters 0.01613521135397938 Centerline is valid? [True, True] Translation: X:422.41, Y:-260.39, Z:9.46 [[ 8.05144343e-01 5.92865260e-01 -1.59176008e-02 4.22405849e+02] [-5.92747445e-01 8.05301668e-01 1.18190723e-02 -2.60390994e+02] [ 1.98255878e-02 -8.09419835e-05 9.99803450e-01 9.45601240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.822755096 meters 0.015988483458270888 Centerline is valid? [True, True] Translation: X:422.45, Y:-260.43, Z:9.46 [[ 8.04513439e-01 5.93732317e-01 -1.54939395e-02 4.22453294e+02] [-5.93620868e-01 8.04662620e-01 1.15035896e-02 -2.60426783e+02] [ 1.92974469e-02 -5.72666178e-05 9.99813785e-01 9.45819959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.882755096 meters 0.01584516369315241 Centerline is valid? [True, True] Translation: X:422.50, Y:-260.46, Z:9.46 [[ 8.04208513e-01 5.94156536e-01 -1.50558373e-02 4.22497491e+02] [-5.94051392e-01 8.04349432e-01 1.11774118e-02 -2.60463511e+02] [ 1.87512865e-02 -4.50286562e-05 9.99824178e-01 9.45963790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.942755096 meters 0.01588007679096566 Centerline is valid? [True, True] Translation: X:422.54, Y:-260.50, Z:9.46 [[ 8.05048711e-01 5.93002320e-01 -1.56467889e-02 4.22541904e+02] [-5.92888593e-01 8.05200747e-01 1.16134696e-02 -2.60503076e+02] [ 1.94856205e-02 -7.26061088e-05 9.99810135e-01 9.45977302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.002755096 meters 0.016042130857383048 Centerline is valid? [True, True] Translation: X:422.59, Y:-260.55, Z:9.46 [[ 8.06307823e-01 5.91265711e-01 -1.65092313e-02 4.22588917e+02] [-5.91138755e-01 8.06476810e-01 1.22526343e-02 -2.60545839e+02] [ 2.05588747e-02 -1.20148494e-04 9.99788637e-01 9.45919743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.062755096 meters 0.016905450568154613 Centerline is valid? [True, True] Translation: X:422.63, Y:-260.59, Z:9.46 [[ 8.08027684e-01 5.88883958e-01 -1.75198721e-02 4.22632434e+02] [-5.88740231e-01 8.08217573e-01 1.30113549e-02 -2.60589087e+02] [ 2.18220467e-02 -1.98881367e-04 9.99761851e-01 9.45846054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.122755096 meters 0.01780342504151982 Centerline is valid? [True, True] Translation: X:422.68, Y:-260.63, Z:9.46 [[ 8.09519389e-01 5.86832433e-01 -1.74944014e-02 4.22678092e+02] [-5.86688496e-01 8.09708360e-01 1.29992422e-02 -2.60632126e+02] [ 2.17937400e-02 -2.59374584e-04 9.99762455e-01 9.45882604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.182755096 meters 0.018159757898149997 Centerline is valid? [True, True] Translation: X:422.73, Y:-260.67, Z:9.46 [[ 8.09757329e-01 5.86520066e-01 -1.69493480e-02 4.22726790e+02] [-5.86384748e-01 8.09934653e-01 1.26010258e-02 -2.60671211e+02] [ 2.11186188e-02 -2.64933850e-04 9.99776942e-01 9.46059071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.242755096 meters 0.017676503904469894 Centerline is valid? [True, True] Translation: X:422.78, Y:-260.71, Z:9.46 [[ 8.08847760e-01 5.87795766e-01 -1.61690528e-02 4.22776597e+02] [-5.87672752e-01 8.09009324e-01 1.20270698e-02 -2.60706686e+02] [ 2.01503752e-02 -2.25956752e-04 9.99796935e-01 9.46294372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.302755096 meters 0.017250700227211552 Centerline is valid? [True, True] Translation: X:422.82, Y:-260.74, Z:9.46 [[ 8.07898432e-01 5.89111809e-01 -1.57289776e-02 4.22824427e+02] [-5.88995635e-01 8.08051509e-01 1.17004366e-02 -2.60741104e+02] [ 1.96026894e-02 -1.88465256e-04 9.99807831e-01 9.46480576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.362755096 meters 0.016950173840187332 Centerline is valid? [True, True] Translation: X:422.87, Y:-260.77, Z:9.47 [[ 8.06959554e-01 5.90420323e-01 -1.48364476e-02 4.22871967e+02] [-5.90317211e-01 8.07095918e-01 1.10349335e-02 -2.60774928e+02] [ 1.84896853e-02 -1.46534597e-04 9.99829040e-01 9.46648481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.422755096 meters 0.017336422035095743 Centerline is valid? [True, True] Translation: X:422.92, Y:-260.81, Z:9.47 [[ 8.07525075e-01 5.89643283e-01 -1.49683871e-02 4.22918149e+02] [-5.89538226e-01 8.07663774e-01 1.11313955e-02 -2.60809637e+02] [ 1.86529766e-02 -1.64444589e-04 9.99826005e-01 9.46719571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.482755096 meters 0.017217550940027092 Centerline is valid? [True, True] Translation: X:422.97, Y:-260.85, Z:9.47 [[ 8.07816748e-01 5.89238626e-01 -1.51639193e-02 4.22968771e+02] [-5.89130770e-01 8.07959041e-01 1.12749541e-02 -2.60846677e+02] [ 1.88954642e-02 -1.74565247e-04 9.99821450e-01 9.46799775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.542755096 meters 0.017570063115009953 Centerline is valid? [True, True] Translation: X:423.02, Y:-260.88, Z:9.47 [[ 8.08234548e-01 5.88694140e-01 -1.40044625e-02 4.23018388e+02] [-5.88601962e-01 8.08355849e-01 1.04188388e-02 -2.60884316e+02] [ 1.74540985e-02 -1.77811389e-04 9.99847650e-01 9.47102215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.602755096 meters 0.018352342692764586 Centerline is valid? [True, True] Translation: X:423.07, Y:-260.92, Z:9.47 [[ 8.09221608e-01 5.87369571e-01 -1.25449591e-02 4.23065431e+02] [-5.87295363e-01 8.09318819e-01 9.33838228e-03 -2.60920131e+02] [ 1.56379531e-02 -1.89224425e-04 9.99877702e-01 9.47421184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.662755096 meters 0.018817541900960882 Centerline is valid? [True, True] Translation: X:423.11, Y:-260.96, Z:9.48 [[ 8.10914023e-01 5.85048599e-01 -1.16869286e-02 4.23114503e+02] [-5.84983978e-01 8.10998206e-01 8.69800261e-03 -2.60958232e+02] [ 1.45668324e-02 -2.16666279e-04 9.99893875e-01 9.47578363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.722755096 meters 0.01925497775465597 Centerline is valid? [True, True] Translation: X:423.16, Y:-261.00, Z:9.48 [[ 8.12312603e-01 5.83116879e-01 -1.10878720e-02 4.23163315e+02] [-5.83058475e-01 8.12388237e-01 8.25637778e-03 -2.60996989e+02] [ 1.38220900e-02 -2.41881979e-04 9.99904441e-01 9.47697807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.782755096 meters 0.020685281071300254 Centerline is valid? [True, True] Translation: X:423.21, Y:-261.04, Z:9.48 [[ 8.13448766e-01 5.81531434e-01 -1.10587779e-02 4.23210002e+02] [-5.81473122e-01 8.13523888e-01 8.23964676e-03 -2.61036401e+02] [ 1.37881936e-02 -2.72148350e-04 9.99904901e-01 9.47785832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.842755096 meters 0.02144170308078117 Centerline is valid? [True, True] Translation: X:423.26, Y:-261.07, Z:9.48 [[ 8.13694311e-01 5.81160430e-01 -1.24145952e-02 4.23258894e+02] [-5.81086813e-01 8.13788949e-01 9.25537277e-03 -2.61074586e+02] [ 1.54817168e-02 -3.17086608e-04 9.99880101e-01 9.47687618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.902755096 meters 0.020367528890633497 Centerline is valid? [True, True] Translation: X:423.31, Y:-261.11, Z:9.48 [[ 8.13112564e-01 5.81949673e-01 -1.35105800e-02 4.23311057e+02] [-5.81862481e-01 8.13224733e-01 1.00790072e-02 -2.61108998e+02] [ 1.68526127e-02 -3.34067768e-04 9.99857929e-01 9.47631787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.962755096 meters 0.02021389491697253 Centerline is valid? [True, True] Translation: X:423.36, Y:-261.14, Z:9.48 [[ 8.12304772e-01 5.83060989e-01 -1.41718100e-02 4.23361994e+02] [-5.82965110e-01 8.12428319e-01 1.05786281e-02 -2.61144845e+02] [ 1.76815651e-02 -3.31399304e-04 9.99843614e-01 9.47678753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.022755096 meters 0.01988246114209247 Centerline is valid? [True, True] Translation: X:423.41, Y:-261.18, Z:9.48 [[ 8.12134163e-01 5.83249203e-01 -1.60769671e-02 4.23413434e+02] [-5.83125693e-01 8.12293189e-01 1.20084006e-02 -2.61181227e+02] [ 2.00631009e-02 -3.77539770e-04 9.99798644e-01 9.47555879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.082755096 meters 0.019790327600758714 Centerline is valid? [True, True] Translation: X:423.46, Y:-261.22, Z:9.48 [[ 8.11880541e-01 5.83573015e-01 -1.71032945e-02 4.23464305e+02] [-5.83433114e-01 8.12060574e-01 1.27838152e-02 -2.61217699e+02] [ 2.13492008e-02 -4.00302439e-04 9.99772000e-01 9.47547725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.14275509600003 meters 0.019725333665629674 Centerline is valid? [True, True] Translation: X:423.52, Y:-261.25, Z:9.47 [[ 8.12084919e-01 5.83267584e-01 -1.78047839e-02 4.23515754e+02] [-5.83115699e-01 8.12279964e-01 1.33170065e-02 -2.61252149e+02] [ 2.22298474e-02 -4.32291136e-04 9.99752793e-01 9.47497699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.20275509600003 meters 0.021396547330909017 Centerline is valid? [True, True] Translation: X:423.56, Y:-261.29, Z:9.48 [[ 8.12043526e-01 5.83316795e-01 -1.80784000e-02 4.23564113e+02] [-5.83160036e-01 8.12244618e-01 1.35297142e-02 -2.61290549e+02] [ 2.25761926e-02 -4.44116399e-04 9.99745027e-01 9.47524876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.26275509600003 meters 0.02133626533920905 Centerline is valid? [True, True] Translation: X:423.61, Y:-261.33, Z:9.48 [[ 8.12170769e-01 5.83093538e-01 -1.95081535e-02 4.23614490e+02] [-5.82910713e-01 8.12404876e-01 1.46088590e-02 -2.61326099e+02] [ 2.43668503e-02 -4.93376623e-04 9.99702962e-01 9.47500735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.322755096 meters 0.020571022451903585 Centerline is valid? [True, True] Translation: X:423.66, Y:-261.36, Z:9.48 [[ 8.12637928e-01 5.82388015e-01 -2.10665364e-02 4.23664770e+02] [-5.82174343e-01 8.12910748e-01 1.57844873e-02 -2.61361666e+02] [ 2.63179101e-02 -5.62676079e-04 9.99653465e-01 9.47549448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.382755096 meters 0.02130034318285476 Centerline is valid? [True, True] Translation: X:423.71, Y:-261.40, Z:9.48 [[ 8.13292406e-01 5.81440944e-01 -2.19520318e-02 4.23714205e+02] [-5.81208326e-01 8.13588371e-01 1.64573512e-02 -2.61399762e+02] [ 2.74288956e-02 -6.25935089e-04 9.99623561e-01 9.47626724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.442755096 meters 0.02401563575137568 Centerline is valid? [True, True] Translation: X:423.76, Y:-261.44, Z:9.48 [[ 8.13712292e-01 5.80852647e-01 -2.19660704e-02 4.23760623e+02] [-5.80619262e-01 8.14008461e-01 1.64771841e-02 -2.61439669e+02] [ 2.74513832e-02 -6.53763669e-04 9.99622926e-01 9.47645682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.502755096 meters 0.022321463785252304 Centerline is valid? [True, True] Translation: X:423.81, Y:-261.47, Z:9.48 [[ 8.14643566e-01 5.79563010e-01 -2.15076328e-02 4.23812099e+02] [-5.79338583e-01 8.14927139e-01 1.61420056e-02 -2.61474696e+02] [ 2.68824630e-02 -6.89779458e-04 9.99638363e-01 9.48045064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.562755096 meters 0.022544848455919607 Centerline is valid? [True, True] Translation: X:423.86, Y:-261.51, Z:9.48 [[ 8.15044132e-01 5.79026738e-01 -2.07629133e-02 4.23861306e+02] [-5.78817183e-01 8.15308261e-01 1.55919351e-02 -2.61512393e+02] [ 2.59563220e-02 -6.90184215e-04 9.99662840e-01 9.48374953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.622755096 meters 0.022880999200293586 Centerline is valid? [True, True] Translation: X:423.91, Y:-261.55, Z:9.48 [[ 8.14631272e-01 5.79608091e-01 -2.07449311e-02 4.23911186e+02] [-5.79398852e-01 8.14895086e-01 1.55874671e-02 -2.61549235e+02] [ 2.59395645e-02 -6.78448814e-04 9.99663283e-01 9.48454187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.682755096 meters 0.022099505857495077 Centerline is valid? [True, True] Translation: X:423.96, Y:-261.58, Z:9.49 [[ 8.12979798e-01 5.81907976e-01 -2.11413543e-02 4.23962072e+02] [-5.81691194e-01 8.13254400e-01 1.58945248e-02 -2.61584863e+02] [ 2.64424502e-02 -6.24187937e-04 9.99650142e-01 9.48584079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.742755096 meters 0.02008982797311963 Centerline is valid? [True, True] Translation: X:424.01, Y:-261.62, Z:9.49 [[ 8.09999719e-01 5.86032036e-01 -2.16080312e-02 4.24013372e+02] [-5.85806854e-01 8.10287724e-01 1.62522020e-02 -2.61619041e+02] [ 2.70330335e-02 -5.06146271e-04 9.99634413e-01 9.48689013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.802755096 meters 0.017878011922368153 Centerline is valid? [True, True] Translation: X:424.07, Y:-261.65, Z:9.49 [[ 8.06020448e-01 5.91482899e-01 -2.18864768e-02 4.24065836e+02] [-5.91253829e-01 8.06317476e-01 1.64632132e-02 -2.61652033e+02] [ 2.73851578e-02 -3.29223272e-04 9.99624902e-01 9.48876998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.862755096 meters 0.017430405851811933 Centerline is valid? [True, True] Translation: X:424.12, Y:-261.69, Z:9.49 [[ 8.04018448e-01 5.94215239e-01 -2.15077975e-02 4.24115778e+02] [-5.93994923e-01 8.04306033e-01 1.61813718e-02 -2.61687891e+02] [ 2.69140690e-02 -2.34598921e-04 9.99637723e-01 9.49012467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.922755096 meters 0.017079742462980774 Centerline is valid? [True, True] Translation: X:424.16, Y:-261.73, Z:9.49 [[ 8.04057625e-01 5.94210039e-01 -2.01436187e-02 4.24162911e+02] [-5.94016703e-01 8.04309878e-01 1.51583970e-02 -2.61725198e+02] [ 2.52089832e-02 -2.22578681e-04 9.99682178e-01 9.49486176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.982755096 meters 0.01750608894261289 Centerline is valid? [True, True] Translation: X:424.21, Y:-261.77, Z:9.50 [[ 8.05570543e-01 5.92223078e-01 -1.81087000e-02 4.24209583e+02] [-5.92066299e-01 8.05774013e-01 1.36285718e-02 -2.61766235e+02] [ 2.26626746e-02 -2.57224977e-04 9.99743136e-01 9.50002647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.042755096 meters 0.01864578426692352 Centerline is valid? [True, True] Translation: X:424.26, Y:-261.81, Z:9.50 [[ 8.07017356e-01 5.90281838e-01 -1.70393490e-02 4.24255771e+02] [-5.90142448e-01 8.07197165e-01 1.28307527e-02 -2.61806204e+02] [ 2.13278745e-02 -2.98996937e-04 9.99772490e-01 9.50220398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.102755096 meters 0.01925889624526269 Centerline is valid? [True, True] Translation: X:424.30, Y:-261.85, Z:9.50 [[ 8.08692428e-01 5.87978533e-01 -1.72569533e-02 4.24303244e+02] [-5.87834882e-01 8.08876448e-01 1.30016531e-02 -2.61846727e+02] [ 2.16034360e-02 -3.70099288e-04 9.99766550e-01 9.50397343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.162755096 meters 0.020140734467577033 Centerline is valid? [True, True] Translation: X:424.35, Y:-261.89, Z:9.51 [[ 8.09216535e-01 5.87259391e-01 -1.71757827e-02 4.24350579e+02] [-5.87116769e-01 8.09398699e-01 1.29478475e-02 -2.61885847e+02] [ 2.15058012e-02 -3.93422262e-04 9.99768646e-01 9.50535979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.222755096 meters 0.019766953584575118 Centerline is valid? [True, True] Translation: X:424.40, Y:-261.92, Z:9.51 [[ 8.09128188e-01 5.87376723e-01 -1.73251431e-02 4.24400908e+02] [-5.87231480e-01 8.09313552e-01 1.30676394e-02 -2.61923301e+02] [ 2.16971003e-02 -3.99525917e-04 9.99764510e-01 9.50667635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.282755096 meters 0.020390517240726075 Centerline is valid? [True, True] Translation: X:424.45, Y:-261.96, Z:9.51 [[ 8.09518797e-01 5.86823821e-01 -1.78078677e-02 4.24449095e+02] [-5.86670039e-01 8.09714527e-01 1.34406301e-02 -2.61962010e+02] [ 2.23065711e-02 -4.33100269e-04 9.99751084e-01 9.50789541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.342755096 meters 0.02156496577942839 Centerline is valid? [True, True] Translation: X:424.50, Y:-262.00, Z:9.51 [[ 8.10649535e-01 5.85225180e-01 -1.89425289e-02 4.24495918e+02] [-5.85050534e-01 8.10870658e-01 1.43055524e-02 -2.62003119e+02] [ 2.37319104e-02 -5.14452737e-04 9.99718226e-01 9.50995890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.402755096 meters 0.022739554749612034 Centerline is valid? [True, True] Translation: X:424.54, Y:-262.04, Z:9.51 [[ 8.11785703e-01 5.83612121e-01 -2.00215848e-02 4.24543044e+02] [-5.83416294e-01 8.12032346e-01 1.51293240e-02 -2.62043424e+02] [ 2.50878313e-02 -6.00850171e-04 9.99685070e-01 9.51267990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.462755096 meters 0.023096860042869784 Centerline is valid? [True, True] Translation: X:424.59, Y:-262.08, Z:9.51 [[ 8.11352600e-01 5.84159901e-01 -2.15445926e-02 4.24592455e+02] [-5.83933065e-01 8.11638346e-01 1.62901730e-02 -2.62082058e+02] [ 2.70024833e-02 -6.36474226e-04 9.99635164e-01 9.51410688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.522755096 meters 0.021261559552878354 Centerline is valid? [True, True] Translation: X:424.64, Y:-262.12, Z:9.52 [[ 8.10248418e-01 5.85671922e-01 -2.20431618e-02 4.24644037e+02] [-5.85434734e-01 8.10547981e-01 1.66776064e-02 -2.62116843e+02] [ 2.76346461e-02 -6.08171632e-04 9.99617905e-01 9.51691615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.582755096 meters 0.021453992882500918 Centerline is valid? [True, True] Translation: X:424.69, Y:-262.15, Z:9.52 [[ 8.07863046e-01 5.88945317e-01 -2.23766291e-02 4.24694015e+02] [-5.88701874e-01 8.08172724e-01 1.69396333e-02 -2.62152032e+02] [ 2.80606990e-02 -5.11740244e-04 9.99606090e-01 9.51756938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.64275509600003 meters 0.019075102675302442 Centerline is valid? [True, True] Translation: X:424.75, Y:-262.19, Z:9.52 [[ 8.05607974e-01 5.92025859e-01 -2.23869225e-02 4.24746534e+02] [-5.91783116e-01 8.05918862e-01 1.69567217e-02 -2.62186076e+02] [ 2.80808608e-02 -4.12267501e-04 9.99605570e-01 9.52122357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.70275509600003 meters 0.01900818023474029 Centerline is valid? [True, True] Translation: X:424.80, Y:-262.22, Z:9.52 [[ 8.04908219e-01 5.92967741e-01 -2.26278066e-02 4.24795507e+02] [-5.92719845e-01 8.05226120e-01 1.71487757e-02 -2.62222621e+02] [ 2.83891717e-02 -3.91240492e-04 9.99596870e-01 9.52245021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.76275509600003 meters 0.018738199078217208 Centerline is valid? [True, True] Translation: X:424.84, Y:-262.26, Z:9.52 [[ 8.05719347e-01 5.91864806e-01 -2.26359085e-02 4.24844757e+02] [-5.91616030e-01 8.06037133e-01 1.71643047e-02 -2.62260416e+02] [ 2.84043306e-02 -4.37846077e-04 9.99596420e-01 9.52484357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.822755096 meters 0.02034754112740434 Centerline is valid? [True, True] Translation: X:424.89, Y:-262.30, Z:9.53 [[ 8.07738366e-01 5.89160781e-01 -2.11732538e-02 4.24890293e+02] [-5.88941957e-01 8.08015667e-01 1.60640118e-02 -2.62300898e+02] [ 2.65726065e-02 -5.05701110e-04 9.99646758e-01 9.52631114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.882755096 meters 0.02033011599724448 Centerline is valid? [True, True] Translation: X:424.94, Y:-262.34, Z:9.53 [[ 8.09218989e-01 5.87181736e-01 -1.95508765e-02 4.24939339e+02] [-5.86994424e-01 8.09454955e-01 1.48398371e-02 -2.62338281e+02] [ 2.45392352e-02 -5.32422513e-04 9.99698726e-01 9.52840403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.942755096 meters 0.020962898846561447 Centerline is valid? [True, True] Translation: X:424.99, Y:-262.38, Z:9.53 [[ 8.09872113e-01 5.86305695e-01 -1.87827836e-02 4.24988461e+02] [-5.86132455e-01 8.10089710e-01 1.42620477e-02 -2.62375956e+02] [ 2.35776595e-02 -5.41235625e-04 9.99721862e-01 9.52996663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.002755096 meters 0.02067430118789872 Centerline is valid? [True, True] Translation: X:425.04, Y:-262.41, Z:9.53 [[ 8.10069432e-01 5.86050021e-01 -1.82452250e-02 4.25039079e+02] [-5.85886305e-01 8.10274695e-01 1.38620215e-02 -2.62413936e+02] [ 2.29074821e-02 -5.39572407e-04 9.99737444e-01 9.53134881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.062755096 meters 0.022067206598751832 Centerline is valid? [True, True] Translation: X:425.09, Y:-262.45, Z:9.53 [[ 8.09652463e-01 5.86634349e-01 -1.79730226e-02 4.25087997e+02] [-5.86475428e-01 8.09851757e-01 1.36639924e-02 -2.62450582e+02] [ 2.25712512e-02 -5.22348953e-04 9.99745100e-01 9.53044408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.122755096 meters 0.019811927237090323 Centerline is valid? [True, True] Translation: X:425.14, Y:-262.49, Z:9.53 [[ 8.08266383e-01 5.88576471e-01 -1.68283339e-02 4.25139374e+02] [-5.88437431e-01 8.08441427e-01 1.28003200e-02 -2.62485724e+02] [ 2.11386895e-02 -4.43646815e-04 9.99776455e-01 9.53209633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.182755096 meters 0.018798816755435287 Centerline is valid? [True, True] Translation: X:425.19, Y:-262.52, Z:9.53 [[ 8.06081991e-01 5.91605484e-01 -1.53223428e-02 4.25191343e+02] [-5.91490649e-01 8.06227535e-01 1.16608175e-02 -2.62521023e+02] [ 1.92518983e-02 -3.36552521e-04 9.99814608e-01 9.53207593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.242755096 meters 0.017479881974315024 Centerline is valid? [True, True] Translation: X:425.24, Y:-262.56, Z:9.53 [[ 8.03417644e-01 5.95221407e-01 -1.52172725e-02 4.25241233e+02] [-5.95108740e-01 8.03561705e-01 1.15833492e-02 -2.62555893e+02] [ 1.91226748e-02 -2.50335204e-04 9.99817114e-01 9.53029441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.302755096 meters 0.01666816653267225 Centerline is valid? [True, True] Translation: X:425.29, Y:-262.59, Z:9.53 [[ 8.01974153e-01 5.97167341e-01 -1.51203503e-02 4.25291623e+02] [-5.97056335e-01 8.02116653e-01 1.15155690e-02 -2.62592810e+02] [ 1.90050065e-02 -2.07487726e-04 9.99819367e-01 9.53035031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.362755096 meters 0.016607105366462212 Centerline is valid? [True, True] Translation: X:425.34, Y:-262.63, Z:9.53 [[ 8.01623258e-01 5.97670695e-01 -1.37801480e-02 4.25341218e+02] [-5.97578478e-01 8.01741671e-01 1.05002335e-02 -2.62631257e+02] [ 1.73238008e-02 -1.82511523e-04 9.99849915e-01 9.52970070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.422755096 meters 0.017059395079888323 Centerline is valid? [True, True] Translation: X:425.39, Y:-262.67, Z:9.53 [[ 8.02676815e-01 5.96293685e-01 -1.19904902e-02 4.25389251e+02] [-5.96223635e-01 8.02766345e-01 9.14172512e-03 -2.62671316e+02] [ 1.50767149e-02 -1.88837163e-04 9.99886322e-01 9.53017175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.482755096 meters 0.018790605402963068 Centerline is valid? [True, True] Translation: X:425.43, Y:-262.71, Z:9.53 [[ 8.04686584e-01 5.93606727e-01 -1.05145252e-02 4.25434725e+02] [-5.93552580e-01 8.04755247e-01 8.02038825e-03 -2.62712849e+02] [ 1.32225758e-02 -2.12975237e-04 9.99912555e-01 9.53147623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.542755096 meters 0.020279260155891363 Centerline is valid? [True, True] Translation: X:425.48, Y:-262.75, Z:9.53 [[ 8.06173152e-01 5.91601173e-01 -9.63852424e-03 4.25480792e+02] [-5.91555478e-01 8.06230736e-01 7.35642768e-03 -2.62752730e+02] [ 1.21229457e-02 -2.28832680e-04 9.99926488e-01 9.53243198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.602755096 meters 0.02207331524233444 Centerline is valid? [True, True] Translation: X:425.53, Y:-262.79, Z:9.53 [[ 8.07390813e-01 5.89941595e-01 -9.43341321e-03 4.25526943e+02] [-5.89897677e-01 8.07445881e-01 7.20271792e-03 -2.62792181e+02] [ 1.18661535e-02 -2.50659736e-04 9.99929563e-01 9.53268893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.662755096 meters 0.02205889646093778 Centerline is valid? [True, True] Translation: X:425.58, Y:-262.83, Z:9.53 [[ 8.07918198e-01 5.89228998e-01 -8.79622272e-03 4.25576811e+02] [-5.89190788e-01 8.07966044e-01 6.71462233e-03 -2.62828946e+02] [ 1.10634995e-02 -2.42212177e-04 9.99938768e-01 9.53135719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.722755096 meters 0.021016723506948307 Centerline is valid? [True, True] Translation: X:425.63, Y:-262.87, Z:9.53 [[ 8.08578033e-01 5.88314439e-01 -9.36399196e-03 4.25627567e+02] [-5.88271028e-01 8.08632206e-01 7.15205427e-03 -2.62865582e+02] [ 1.17796823e-02 -2.74428795e-04 9.99930579e-01 9.52810262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.782755096 meters 0.02284107005812846 Centerline is valid? [True, True] Translation: X:425.67, Y:-262.90, Z:9.53 [[ 8.09200348e-01 5.87450844e-01 -9.81342412e-03 4.25674536e+02] [-5.87403033e-01 8.09259793e-01 7.50093071e-03 -2.62904294e+02] [ 1.23480376e-02 -3.05320649e-04 9.99923713e-01 9.52731264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.842755096 meters 0.02225755802472669 Centerline is valid? [True, True] Translation: X:425.73, Y:-262.94, Z:9.52 [[ 8.09950338e-01 5.86415400e-01 -9.87057038e-03 4.25726367e+02] [-5.86366936e-01 8.10010416e-01 7.54599805e-03 -2.62938730e+02] [ 1.24203543e-02 -3.24107554e-04 9.99922812e-01 9.52473505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.902755096 meters 0.0258706840963284 Centerline is valid? [True, True] Translation: X:425.77, Y:-262.98, Z:9.53 [[ 8.10814439e-01 5.85237287e-01 -8.79000929e-03 4.25772357e+02] [-5.85198736e-01 8.10862025e-01 6.72431384e-03 -2.62978638e+02] [ 1.10628039e-02 -3.08268431e-04 9.99938758e-01 9.52688720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.962755096 meters 0.025700045184957148 Centerline is valid? [True, True] Translation: X:425.82, Y:-263.01, Z:9.53 [[ 8.12774486e-01 5.82538591e-01 -6.81351034e-03 4.25823846e+02] [-5.82515319e-01 8.12803000e-01 5.21393472e-03 -2.63013841e+02] [ 8.57535983e-03 -2.68778963e-04 9.99963195e-01 9.52798174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.022755096 meters 0.02653129697171979 Centerline is valid? [True, True] Translation: X:425.87, Y:-263.05, Z:9.53 [[ 8.13535134e-01 5.81492215e-01 -5.23355271e-03 4.25874831e+02] [-5.81478481e-01 8.13551940e-01 4.00221709e-03 -2.63049440e+02] [ 6.58502504e-03 -2.12745937e-04 9.99978296e-01 9.52970592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.082755096 meters 0.02663975954751415 Centerline is valid? [True, True] Translation: X:425.93, Y:-263.09, Z:9.53 [[ 8.13373297e-01 5.81722141e-01 -4.81988409e-03 4.25925599e+02] [-5.81710490e-01 8.13387554e-01 3.68683477e-03 -2.63086847e+02] [ 6.06514715e-03 -1.94995817e-04 9.99981588e-01 9.53071561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.14275509600003 meters 0.025844291211240655 Centerline is valid? [True, True] Translation: X:425.98, Y:-263.12, Z:9.53 [[ 8.12230649e-01 5.83325550e-01 -3.56011764e-03 4.25978210e+02] [-5.83319207e-01 8.12238440e-01 2.72375331e-03 -2.63119662e+02] [ 4.48049930e-03 -1.35630915e-04 9.99989953e-01 9.53123825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.20275509600003 meters 0.026163882598675556 Centerline is valid? [True, True] Translation: X:426.03, Y:-263.15, Z:9.53 [[ 8.10249480e-01 5.86073826e-01 -3.64009395e-03 4.26028412e+02] [-5.86067196e-01 8.10257647e-01 2.79077509e-03 -2.63154318e+02] [ 4.58501419e-03 -1.27884410e-04 9.99989481e-01 9.53342651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.26275509600003 meters 0.02409021602450199 Centerline is valid? [True, True] Translation: X:426.08, Y:-263.19, Z:9.53 [[ 8.08182333e-01 5.88916392e-01 -4.33595871e-03 4.26080838e+02] [-5.88907022e-01 8.08193953e-01 3.32473768e-03 -2.63186363e+02] [ 5.46228813e-03 -1.33517718e-04 9.99985073e-01 9.53359843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.322755096 meters 0.023634436483453272 Centerline is valid? [True, True] Translation: X:426.13, Y:-263.22, Z:9.53 [[ 8.07432384e-01 5.89946697e-01 -3.97991557e-03 4.26130473e+02] [-5.89938814e-01 8.07442184e-01 3.05189981e-03 -2.63221748e+02] [ 5.01400993e-03 -1.16296064e-04 9.99987423e-01 9.53468060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.382755096 meters 0.023792302871475383 Centerline is valid? [True, True] Translation: X:426.18, Y:-263.26, Z:9.54 [[ 8.07209124e-01 5.90248146e-01 -4.53402754e-03 4.26178348e+02] [-5.90237911e-01 8.07221846e-01 3.47837576e-03 -2.63257640e+02] [ 5.71307092e-03 -1.31621703e-04 9.99983672e-01 9.53532725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.442755096 meters 0.025031610685965915 Centerline is valid? [True, True] Translation: X:426.22, Y:-263.29, Z:9.54 [[ 8.07993825e-01 5.89172044e-01 -4.72023172e-03 4.26223249e+02] [-5.89160930e-01 8.08007600e-01 3.62175779e-03 -2.63294434e+02] [ 5.94782154e-03 -1.45381814e-04 9.99982301e-01 9.53569220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.502755096 meters 0.026383829963335645 Centerline is valid? [True, True] Translation: X:426.27, Y:-263.33, Z:9.54 [[ 8.09203416e-01 5.87505116e-01 -5.25071324e-03 4.26268705e+02] [-5.87491335e-01 8.09220433e-01 4.02777412e-03 -2.63331033e+02] [ 6.61532234e-03 -1.74540049e-04 9.99978103e-01 9.53658728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.562755096 meters 0.02709850368026206 Centerline is valid? [True, True] Translation: X:426.31, Y:-263.37, Z:9.54 [[ 8.09546928e-01 5.87029966e-01 -5.43966212e-03 4.26314853e+02] [-5.87015172e-01 8.09565183e-01 4.17160356e-03 -2.63367232e+02] [ 6.85261735e-03 -1.83944649e-04 9.99976504e-01 9.53765290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.622755096 meters 0.02716621150314394 Centerline is valid? [True, True] Translation: X:426.36, Y:-263.40, Z:9.54 [[ 8.09122252e-01 5.87606261e-01 -6.32948699e-03 4.26361177e+02] [-5.87586251e-01 8.09146982e-01 4.85374477e-03 -2.63402583e+02] [ 7.97357611e-03 -2.08153368e-04 9.99968189e-01 9.53753533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.682755096 meters 0.02676041590843041 Centerline is valid? [True, True] Translation: X:426.41, Y:-263.44, Z:9.54 [[ 8.08698050e-01 5.88178833e-01 -7.28863859e-03 4.26408620e+02] [-5.88152345e-01 8.08730862e-01 5.58674257e-03 -2.63437446e+02] [ 9.18055070e-03 -2.31157945e-04 9.99957831e-01 9.53742345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.742755096 meters 0.02299905521599839 Centerline is valid? [True, True] Translation: X:426.46, Y:-263.47, Z:9.54 [[ 8.07761344e-01 5.89451750e-01 -8.26107206e-03 4.26461037e+02] [-5.89417836e-01 8.07803550e-01 6.32764100e-03 -2.63470781e+02] [ 1.04031624e-02 -2.42000585e-04 9.99945856e-01 9.53580879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.802755096 meters 0.022865865697518088 Centerline is valid? [True, True] Translation: X:426.51, Y:-263.51, Z:9.53 [[ 8.07006823e-01 5.90451082e-01 -1.03685774e-02 4.26508206e+02] [-5.90397639e-01 8.07073376e-01 7.94944551e-03 -2.63507736e+02] [ 1.30619615e-02 -2.93673141e-04 9.99914646e-01 9.53483255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.862755096 meters 0.022584221285726368 Centerline is valid? [True, True] Translation: X:426.55, Y:-263.54, Z:9.54 [[ 8.06486392e-01 5.91138108e-01 -1.16377392e-02 4.26553645e+02] [-5.91070835e-01 8.06570292e-01 8.92364343e-03 -2.63544509e+02] [ 1.46617604e-02 -3.18068765e-04 9.99892460e-01 9.53508813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.922755096 meters 0.020844784660329144 Centerline is valid? [True, True] Translation: X:426.60, Y:-263.58, Z:9.54 [[ 8.05828788e-01 5.92013657e-01 -1.26409297e-02 4.26602933e+02] [-5.91934437e-01 8.05927865e-01 9.69014978e-03 -2.63582235e+02] [ 1.59243785e-02 -3.26000030e-04 9.99873146e-01 9.53541481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.982755096 meters 0.020909623335683344 Centerline is valid? [True, True] Translation: X:426.65, Y:-263.62, Z:9.54 [[ 8.05464488e-01 5.92489200e-01 -1.35464842e-02 4.26650064e+02] [-5.92398180e-01 8.05578320e-01 1.03906791e-02 -2.63623577e+02] [ 1.70691191e-02 -3.44410417e-04 9.99854253e-01 9.53679110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.042755096 meters 0.021414492139268188 Centerline is valid? [True, True] Translation: X:426.70, Y:-263.67, Z:9.54 [[ 8.05546629e-01 5.92384546e-01 -1.32355002e-02 4.26695592e+02] [-5.92297537e-01 8.05655281e-01 1.01585870e-02 -2.63665141e+02] [ 1.66810406e-02 -3.43861324e-04 9.99860803e-01 9.53903251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.102755096 meters 0.021972720428200372 Centerline is valid? [True, True] Translation: X:426.74, Y:-263.71, Z:9.54 [[ 8.05466807e-01 5.92508517e-01 -1.25252102e-02 4.26740988e+02] [-5.92430526e-01 8.05564120e-01 9.61880159e-03 -2.63706889e+02] [ 1.57890818e-02 -3.27308559e-04 9.99875291e-01 9.54151740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.162755096 meters 0.02204978896851062 Centerline is valid? [True, True] Translation: X:426.79, Y:-263.75, Z:9.54 [[ 8.05164245e-01 5.92931424e-01 -1.19526317e-02 4.26787033e+02] [-5.92860354e-01 8.05252898e-01 9.18534581e-03 -2.63745579e+02] [ 1.50711715e-02 -3.09470580e-04 9.99886376e-01 9.54326044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.222755096 meters 0.02084380739683714 Centerline is valid? [True, True] Translation: X:426.84, Y:-263.78, Z:9.54 [[ 8.03663947e-01 5.94954802e-01 -1.23710911e-02 4.26835552e+02] [-5.94878909e-01 8.03759108e-01 9.50679245e-03 -2.63782431e+02] [ 1.55994890e-02 -2.80965134e-04 9.99878281e-01 9.54401274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.282755096 meters 0.019010812036008636 Centerline is valid? [True, True] Translation: X:426.89, Y:-263.82, Z:9.54 [[ 8.00962213e-01 5.98553473e-01 -1.39022707e-02 4.26886052e+02] [-5.98458157e-01 8.01082820e-01 1.06841275e-02 -2.63818748e+02] [ 1.75318918e-02 -2.37655101e-04 9.99846276e-01 9.54397854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.342755096 meters 0.017698921038096557 Centerline is valid? [True, True] Translation: X:426.94, Y:-263.85, Z:9.54 [[ 7.98784566e-01 6.01443991e-01 -1.44340894e-02 4.26936462e+02] [-6.01341599e-01 7.98914946e-01 1.10991100e-02 -2.63854665e+02] [ 1.82071028e-02 -1.85979427e-04 9.99834220e-01 9.54485571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.402755096 meters 0.01700027460771453 Centerline is valid? [True, True] Translation: X:426.99, Y:-263.89, Z:9.55 [[ 7.96363448e-01 6.04644260e-01 -1.45112639e-02 4.26985689e+02] [-6.04541183e-01 7.96495640e-01 1.11648215e-02 -2.63890204e+02] [ 1.83089036e-02 -1.18599122e-04 9.99832371e-01 9.54658684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.462755096 meters 0.01672373903389533 Centerline is valid? [True, True] Translation: X:427.04, Y:-263.92, Z:9.55 [[ 7.94729548e-01 6.06780033e-01 -1.49310915e-02 4.27035088e+02] [-6.06671168e-01 7.94869792e-01 1.14937899e-02 -2.63924430e+02] [ 1.88424758e-02 -7.61917131e-05 9.99822462e-01 9.54768002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.522755096 meters 0.016607064807422328 Centerline is valid? [True, True] Translation: X:427.08, Y:-263.96, Z:9.55 [[ 7.93865468e-01 6.07903306e-01 -1.52049065e-02 4.27082714e+02] [-6.07790637e-01 7.94011063e-01 1.17035752e-02 -2.63956762e+02] [ 1.91875060e-02 -4.96644016e-05 9.99815902e-01 9.54862815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.582755096 meters 0.016625724865196874 Centerline is valid? [True, True] Translation: X:427.13, Y:-263.99, Z:9.55 [[ 7.94362379e-01 6.07243690e-01 -1.56048309e-02 4.27130548e+02] [-6.07124935e-01 7.94515636e-01 1.20090486e-02 -2.63991785e+02] [ 1.96907011e-02 -6.54545280e-05 9.99806117e-01 9.54945087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.64275509600003 meters 0.017057805487277426 Centerline is valid? [True, True] Translation: X:427.18, Y:-264.03, Z:9.55 [[ 7.96019193e-01 6.05072726e-01 -1.55061380e-02 4.27175137e+02] [-6.04955092e-01 7.96170197e-01 1.19312163e-02 -2.64028664e+02] [ 1.95647786e-02 -1.16960024e-04 9.99808585e-01 9.55029617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.70275509600003 meters 0.017911605581987594 Centerline is valid? [True, True] Translation: X:427.22, Y:-264.07, Z:9.55 [[ 7.98956824e-01 6.01190224e-01 -1.54371882e-02 4.27222439e+02] [-6.01072942e-01 7.99105919e-01 1.18763816e-02 -2.64069639e+02] [ 1.94759130e-02 -2.09840041e-04 9.99810304e-01 9.55173992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.76275509600003 meters 0.019896973863794264 Centerline is valid? [True, True] Translation: X:427.27, Y:-264.11, Z:9.55 [[ 8.02012723e-01 5.97091852e-01 -1.60285230e-02 4.27268991e+02] [-5.96964445e-01 8.02172808e-01 1.23384773e-02 -2.64109416e+02] [ 2.02248496e-02 -3.27157418e-04 9.99795403e-01 9.55159222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.822755096 meters 0.021795253622959105 Centerline is valid? [True, True] Translation: X:427.32, Y:-264.15, Z:9.55 [[ 8.04303800e-01 5.93983273e-01 -1.67113455e-02 4.27315293e+02] [-5.93843979e-01 8.04477277e-01 1.28701353e-02 -2.64148327e+02] [ 2.10885428e-02 -4.27566864e-04 9.99777521e-01 9.55244697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.882755096 meters 0.021687450257777033 Centerline is valid? [True, True] Translation: X:427.36, Y:-264.19, Z:9.56 [[ 8.05140767e-01 5.92875298e-01 -1.57234212e-02 4.27364893e+02] [-5.92751767e-01 8.05294167e-01 1.21097804e-02 -2.64186094e+02] [ 1.98415691e-02 -4.29992204e-04 9.99803044e-01 9.55520728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.942755096 meters 0.02195655835739679 Centerline is valid? [True, True] Translation: X:427.41, Y:-264.22, Z:9.56 [[ 8.05248626e-01 5.92735863e-01 -1.54546757e-02 4.27414242e+02] [-5.92616364e-01 8.05396804e-01 1.19093845e-02 -2.64224656e+02] [ 1.95062657e-02 -4.31321815e-04 9.99809642e-01 9.55695198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.002755096 meters 0.02264235496531493 Centerline is valid? [True, True] Translation: X:427.46, Y:-264.26, Z:9.56 [[ 8.05345000e-01 5.92617019e-01 -1.49832998e-02 4.27462446e+02] [-5.92504546e-01 8.05484256e-01 1.15531932e-02 -2.64262789e+02] [ 1.89154310e-02 -4.26633136e-04 9.99820996e-01 9.55865988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.062755096 meters 0.022423395916627165 Centerline is valid? [True, True] Translation: X:427.51, Y:-264.30, Z:9.56 [[ 8.04665906e-01 5.93522083e-01 -1.56306335e-02 4.27510509e+02] [-5.93399761e-01 8.04817592e-01 1.20568555e-02 -2.64297520e+02] [ 1.97358188e-02 -4.26526370e-04 9.99805139e-01 9.55889099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.122755096 meters 0.02250414988181146 Centerline is valid? [True, True] Translation: X:427.56, Y:-264.33, Z:9.56 [[ 8.04426488e-01 5.93829805e-01 -1.62538848e-02 4.27557507e+02] [-5.93697618e-01 8.04590563e-01 1.25365179e-02 -2.64332788e+02] [ 2.05222803e-02 -4.34814385e-04 9.99789301e-01 9.55915210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.182755096 meters 0.022946300407123237 Centerline is valid? [True, True] Translation: X:427.60, Y:-264.37, Z:9.56 [[ 8.04615763e-01 5.93565621e-01 -1.65325884e-02 4.27604159e+02] [-5.93428847e-01 8.04785470e-01 1.27495307e-02 -2.64368620e+02] [ 2.08728701e-02 -4.47558515e-04 9.99782038e-01 9.55952290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.242755096 meters 0.020901384163496142 Centerline is valid? [True, True] Translation: X:427.66, Y:-264.40, Z:9.56 [[ 8.04201848e-01 5.94135067e-01 -1.62145006e-02 4.27656216e+02] [-5.94003638e-01 8.04365180e-01 1.25034142e-02 -2.64404040e+02] [ 2.04710965e-02 -4.23796503e-04 9.99790355e-01 9.56212474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.302755096 meters 0.020542820513138042 Centerline is valid? [True, True] Translation: X:427.71, Y:-264.44, Z:9.56 [[ 8.03053846e-01 5.95684572e-01 -1.62607291e-02 4.27705223e+02] [-5.95552545e-01 8.03218362e-01 1.25470726e-02 -2.64440018e+02] [ 2.05350137e-02 -3.91856323e-04 9.99789058e-01 9.56406604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.362755096 meters 0.020217313266535697 Centerline is valid? [True, True] Translation: X:427.75, Y:-264.48, Z:9.56 [[ 8.02060037e-01 5.97005036e-01 -1.68725770e-02 4.27754868e+02] [-5.96863047e-01 8.02237400e-01 1.30252382e-02 -2.64475352e+02] [ 2.13119451e-02 -3.76405329e-04 9.99772804e-01 9.56442703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.422755096 meters 0.019043426732389495 Centerline is valid? [True, True] Translation: X:427.80, Y:-264.51, Z:9.56 [[ 7.99919974e-01 5.99819340e-01 -1.85686554e-02 4.27803590e+02] [-5.99648131e-01 8.00135395e-01 1.43342116e-02 -2.64509264e+02] [ 2.34553758e-02 -3.31562715e-04 9.99724830e-01 9.56413472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.482755096 meters 0.018610810808880985 Centerline is valid? [True, True] Translation: X:427.85, Y:-264.55, Z:9.56 [[ 7.98648701e-01 6.01484362e-01 -1.94117206e-02 4.27848823e+02] [-6.01297793e-01 7.98884520e-01 1.49829358e-02 -2.64545015e+02] [ 2.45197247e-02 -2.93877445e-04 9.99699303e-01 9.56449430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.542755096 meters 0.018412505343217377 Centerline is valid? [True, True] Translation: X:427.89, Y:-264.58, Z:9.57 [[ 7.98433867e-01 6.01745084e-01 -2.01547763e-02 4.27893977e+02] [-6.01544120e-01 7.98688154e-01 1.55532483e-02 -2.64581855e+02] [ 2.54564718e-02 -2.94252976e-04 9.99675888e-01 9.56517145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.602755096 meters 0.017851094693969234 Centerline is valid? [True, True] Translation: X:427.94, Y:-264.62, Z:9.57 [[ 7.98190744e-01 6.02045142e-01 -2.08130560e-02 4.27942405e+02] [-6.01830996e-01 7.98461998e-01 1.60589800e-02 -2.64619038e+02] [ 2.62866651e-02 -2.92186993e-04 9.99654403e-01 9.56676477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.662755096 meters 0.01708619516378926 Centerline is valid? [True, True] Translation: X:427.99, Y:-264.65, Z:9.57 [[ 7.95921924e-01 6.05075541e-01 -1.97959838e-02 4.27991823e+02] [-6.04882749e-01 7.96168045e-01 1.52742890e-02 -2.64649679e+02] [ 2.50030284e-02 -1.82892367e-04 9.99687359e-01 9.56930853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.722755096 meters 0.016673413171070323 Centerline is valid? [True, True] Translation: X:428.04, Y:-264.69, Z:9.57 [[ 7.95240195e-01 6.05978252e-01 -1.95803632e-02 4.28041062e+02] [-6.05789965e-01 7.95481198e-01 1.51057249e-02 -2.64685608e+02] [ 2.47295516e-02 -1.51092065e-04 9.99694166e-01 9.57192833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.782755096 meters 0.017219417000588298 Centerline is valid? [True, True] Translation: X:428.09, Y:-264.73, Z:9.57 [[ 7.97036257e-01 6.03618254e-01 -1.94475777e-02 4.28087025e+02] [-6.03431809e-01 7.97273450e-01 1.50032844e-02 -2.64725426e+02] [ 2.45612937e-02 -2.22874675e-04 9.99698301e-01 9.57361461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.842755096 meters 0.018068774960045917 Centerline is valid? [True, True] Translation: X:428.13, Y:-264.76, Z:9.57 [[ 7.99094804e-01 6.00888655e-01 -1.95017351e-02 4.28134015e+02] [-6.00700355e-01 7.99332677e-01 1.50450654e-02 -2.64762970e+02] [ 2.46287833e-02 -3.07734395e-04 9.99696618e-01 9.57411850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.902755096 meters 0.02002778253928496 Centerline is valid? [True, True] Translation: X:428.18, Y:-264.80, Z:9.58 [[ 8.01964626e-01 5.97062652e-01 -1.92075199e-02 4.28179199e+02] [-5.96878881e-01 8.02194499e-01 1.48184777e-02 -2.64801092e+02] [ 2.42557264e-02 -4.19331928e-04 9.99705699e-01 9.57603872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.962755096 meters 0.02114007594303915 Centerline is valid? [True, True] Translation: X:428.22, Y:-264.84, Z:9.58 [[ 8.03289028e-01 5.95292217e-01 -1.88125969e-02 4.28224813e+02] [-5.95115424e-01 8.03509155e-01 1.45145044e-02 -2.64837934e+02] [ 2.37564653e-02 -4.63675500e-04 9.99717668e-01 9.57784229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.022755096 meters 0.021861367479548574 Centerline is valid? [True, True] Translation: X:428.27, Y:-264.88, Z:9.58 [[ 8.04000548e-01 5.94323947e-01 -1.90306000e-02 4.28270846e+02] [-5.94142816e-01 8.04225590e-01 1.46804434e-02 -2.64875073e+02] [ 2.40298346e-02 -4.96190307e-04 9.99711119e-01 9.57924076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.082755096 meters 0.02097022949214838 Centerline is valid? [True, True] Translation: X:428.32, Y:-264.91, Z:9.58 [[ 8.04559057e-01 5.93553182e-01 -1.94767422e-02 4.28321976e+02] [-5.93363221e-01 8.04794593e-01 1.50250113e-02 -2.64910707e+02] [ 2.45929200e-02 -5.31726432e-04 9.99697407e-01 9.58088786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.14275509600003 meters 0.023951194977692245 Centerline is valid? [True, True] Translation: X:428.37, Y:-264.95, Z:9.58 [[ 8.05234588e-01 5.92642853e-01 -1.92797156e-02 4.28367990e+02] [-5.92456255e-01 8.05465167e-01 1.48812215e-02 -2.64951427e+02] [ 2.43483889e-02 -5.60486130e-04 9.99703377e-01 9.58169313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.20275509600003 meters 0.023565042063787043 Centerline is valid? [True, True] Translation: X:428.41, Y:-264.99, Z:9.58 [[ 8.05942528e-01 5.91683260e-01 -1.91719215e-02 4.28414737e+02] [-5.91498344e-01 8.06170312e-01 1.48032675e-02 -2.64987378e+02] [ 2.42146795e-02 -5.90422985e-04 9.99706607e-01 9.58459785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.26275509600003 meters 0.023152770355200192 Centerline is valid? [True, True] Translation: X:428.46, Y:-265.02, Z:9.59 [[ 8.06418198e-01 5.91051743e-01 -1.86420781e-02 4.28462712e+02] [-5.90876785e-01 8.06633429e-01 1.43922548e-02 -2.65023569e+02] [ 2.35438906e-02 -5.91005005e-04 9.99722629e-01 9.58711250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.322755096 meters 0.023672578933848307 Centerline is valid? [True, True] Translation: X:428.51, Y:-265.06, Z:9.59 [[ 8.06573720e-01 5.90870894e-01 -1.76187422e-02 4.28508332e+02] [-5.90714605e-01 8.06765932e-01 1.36009334e-02 -2.65058761e+02] [ 2.22505967e-02 -5.62507130e-04 9.99752267e-01 9.58968454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.382755096 meters 0.021746986851515184 Centerline is valid? [True, True] Translation: X:428.56, Y:-265.09, Z:9.59 [[ 8.05923997e-01 5.91785639e-01 -1.66213257e-02 4.28560573e+02] [-5.91646764e-01 8.06095219e-01 1.28298381e-02 -2.65092672e+02] [ 2.09908851e-02 -5.05920825e-04 9.99779539e-01 9.59150849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.442755096 meters 0.02073351944614731 Centerline is valid? [True, True] Translation: X:428.61, Y:-265.13, Z:9.59 [[ 8.04500440e-01 5.93732727e-01 -1.61397393e-02 4.28611164e+02] [-5.93602035e-01 8.04662196e-01 1.24649733e-02 -2.65128654e+02] [ 2.03879006e-02 -4.47494467e-04 9.99792045e-01 9.59336798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.502755096 meters 0.020586616983416663 Centerline is valid? [True, True] Translation: X:428.66, Y:-265.16, Z:9.59 [[ 8.03257034e-01 5.95408506e-01 -1.63355003e-02 4.28659525e+02] [-5.95274830e-01 8.03423014e-01 1.26229256e-02 -2.65164454e+02] [ 2.06401142e-02 -4.15341648e-04 9.99786884e-01 9.59464481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.562755096 meters 0.01888799129285258 Centerline is valid? [True, True] Translation: X:428.71, Y:-265.20, Z:9.60 [[ 8.01174708e-01 5.98214427e-01 -1.60806249e-02 4.28709016e+02] [-5.98085407e-01 8.01335999e-01 1.24282908e-02 -2.65197547e+02] [ 2.03207665e-02 -3.39645121e-04 9.99793454e-01 9.59614760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.622755096 meters 0.017701621715216803 Centerline is valid? [True, True] Translation: X:428.76, Y:-265.23, Z:9.60 [[ 7.99187607e-01 6.00873461e-01 -1.58193705e-02 4.28758827e+02] [-6.00749139e-01 7.99344114e-01 1.22253823e-02 -2.65230141e+02] [ 1.99910285e-02 -2.66900804e-04 9.99800124e-01 9.59685002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.682755096 meters 0.01749955074329215 Centerline is valid? [True, True] Translation: X:428.80, Y:-265.27, Z:9.60 [[ 7.98689292e-01 6.01544435e-01 -1.54825131e-02 4.28804754e+02] [-6.01425506e-01 7.98839304e-01 1.19635984e-02 -2.65265031e+02] [ 1.95646760e-02 -2.43619678e-04 9.99808564e-01 9.59700833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.742755096 meters 0.018153036142575456 Centerline is valid? [True, True] Translation: X:428.85, Y:-265.30, Z:9.60 [[ 7.99744340e-01 6.00138910e-01 -1.55653345e-02 4.28849888e+02] [-6.00018484e-01 7.99895751e-01 1.20252544e-02 -2.65303535e+02] [ 1.96674680e-02 -2.77640720e-04 9.99806538e-01 9.59747303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.802755096 meters 0.019236481764658617 Centerline is valid? [True, True] Translation: X:428.90, Y:-265.35, Z:9.60 [[ 8.02406611e-01 5.96583681e-01 -1.52164766e-02 4.28896478e+02] [-5.96467980e-01 8.02550799e-01 1.17543154e-02 -2.65345258e+02] [ 1.92244282e-02 -3.55599291e-04 9.99815130e-01 9.59818933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.862755096 meters 0.020253641883126977 Centerline is valid? [True, True] Translation: X:428.94, Y:-265.39, Z:9.60 [[ 8.03892849e-01 5.94581653e-01 -1.51309339e-02 4.28943187e+02] [-5.94466767e-01 8.04035132e-01 1.16948728e-02 -2.65385766e+02] [ 1.91193593e-02 -4.06587296e-04 9.99817126e-01 9.59864230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.922755096 meters 0.021316744122983566 Centerline is valid? [True, True] Translation: X:428.99, Y:-265.43, Z:9.60 [[ 8.04953204e-01 5.93151416e-01 -1.48908465e-02 4.28990324e+02] [-5.93039781e-01 8.05090806e-01 1.15157576e-02 -2.65426616e+02] [ 1.88190715e-02 -4.38781628e-04 9.99822809e-01 9.59946239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.982755096 meters 0.020496307813780895 Centerline is valid? [True, True] Translation: X:429.04, Y:-265.46, Z:9.60 [[ 8.04398642e-01 5.93910495e-01 -1.45996066e-02 4.29039477e+02] [-5.93803194e-01 8.04531012e-01 1.12967760e-02 -2.65464580e+02] [ 1.84551101e-02 -4.17818289e-04 9.99829603e-01 9.60025082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.042755096 meters 0.019482702443359364 Centerline is valid? [True, True] Translation: X:429.09, Y:-265.50, Z:9.60 [[ 8.02027991e-01 5.97084745e-01 -1.55212546e-02 4.29089169e+02] [-5.96963915e-01 8.02178078e-01 1.20172882e-02 -2.65502450e+02] [ 1.96261497e-02 -3.72572583e-04 9.99807319e-01 9.59868613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.102755096 meters 0.01832724093957178 Centerline is valid? [True, True] Translation: X:429.14, Y:-265.54, Z:9.60 [[ 7.99927549e-01 5.99875288e-01 -1.62958939e-02 4.29138816e+02] [-5.99742517e-01 8.00093453e-01 1.26245642e-02 -2.65539580e+02] [ 2.06114021e-02 -3.25396307e-04 9.99787510e-01 9.59853490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.162755096 meters 0.01720514804638316 Centerline is valid? [True, True] Translation: X:429.19, Y:-265.58, Z:9.60 [[ 7.97461848e-01 6.03132993e-01 -1.68876896e-02 4.29187631e+02] [-6.02990965e-01 7.97640600e-01 1.30907713e-02 -2.65577351e+02] [ 2.13657829e-02 -2.56266375e-04 9.99771693e-01 9.59846297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.222755096 meters 0.017174786308679888 Centerline is valid? [True, True] Translation: X:429.24, Y:-265.62, Z:9.60 [[ 7.96918751e-01 6.03850095e-01 -1.68987262e-02 4.29235195e+02] [-6.03707879e-01 7.97097863e-01 1.31070324e-02 -2.65618921e+02] [ 2.13846213e-02 -2.43345722e-04 9.99771293e-01 9.60013566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.282755096 meters 0.017586862469973916 Centerline is valid? [True, True] Translation: X:429.28, Y:-265.66, Z:9.60 [[ 7.97606968e-01 6.02955992e-01 -1.63461319e-02 4.29282097e+02] [-6.02822574e-01 7.97774405e-01 1.26863371e-02 -2.65660420e+02] [ 2.06898287e-02 -2.64893547e-04 9.99785907e-01 9.60217881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.342755096 meters 0.018313412293039982 Centerline is valid? [True, True] Translation: X:429.33, Y:-265.70, Z:9.60 [[ 7.99077304e-01 6.01021868e-01 -1.57536350e-02 4.29327280e+02] [-6.00897436e-01 7.99232519e-01 1.22332193e-02 -2.65703549e+02] [ 1.99432497e-02 -3.08969001e-04 9.99801066e-01 9.60491067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.402755096 meters 0.018271376848497178 Centerline is valid? [True, True] Translation: X:429.38, Y:-265.74, Z:9.61 [[ 7.98924672e-01 6.01231992e-01 -1.54744942e-02 4.29375549e+02] [-6.01111836e-01 7.99074465e-01 1.20233185e-02 -2.65744745e+02] [ 1.95940769e-02 -3.03824137e-04 9.99807971e-01 9.60649582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.462755096 meters 0.018497860514520216 Centerline is valid? [True, True] Translation: X:429.42, Y:-265.78, Z:9.61 [[ 7.97904302e-01 6.02573420e-01 -1.59373059e-02 4.29423039e+02] [-6.02446071e-01 7.98063401e-01 1.23911106e-02 -2.65783326e+02] [ 2.01855344e-02 -2.85553100e-04 9.99796211e-01 9.60682368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.522755096 meters 0.017424728460017407 Centerline is valid? [True, True] Translation: X:429.47, Y:-265.82, Z:9.61 [[ 7.95534801e-01 6.05706865e-01 -1.56068427e-02 4.29468752e+02] [-6.05585233e-01 7.95687847e-01 1.21397997e-02 -2.65818102e+02] [ 1.97713351e-02 -2.06359652e-04 9.99804507e-01 9.60801751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.582755096 meters 0.016465337452920472 Centerline is valid? [True, True] Translation: X:429.52, Y:-265.85, Z:9.61 [[ 7.92782393e-01 6.09322586e-01 -1.49017915e-02 4.29517425e+02] [-6.09212373e-01 7.92922426e-01 1.15892615e-02 -2.65849825e+02] [ 1.88775634e-02 -1.09406699e-04 9.99821797e-01 9.60976677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.64275509600003 meters 0.016032409455272848 Centerline is valid? [True, True] Translation: X:429.57, Y:-265.88, Z:9.61 [[ 7.90723966e-01 6.11972682e-01 -1.56539613e-02 4.29569749e+02] [-6.11851612e-01 7.90878900e-01 1.21725404e-02 -2.65883789e+02] [ 1.98296498e-02 -4.72179760e-05 9.99803372e-01 9.60935356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.70275509600003 meters 0.016009063311194848 Centerline is valid? [True, True] Translation: X:429.62, Y:-265.92, Z:9.61 [[ 7.90124901e-01 6.12737729e-01 -1.59723681e-02 4.29619755e+02] [-6.12611693e-01 7.90286324e-01 1.24273623e-02 -2.65921318e+02] [ 2.02374578e-02 -3.43089402e-05 9.99795201e-01 9.60986555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.76275509600003 meters 0.016108442311062947 Centerline is valid? [True, True] Translation: X:429.67, Y:-265.96, Z:9.61 [[ 7.90527220e-01 6.12219153e-01 -1.59506629e-02 4.29669587e+02] [-6.12093188e-01 7.90688122e-01 1.24186803e-02 -2.65960348e+02] [ 2.02149536e-02 -5.40127113e-05 9.99795655e-01 9.61125228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.822755096 meters 0.016462707054873574 Centerline is valid? [True, True] Translation: X:429.72, Y:-266.00, Z:9.61 [[ 7.92273265e-01 6.09975730e-01 -1.52539693e-02 4.29718783e+02] [-6.09859968e-01 7.92420088e-01 1.18837267e-02 -2.65999940e+02] [ 1.93363366e-02 -1.12373774e-04 9.99813029e-01 9.61315320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.882755096 meters 0.017465290640753226 Centerline is valid? [True, True] Translation: X:429.76, Y:-266.04, Z:9.62 [[ 7.94257809e-01 6.07400107e-01 -1.48203478e-02 4.29764871e+02] [-6.07290249e-01 7.94396047e-01 1.15531461e-02 -2.66039994e+02] [ 1.87906079e-02 -1.75923784e-04 9.99823425e-01 9.61531084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.942755096 meters 0.017571535564616478 Centerline is valid? [True, True] Translation: X:429.81, Y:-266.08, Z:9.62 [[ 7.94767859e-01 6.06725053e-01 -1.51248190e-02 4.29814267e+02] [-6.06610392e-01 7.94911737e-01 1.17967105e-02 -2.66077957e+02] [ 1.91802560e-02 -2.00773972e-04 9.99816022e-01 9.61579267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.002755096 meters 0.017488544586002068 Centerline is valid? [True, True] Translation: X:429.87, Y:-266.11, Z:9.61 [[ 7.94687989e-01 6.06803836e-01 -1.61277833e-02 4.29866281e+02] [-6.06673325e-01 7.94851595e-01 1.25864941e-02 -2.66113251e+02] [ 2.04567272e-02 -2.18039760e-04 9.99790715e-01 9.61499315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.062755096 meters 0.01716410405938449 Centerline is valid? [True, True] Translation: X:429.92, Y:-266.15, Z:9.62 [[ 7.93740400e-01 6.08024392e-01 -1.68082037e-02 4.29917811e+02] [-6.07882720e-01 7.93918320e-01 1.31263129e-02 -2.66148456e+02] [ 2.13254593e-02 -2.01468212e-04 9.99772566e-01 9.61514451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.122755096 meters 0.016812877362141355 Centerline is valid? [True, True] Translation: X:429.97, Y:-266.19, Z:9.62 [[ 7.92459311e-01 6.09666751e-01 -1.77395942e-02 4.29968267e+02] [-6.09509163e-01 7.92657822e-01 1.38620620e-02 -2.66185435e+02] [ 2.25126664e-02 -1.72674890e-04 9.99746543e-01 9.61564853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.182755096 meters 0.017029055749360512 Centerline is valid? [True, True] Translation: X:430.02, Y:-266.22, Z:9.62 [[ 7.92444017e-01 6.09687004e-01 -1.77267322e-02 4.30016930e+02] [-6.09529491e-01 7.92642243e-01 1.38590742e-02 -2.66221904e+02] [ 2.25006542e-02 -1.77574379e-04 9.99746812e-01 9.61609136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.242755096 meters 0.017191446516795543 Centerline is valid? [True, True] Translation: X:430.07, Y:-266.26, Z:9.62 [[ 7.92993937e-01 6.08978456e-01 -1.74887329e-02 4.30066150e+02] [-6.08824891e-01 7.93186738e-01 1.36766594e-02 -2.66260303e+02] [ 2.22006219e-02 -1.97932096e-04 9.99753516e-01 9.61770395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.302755096 meters 0.0183321948373174 Centerline is valid? [True, True] Translation: X:430.11, Y:-266.30, Z:9.62 [[ 7.95690950e-01 6.05487520e-01 -1.61485259e-02 4.30110802e+02] [-6.05355722e-01 7.95854752e-01 1.26358557e-02 -2.66302582e+02] [ 2.05027340e-02 -2.78633528e-04 9.99789758e-01 9.62073871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.362755096 meters 0.019046586648660536 Centerline is valid? [True, True] Translation: X:430.16, Y:-266.34, Z:9.62 [[ 7.97208845e-01 6.03497543e-01 -1.57725577e-02 4.30157675e+02] [-6.03371342e-01 7.97364791e-01 1.23455804e-02 -2.66343754e+02] [ 2.00270096e-02 -3.25296571e-04 9.99799386e-01 9.62303454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.422755096 meters 0.02022745501547333 Centerline is valid? [True, True] Translation: X:430.20, Y:-266.39, Z:9.62 [[ 7.98964814e-01 6.01176921e-01 -1.55414362e-02 4.30203827e+02] [-6.01053817e-01 7.99115863e-01 1.21715385e-02 -2.66385021e+02] [ 1.97366562e-02 -3.83391466e-04 9.99805140e-01 9.62473998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.482755096 meters 0.020427032725511607 Centerline is valid? [True, True] Translation: X:430.25, Y:-266.42, Z:9.63 [[ 7.99782417e-01 6.00074455e-01 -1.60852405e-02 4.30252348e+02] [-5.99942211e-01 7.99944037e-01 1.26047969e-02 -2.66423434e+02] [ 2.04311089e-02 -4.30880176e-04 9.99791170e-01 9.62502298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.542755096 meters 0.02059040469260591 Centerline is valid? [True, True] Translation: X:430.30, Y:-266.46, Z:9.63 [[ 7.98817091e-01 6.01332939e-01 -1.70279765e-02 4.30300394e+02] [-6.01184858e-01 7.98998444e-01 1.33511563e-02 -2.66460582e+02] [ 2.16338168e-02 -4.28170201e-04 9.99765870e-01 9.62520912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.602755096 meters 0.01956213553453302 Centerline is valid? [True, True] Translation: X:430.35, Y:-266.50, Z:9.63 [[ 7.97869744e-01 6.02565730e-01 -1.78441111e-02 4.30350434e+02] [-6.02403297e-01 7.98069149e-01 1.39964574e-02 -2.66497701e+02] [ 2.26746201e-02 -4.17998502e-04 9.99742810e-01 9.62567904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.662755096 meters 0.0198683118524317 Centerline is valid? [True, True] Translation: X:430.40, Y:-266.54, Z:9.63 [[ 7.96828741e-01 6.03929353e-01 -1.82563724e-02 4.30398588e+02] [-6.03759489e-01 7.97037754e-01 1.43282238e-02 -2.66536130e+02] [ 2.32042529e-02 -3.94682475e-04 9.99730667e-01 9.62605405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.722755096 meters 0.01911721804516068 Centerline is valid? [True, True] Translation: X:430.45, Y:-266.57, Z:9.63 [[ 7.96417395e-01 6.04471915e-01 -1.82493262e-02 4.30449623e+02] [-6.04302129e-01 7.96626359e-01 1.43311016e-02 -2.66573050e+02] [ 2.32006427e-02 -3.85431901e-04 9.99730755e-01 9.62845633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.782755096 meters 0.01927705820134215 Centerline is valid? [True, True] Translation: X:430.50, Y:-266.61, Z:9.63 [[ 7.96276972e-01 6.04656291e-01 -1.82689378e-02 4.30498526e+02] [-6.04485969e-01 7.96486421e-01 1.43559801e-02 -2.66612167e+02] [ 2.32313946e-02 -3.88019792e-04 9.99730039e-01 9.62964309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.842755096 meters 0.01971864526044542 Centerline is valid? [True, True] Translation: X:430.55, Y:-266.65, Z:9.63 [[ 7.96886408e-01 6.03849378e-01 -1.83842741e-02 4.30546299e+02] [-6.03676468e-01 7.97098332e-01 1.44558188e-02 -2.66651900e+02] [ 2.33832114e-02 -4.21491894e-04 9.99726486e-01 9.63120928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.902755096 meters 0.020894224190952746 Centerline is valid? [True, True] Translation: X:430.59, Y:-266.69, Z:9.63 [[ 7.98074374e-01 6.02298440e-01 -1.77167449e-02 4.30593101e+02] [-6.02137307e-01 7.98270870e-01 1.39385248e-02 -2.66691695e+02] [ 2.25379131e-02 -4.56066398e-04 9.99745885e-01 9.63312447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.962755096 meters 0.021346174171081474 Centerline is valid? [True, True] Translation: X:430.64, Y:-266.73, Z:9.63 [[ 7.98297484e-01 6.02000380e-01 -1.77952080e-02 4.30641592e+02] [-6.01837575e-01 7.98495660e-01 1.40076529e-02 -2.66731200e+02] [ 2.26420088e-02 -4.72449238e-04 9.99743525e-01 9.63475220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.022755096 meters 0.020778579464415234 Centerline is valid? [True, True] Translation: X:430.69, Y:-266.77, Z:9.64 [[ 7.98710912e-01 6.01448932e-01 -1.78902603e-02 4.30691533e+02] [-6.01284065e-01 7.98911093e-01 1.40903413e-02 -2.66768512e+02] [ 2.27673481e-02 -4.96980920e-04 9.99740667e-01 9.63664595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.082755096 meters 0.02131423487649569 Centerline is valid? [True, True] Translation: X:430.74, Y:-266.81, Z:9.64 [[ 7.98263339e-01 6.02058400e-01 -1.73587151e-02 4.30738697e+02] [-6.01903160e-01 7.98451915e-01 1.36793617e-02 -2.66807206e+02] [ 2.20958739e-02 -4.71467413e-04 9.99755745e-01 9.63834949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.14275509600003 meters 0.02000310767102933 Centerline is valid? [True, True] Translation: X:430.79, Y:-266.84, Z:9.64 [[ 7.96669926e-01 6.04172742e-01 -1.70975883e-02 4.30789941e+02] [-6.04022484e-01 7.96853267e-01 1.34799960e-02 -2.66843424e+02] [ 2.17685152e-02 -4.11779707e-04 9.99762953e-01 9.63962491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.20275509600003 meters 0.019466353159306615 Centerline is valid? [True, True] Translation: X:430.84, Y:-266.88, Z:9.64 [[ 7.94145593e-01 6.07459037e-01 -1.80636283e-02 4.30838950e+02] [-6.07292074e-01 7.94350930e-01 1.42455865e-02 -2.66880393e+02] [ 2.30024702e-02 -3.43171471e-04 9.99735349e-01 9.63895076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.26275509600003 meters 0.018615600089207037 Centerline is valid? [True, True] Translation: X:430.89, Y:-266.92, Z:9.64 [[ 7.92468671e-01 6.09615986e-01 -1.90198625e-02 4.30885911e+02] [-6.09431356e-01 7.92696827e-01 1.50054246e-02 -2.66916459e+02] [ 2.42245314e-02 -3.00028336e-04 9.99706498e-01 9.63856492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.322755096 meters 0.01820978853445717 Centerline is valid? [True, True] Translation: X:430.93, Y:-266.95, Z:9.64 [[ 7.91693728e-01 6.10620698e-01 -1.90631694e-02 4.30931982e+02] [-6.10435572e-01 7.91923160e-01 1.50373021e-02 -2.66952588e+02] [ 2.42786532e-02 -2.68101014e-04 9.99705194e-01 9.63974003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.382755096 meters 0.017754764059767624 Centerline is valid? [True, True] Translation: X:430.98, Y:-266.99, Z:9.64 [[ 7.90734964e-01 6.11871658e-01 -1.87427477e-02 4.30979298e+02] [-6.11693108e-01 7.90957030e-01 1.47823510e-02 -2.66987688e+02] [ 2.38696097e-02 -2.24112234e-04 9.99715055e-01 9.64128635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.442755096 meters 0.017255575377001568 Centerline is valid? [True, True] Translation: X:431.03, Y:-267.02, Z:9.64 [[ 7.90462459e-01 6.12215669e-01 -1.90019886e-02 4.31026450e+02] [-6.12032300e-01 7.90690792e-01 1.49845175e-02 -2.67023127e+02] [ 2.41984538e-02 -2.14867757e-04 9.99707151e-01 9.64316923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.502755096 meters 0.01718375482832495 Centerline is valid? [True, True] Translation: X:431.07, Y:-267.06, Z:9.65 [[ 7.90670830e-01 6.11965411e-01 -1.83840735e-02 4.31072907e+02] [-6.11793748e-01 7.90884499e-01 1.44954885e-02 -2.67061486e+02] [ 2.34104163e-02 -2.13898655e-04 9.99725916e-01 9.64522249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.562755096 meters 0.017469259498285244 Centerline is valid? [True, True] Translation: X:431.12, Y:-267.10, Z:9.65 [[ 7.91390226e-01 6.11064832e-01 -1.73574566e-02 4.31119223e+02] [-6.10911596e-01 7.91580520e-01 1.36858394e-02 -2.67098795e+02] [ 2.21027596e-02 -2.26968009e-04 9.99755678e-01 9.64750000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.622755096 meters 0.017541925361336582 Centerline is valid? [True, True] Translation: X:431.17, Y:-267.14, Z:9.65 [[ 7.91911229e-01 6.10397975e-01 -1.70562898e-02 4.31168061e+02] [-6.10249847e-01 7.92094852e-01 1.34488132e-02 -2.67138445e+02] [ 2.17193276e-02 -2.41667943e-04 9.99764078e-01 9.64942875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.682755096 meters 0.01827734857504475 Centerline is valid? [True, True] Translation: X:431.21, Y:-267.18, Z:9.65 [[ 7.92782559e-01 6.09271500e-01 -1.68538639e-02 4.31213838e+02] [-6.09126455e-01 7.92961640e-01 1.32965477e-02 -2.67178519e+02] [ 2.14656752e-02 -2.75136771e-04 9.99769548e-01 9.65035808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.742755096 meters 0.01790401773474803 Centerline is valid? [True, True] Translation: X:431.26, Y:-267.22, Z:9.65 [[ 7.92646244e-01 6.09434748e-01 -1.73557116e-02 4.31264256e+02] [-6.09280931e-01 7.92836181e-01 1.36944368e-02 -2.67216634e+02] [ 2.21061018e-02 -2.80339717e-04 9.99755591e-01 9.65089806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.802755096 meters 0.018500557587889755 Centerline is valid? [True, True] Translation: X:431.31, Y:-267.26, Z:9.65 [[ 7.92836205e-01 6.09196344e-01 -1.70459781e-02 4.31311897e+02] [-6.09047728e-01 7.93019376e-01 1.34586178e-02 -2.67255794e+02] [ 2.17167317e-02 -2.88665233e-04 9.99764122e-01 9.65154183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.862755096 meters 0.01870029272060455 Centerline is valid? [True, True] Translation: X:431.36, Y:-267.30, Z:9.65 [[ 7.93681391e-01 6.08123598e-01 -1.59855999e-02 4.31359262e+02] [-6.07992536e-01 7.93842300e-01 1.26285308e-02 -2.67296004e+02] [ 2.03697530e-02 -3.03904481e-04 9.99792469e-01 9.65367574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.922755096 meters 0.01919718072119943 Centerline is valid? [True, True] Translation: X:431.41, Y:-267.34, Z:9.65 [[ 7.94173715e-01 6.07481318e-01 -1.59548549e-02 4.31406694e+02] [-6.07350486e-01 7.94333898e-01 1.26113304e-02 -2.67336041e+02] [ 2.03346297e-02 -3.25398278e-04 9.99793177e-01 9.65448026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.982755096 meters 0.01937102569678168 Centerline is valid? [True, True] Translation: X:431.46, Y:-267.38, Z:9.65 [[ 7.94284962e-01 6.07343056e-01 -1.56783675e-02 4.31455786e+02] [-6.07216554e-01 7.94439617e-01 1.23996682e-02 -2.67375467e+02] [ 1.99863687e-02 -3.28705662e-04 9.99800199e-01 9.65486025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.042755096 meters 0.019265268981635816 Centerline is valid? [True, True] Translation: X:431.50, Y:-267.41, Z:9.66 [[ 7.93681086e-01 6.08124590e-01 -1.59630070e-02 4.31503311e+02] [-6.07993446e-01 7.93841533e-01 1.26328649e-02 -2.67413680e+02] [ 2.03544537e-02 -3.21062287e-04 9.99792775e-01 9.65520171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.102755096 meters 0.018688763713908298 Centerline is valid? [True, True] Translation: X:431.55, Y:-267.45, Z:9.66 [[ 7.92895358e-01 6.09151971e-01 -1.58375475e-02 4.31553270e+02] [-6.09022964e-01 7.93053459e-01 1.25396001e-02 -2.67451450e+02] [ 2.01985439e-02 -2.97160574e-04 9.99795944e-01 9.65661788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.162755096 meters 0.017516793247441383 Centerline is valid? [True, True] Translation: X:431.60, Y:-267.49, Z:9.66 [[ 7.90613852e-01 6.12109709e-01 -1.58568682e-02 4.31604401e+02] [-6.11980921e-01 7.90772820e-01 1.25578360e-02 -2.67486525e+02] [ 2.02259537e-02 -2.24298297e-04 9.99795409e-01 9.65799214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.222755096 meters 0.017087114018650835 Centerline is valid? [True, True] Translation: X:431.65, Y:-267.52, Z:9.66 [[ 7.88905288e-01 6.14307727e-01 -1.59519066e-02 4.31652868e+02] [-6.14177691e-01 7.89066528e-01 1.26403157e-02 -2.67523528e+02] [ 2.03521592e-02 -1.74706697e-04 9.99792858e-01 9.65937105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.282755096 meters 0.016416805540797247 Centerline is valid? [True, True] Translation: X:431.70, Y:-267.56, Z:9.66 [[ 7.86678132e-01 6.17146983e-01 -1.63437761e-02 4.31703803e+02] [-6.17010944e-01 7.86847882e-01 1.29578344e-02 -2.67559214e+02] [ 2.08569541e-02 -1.09356237e-04 9.99782464e-01 9.65937992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.342755096 meters 0.01633629883156172 Centerline is valid? [True, True] Translation: X:431.75, Y:-267.60, Z:9.66 [[ 7.86054585e-01 6.17922400e-01 -1.70322022e-02 4.31753086e+02] [-6.17774660e-01 7.86239084e-01 1.35119177e-02 -2.67598559e+02] [ 2.17406997e-02 -9.90418874e-05 9.99763638e-01 9.66006985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.402755096 meters 0.01703391002235165 Centerline is valid? [True, True] Translation: X:431.80, Y:-267.64, Z:9.66 [[ 7.88661644e-01 6.14590970e-01 -1.70514474e-02 4.31797129e+02] [-6.14441927e-01 7.88845930e-01 1.35357989e-02 -2.67640989e+02] [ 2.17699446e-02 -1.98041198e-04 9.99762987e-01 9.66132364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.462755096 meters 0.018050650274403123 Centerline is valid? [True, True] Translation: X:431.84, Y:-267.68, Z:9.66 [[ 7.90952668e-01 6.11642701e-01 -1.69435296e-02 4.31842219e+02] [-6.11494708e-01 7.91134076e-01 1.34571983e-02 -2.67683875e+02] [ 2.16356008e-02 -2.83128181e-04 9.99765883e-01 9.66346019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.522755096 meters 0.019994099910623935 Centerline is valid? [True, True] Translation: X:431.89, Y:-267.73, Z:9.67 [[ 7.94234048e-01 6.07393190e-01 -1.63030735e-02 4.31888460e+02] [-6.07255144e-01 7.94401260e-01 1.29548616e-02 -2.67725933e+02] [ 2.08198769e-02 -3.89066890e-04 9.99783167e-01 9.66587017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.582755096 meters 0.02005378041808793 Centerline is valid? [True, True] Translation: X:431.94, Y:-267.76, Z:9.67 [[ 7.94604556e-01 6.06924566e-01 -1.56898272e-02 4.31937677e+02] [-6.06796574e-01 7.94759347e-01 1.24698754e-02 -2.67763687e+02] [ 2.00379105e-02 -3.88086476e-04 9.99799146e-01 9.66694555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.64275509600003 meters 0.020760214397853635 Centerline is valid? [True, True] Translation: X:431.98, Y:-267.80, Z:9.67 [[ 7.94752744e-01 6.06718301e-01 -1.61548632e-02 4.31984931e+02] [-6.06582420e-01 7.94916810e-01 1.28465219e-02 -2.67802362e+02] [ 2.06359923e-02 -4.10552484e-04 9.99786971e-01 9.66767928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.70275509600003 meters 0.020559082170478755 Centerline is valid? [True, True] Translation: X:432.03, Y:-267.84, Z:9.67 [[ 7.94596848e-01 6.06914261e-01 -1.64599510e-02 4.32034423e+02] [-6.06773144e-01 7.94767203e-01 1.30936980e-02 -2.67840730e+02] [ 2.10285813e-02 -4.16754995e-04 9.99778788e-01 9.66794106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.76275509600003 meters 0.021006087961577876 Centerline is valid? [True, True] Translation: X:432.08, Y:-267.88, Z:9.67 [[ 7.94431267e-01 6.07133095e-01 -1.63819336e-02 4.32081756e+02] [-6.06993210e-01 7.94600046e-01 1.30387695e-02 -2.67877446e+02] [ 2.09333537e-02 -4.14683675e-04 9.99780787e-01 9.66888166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.822755096 meters 0.019576784354218033 Centerline is valid? [True, True] Translation: X:432.13, Y:-267.91, Z:9.67 [[ 7.93557058e-01 6.08270796e-01 -1.65479280e-02 4.32133841e+02] [-6.08128298e-01 7.93729480e-01 1.31714235e-02 -2.67911136e+02] [ 2.11463706e-02 -3.89012785e-04 9.99776315e-01 9.67018164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.882755096 meters 0.019415643033337086 Centerline is valid? [True, True] Translation: X:432.18, Y:-267.95, Z:9.67 [[ 7.92452047e-01 6.09720134e-01 -1.61589357e-02 4.32183387e+02] [-6.09584409e-01 7.92616703e-01 1.28689909e-02 -2.67947257e+02] [ 2.06543252e-02 -3.47822953e-04 9.99786616e-01 9.67180412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.942755096 meters 0.01881966619418175 Centerline is valid? [True, True] Translation: X:432.23, Y:-267.98, Z:9.67 [[ 7.91505513e-01 6.10951803e-01 -1.60286531e-02 4.32233898e+02] [-6.10818372e-01 7.91667729e-01 1.27719645e-02 -2.67983548e+02] [ 2.04924221e-02 -3.18484579e-04 9.99789958e-01 9.67310389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.002755096 meters 0.018185736337344174 Centerline is valid? [True, True] Translation: X:432.28, Y:-268.02, Z:9.68 [[ 7.88979589e-01 6.14236395e-01 -1.49953096e-02 4.32283564e+02] [-6.14120088e-01 7.89122045e-01 1.19547510e-02 -2.68017031e+02] [ 1.91761726e-02 -2.23133706e-04 9.99816095e-01 9.67593581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0627550959999 meters 0.017741071615561974 Centerline is valid? [True, True] Translation: X:432.33, Y:-268.05, Z:9.68 [[ 7.88016711e-01 6.15479313e-01 -1.46587717e-02 4.32333187e+02] [-6.15368391e-01 7.88153018e-01 1.16860066e-02 -2.68052606e+02] [ 1.87458505e-02 -1.88223702e-04 9.99824263e-01 9.67801995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.122755096 meters 0.017530730600191023 Centerline is valid? [True, True] Translation: X:432.38, Y:-268.09, Z:9.68 [[ 7.86927703e-01 6.16877080e-01 -1.44034068e-02 4.32383409e+02] [-6.16770216e-01 7.87059492e-01 1.14828910e-02 -2.68089444e+02] [ 1.84198704e-02 -1.52612704e-04 9.99830328e-01 9.68009439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1827550959999 meters 0.017759390975876286 Centerline is valid? [True, True] Translation: X:432.43, Y:-268.13, Z:9.68 [[ 7.87236811e-01 6.16514780e-01 -1.29510013e-02 4.32429333e+02] [-6.16428233e-01 7.87343320e-01 1.03310557e-02 -2.68126453e+02] [ 1.65661329e-02 -1.49624519e-04 9.99862761e-01 9.68265462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.242755096 meters 0.018168776109696038 Centerline is valid? [True, True] Translation: X:432.47, Y:-268.16, Z:9.69 [[ 7.87939327e-01 6.15640190e-01 -1.17802571e-02 4.32474983e+02] [-6.15568493e-01 7.88027369e-01 9.39663231e-03 -2.68163567e+02] [ 1.50681095e-02 -1.52421014e-04 9.99886458e-01 9.68514049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3027550959999 meters 0.018405146249575545 Centerline is valid? [True, True] Translation: X:432.52, Y:-268.20, Z:9.69 [[ 7.88540567e-01 6.14867155e-01 -1.19229615e-02 4.32521872e+02] [-6.14793645e-01 7.88630683e-01 9.50892444e-03 -2.68199863e+02] [ 1.52495386e-02 -1.68011714e-04 9.99883705e-01 9.68609571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.362755096 meters 0.018704201796766844 Centerline is valid? [True, True] Translation: X:432.57, Y:-268.24, Z:9.69 [[ 7.89163370e-01 6.14057209e-01 -1.24466457e-02 4.32567023e+02] [-6.13977026e-01 7.89261495e-01 9.92491802e-03 -2.68237225e+02] [ 1.59181256e-02 -1.90427266e-04 9.99873280e-01 9.68692453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.422755096 meters 0.019718795051150036 Centerline is valid? [True, True] Translation: X:432.61, Y:-268.28, Z:9.69 [[ 7.90818849e-01 6.11901520e-01 -1.34936084e-02 4.32610499e+02] [-6.11806996e-01 7.90933920e-01 1.07579380e-02 -2.68275795e+02] [ 1.72553512e-02 -2.52096167e-04 9.99851084e-01 9.68704897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.482755096 meters 0.0209454526736234 Centerline is valid? [True, True] Translation: X:432.65, Y:-268.31, Z:9.69 [[ 7.92669975e-01 6.09483795e-01 -1.42763549e-02 4.32654851e+02] [-6.09377636e-01 7.92798462e-01 1.13796504e-02 -2.68314789e+02] [ 1.82539847e-02 -3.20615755e-04 9.99833331e-01 9.68829007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.542755096 meters 0.022256782649838134 Centerline is valid? [True, True] Translation: X:432.70, Y:-268.35, Z:9.69 [[ 7.94062032e-01 6.07652336e-01 -1.49708981e-02 4.32700289e+02] [-6.07535305e-01 7.94203057e-01 1.19313690e-02 -2.68352742e+02] [ 1.91400572e-02 -3.78897975e-04 9.99816741e-01 9.68935470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6027550959999 meters 0.02363962720698996 Centerline is valid? [True, True] Translation: X:432.74, Y:-268.39, Z:9.69 [[ 7.95330105e-01 6.05977828e-01 -1.55208354e-02 4.32744358e+02] [-6.05851760e-01 7.95481417e-01 1.23677086e-02 -2.68389777e+02] [ 1.98410933e-02 -4.33085556e-04 9.99803052e-01 9.69102436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.662755096 meters 0.02219625300307003 Centerline is valid? [True, True] Translation: X:432.80, Y:-268.43, Z:9.69 [[ 7.95652465e-01 6.05540680e-01 -1.60511724e-02 4.32795577e+02] [-6.05405789e-01 7.95814221e-01 1.27888669e-02 -2.68425308e+02] [ 2.05179304e-02 -4.58020786e-04 9.99789380e-01 9.69259591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7227550959999 meters 0.021418784108648805 Centerline is valid? [True, True] Translation: X:432.85, Y:-268.46, Z:9.69 [[ 7.94897162e-01 6.06508759e-01 -1.69005169e-02 4.32845883e+02] [-6.06359260e-01 7.95076670e-01 1.34735738e-02 -2.68461442e+02] [ 2.16090472e-02 -4.62320654e-04 9.99766390e-01 9.69293695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.782755096 meters 0.021554207553918885 Centerline is valid? [True, True] Translation: X:432.90, Y:-268.50, Z:9.69 [[ 7.94304038e-01 6.07279508e-01 -1.71083087e-02 4.32895380e+02] [-6.07126313e-01 7.94488133e-01 1.36472172e-02 -2.68499092e+02] [ 2.18800236e-02 -4.53135343e-04 9.99760501e-01 9.69363517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8427550959999 meters 0.02232976006850252 Centerline is valid? [True, True] Translation: X:432.94, Y:-268.54, Z:9.69 [[ 7.94054616e-01 6.07599650e-01 -1.73185384e-02 4.32942071e+02] [-6.07442597e-01 7.94243324e-01 1.38214894e-02 -2.68535989e+02] [ 2.21530656e-02 -4.54999557e-04 9.99754487e-01 9.69481067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.902755096 meters 0.0218871997672724 Centerline is valid? [True, True] Translation: X:432.99, Y:-268.57, Z:9.70 [[ 7.94971650e-01 6.06403660e-01 -1.71661577e-02 4.32990668e+02] [-6.06249064e-01 7.95156819e-01 1.37006127e-02 -2.68573800e+02] [ 2.19578890e-02 -4.84631606e-04 9.99758779e-01 9.69677054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9627550959999 meters 0.022985674047622556 Centerline is valid? [True, True] Translation: X:433.04, Y:-268.61, Z:9.70 [[ 7.96396999e-01 6.04539911e-01 -1.68319843e-02 4.33037830e+02] [-6.04390705e-01 7.96574675e-01 1.34410859e-02 -2.68614464e+02] [ 2.15336053e-02 -5.31345644e-04 9.99767984e-01 9.69889141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.022755096 meters 0.024796610766269742 Centerline is valid? [True, True] Translation: X:433.08, Y:-268.65, Z:9.70 [[ 7.96809382e-01 6.03996583e-01 -1.68207233e-02 4.33084911e+02] [-6.03847289e-01 7.96986715e-01 1.34397928e-02 -2.68654771e+02] [ 2.15234819e-02 -5.51804862e-04 9.99768191e-01 9.69896093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0827550959999 meters 0.022992693470675528 Centerline is valid? [True, True] Translation: X:433.13, Y:-268.69, Z:9.70 [[ 7.95861331e-01 6.05246606e-01 -1.67716519e-02 4.33134845e+02] [-6.05098310e-01 7.96037859e-01 1.34075451e-02 -2.68692557e+02] [ 2.14657410e-02 -5.22048470e-04 9.99769448e-01 9.70270073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.142755096 meters 0.02171616511200601 Centerline is valid? [True, True] Translation: X:433.18, Y:-268.73, Z:9.70 [[ 7.93097138e-01 6.08831013e-01 -1.79367446e-02 4.33184250e+02] [-6.08662252e-01 7.93299810e-01 1.43413486e-02 -2.68727137e+02] [ 2.29606739e-02 -4.56663183e-04 9.99736265e-01 9.70293496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2027550959999 meters 0.02040460052516932 Centerline is valid? [True, True] Translation: X:433.23, Y:-268.76, Z:9.70 [[ 7.90361428e-01 6.12357892e-01 -1.86178836e-02 4.33232928e+02] [-6.12177058e-01 7.90580595e-01 1.48853350e-02 -2.68762457e+02] [ 2.38340899e-02 -3.67353476e-04 9.99715860e-01 9.70408505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.262755096 meters 0.020044604150177368 Centerline is valid? [True, True] Translation: X:433.28, Y:-268.80, Z:9.70 [[ 7.88652783e-01 6.14527319e-01 -1.95694352e-02 4.33278664e+02] [-6.14328223e-01 7.88895477e-01 1.56448006e-02 -2.68798181e+02] [ 2.50523963e-02 -3.16259139e-04 9.99686089e-01 9.70384619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3227550959999 meters 0.019692973731091468 Centerline is valid? [True, True] Translation: X:433.32, Y:-268.84, Z:9.71 [[ 7.88023941e-01 6.15306713e-01 -2.03940665e-02 4.33324393e+02] [-6.15090824e-01 7.88287738e-01 1.63009024e-02 -2.68835741e+02] [ 2.61064472e-02 -3.01298163e-04 9.99659123e-01 9.70527064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.382755096 meters 0.019532172995641 Centerline is valid? [True, True] Translation: X:433.37, Y:-268.87, Z:9.71 [[ 7.88253488e-01 6.15011839e-01 -2.04175425e-02 4.33370861e+02] [-6.14795402e-01 7.88517813e-01 1.63178465e-02 -2.68873946e+02] [ 2.61352647e-02 -3.09988112e-04 9.99658368e-01 9.70733420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4427550959999 meters 0.02007080981504015 Centerline is valid? [True, True] Translation: X:433.42, Y:-268.92, Z:9.71 [[ 7.89774560e-01 6.13078080e-01 -1.97841396e-02 4.33415359e+02] [-6.12874195e-01 7.90022237e-01 1.58141040e-02 -2.68917255e+02] [ 2.53251907e-02 -3.64388383e-04 9.99679200e-01 9.70924508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.502755096 meters 0.021051951644195873 Centerline is valid? [True, True] Translation: X:433.46, Y:-268.96, Z:9.71 [[ 7.91173325e-01 6.11288403e-01 -1.92680603e-02 4.33459373e+02] [-6.11094278e-01 7.91407805e-01 1.54100531e-02 -2.68959854e+02] [ 2.46688801e-02 -4.17421507e-04 9.99695590e-01 9.71108140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5627550959999 meters 0.02137804123205404 Centerline is valid? [True, True] Translation: X:433.51, Y:-269.00, Z:9.71 [[ 7.92184580e-01 6.09999037e-01 -1.85678676e-02 4.33505480e+02] [-6.09818229e-01 7.92402028e-01 1.48577490e-02 -2.69000882e+02] [ 2.37764285e-02 -4.47055503e-04 9.99717201e-01 9.71373514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.622755096 meters 0.022138947545637274 Centerline is valid? [True, True] Translation: X:433.55, Y:-269.04, Z:9.72 [[ 7.93387849e-01 6.08450234e-01 -1.80009611e-02 4.33550441e+02] [-6.08279720e-01 7.93591884e-01 1.44119351e-02 -2.69043168e+02] [ 2.30543619e-02 -4.84634606e-04 9.99734095e-01 9.71590574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6827550959999 meters 0.02244188976898496 Centerline is valid? [True, True] Translation: X:433.60, Y:-269.09, Z:9.72 [[ 7.93510487e-01 6.08299687e-01 -1.76804374e-02 4.33596448e+02] [-6.08134983e-01 7.93707285e-01 1.41629015e-02 -2.69086279e+02] [ 2.26483805e-02 -4.86318386e-04 9.99743374e-01 9.71808936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.742755096 meters 0.021532356080824454 Centerline is valid? [True, True] Translation: X:433.64, Y:-269.13, Z:9.72 [[ 7.91935621e-01 6.10321815e-01 -1.85810449e-02 4.33644425e+02] [-6.10140249e-01 7.92153441e-01 1.48930533e-02 -2.69126563e+02] [ 2.38085939e-02 -4.57296020e-04 9.99716431e-01 9.71780090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8027550959999 meters 0.020401101857007043 Centerline is valid? [True, True] Translation: X:433.69, Y:-269.16, Z:9.72 [[ 7.89737305e-01 6.13144125e-01 -1.92164563e-02 4.33691625e+02] [-6.12950669e-01 7.89970969e-01 1.54060162e-02 -2.69164050e+02] [ 2.46265509e-02 -3.87965959e-04 9.99696645e-01 9.71874885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.862755096 meters 0.018866510249434264 Centerline is valid? [True, True] Translation: X:433.74, Y:-269.20, Z:9.72 [[ 7.85804577e-01 6.18173186e-01 -1.93152611e-02 4.33738160e+02] [-6.17979262e-01 7.86041894e-01 1.54846112e-02 -2.69199206e+02] [ 2.47547759e-02 -2.31447510e-04 9.99693527e-01 9.71865679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.922755096 meters 0.018029755040837793 Centerline is valid? [True, True] Translation: X:433.78, Y:-269.24, Z:9.72 [[ 7.83680930e-01 6.20866923e-01 -1.91954233e-02 4.33784855e+02] [-6.20676240e-01 7.83915967e-01 1.53870678e-02 -2.69239067e+02] [ 2.46009202e-02 -1.44408423e-04 9.99697341e-01 9.72064725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.982755096 meters 0.017964648469889592 Centerline is valid? [True, True] Translation: X:433.83, Y:-269.28, Z:9.72 [[ 7.84343552e-01 6.20054472e-01 -1.83751085e-02 4.33829635e+02] [-6.19879448e-01 7.84558745e-01 1.47324708e-02 -2.69283008e+02] [ 2.35512865e-02 -1.64966340e-04 9.99722616e-01 9.72346665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.042755096 meters 0.01861829562240726 Centerline is valid? [True, True] Translation: X:433.87, Y:-269.33, Z:9.73 [[ 7.86773064e-01 6.17027727e-01 -1.62766899e-02 4.33872825e+02] [-6.16889602e-01 7.86941377e-01 1.30571328e-02 -2.69327551e+02] [ 2.08654137e-02 -2.32079565e-04 9.99782267e-01 9.72686995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1027550959999 meters 0.018884601420393027 Centerline is valid? [True, True] Translation: X:433.92, Y:-269.37, Z:9.73 [[ 7.87995183e-01 6.15482970e-01 -1.56302516e-02 4.33919094e+02] [-6.15355216e-01 7.88150140e-01 1.25425210e-02 -2.69369778e+02] [ 2.00386931e-02 -2.65289289e-04 9.99799170e-01 9.72887457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.162755096 meters 0.01955489495446813 Centerline is valid? [True, True] Translation: X:433.96, Y:-269.41, Z:9.73 [[ 7.88202411e-01 6.15227046e-01 -1.52525895e-02 4.33964740e+02] [-6.15105208e-01 7.88349928e-01 1.22463847e-02 -2.69412146e+02] [ 1.95586850e-02 -2.70682724e-04 9.99808674e-01 9.72991588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2227550959999 meters 0.017868438667900978 Centerline is valid? [True, True] Translation: X:434.02, Y:-269.45, Z:9.73 [[ 7.85061509e-01 6.19226581e-01 -1.53905584e-02 4.34017773e+02] [-6.19103145e-01 7.85212334e-01 1.23647104e-02 -2.69445727e+02] [ 1.97414136e-02 -1.78715128e-04 9.99805103e-01 9.73041453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.282755096 meters 0.017560178728305748 Centerline is valid? [True, True] Translation: X:434.07, Y:-269.48, Z:9.73 [[ 7.83721578e-01 6.20904101e-01 -1.60805546e-02 4.34067487e+02] [-6.20769541e-01 7.83886519e-01 1.29267939e-02 -2.69481780e+02] [ 2.06316293e-02 -1.48688780e-04 9.99787134e-01 9.72944652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3427550959999 meters 0.017811572046354848 Centerline is valid? [True, True] Translation: X:434.12, Y:-269.52, Z:9.73 [[ 7.84952214e-01 6.19334802e-01 -1.65657780e-02 4.34115371e+02] [-6.19191492e-01 7.85126972e-01 1.33241829e-02 -2.69521242e+02] [ 2.12583693e-02 -2.01458049e-04 9.99773995e-01 9.72927080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.402755096 meters 0.018619903692412607 Centerline is valid? [True, True] Translation: X:434.16, Y:-269.56, Z:9.73 [[ 7.86495165e-01 6.17375431e-01 -1.65206537e-02 4.34162341e+02] [-6.17232309e-01 7.86668615e-01 1.32953767e-02 -2.69560429e+02] [ 2.12045187e-02 -2.59668201e-04 9.99775125e-01 9.72972511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4627550959999 meters 0.020653616589335566 Centerline is valid? [True, True] Translation: X:434.21, Y:-269.60, Z:9.73 [[ 7.89439136e-01 6.13620628e-01 -1.59867052e-02 4.34207732e+02] [-6.13485710e-01 7.89600911e-01 1.28718523e-02 -2.69600966e+02] [ 2.05215511e-02 -3.53928774e-04 9.99789348e-01 9.72986739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.522755096 meters 0.020949162230645798 Centerline is valid? [True, True] Translation: X:434.26, Y:-269.64, Z:9.73 [[ 7.92110364e-01 6.10155081e-01 -1.64908496e-02 4.34257493e+02] [-6.10010690e-01 7.92281872e-01 1.32813088e-02 -2.69638766e+02] [ 2.11690592e-02 -4.60667770e-04 9.99775804e-01 9.73059030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5827550959999 meters 0.02365981527707792 Centerline is valid? [True, True] Translation: X:434.30, Y:-269.68, Z:9.73 [[ 7.93824824e-01 6.07914040e-01 -1.68127244e-02 4.34302564e+02] [-6.07763400e-01 7.94002667e-01 1.35430493e-02 -2.69679532e+02] [ 2.15823578e-02 -5.32650240e-04 9.99766932e-01 9.73040836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.642755096 meters 0.024336606987866712 Centerline is valid? [True, True] Translation: X:434.35, Y:-269.72, Z:9.73 [[ 7.95359812e-01 6.05906758e-01 -1.67262988e-02 4.34350672e+02] [-6.05757126e-01 7.95535452e-01 1.34777421e-02 -2.69718682e+02] [ 2.14726187e-02 -5.87579760e-04 9.99769264e-01 9.73128470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7027550959999 meters 0.02459975699383131 Centerline is valid? [True, True] Translation: X:434.40, Y:-269.76, Z:9.73 [[ 7.95719060e-01 6.05417406e-01 -1.73476974e-02 4.34400373e+02] [-6.05256155e-01 7.95907890e-01 1.39863464e-02 -2.69756705e+02] [ 2.22747468e-02 -6.29401809e-04 9.99751689e-01 9.73169154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.762755096 meters 0.023988538900968918 Centerline is valid? [True, True] Translation: X:434.45, Y:-269.79, Z:9.73 [[ 7.94952384e-01 6.06433871e-01 -1.69902188e-02 4.34450133e+02] [-6.06279269e-01 7.95133704e-01 1.37055088e-02 -2.69794446e+02] [ 2.18209804e-02 -5.94409407e-04 9.99761717e-01 9.73314954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8227550959999 meters 0.023288836603236565 Centerline is valid? [True, True] Translation: X:434.50, Y:-269.83, Z:9.73 [[ 7.92774593e-01 6.09286159e-01 -1.66979514e-02 4.34497650e+02] [-6.09137319e-01 7.92950259e-01 1.34763926e-02 -2.69832042e+02] [ 2.14516244e-02 -5.12396284e-04 9.99769756e-01 9.73479691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.882755096 meters 0.02182343373612071 Centerline is valid? [True, True] Translation: X:434.55, Y:-269.87, Z:9.74 [[ 7.91265543e-01 6.11254337e-01 -1.63394240e-02 4.34545162e+02] [-6.11112187e-01 7.91434098e-01 1.31895197e-02 -2.69868845e+02] [ 2.09937284e-02 -4.51191362e-04 9.99779506e-01 9.73656284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9427550959999 meters 0.01994432409087421 Centerline is valid? [True, True] Translation: X:434.59, Y:-269.91, Z:9.74 [[ 7.89320292e-01 6.13776320e-01 -1.58778244e-02 4.34593739e+02] [-6.13642606e-01 7.89479886e-01 1.28164829e-02 -2.69905237e+02] [ 2.04016767e-02 -3.73000464e-04 9.99791795e-01 9.73841093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.002755096 meters 0.018764058553168695 Centerline is valid? [True, True] Translation: X:434.64, Y:-269.94, Z:9.74 [[ 7.87288548e-01 6.16367908e-01 -1.63506756e-02 4.34640587e+02] [-6.16226670e-01 7.87458255e-01 1.31980416e-02 -2.69942528e+02] [ 2.10103237e-02 -3.14944602e-04 9.99779209e-01 9.73944449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0627550959999 meters 0.017707417034522107 Centerline is valid? [True, True] Translation: X:434.69, Y:-269.98, Z:9.74 [[ 7.85147923e-01 6.19077841e-01 -1.68927731e-02 4.34687118e+02] [-6.18927735e-01 7.85329589e-01 1.36343234e-02 -2.69976415e+02] [ 2.17071021e-02 -2.49554859e-04 9.99764342e-01 9.74001307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.122755096 meters 0.016913876210089603 Centerline is valid? [True, True] Translation: X:434.73, Y:-270.01, Z:9.74 [[ 7.84029997e-01 6.20475345e-01 -1.75302727e-02 4.34734546e+02] [-6.20314102e-01 7.84225923e-01 1.41462273e-02 -2.70011493e+02] [ 2.25250795e-02 -2.16791170e-04 9.99746255e-01 9.74020300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1827550959999 meters 0.01664018704117636 Centerline is valid? [True, True] Translation: X:434.78, Y:-270.05, Z:9.74 [[ 7.83937938e-01 6.20559363e-01 -1.86383073e-02 4.34781856e+02] [-6.20377164e-01 7.84159439e-01 1.50382379e-02 -2.70047463e+02] [ 2.39475239e-02 -2.26264963e-04 9.99713191e-01 9.74004140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.242755096 meters 0.017059811904912733 Centerline is valid? [True, True] Translation: X:434.83, Y:-270.09, Z:9.74 [[ 7.84789316e-01 6.19456812e-01 -1.94675809e-02 4.34830630e+02] [-6.19257663e-01 7.85030690e-01 1.57087142e-02 -2.70086380e+02] [ 2.50135184e-02 -2.72582402e-04 9.99687076e-01 9.74005664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3027550959999 meters 0.01776671477053629 Centerline is valid? [True, True] Translation: X:434.88, Y:-270.13, Z:9.74 [[ 7.86008950e-01 6.17881459e-01 -2.03084590e-02 4.34878162e+02] [-6.17663957e-01 7.86271190e-01 1.63967107e-02 -2.70126414e+02] [ 2.60991797e-02 -3.44158254e-04 9.99659299e-01 9.74060469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.362755096 meters 0.017975203592270967 Centerline is valid? [True, True] Translation: X:434.93, Y:-270.17, Z:9.74 [[ 7.86778145e-01 6.16894582e-01 -2.05237862e-02 4.34926224e+02] [-6.16671857e-01 7.87045694e-01 1.65800020e-02 -2.70165559e+02] [ 2.63812709e-02 -3.88341859e-04 9.99651878e-01 9.74174202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.422755096 meters 0.018069035442711264 Centerline is valid? [True, True] Translation: X:434.98, Y:-270.21, Z:9.74 [[ 7.86993634e-01 6.16622792e-01 -2.04292030e-02 4.34975160e+02] [-6.16401765e-01 7.87258642e-01 1.65134803e-02 -2.70205359e+02] [ 2.62656549e-02 -4.03407061e-04 9.99654917e-01 9.74321296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.482755096 meters 0.01833227840553949 Centerline is valid? [True, True] Translation: X:435.02, Y:-270.25, Z:9.75 [[ 7.87309548e-01 6.16230645e-01 -2.00865192e-02 4.35023771e+02] [-6.16016569e-01 7.87565628e-01 1.62471126e-02 -2.70245474e+02] [ 2.58314208e-02 -4.17878287e-04 9.99666226e-01 9.74517737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.542755096 meters 0.018638684533017452 Centerline is valid? [True, True] Translation: X:435.07, Y:-270.29, Z:9.75 [[ 7.87473124e-01 6.16024581e-01 -1.99948426e-02 4.35071632e+02] [-6.15812115e-01 7.87726811e-01 1.61836243e-02 -2.70285781e+02] [ 2.57199840e-02 -4.31102866e-04 9.99669094e-01 9.74723967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6027550959999 meters 0.018384942248389782 Centerline is valid? [True, True] Translation: X:435.12, Y:-270.33, Z:9.75 [[ 7.87195008e-01 6.16388740e-01 -1.97215706e-02 4.35120274e+02] [-6.16181892e-01 7.87441898e-01 1.59728835e-02 -2.70325196e+02] [ 2.53750965e-02 -4.21699408e-04 9.99677911e-01 9.75023888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.662755096 meters 0.018732083159177203 Centerline is valid? [True, True] Translation: X:435.17, Y:-270.37, Z:9.75 [[ 7.87282300e-01 6.16262130e-01 -2.01882629e-02 4.35168949e+02] [-6.16045047e-01 7.87540976e-01 1.63618750e-02 -2.70365566e+02] [ 2.59822882e-02 -4.44535239e-04 9.99662305e-01 9.75138133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7227550959999 meters 0.019375454902852342 Centerline is valid? [True, True] Translation: X:435.22, Y:-270.41, Z:9.75 [[ 7.87974849e-01 6.15362767e-01 -2.05986081e-02 4.35215618e+02] [-6.15136184e-01 7.88243885e-01 1.67048551e-02 -2.70405791e+02] [ 2.65162728e-02 -4.92056489e-04 9.99648261e-01 9.75205077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.782755096 meters 0.02026332630265747 Centerline is valid? [True, True] Translation: X:435.26, Y:-270.45, Z:9.75 [[ 7.88964202e-01 6.14104607e-01 -2.02736498e-02 4.35262576e+02] [-6.13884476e-01 7.89224460e-01 1.64499946e-02 -2.70446268e+02] [ 2.61024778e-02 -5.32777985e-04 9.99659130e-01 9.75364604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8427550959999 meters 0.0212245761013532 Centerline is valid? [True, True] Translation: X:435.31, Y:-270.49, Z:9.76 [[ 7.90197819e-01 6.12533774e-01 -1.97428922e-02 4.35310533e+02] [-6.12324308e-01 7.90444206e-01 1.60280671e-02 -2.70486290e+02] [ 2.54233872e-02 -5.76290892e-04 9.99676607e-01 9.75550775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.902755096 meters 0.021431530848221116 Centerline is valid? [True, True] Translation: X:435.36, Y:-270.53, Z:9.76 [[ 7.90230700e-01 6.12482971e-01 -2.00013002e-02 4.35358746e+02] [-6.12267725e-01 7.90483560e-01 1.62472875e-02 -2.70526340e+02] [ 2.57618859e-02 -5.92954795e-04 9.99667932e-01 9.75649374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9627550959999 meters 0.02180566085599541 Centerline is valid? [True, True] Translation: X:435.41, Y:-270.56, Z:9.76 [[ 7.89912333e-01 6.12850029e-01 -2.12919817e-02 4.35406779e+02] [-6.12605942e-01 7.90198993e-01 1.73063860e-02 -2.70564584e+02] [ 2.74311217e-02 -6.26933262e-04 9.99623499e-01 9.75501769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.022755096 meters 0.0220667269602114 Centerline is valid? [True, True] Translation: X:435.45, Y:-270.60, Z:9.75 [[ 7.89634807e-01 6.13203019e-01 -2.14226471e-02 4.35452486e+02] [-6.12955928e-01 7.89925104e-01 1.74172413e-02 -2.70600339e+02] [ 2.76025917e-02 -6.22121421e-04 9.99618782e-01 9.75485575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0827550959999 meters 0.021317679342236984 Centerline is valid? [True, True] Translation: X:435.50, Y:-270.64, Z:9.76 [[ 7.88455831e-01 6.14703828e-01 -2.18313368e-02 4.35499882e+02] [-6.14447881e-01 7.88757802e-01 1.77463249e-02 -2.70636020e+02] [ 2.81283711e-02 -5.77974717e-04 9.99604152e-01 9.75537001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.142755096 meters 0.02035518368819892 Centerline is valid? [True, True] Translation: X:435.55, Y:-270.67, Z:9.76 [[ 7.87031415e-01 6.16550213e-01 -2.11515193e-02 4.35546245e+02] [-6.16310683e-01 7.87315432e-01 1.71916300e-02 -2.70671323e+02] [ 2.72524207e-02 -4.94445531e-04 9.99628462e-01 9.75811740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2027550959999 meters 0.019874474469213428 Centerline is valid? [True, True] Translation: X:435.59, Y:-270.71, Z:9.76 [[ 7.86183478e-01 6.17622747e-01 -2.13934807e-02 4.35592226e+02] [-6.17378171e-01 7.86474367e-01 1.73857230e-02 -2.70707351e+02] [ 2.75632422e-02 -4.60500219e-04 9.99619956e-01 9.75863762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.262755096 meters 0.019959709997029035 Centerline is valid? [True, True] Translation: X:435.64, Y:-270.74, Z:9.76 [[ 7.86001125e-01 6.17865042e-01 -2.10955504e-02 4.35637004e+02] [-6.17627391e-01 7.86284041e-01 1.71409456e-02 -2.70743386e+02] [ 2.71778857e-02 -4.43612740e-04 9.99630515e-01 9.75948120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3227550959999 meters 0.01782646630311873 Centerline is valid? [True, True] Translation: X:435.69, Y:-270.78, Z:9.76 [[ 7.85606675e-01 6.18390189e-01 -2.03893797e-02 4.35687361e+02] [-6.18168342e-01 7.85871112e-01 1.65679312e-02 -2.70780064e+02] [ 2.62688706e-02 -4.11808267e-04 9.99654829e-01 9.76343574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.382755096 meters 0.01774037216486442 Centerline is valid? [True, True] Translation: X:435.73, Y:-270.82, Z:9.77 [[ 7.85068808e-01 6.19073772e-01 -2.03624846e-02 4.35734434e+02] [-6.18852569e-01 7.85332738e-01 1.65525993e-02 -2.70817943e+02] [ 2.62386059e-02 -3.93553471e-04 9.99655631e-01 9.76501214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4427550959999 meters 0.017017073508057562 Centerline is valid? [True, True] Translation: X:435.78, Y:-270.85, Z:9.77 [[ 7.83596313e-01 6.20943286e-01 -2.01557282e-02 4.35781481e+02] [-6.20727189e-01 7.83855426e-01 1.63837810e-02 -2.70853383e+02] [ 2.59725757e-02 -3.27061846e-04 9.99662602e-01 9.76634092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.502755096 meters 0.01609047173747155 Centerline is valid? [True, True] Translation: X:435.83, Y:-270.89, Z:9.77 [[ 7.82684343e-01 6.22097111e-01 -2.00100714e-02 4.35831021e+02] [-6.21884480e-01 7.82940037e-01 1.62662743e-02 -2.70890824e+02] [ 2.57858883e-02 -2.87405349e-04 9.99667447e-01 9.76884023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5627550959999 meters 0.017218701994914785 Centerline is valid? [True, True] Translation: X:435.88, Y:-270.93, Z:9.77 [[ 7.82859260e-01 6.21844807e-01 -2.09860639e-02 4.35876594e+02] [-6.21610565e-01 7.83140431e-01 1.70696053e-02 -2.70931063e+02] [ 2.70496806e-02 -3.17939492e-04 9.99634040e-01 9.76785958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.622755096 meters 0.016654690860414743 Centerline is valid? [True, True] Translation: X:435.93, Y:-270.97, Z:9.77 [[ 7.83066933e-01 6.21571387e-01 -2.13351604e-02 4.35926103e+02] [-6.21328909e-01 7.83357450e-01 1.73635463e-02 -2.70970356e+02] [ 2.75057404e-02 -3.40667025e-04 9.99621587e-01 9.76993578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6827550959999 meters 0.018164123211150445 Centerline is valid? [True, True] Translation: X:435.97, Y:-271.01, Z:9.77 [[ 7.82939589e-01 6.21708217e-01 -2.20112075e-02 4.35971866e+02] [-6.21449850e-01 7.83248853e-01 1.79253322e-02 -2.71013029e+02] [ 2.83845793e-02 -3.55590612e-04 9.99597013e-01 9.76929795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.742755096 meters 0.016894797400435552 Centerline is valid? [True, True] Translation: X:436.02, Y:-271.05, Z:9.77 [[ 7.82220633e-01 6.22578589e-01 -2.29517435e-02 4.36022801e+02] [-6.22297688e-01 7.82557206e-01 1.87031490e-02 -2.71050822e+02] [ 2.96052323e-02 -3.47172115e-04 9.99561609e-01 9.77256248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8027550959999 meters 0.016788374315218357 Centerline is valid? [True, True] Translation: X:436.07, Y:-271.09, Z:9.77 [[ 7.81441255e-01 6.23541297e-01 -2.33627066e-02 4.36071514e+02] [-6.23250294e-01 7.81790346e-01 1.90506133e-02 -2.71089914e+02] [ 3.01435826e-02 -3.26121354e-04 9.99545526e-01 9.77433598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.862755096 meters 0.016770805716436545 Centerline is valid? [True, True] Translation: X:436.12, Y:-271.13, Z:9.78 [[ 7.80613942e-01 6.24575054e-01 -2.34067405e-02 4.36119520e+02] [-6.24283039e-01 7.80964733e-01 1.90990303e-02 -2.71130218e+02] [ 3.02086168e-02 -2.96538214e-04 9.99543572e-01 9.77674164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.922755096 meters 0.01693032238989551 Centerline is valid? [True, True] Translation: X:436.17, Y:-271.17, Z:9.78 [[ 7.80656440e-01 6.24525737e-01 -2.33050769e-02 4.36167174e+02] [-6.24235859e-01 7.81004168e-01 1.90284799e-02 -2.71171456e+02] [ 3.00851376e-02 -3.06840700e-04 9.99547293e-01 9.77960396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.982755096 meters 0.017476618108240763 Centerline is valid? [True, True] Translation: X:436.21, Y:-271.21, Z:9.78 [[ 7.81852590e-01 6.23036456e-01 -2.30673300e-02 4.36213193e+02] [-6.22751464e-01 7.82192712e-01 1.88461054e-02 -2.71213320e+02] [ 2.97849081e-02 -3.69662767e-04 9.99556263e-01 9.78248547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.042755096 meters 0.018196537994065246 Centerline is valid? [True, True] Translation: X:436.26, Y:-271.25, Z:9.78 [[ 7.82744604e-01 6.21927675e-01 -2.27343877e-02 4.36258564e+02] [-6.21650083e-01 7.83074579e-01 1.85843565e-02 -2.71254578e+02] [ 2.93608467e-02 -4.13970737e-04 9.99568792e-01 9.78416650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1027550959999 meters 0.01924103064075424 Centerline is valid? [True, True] Translation: X:436.30, Y:-271.30, Z:9.79 [[ 7.84209064e-01 6.20095479e-01 -2.23100925e-02 4.36303983e+02] [-6.19827132e-01 7.84526204e-01 1.82472182e-02 -2.71296527e+02] [ 2.88178697e-02 -4.81233196e-04 9.99584563e-01 9.78606511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.162755096 meters 0.020212580168032564 Centerline is valid? [True, True] Translation: X:436.35, Y:-271.34, Z:9.79 [[ 7.85380197e-01 6.18651305e-01 -2.11780097e-02 4.36349431e+02] [-6.18408732e-01 7.85665513e-01 1.73303930e-02 -2.71337164e+02] [ 2.73603022e-02 -5.14281361e-04 9.99625505e-01 9.78785938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2227550959999 meters 0.020001701751150604 Centerline is valid? [True, True] Translation: X:436.40, Y:-271.38, Z:9.79 [[ 7.85477910e-01 6.18557108e-01 -2.02868536e-02 4.36398283e+02] [-6.18334259e-01 7.85739684e-01 1.66100389e-02 -2.71377500e+02] [ 2.62144436e-02 -5.02762081e-04 9.99656216e-01 9.78987809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.282755096 meters 0.019445439424884147 Centerline is valid? [True, True] Translation: X:436.45, Y:-271.42, Z:9.79 [[ 7.84429633e-01 6.19945992e-01 -1.83607909e-02 4.36446737e+02] [-6.19763628e-01 7.84644372e-01 1.50417630e-02 -2.71415645e+02] [ 2.37317720e-02 -4.19854251e-04 9.99718274e-01 9.79243548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3427550959999 meters 0.018607728449483916 Centerline is valid? [True, True] Translation: X:436.50, Y:-271.45, Z:9.79 [[ 7.82532585e-01 6.22399641e-01 -1.61691196e-02 4.36496663e+02] [-6.22258603e-01 7.82699554e-01 1.32529316e-02 -2.71452476e+02] [ 2.09041826e-02 -3.09477069e-04 9.99781436e-01 9.79488386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.402755096 meters 0.01832084111557926 Centerline is valid? [True, True] Translation: X:436.55, Y:-271.49, Z:9.80 [[ 7.81950232e-01 6.23150355e-01 -1.54100562e-02 4.36545061e+02] [-6.23022261e-01 7.82102012e-01 1.26374695e-02 -2.71490772e+02] [ 1.99272796e-02 -2.81064141e-04 9.99801393e-01 9.79598742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4627550959999 meters 0.017844331755144004 Centerline is valid? [True, True] Translation: X:436.59, Y:-271.53, Z:9.80 [[ 7.81371858e-01 6.23888135e-01 -1.48867221e-02 4.36594377e+02] [-6.23768603e-01 7.81513613e-01 1.22148504e-02 -2.71528765e+02] [ 1.92548762e-02 -2.58470491e-04 9.99814574e-01 9.79651329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.522755096 meters 0.018925630378107863 Centerline is valid? [True, True] Translation: X:436.64, Y:-271.57, Z:9.80 [[ 7.81900878e-01 6.23243153e-01 -1.41063716e-02 4.36640657e+02] [-6.23135606e-01 7.82028070e-01 1.15808088e-02 -2.71569384e+02] [ 1.82492383e-02 -2.64862170e-04 9.99833434e-01 9.79673465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5827550959999 meters 0.019747465790816657 Centerline is valid? [True, True] Translation: X:436.69, Y:-271.61, Z:9.80 [[ 7.83661811e-01 6.21027981e-01 -1.40859046e-02 4.36688299e+02] [-6.20920323e-01 7.83788329e-01 1.15675392e-02 -2.71609927e+02] [ 1.82241332e-02 -3.18814258e-04 9.99833876e-01 9.79604307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.642755096 meters 0.020651706642440724 Centerline is valid? [True, True] Translation: X:436.74, Y:-271.65, Z:9.80 [[ 7.85249331e-01 6.19052640e-01 -1.25426357e-02 4.36736472e+02] [-6.18966948e-01 7.85349426e-01 1.03051487e-02 -2.71649348e+02] [ 1.62297812e-02 -3.28634234e-04 9.99868234e-01 9.79716248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7027550959999 meters 0.021363181220300495 Centerline is valid? [True, True] Translation: X:436.78, Y:-271.69, Z:9.80 [[ 7.85745244e-01 6.18440553e-01 -1.16487837e-02 4.36784138e+02] [-6.18366498e-01 7.85831521e-01 9.57571146e-03 -2.71689424e+02] [ 1.50759897e-02 -3.20852170e-04 9.99886299e-01 9.79815088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.762755096 meters 0.02130894943852538 Centerline is valid? [True, True] Translation: X:436.83, Y:-271.73, Z:9.80 [[ 7.85206618e-01 6.19139699e-01 -1.07981605e-02 4.36833827e+02] [-6.19076072e-01 7.85280810e-01 8.88072175e-03 -2.71728673e+02] [ 1.39779956e-02 -2.88318703e-04 9.99902261e-01 9.79902822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8227550959999 meters 0.020734267045830392 Centerline is valid? [True, True] Translation: X:436.88, Y:-271.76, Z:9.80 [[ 7.83479559e-01 6.21328337e-01 -1.05298528e-02 4.36882486e+02] [-6.21267933e-01 7.83550276e-01 8.66714204e-03 -2.71764576e+02] [ 1.36358100e-02 -2.48668732e-04 9.99906997e-01 9.79966196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.882755096 meters 0.018736043157484165 Centerline is valid? [True, True] Translation: X:436.93, Y:-271.80, Z:9.80 [[ 7.81330775e-01 6.24021943e-01 -1.09011242e-02 4.36934247e+02] [-6.23957481e-01 7.81406790e-01 8.97166532e-03 -2.71799891e+02] [ 1.41167285e-02 -2.08000226e-04 9.99900332e-01 9.79891571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9427550959999 meters 0.018340822594196605 Centerline is valid? [True, True] Translation: X:436.98, Y:-271.84, Z:9.80 [[ 7.80162703e-01 6.25470483e-01 -1.15252449e-02 4.36982739e+02] [-6.25398498e-01 7.80247804e-01 9.49116458e-03 -2.71837502e+02] [ 1.49289903e-02 -1.96781768e-04 9.99888537e-01 9.79902871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.002755096 meters 0.017962730005288682 Centerline is valid? [True, True] Translation: X:437.03, Y:-271.88, Z:9.80 [[ 7.79998512e-01 6.25678800e-01 -1.13296066e-02 4.37033073e+02] [-6.25609196e-01 7.80080766e-01 9.33443718e-03 -2.71875716e+02] [ 1.46783677e-02 -1.92941002e-04 9.99892248e-01 9.79841768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0627550959999 meters 0.019169701022645366 Centerline is valid? [True, True] Translation: X:437.08, Y:-271.92, Z:9.80 [[ 7.81891400e-01 6.23332646e-01 -1.01119021e-02 4.37078776e+02] [-6.23276940e-01 7.81956755e-01 8.33608762e-03 -2.71918271e+02] [ 1.31032257e-02 -2.15399801e-04 9.99914126e-01 9.79990534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.122755096 meters 0.0203887595980382 Centerline is valid? [True, True] Translation: X:437.12, Y:-271.96, Z:9.80 [[ 7.83842367e-01 6.20892781e-01 -9.12682484e-03 4.37124532e+02] [-6.20847192e-01 7.83895465e-01 7.52758305e-03 -2.71960128e+02] [ 1.18282986e-02 -2.34074944e-04 9.99930016e-01 9.80163782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1827550959999 meters 0.02394212079638156 Centerline is valid? [True, True] Translation: X:437.17, Y:-272.00, Z:9.80 [[ 7.87062863e-01 6.16820079e-01 -8.06472422e-03 4.37169313e+02] [-6.16784212e-01 7.87104135e-01 6.65700725e-03 -2.72001893e+02] [ 1.04539535e-02 -2.65288615e-04 9.99945321e-01 9.80087243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.242755096 meters 0.02326702367567249 Centerline is valid? [True, True] Translation: X:437.22, Y:-272.04, Z:9.80 [[ 7.87907963e-01 6.15748089e-01 -7.43858497e-03 4.37217080e+02] [-6.15717550e-01 7.87943034e-01 6.13788302e-03 -2.72042146e+02] [ 9.64057095e-03 -2.56019596e-04 9.99953496e-01 9.80345397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3027550959999 meters 0.02306514244885083 Centerline is valid? [True, True] Translation: X:437.27, Y:-272.08, Z:9.80 [[ 7.87131678e-01 6.16744057e-01 -7.10570087e-03 4.37266068e+02] [-6.16716203e-01 7.87163715e-01 5.86616668e-03 -2.72080050e+02] [ 9.21127333e-03 -2.35244764e-04 9.99957548e-01 9.80303379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.362755096 meters 0.02122468676010484 Centerline is valid? [True, True] Translation: X:437.32, Y:-272.12, Z:9.80 [[ 7.84710975e-01 6.19814480e-01 -7.66134617e-03 4.37317167e+02] [-6.19782204e-01 7.84748343e-01 6.32903606e-03 -2.72115687e+02] [ 9.93505691e-03 -2.18098037e-04 9.99950622e-01 9.80314002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.422755096 meters 0.02008014752196089 Centerline is valid? [True, True] Translation: X:437.37, Y:-272.15, Z:9.80 [[ 7.82129855e-01 6.23064069e-01 -8.00340797e-03 4.37367146e+02] [-6.23028974e-01 7.82170781e-01 6.61571089e-03 -2.72152498e+02] [ 1.03820436e-02 -1.87989946e-04 9.99946087e-01 9.80369313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.482755096 meters 0.020122451268259834 Centerline is valid? [True, True] Translation: X:437.41, Y:-272.19, Z:9.81 [[ 7.81499535e-01 6.23856896e-01 -7.81353329e-03 4.37414771e+02] [-6.23823450e-01 7.81538574e-01 6.46227532e-03 -2.72192529e+02] [ 1.01381127e-02 -1.75999867e-04 9.99948593e-01 9.80509259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.542755096 meters 0.019982513307785176 Centerline is valid? [True, True] Translation: X:437.46, Y:-272.23, Z:9.81 [[ 7.81261682e-01 6.24166014e-01 -6.85353493e-03 4.37463274e+02] [-6.24140278e-01 7.81291727e-01 5.67008908e-03 -2.72232064e+02] [ 8.89368704e-03 -1.52256132e-04 9.99960439e-01 9.80726479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6027550959999 meters 0.023406641472140922 Centerline is valid? [True, True] Translation: X:437.51, Y:-272.27, Z:9.81 [[ 7.81694151e-01 6.23628427e-01 -6.46834684e-03 4.37508477e+02] [-6.23605451e-01 7.81720898e-01 5.35526016e-03 -2.72273270e+02] [ 8.39613437e-03 -1.52479193e-04 9.99964740e-01 9.80701420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.662755096 meters 0.02170930419765675 Centerline is valid? [True, True] Translation: X:437.55, Y:-272.31, Z:9.81 [[ 7.82627334e-01 6.22456943e-01 -6.46604847e-03 4.37554052e+02] [-6.22433889e-01 7.82654027e-01 5.35985116e-03 -2.72312176e+02] [ 8.39695544e-03 -1.70078329e-04 9.99964730e-01 9.80938821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7227550959999 meters 0.021088470838101666 Centerline is valid? [True, True] Translation: X:437.60, Y:-272.35, Z:9.81 [[ 7.82474706e-01 6.22638956e-01 -7.35286426e-03 4.37602667e+02] [-6.22609197e-01 7.82509230e-01 6.09037453e-03 -2.72351431e+02] [ 9.54578859e-03 -1.87603109e-04 9.99954420e-01 9.80893211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.782755096 meters 0.022033941711187714 Centerline is valid? [True, True] Translation: X:437.65, Y:-272.39, Z:9.81 [[ 7.82118839e-01 6.23084633e-01 -7.46077196e-03 4.37647445e+02] [-6.23053935e-01 7.82154399e-01 6.18789502e-03 -2.72389245e+02] [ 9.69105790e-03 -1.91205938e-04 9.99953022e-01 9.81055924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8427550959999 meters 0.0209198096978318 Centerline is valid? [True, True] Translation: X:437.70, Y:-272.43, Z:9.81 [[ 7.81760560e-01 6.23521515e-01 -8.44678688e-03 4.37695005e+02] [-6.23482205e-01 7.81806163e-01 7.00451590e-03 -2.72425725e+02] [ 1.09712164e-02 -2.09432961e-04 9.99939792e-01 9.81002581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.902755096 meters 0.020696011425555005 Centerline is valid? [True, True] Translation: X:437.74, Y:-272.46, Z:9.81 [[ 7.81134337e-01 6.24308140e-01 -8.27609420e-03 4.37742689e+02] [-6.24270485e-01 7.81178155e-01 6.85936904e-03 -2.72464875e+02] [ 1.07474639e-02 -1.91567349e-04 9.99942226e-01 9.81081099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9627550959999 meters 0.020376207765056033 Centerline is valid? [True, True] Translation: X:437.79, Y:-272.50, Z:9.81 [[ 7.80089657e-01 6.25605578e-01 -8.81971740e-03 4.37791580e+02] [-6.25562846e-01 7.80139491e-01 7.31438890e-03 -2.72503377e+02] [ 1.14565323e-02 -1.88591617e-04 9.99934354e-01 9.81175395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.022755096 meters 0.019925820694316528 Centerline is valid? [True, True] Translation: X:437.84, Y:-272.54, Z:9.81 [[ 7.79579934e-01 6.26237704e-01 -9.02573298e-03 4.37839105e+02] [-6.26192916e-01 7.79632158e-01 7.49196052e-03 -2.72540551e+02] [ 1.17284998e-02 -1.88732032e-04 9.99931201e-01 9.81277950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0827550959999 meters 0.020199103699134455 Centerline is valid? [True, True] Translation: X:437.88, Y:-272.58, Z:9.81 [[ 7.79668428e-01 6.26121540e-01 -9.43179547e-03 4.37883517e+02] [-6.26072612e-01 7.79725450e-01 7.82988042e-03 -2.72577049e+02] [ 1.22566678e-02 -1.99721735e-04 9.99924864e-01 9.81394660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.142755096 meters 0.020759120724915057 Centerline is valid? [True, True] Translation: X:437.93, Y:-272.62, Z:9.81 [[ 7.80447372e-01 6.25149608e-01 -9.47989666e-03 4.37928848e+02] [-6.25100132e-01 7.80504915e-01 7.86782189e-03 -2.72615143e+02] [ 1.23176717e-02 -2.14536261e-04 9.99924112e-01 9.81475164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2027550959999 meters 0.021668046568925965 Centerline is valid? [True, True] Translation: X:437.97, Y:-272.65, Z:9.81 [[ 7.81925146e-01 6.23281722e-01 -1.06283409e-02 4.37974224e+02] [-6.23219381e-01 7.81997328e-01 8.81938981e-03 -2.72653248e+02] [ 1.38082987e-02 -2.72314614e-04 9.99904624e-01 9.81487009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.262755096 meters 0.02272804807469707 Centerline is valid? [True, True] Translation: X:438.02, Y:-272.69, Z:9.82 [[ 7.82478473e-01 6.22569298e-01 -1.16150275e-02 4.38017776e+02] [-6.22494790e-01 7.82564613e-01 9.63657128e-03 -2.72691014e+02] [ 1.50889429e-02 -3.10115452e-04 9.99886107e-01 9.81551698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3227550959999 meters 0.021308604904126234 Centerline is valid? [True, True] Translation: X:438.07, Y:-272.73, Z:9.82 [[ 7.82430885e-01 6.22624890e-01 -1.18387929e-02 4.38068351e+02] [-6.22547544e-01 7.82520382e-01 9.81871244e-03 -2.72729202e+02] [ 1.53774715e-02 -3.12252440e-04 9.99881711e-01 9.81596358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.382755096 meters 0.02114575554163517 Centerline is valid? [True, True] Translation: X:438.12, Y:-272.77, Z:9.82 [[ 7.81799214e-01 6.23395101e-01 -1.29821515e-02 4.38115296e+02] [-6.23302059e-01 7.81906924e-01 1.07752450e-02 -2.72767952e+02] [ 1.68680691e-02 -3.32276311e-04 9.99857669e-01 9.81610728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4427550959999 meters 0.019943982347144992 Centerline is valid? [True, True] Translation: X:438.16, Y:-272.81, Z:9.82 [[ 7.80198246e-01 6.25373707e-01 -1.40863195e-02 4.38164677e+02] [-6.25264467e-01 7.80325334e-01 1.16926851e-02 -2.72806342e+02] [ 1.83042098e-02 -3.14937335e-04 9.99832414e-01 9.81561860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.502755096 meters 0.019701477404553424 Centerline is valid? [True, True] Translation: X:438.21, Y:-272.84, Z:9.82 [[ 7.78969113e-01 6.26877271e-01 -1.52318368e-02 4.38211717e+02] [-6.26749677e-01 7.79117958e-01 1.26510667e-02 -2.72843999e+02] [ 1.97980638e-02 -3.08241365e-04 9.99803952e-01 9.81511978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5627550959999 meters 0.01901721530662288 Centerline is valid? [True, True] Translation: X:438.26, Y:-272.88, Z:9.82 [[ 7.77727288e-01 6.28398254e-01 -1.59968689e-02 4.38258461e+02] [-6.28257788e-01 7.77891736e-01 1.32890273e-02 -2.72881717e+02] [ 2.07946337e-02 -2.85081663e-04 9.99783728e-01 9.81522125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.622755096 meters 0.018995784189250232 Centerline is valid? [True, True] Translation: X:438.30, Y:-272.92, Z:9.82 [[ 7.77183724e-01 6.29072202e-01 -1.59255703e-02 4.38301678e+02] [-6.28933153e-01 7.77346830e-01 1.32285681e-02 -2.72920694e+02] [ 2.07014160e-02 -2.64908701e-04 9.99785668e-01 9.81675199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6827550959999 meters 0.018922072052626648 Centerline is valid? [True, True] Translation: X:438.35, Y:-272.96, Z:9.82 [[ 7.77463668e-01 6.28733439e-01 -1.56367390e-02 4.38346472e+02] [-6.28599368e-01 7.77620853e-01 1.29862554e-02 -2.72959964e+02] [ 2.03243473e-02 -2.67097498e-04 9.99793403e-01 9.81886125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.742755096 meters 0.019840450663828477 Centerline is valid? [True, True] Translation: X:438.39, Y:-273.00, Z:9.82 [[ 7.78784645e-01 6.27109026e-01 -1.51243281e-02 4.38387534e+02] [-6.26983312e-01 7.78931435e-01 1.25596996e-02 -2.73002152e+02] [ 1.96571156e-02 -2.98599919e-04 9.99806736e-01 9.82150453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8027550959999 meters 0.02057315438074343 Centerline is valid? [True, True] Translation: X:438.43, Y:-273.04, Z:9.82 [[ 7.80619111e-01 6.24839240e-01 -1.44819522e-02 4.38429403e+02] [-6.24723614e-01 7.80753359e-01 1.20248979e-02 -2.73044422e+02] [ 1.88204609e-02 -3.39647605e-04 9.99822822e-01 9.82438813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.862755096 meters 0.020492409924932627 Centerline is valid? [True, True] Translation: X:438.47, Y:-273.09, Z:9.83 [[ 7.81421563e-01 6.23835603e-01 -1.44734309e-02 4.38474325e+02] [-6.23719964e-01 7.81555506e-01 1.20165942e-02 -2.73087423e+02] [ 1.88081689e-02 -3.62658010e-04 9.99823045e-01 9.82586989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.922755096 meters 0.020570708656602345 Centerline is valid? [True, True] Translation: X:438.52, Y:-273.13, Z:9.83 [[ 7.80811069e-01 6.24587343e-01 -1.49908511e-02 4.38520971e+02] [-6.24463286e-01 7.80954877e-01 1.24533358e-02 -2.73128455e+02] [ 1.94853742e-02 -3.62466330e-04 9.99810076e-01 9.82643323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.982755096 meters 0.018990123359859407 Centerline is valid? [True, True] Translation: X:438.57, Y:-273.16, Z:9.83 [[ 7.78046725e-01 6.28024590e-01 -1.51131709e-02 4.38569173e+02] [-6.27899019e-01 7.78193442e-01 1.25613881e-02 -2.73163806e+02] [ 1.96498311e-02 -2.83801756e-04 9.99806883e-01 9.82614080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.042755096 meters 0.01762288466024275 Centerline is valid? [True, True] Translation: X:438.62, Y:-273.20, Z:9.83 [[ 7.75205115e-01 6.31490010e-01 -1.66552663e-02 4.38617417e+02] [-6.31338324e-01 7.75383983e-01 1.38419458e-02 -2.73199694e+02] [ 2.16552772e-02 -2.15239290e-04 9.99765474e-01 9.82532661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1027550959999 meters 0.017014391804950176 Centerline is valid? [True, True] Translation: X:438.66, Y:-273.23, Z:9.83 [[ 7.73278747e-01 6.33828076e-01 -1.73766999e-02 4.38664579e+02] [-6.33663583e-01 7.73473947e-01 1.44401356e-02 -2.73234336e+02] [ 2.25929880e-02 -1.55268074e-04 9.99744734e-01 9.82541659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.162755096 meters 0.01690096345976758 Centerline is valid? [True, True] Translation: X:438.71, Y:-273.27, Z:9.83 [[ 7.73238284e-01 6.33895942e-01 -1.66880514e-02 4.38711782e+02] [-6.33744292e-01 7.73418330e-01 1.38657624e-02 -2.73270163e+02] [ 2.16962953e-02 -1.45580981e-04 9.99764597e-01 9.82741495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2227550959999 meters 0.01709475748927045 Centerline is valid? [True, True] Translation: X:438.76, Y:-273.31, Z:9.83 [[ 7.74100576e-01 6.32889896e-01 -1.47877462e-02 4.38756662e+02] [-6.32770669e-01 7.74241794e-01 1.22851228e-02 -2.73307662e+02] [ 1.92244212e-02 -1.52668624e-04 9.99815182e-01 9.83139424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.282755096 meters 0.017822250474951614 Centerline is valid? [True, True] Translation: X:438.80, Y:-273.35, Z:9.83 [[ 7.76064712e-01 6.30497409e-01 -1.40206587e-02 4.38799831e+02] [-6.30389872e-01 7.76191328e-01 1.16461235e-02 -2.73348116e+02] [ 1.82255644e-02 -1.99664208e-04 9.99833881e-01 9.83381967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3427550959999 meters 0.020374887660243406 Centerline is valid? [True, True] Translation: X:438.84, Y:-273.39, Z:9.83 [[ 7.77372894e-01 6.28886721e-01 -1.38879429e-02 4.38844537e+02] [-6.28780985e-01 7.77496905e-01 1.15341209e-02 -2.73386984e+02] [ 1.80514881e-02 -2.33838558e-04 9.99837031e-01 9.83279794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.402755096 meters 0.019472464683180646 Centerline is valid? [True, True] Translation: X:438.89, Y:-273.43, Z:9.84 [[ 7.79271864e-01 6.26557632e-01 -1.26844375e-02 4.38888049e+02] [-6.26469143e-01 7.79375048e-01 1.05331603e-02 -2.73425397e+02] [ 1.64855660e-02 -2.61786760e-04 9.99864070e-01 9.83681595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4627550959999 meters 0.020988592855040407 Centerline is valid? [True, True] Translation: X:438.93, Y:-273.46, Z:9.84 [[ 7.80945748e-01 6.24454800e-01 -1.34141903e-02 4.38931066e+02] [-6.24355564e-01 7.81060880e-01 1.11368949e-02 -2.73464547e+02] [ 1.74317867e-02 -3.22086406e-04 9.99848003e-01 9.83740949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.522755096 meters 0.021453897204348944 Centerline is valid? [True, True] Translation: X:438.98, Y:-273.50, Z:9.84 [[ 7.81196814e-01 6.24115632e-01 -1.45332471e-02 4.38975519e+02] [-6.23999134e-01 7.81331909e-01 1.20635439e-02 -2.73502351e+02] [ 1.88843360e-02 -3.55268475e-04 9.99821612e-01 9.83694745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5827550959999 meters 0.01933773669059568 Centerline is valid? [True, True] Translation: X:439.03, Y:-273.54, Z:9.84 [[ 7.80573818e-01 6.24875192e-01 -1.53463261e-02 4.39026426e+02] [-6.24745473e-01 7.80724579e-01 1.27367538e-02 -2.73538190e+02] [ 1.99401355e-02 -3.54428741e-04 9.99801113e-01 9.83622864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.642755096 meters 0.018989736130506956 Centerline is valid? [True, True] Translation: X:439.07, Y:-273.58, Z:9.84 [[ 7.79449083e-01 6.26268080e-01 -1.57295709e-02 4.39074952e+02] [-6.26131931e-01 7.79607710e-01 1.30623171e-02 -2.73575512e+02] [ 2.04434070e-02 -3.32624482e-04 9.99790956e-01 9.83615192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7027550959999 meters 0.0185201456756293 Centerline is valid? [True, True] Translation: X:439.12, Y:-273.61, Z:9.84 [[ 7.78863762e-01 6.26982845e-01 -1.62404422e-02 4.39124545e+02] [-6.26837707e-01 7.79032992e-01 1.34939423e-02 -2.73614801e+02] [ 2.11123106e-02 -3.29821167e-04 9.99777056e-01 9.83664330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.762755096 meters 0.018897208072536656 Centerline is valid? [True, True] Translation: X:439.17, Y:-273.65, Z:9.84 [[ 7.78761832e-01 6.27100364e-01 -1.65874326e-02 4.39170466e+02] [-6.26948813e-01 7.78938392e-01 1.37901258e-02 -2.73653174e+02] [ 2.15683810e-02 -3.39752485e-04 9.99767318e-01 9.83681148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8227550959999 meters 0.019539157839356155 Centerline is valid? [True, True] Translation: X:439.22, Y:-273.69, Z:9.84 [[ 7.79399983e-01 6.26308889e-01 -1.65179526e-02 4.39215887e+02] [-6.26158422e-01 7.79574914e-01 1.37325871e-02 -2.73691142e+02] [ 2.14778228e-02 -3.60322973e-04 9.99769260e-01 9.83733356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.882755096 meters 0.019285198986894833 Centerline is valid? [True, True] Translation: X:439.26, Y:-273.73, Z:9.84 [[ 7.80717118e-01 6.24651241e-01 -1.70765508e-02 4.39264663e+02] [-6.24490038e-01 7.80903740e-01 1.41965307e-02 -2.73729886e+02] [ 2.22030229e-02 -4.19338705e-04 9.99753395e-01 9.83762542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9427550959999 meters 0.02177776173957898 Centerline is valid? [True, True] Translation: X:439.31, Y:-273.77, Z:9.84 [[ 7.81747054e-01 6.23346904e-01 -1.76119385e-02 4.39308458e+02] [-6.23174907e-01 7.81945272e-01 1.46501319e-02 -2.73772321e+02] [ 2.29036865e-02 -4.77379341e-04 9.99737562e-01 9.83775600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.002755096 meters 0.023469680092232572 Centerline is valid? [True, True] Translation: X:439.35, Y:-273.81, Z:9.84 [[ 7.83299421e-01 6.21372683e-01 -1.83849672e-02 4.39351958e+02] [-6.21184566e-01 7.83514947e-01 1.52990954e-02 -2.73812533e+02] [ 2.39113366e-02 -5.63314704e-04 9.99713924e-01 9.83777030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0627550959999 meters 0.024706281845999004 Centerline is valid? [True, True] Translation: X:439.39, Y:-273.85, Z:9.84 [[ 7.84301821e-01 6.20106634e-01 -1.83960802e-02 4.39394325e+02] [-6.19918002e-01 7.84517305e-01 1.53058478e-02 -2.73851244e+02] [ 2.39233011e-02 -6.00343028e-04 9.99713617e-01 9.83901957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.122755096 meters 0.022426085604369508 Centerline is valid? [True, True] Translation: X:439.44, Y:-273.89, Z:9.84 [[ 7.85069334e-01 6.19127196e-01 -1.86455583e-02 4.39444904e+02] [-6.18933147e-01 7.85290461e-01 1.55129423e-02 -2.73887428e+02] [ 2.42466636e-02 -6.38381172e-04 9.99705803e-01 9.84108243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1827550959999 meters 0.02298891663915223 Centerline is valid? [True, True] Translation: X:439.49, Y:-273.93, Z:9.84 [[ 7.85032259e-01 6.19193667e-01 -1.79876449e-02 4.39492059e+02] [-6.19012910e-01 7.85238065e-01 1.49732435e-02 -2.73927699e+02] [ 2.33959211e-02 -6.19894738e-04 9.99726086e-01 9.84307860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.242755096 meters 0.02223709226641265 Centerline is valid? [True, True] Translation: X:439.54, Y:-273.97, Z:9.85 [[ 7.84655181e-01 6.19699629e-01 -1.69887038e-02 4.39540236e+02] [-6.19538386e-01 7.84838861e-01 1.41474621e-02 -2.73966823e+02] [ 2.21005720e-02 -5.75725296e-04 9.99755587e-01 9.84593873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3027550959999 meters 0.021947120336517943 Centerline is valid? [True, True] Translation: X:439.59, Y:-274.01, Z:9.85 [[ 7.83873611e-01 6.20698969e-01 -1.65817047e-02 4.39588135e+02] [-6.20545418e-01 7.84048786e-01 1.38161435e-02 -2.74006206e+02] [ 2.15765315e-02 -5.40409377e-04 9.99767053e-01 9.84706886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.362755096 meters 0.020458709662115552 Centerline is valid? [True, True] Translation: X:439.64, Y:-274.04, Z:9.85 [[ 7.81177244e-01 6.24077709e-01 -1.70037214e-02 4.39635451e+02] [-6.23916895e-01 7.81362143e-01 1.41742592e-02 -2.74041144e+02] [ 2.21319034e-02 -4.63699697e-04 9.99754952e-01 9.84731550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.422755096 meters 0.01859781594647059 Centerline is valid? [True, True] Translation: X:439.68, Y:-274.07, Z:9.85 [[ 7.78091335e-01 6.27939794e-01 -1.62938434e-02 4.39684145e+02] [-6.27793006e-01 7.78261846e-01 1.35808950e-02 -2.74074897e+02] [ 2.12088610e-02 -3.38015817e-04 9.99775010e-01 9.84854946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.482755096 meters 0.017873846069405234 Centerline is valid? [True, True] Translation: X:439.73, Y:-274.11, Z:9.85 [[ 7.76473611e-01 6.29920805e-01 -1.69856165e-02 4.39729823e+02] [-6.29761812e-01 7.76659316e-01 1.41551073e-02 -2.74110067e+02] [ 2.21086339e-02 -2.94174699e-04 9.99755531e-01 9.84905637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.542755096 meters 0.017745054821954657 Centerline is valid? [True, True] Translation: X:439.77, Y:-274.15, Z:9.85 [[ 7.76118544e-01 6.30354988e-01 -1.71054111e-02 4.39773952e+02] [-6.30193910e-01 7.76306969e-01 1.42521886e-02 -2.74146912e+02] [ 2.22629880e-02 -2.81661982e-04 9.99752109e-01 9.84963953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6027550959999 meters 0.01813674737427135 Centerline is valid? [True, True] Translation: X:439.82, Y:-274.19, Z:9.85 [[ 7.77534247e-01 6.28619521e-01 -1.66730975e-02 4.39817470e+02] [-6.28466139e-01 7.77712926e-01 1.38894884e-02 -2.74185965e+02] [ 2.16980870e-02 -3.21075683e-04 9.99764517e-01 9.85180481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.662755096 meters 0.01841756738165671 Centerline is valid? [True, True] Translation: X:439.86, Y:-274.23, Z:9.85 [[ 7.78689467e-01 6.27193622e-01 -1.64583017e-02 4.39863413e+02] [-6.27043886e-01 7.78863297e-01 1.37087357e-02 -2.74225752e+02] [ 2.14167987e-02 -3.54770654e-04 9.99770571e-01 9.85371373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7227550959999 meters 0.01951495085471639 Centerline is valid? [True, True] Translation: X:439.91, Y:-274.27, Z:9.85 [[ 7.79993044e-01 6.25575574e-01 -1.63110958e-02 4.39906756e+02] [-6.25428156e-01 7.80163473e-01 1.35859100e-02 -2.74265311e+02] [ 2.12243346e-02 -3.95496717e-04 9.99774660e-01 9.85433417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.782755096 meters 0.019907194468858476 Centerline is valid? [True, True] Translation: X:439.95, Y:-274.30, Z:9.86 [[ 7.80227081e-01 6.25286933e-01 -1.61849571e-02 4.39950109e+02] [-6.25141761e-01 7.80394831e-01 1.34791419e-02 -2.74303114e+02] [ 2.10589881e-02 -3.98898985e-04 9.99778155e-01 9.85533206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8427550959999 meters 0.01958490196260737 Centerline is valid? [True, True] Translation: X:440.00, Y:-274.34, Z:9.86 [[ 7.79522630e-01 6.26174406e-01 -1.58139641e-02 4.39995429e+02] [-6.26036046e-01 7.79682935e-01 1.31677430e-02 -2.74339941e+02] [ 2.05751816e-02 -3.64442109e-04 9.99788242e-01 9.85664974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.902755096 meters 0.018594124864615688 Centerline is valid? [True, True] Translation: X:440.04, Y:-274.37, Z:9.86 [[ 7.77579564e-01 6.28597867e-01 -1.53213455e-02 4.40041796e+02] [-6.28468500e-01 7.77730441e-01 1.27556314e-02 -2.74374598e+02] [ 1.99340395e-02 -2.89535297e-04 9.99801255e-01 9.85867654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9627550959999 meters 0.01752473252758683 Centerline is valid? [True, True] Translation: X:440.09, Y:-274.41, Z:9.86 [[ 7.75673006e-01 6.30975507e-01 -1.41879170e-02 4.40088698e+02] [-6.30865009e-01 7.75802723e-01 1.18099555e-02 -2.74409798e+02] [ 1.84588173e-02 -2.10003325e-04 9.99829599e-01 9.86141220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.022755096 meters 0.016951602717378104 Centerline is valid? [True, True] Translation: X:440.13, Y:-274.45, Z:9.86 [[ 7.74487376e-01 6.32420957e-01 -1.45958210e-02 4.40133411e+02] [-6.32304305e-01 7.74624877e-01 1.21476419e-02 -2.74446347e+02] [ 1.89887094e-02 -1.79194878e-04 9.99819682e-01 9.86242812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0827550959999 meters 0.01697578319493087 Centerline is valid? [True, True] Translation: X:440.18, Y:-274.48, Z:9.86 [[ 7.74598756e-01 6.32290217e-01 -1.43474351e-02 4.40178081e+02] [-6.32177520e-01 7.74731599e-01 1.19387261e-02 -2.74483180e+02] [ 1.86641510e-02 -1.77596440e-04 9.99825794e-01 9.86451302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.142755096 meters 0.016549811432998475 Centerline is valid? [True, True] Translation: X:440.22, Y:-274.52, Z:9.87 [[ 7.74820658e-01 6.32021810e-01 -1.41908478e-02 4.40224849e+02] [-6.31911638e-01 7.74950580e-01 1.18017324e-02 -2.74519241e+02] [ 1.84561580e-02 -1.76864201e-04 9.99829655e-01 9.86680511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2027550959999 meters 0.017511308373620128 Centerline is valid? [True, True] Translation: X:440.27, Y:-274.56, Z:9.87 [[ 7.75204175e-01 6.31568702e-01 -1.33963215e-02 4.40268199e+02] [-6.31470483e-01 7.75319898e-01 1.11393437e-02 -2.74558227e+02] [ 1.74216954e-02 -1.75884123e-04 9.99848215e-01 9.87018863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.262755096 meters 0.017045700782604086 Centerline is valid? [True, True] Translation: X:440.32, Y:-274.59, Z:9.87 [[ 7.76181682e-01 6.30383846e-01 -1.25778808e-02 4.40315490e+02] [-6.30297141e-01 7.76283564e-01 1.04566880e-02 -2.74593282e+02] [ 1.63557293e-02 -1.88487395e-04 9.99866218e-01 9.87213463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3227550959999 meters 0.01786234763501815 Centerline is valid? [True, True] Translation: X:440.36, Y:-274.63, Z:9.87 [[ 7.77569176e-01 6.28676570e-01 -1.23266560e-02 4.40360658e+02] [-6.28593105e-01 7.77666845e-01 1.02462579e-02 -2.74631176e+02] [ 1.60276139e-02 -2.18723362e-04 9.99871526e-01 9.87398715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.382755096 meters 0.01843956924935621 Centerline is valid? [True, True] Translation: X:440.41, Y:-274.67, Z:9.88 [[ 7.79042439e-01 6.26845107e-01 -1.25734180e-02 4.40405070e+02] [-6.26758055e-01 7.79143853e-01 1.04497106e-02 -2.74669208e+02] [ 1.63468513e-02 -2.60277055e-04 9.99866347e-01 9.87553289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4427550959999 meters 0.019106831820481535 Centerline is valid? [True, True] Translation: X:440.45, Y:-274.71, Z:9.88 [[ 7.80519885e-01 6.24996985e-01 -1.29413160e-02 4.40452163e+02] [-6.24904540e-01 7.80627104e-01 1.07536517e-02 -2.74706378e+02] [ 1.68233419e-02 -3.06351910e-04 9.99858431e-01 9.87640390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.502755096 meters 0.020169205044525223 Centerline is valid? [True, True] Translation: X:440.50, Y:-274.74, Z:9.88 [[ 7.81493199e-01 6.23764980e-01 -1.36246373e-02 4.40496817e+02] [-6.23662342e-01 7.81611878e-01 1.13205784e-02 -2.74742400e+02] [ 1.77105587e-02 -3.49781797e-04 9.99843095e-01 9.87651056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5627550959999 meters 0.02012186036363365 Centerline is valid? [True, True] Translation: X:440.54, Y:-274.78, Z:9.88 [[ 7.82016362e-01 6.23089542e-01 -1.44855662e-02 4.40544129e+02] [-6.22973463e-01 7.82150416e-01 1.20329386e-02 -2.74777245e+02] [ 1.88274899e-02 -3.85831551e-04 9.99822673e-01 9.87612612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.622755096 meters 0.01910805868776891 Centerline is valid? [True, True] Translation: X:440.59, Y:-274.81, Z:9.88 [[ 7.81381217e-01 6.23869158e-01 -1.51877526e-02 4.40594675e+02] [-6.23741726e-01 7.81528711e-01 1.26147836e-02 -2.74812953e+02] [ 1.97396391e-02 -3.83719986e-04 9.99805081e-01 9.87616390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6827550959999 meters 0.018543613585019478 Centerline is valid? [True, True] Translation: X:440.64, Y:-274.85, Z:9.88 [[ 7.80460248e-01 6.25024425e-01 -1.50422633e-02 4.40643575e+02] [-6.24899507e-01 7.80605112e-01 1.25006107e-02 -2.74846784e+02] [ 1.95552547e-02 -3.56326850e-04 9.99808714e-01 9.87708255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.742755096 meters 0.01881660437806083 Centerline is valid? [True, True] Translation: X:440.69, Y:-274.88, Z:9.88 [[ 7.80438440e-01 6.25053138e-01 -1.49805330e-02 4.40689819e+02] [-6.24929269e-01 7.80582122e-01 1.24482495e-02 -2.74883291e+02] [ 1.94743537e-02 -3.53318842e-04 9.99810294e-01 9.87866123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8027550959999 meters 0.018911853234917914 Centerline is valid? [True, True] Translation: X:440.74, Y:-274.92, Z:9.88 [[ 7.81377933e-01 6.23861929e-01 -1.56466698e-02 4.40738902e+02] [-6.23726599e-01 7.81534474e-01 1.29998191e-02 -2.74918993e+02] [ 2.03385041e-02 -3.98527647e-04 9.99793072e-01 9.87901480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.862755096 meters 0.019749193483862008 Centerline is valid? [True, True] Translation: X:440.79, Y:-274.95, Z:9.88 [[ 7.83035726e-01 6.21777814e-01 -1.57290300e-02 4.40787337e+02] [-6.21640636e-01 7.83193554e-01 1.30681394e-02 -2.74954464e+02] [ 2.04443541e-02 -4.55015743e-04 9.99790889e-01 9.87921660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.922755096 meters 0.021285534791364705 Centerline is valid? [True, True] Translation: X:440.83, Y:-274.99, Z:9.88 [[ 7.84155273e-01 6.20349777e-01 -1.63297795e-02 4.40832010e+02] [-6.20201639e-01 7.84325120e-01 1.35658863e-02 -2.74991013e+02] [ 2.12234508e-02 -5.10005237e-04 9.99774627e-01 9.87913947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.982755096 meters 0.021942452394529 Centerline is valid? [True, True] Translation: X:440.88, Y:-275.03, Z:9.88 [[ 7.86299060e-01 6.17612802e-01 -1.69768854e-02 4.40880156e+02] [-6.17452109e-01 7.86482079e-01 1.41007988e-02 -2.75026077e+02] [ 2.20608500e-02 -6.05031129e-04 9.99756447e-01 9.87873362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.042755096 meters 0.023590832059896417 Centerline is valid? [True, True] Translation: X:440.93, Y:-275.06, Z:9.88 [[ 7.88497102e-01 6.14808876e-01 -1.68037727e-02 4.40927331e+02] [-6.14650831e-01 7.88675846e-01 1.39558818e-02 -2.75062303e+02] [ 2.18329297e-02 -6.75719546e-04 9.99761405e-01 9.87930817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1027550959999 meters 0.028785300772587345 Centerline is valid? [True, True] Translation: X:440.97, Y:-275.10, Z:9.88 [[ 7.89758461e-01 6.13222665e-01 -1.54769613e-02 4.40968096e+02] [-6.13088321e-01 7.89909821e-01 1.28524056e-02 -2.75103470e+02] [ 2.01067901e-02 -6.61551801e-04 9.99797619e-01 9.88138911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.162755096 meters 0.025268434406116844 Centerline is valid? [True, True] Translation: X:441.33, Y:-274.69, Z:11.05 [[ 7.97271633e-01 -6.03447727e-01 1.44493225e-02 4.41331182e+02] [-6.03329801e-01 -7.97402142e-01 -1.19572357e-02 -2.74689809e+02] [ 1.87374874e-02 8.15457931e-04 -9.99824105e-01 1.10536461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2227550959999 meters 0.02803917868427705 Centerline is valid? [True, True] Translation: X:441.10, Y:-275.16, Z:9.89 [[ 8.35094945e-01 5.49934414e-01 -1.37321871e-02 4.41101276e+02] [-5.49849356e-01 8.35207669e-01 9.68688587e-03 -2.75155725e+02] [ 1.67963799e-02 -5.38835203e-04 9.99858786e-01 9.88534076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.282755096 meters 0.025224193396852196 Centerline is valid? [True, True] Translation: X:441.15, Y:-275.18, Z:9.88 [[ 8.31909744e-01 5.54717128e-01 -1.46658280e-02 4.41153351e+02] [-5.54620910e-01 8.32038874e-01 1.03420559e-02 -2.75184807e+02] [ 1.79394546e-02 -4.69682248e-04 9.99838965e-01 9.88475850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3427550959999 meters 0.019651654236624808 Centerline is valid? [True, True] Translation: X:441.21, Y:-275.21, Z:9.88 [[ 8.27203233e-01 5.61695813e-01 -1.52520655e-02 4.41208781e+02] [-5.61592946e-01 8.27343765e-01 1.07544743e-02 -2.75210152e+02] [ 1.86594445e-02 -3.30683567e-04 9.99825843e-01 9.88395091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.402755096 meters 0.017736122540000936 Centerline is valid? [True, True] Translation: X:441.26, Y:-275.24, Z:9.88 [[ 8.24062242e-01 5.66291211e-01 -1.53520362e-02 4.41259672e+02] [-5.66187807e-01 8.24205200e-01 1.08237848e-02 -2.75239461e+02] [ 1.87826423e-02 -2.27336604e-04 9.99823565e-01 9.88434160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4627550959999 meters 0.016315321630380894 Centerline is valid? [True, True] Translation: X:441.31, Y:-275.27, Z:9.89 [[ 8.21071025e-01 5.70628340e-01 -1.50223031e-02 4.41310771e+02] [-5.70530084e-01 8.21208428e-01 1.05896701e-02 -2.75269178e+02] [ 1.83792078e-02 -1.24195463e-04 9.99831080e-01 9.88517964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.522755096 meters 0.016718757849001127 Centerline is valid? [True, True] Translation: X:441.36, Y:-275.30, Z:9.89 [[ 8.21066420e-01 5.70659283e-01 -1.40682613e-02 4.41356111e+02] [-5.70573142e-01 8.21186927e-01 9.91564205e-03 -2.75304620e+02] [ 1.72111254e-02 -1.14428686e-04 9.99851871e-01 9.88652682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5827550959999 meters 0.016972428118035156 Centerline is valid? [True, True] Translation: X:441.40, Y:-275.34, Z:9.89 [[ 8.22182058e-01 5.69067681e-01 -1.33655331e-02 4.41402290e+02] [-5.68989766e-01 8.22290676e-01 9.41758747e-03 -2.75341257e+02] [ 1.63495979e-02 -1.38119878e-04 9.99866327e-01 9.88820612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.642755096 meters 0.01736773411601807 Centerline is valid? [True, True] Translation: X:441.45, Y:-275.38, Z:9.89 [[ 8.23471243e-01 5.67242959e-01 -1.14252628e-02 4.41449067e+02] [-5.67185871e-01 8.23550486e-01 8.04891595e-03 -2.75380248e+02] [ 1.39749716e-02 -1.47803197e-04 9.99902334e-01 9.89057895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7027550959999 meters 0.01752684690431646 Centerline is valid? [True, True] Translation: X:441.50, Y:-275.42, Z:9.89 [[ 8.23719349e-01 5.66885387e-01 -1.12868172e-02 4.41497658e+02] [-5.66829640e-01 8.23796659e-01 7.95138326e-03 -2.75417075e+02] [ 1.38055653e-02 -1.52005684e-04 9.99904687e-01 9.89201075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.762755096 meters 0.01768739061866592 Centerline is valid? [True, True] Translation: X:441.55, Y:-275.45, Z:9.89 [[ 8.23776298e-01 5.66812898e-01 -1.07587480e-02 4.41545807e+02] [-5.66762242e-01 8.23846538e-01 7.57911112e-03 -2.75454556e+02] [ 1.31594952e-02 -1.45839977e-04 9.99913399e-01 9.89289687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8227550959999 meters 0.017918851260960864 Centerline is valid? [True, True] Translation: X:441.59, Y:-275.49, Z:9.89 [[ 8.24232212e-01 5.66135053e-01 -1.15048645e-02 4.41592343e+02] [-5.66077049e-01 8.24312485e-01 8.10558368e-03 -2.75493442e+02] [ 1.40724585e-02 -1.68243392e-04 9.99900964e-01 9.89326646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.882755096 meters 0.018207710351048633 Centerline is valid? [True, True] Translation: X:441.64, Y:-275.53, Z:9.89 [[ 8.24741321e-01 5.65391466e-01 -1.15863252e-02 4.41636868e+02] [-5.65332554e-01 8.24822682e-01 8.16371945e-03 -2.75532729e+02] [ 1.41723611e-02 -1.82829970e-04 9.99899550e-01 9.89371979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9427550959999 meters 0.018623665528710396 Centerline is valid? [True, True] Translation: X:441.68, Y:-275.57, Z:9.89 [[ 8.25344500e-01 5.64499249e-01 -1.21266273e-02 4.41682951e+02] [-5.64434635e-01 8.25433556e-01 8.54321556e-03 -2.75571375e+02] [ 1.48323639e-02 -2.06407492e-04 9.99889973e-01 9.89429788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.002755096 meters 0.01940745994500037 Centerline is valid? [True, True] Translation: X:441.73, Y:-275.61, Z:9.90 [[ 8.26301224e-01 5.63094226e-01 -1.22954940e-02 4.41727254e+02] [-5.63027656e-01 8.26392665e-01 8.66146798e-03 -2.75612208e+02] [ 1.50381287e-02 -2.34278421e-04 9.99886894e-01 9.89515938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0627550959999 meters 0.019551449347830676 Centerline is valid? [True, True] Translation: X:441.77, Y:-275.65, Z:9.90 [[ 8.26707826e-01 5.62503615e-01 -1.19939124e-02 4.41773465e+02] [-5.62440223e-01 8.26794791e-01 8.44803317e-03 -2.75653127e+02] [ 1.46685535e-02 -2.38196381e-04 9.99892383e-01 9.89690125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.122755096 meters 0.018678650902686892 Centerline is valid? [True, True] Translation: X:441.82, Y:-275.69, Z:9.90 [[ 8.26458585e-01 5.62865476e-01 -1.21927415e-02 4.41824032e+02] [-5.62800012e-01 8.26548487e-01 8.58756663e-03 -2.75690786e+02] [ 1.49115368e-02 -2.35193125e-04 9.99888789e-01 9.89695894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1827550959999 meters 0.018584573690618344 Centerline is valid? [True, True] Translation: X:441.87, Y:-275.73, Z:9.90 [[ 8.25223636e-01 5.64667239e-01 -1.25243710e-02 4.41870355e+02] [-5.64598271e-01 8.25318644e-01 8.82769450e-03 -2.75730827e+02] [ 1.53213068e-02 -2.13583929e-04 9.99882599e-01 9.89703789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.242755096 meters 0.01847262381256384 Centerline is valid? [True, True] Translation: X:441.92, Y:-275.77, Z:9.90 [[ 8.24617800e-01 5.65543044e-01 -1.29054033e-02 4.41919592e+02] [-5.65469842e-01 8.24718753e-01 9.10141089e-03 -2.75769040e+02] [ 1.57905677e-02 -2.07569064e-04 9.99875300e-01 9.89803000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3027550959999 meters 0.01893943602284417 Centerline is valid? [True, True] Translation: X:441.97, Y:-275.81, Z:9.90 [[ 8.24076607e-01 5.66308603e-01 -1.38676926e-02 4.41965524e+02] [-5.66224079e-01 8.24193255e-01 9.78625804e-03 -2.75809996e+02] [ 1.69717008e-02 -2.12404859e-04 9.99855948e-01 9.89907638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.362755096 meters 0.017683411499897904 Centerline is valid? [True, True] Translation: X:442.01, Y:-275.85, Z:9.90 [[ 8.22938592e-01 5.67947192e-01 -1.44242983e-02 4.42014575e+02] [-5.67855899e-01 8.23064973e-01 1.01846693e-02 -2.75847828e+02] [ 1.76564890e-02 -1.90434553e-04 9.99844094e-01 9.89998159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.422755096 meters 0.01731439744208172 Centerline is valid? [True, True] Translation: X:442.06, Y:-275.89, Z:9.90 [[ 8.21684310e-01 5.69747707e-01 -1.49146226e-02 4.42061957e+02] [-5.69650282e-01 8.21819642e-01 1.05371479e-02 -2.75887511e+02] [ 1.82606457e-02 -1.62090138e-04 9.99833247e-01 9.90105087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.482755096 meters 0.017323468172277867 Centerline is valid? [True, True] Translation: X:442.11, Y:-275.93, Z:9.90 [[ 8.21488844e-01 5.70030956e-01 -1.48589641e-02 4.42110872e+02] [-5.69934196e-01 8.21623201e-01 1.05037343e-02 -2.75926759e+02] [ 1.81959233e-02 -1.60068780e-04 9.99834428e-01 9.90240558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.542755096 meters 0.017558418705866483 Centerline is valid? [True, True] Translation: X:442.16, Y:-275.97, Z:9.90 [[ 8.21365847e-01 5.70199638e-01 -1.51828308e-02 4.42157229e+02] [-5.70098509e-01 8.21506144e-01 1.07398792e-02 -2.75968108e+02] [ 1.85966640e-02 -1.65660739e-04 9.99827053e-01 9.90398075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6027550959999 meters 0.01693430937409832 Centerline is valid? [True, True] Translation: X:442.21, Y:-276.00, Z:9.91 [[ 8.20214232e-01 5.71880539e-01 -1.41867142e-02 4.42209059e+02] [-5.71792398e-01 8.20336902e-01 1.00409231e-02 -2.76001645e+02] [ 1.73800937e-02 -1.23852685e-04 9.99848947e-01 9.90645624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.662755096 meters 0.01707700430758489 Centerline is valid? [True, True] Translation: X:442.26, Y:-276.04, Z:9.91 [[ 8.19358463e-01 5.73109694e-01 -1.40352490e-02 4.42260089e+02] [-5.73023504e-01 8.19478656e-01 9.93961945e-03 -2.76037456e+02] [ 1.71980792e-02 -1.01583773e-04 9.99852097e-01 9.90728081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7227550959999 meters 0.01710923878033841 Centerline is valid? [True, True] Translation: X:442.31, Y:-276.07, Z:9.91 [[ 8.19069654e-01 5.73485044e-01 -1.54856610e-02 4.42310903e+02] [-5.73380040e-01 8.19216023e-01 1.09744350e-02 -2.76073331e+02] [ 1.89797759e-02 -1.09657800e-04 9.99819862e-01 9.90705606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.782755096 meters 0.01749202286954865 Centerline is valid? [True, True] Translation: X:442.36, Y:-276.11, Z:9.91 [[ 8.19740062e-01 5.72489475e-01 -1.67938058e-02 4.42359930e+02] [-5.72365630e-01 8.19912056e-01 1.19082528e-02 -2.76107617e+02] [ 2.05867932e-02 -1.49474620e-04 9.99788058e-01 9.90645085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8427550959999 meters 0.017835846916580165 Centerline is valid? [True, True] Translation: X:442.41, Y:-276.14, Z:9.91 [[ 8.21087598e-01 5.70507560e-01 -1.83379421e-02 4.42411223e+02] [-5.70359358e-01 8.21292321e-01 1.30048594e-02 -2.76143028e+02] [ 2.24801816e-02 -2.18911855e-04 9.99747265e-01 9.90650438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.902755096 meters 0.01848159108904126 Centerline is valid? [True, True] Translation: X:442.46, Y:-276.18, Z:9.91 [[ 8.22374862e-01 5.68642628e-01 -1.85781810e-02 4.42461040e+02] [-5.68489869e-01 8.22584636e-01 1.31827676e-02 -2.76180023e+02] [ 2.27784099e-02 -2.79669033e-04 9.99740499e-01 9.90807163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9627550959999 meters 0.020056758286341292 Centerline is valid? [True, True] Translation: X:442.51, Y:-276.22, Z:9.91 [[ 8.24505288e-01 5.65540513e-01 -1.88403323e-02 4.42509033e+02] [-5.65382455e-01 8.24720429e-01 1.33750803e-02 -2.76217241e+02] [ 2.31021567e-02 -3.75831155e-04 9.99733039e-01 9.90916018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.022755096 meters 0.019989430860292833 Centerline is valid? [True, True] Translation: X:442.56, Y:-276.25, Z:9.91 [[ 8.25476979e-01 5.64122992e-01 -1.87884859e-02 4.42559936e+02] [-5.63965379e-01 8.25690666e-01 1.33407038e-02 -2.76253306e+02] [ 2.30392752e-02 -4.16388335e-04 9.99734474e-01 9.91127355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0827550959999 meters 0.020588136049457955 Centerline is valid? [True, True] Translation: X:442.61, Y:-276.29, Z:9.91 [[ 8.26052295e-01 5.63281550e-01 -1.87483625e-02 4.42609488e+02] [-5.63124215e-01 8.26264908e-01 1.33199566e-02 -2.76290098e+02] [ 2.29939998e-02 -4.45323800e-04 9.99735504e-01 9.91271635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.142755096 meters 0.020832289286333988 Centerline is valid? [True, True] Translation: X:442.66, Y:-276.33, Z:9.92 [[ 8.25737909e-01 5.63767703e-01 -1.79689377e-02 4.42659313e+02] [-5.63623140e-01 8.25933291e-01 1.27732109e-02 -2.76325890e+02] [ 2.20422676e-02 -4.19615428e-04 9.99756952e-01 9.91551440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2027550959999 meters 0.02036785256794317 Centerline is valid? [True, True] Translation: X:442.71, Y:-276.36, Z:9.92 [[ 8.24539298e-01 5.65528609e-01 -1.76731157e-02 4.42709624e+02] [-5.65389030e-01 8.24728594e-01 1.25694307e-02 -2.76360024e+02] [ 2.16838965e-02 -3.71803849e-04 9.99764808e-01 9.91728022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.262755096 meters 0.019674400977720892 Centerline is valid? [True, True] Translation: X:442.76, Y:-276.39, Z:9.92 [[ 8.23105191e-01 5.67604333e-01 -1.79768153e-02 4.42760363e+02] [-5.67460262e-01 8.23301411e-01 1.27920984e-02 -2.76394693e+02] [ 2.20611879e-02 -3.28114290e-04 9.99756569e-01 9.91886444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3227550959999 meters 0.019666987709985855 Centerline is valid? [True, True] Translation: X:442.81, Y:-276.43, Z:9.92 [[ 8.22643087e-01 5.68264470e-01 -1.82714057e-02 4.42811022e+02] [-5.68115649e-01 8.22845909e-01 1.30084704e-02 -2.76431155e+02] [ 2.24268030e-02 -3.21056726e-04 9.99748436e-01 9.91994565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.382755096 meters 0.0205442429654945 Centerline is valid? [True, True] Translation: X:442.86, Y:-276.47, Z:9.92 [[ 8.23577253e-01 5.66900207e-01 -1.85651303e-02 4.42859693e+02] [-5.66746054e-01 8.23786391e-01 1.32246717e-02 -2.76468954e+02] [ 2.27907708e-02 -3.69824437e-04 9.99740188e-01 9.92106028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4427550959999 meters 0.021044264279590705 Centerline is valid? [True, True] Translation: X:442.91, Y:-276.51, Z:9.92 [[ 8.25198300e-01 5.64553127e-01 -1.80978708e-02 4.42908826e+02] [-5.64405929e-01 8.25396622e-01 1.28982401e-02 -2.76507448e+02] [ 2.22196631e-02 -4.29060230e-04 9.99753021e-01 9.92338022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.502755096 meters 0.021959048731378026 Centerline is valid? [True, True] Translation: X:442.96, Y:-276.55, Z:9.92 [[ 8.25768372e-01 5.63701893e-01 -1.86218160e-02 4.42958251e+02] [-5.63545657e-01 8.25978180e-01 1.32792627e-02 -2.76545641e+02] [ 2.28667592e-02 -4.71351625e-04 9.99738410e-01 9.92430568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5627550959999 meters 0.021036331670393565 Centerline is valid? [True, True] Translation: X:443.01, Y:-276.58, Z:9.93 [[ 8.25511880e-01 5.64072016e-01 -1.87855463e-02 4.43010525e+02] [-5.63912937e-01 8.25725462e-01 1.34037749e-02 -2.76580592e+02] [ 2.30723983e-02 -4.71562833e-04 9.99733686e-01 9.92553370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.622755096 meters 0.023384260766364073 Centerline is valid? [True, True] Translation: X:443.06, Y:-276.62, Z:9.93 [[ 8.24480424e-01 5.65580777e-01 -1.87193864e-02 4.43058135e+02] [-5.65423010e-01 8.24692789e-01 1.33650317e-02 -2.76619481e+02] [ 2.29967480e-02 -4.34835272e-04 9.99735445e-01 9.92532885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6827550959999 meters 0.022817047641507736 Centerline is valid? [True, True] Translation: X:443.11, Y:-276.65, Z:9.93 [[ 8.23353456e-01 5.67217568e-01 -1.87967175e-02 4.43105522e+02] [-5.67058801e-01 8.23567893e-01 1.34254137e-02 -2.76652624e+02] [ 2.30955035e-02 -3.95016698e-04 9.99733185e-01 9.92655056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.742755096 meters 0.01961276915786195 Centerline is valid? [True, True] Translation: X:443.16, Y:-276.68, Z:9.93 [[ 8.21934773e-01 5.69262431e-01 -1.90660509e-02 4.43159504e+02] [-5.69099635e-01 8.22155805e-01 1.36175555e-02 -2.76683517e+02] [ 2.34272271e-02 -3.42259764e-04 9.99725486e-01 9.92959234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8027550959999 meters 0.018872259667557456 Centerline is valid? [True, True] Translation: X:443.21, Y:-276.72, Z:9.93 [[ 8.20720129e-01 5.71004444e-01 -1.92975158e-02 4.43210959e+02] [-5.70837964e-01 8.20946912e-01 1.37907856e-02 -2.76718801e+02] [ 2.37168359e-02 -3.02620734e-04 9.99718670e-01 9.93126357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.862755096 meters 0.019073209154040458 Centerline is valid? [True, True] Translation: X:443.26, Y:-276.75, Z:9.93 [[ 8.19968688e-01 5.72069496e-01 -1.96937490e-02 4.43260591e+02] [-5.71896219e-01 8.20205103e-01 1.40820228e-02 -2.76754981e+02] [ 2.42088091e-02 -2.84037189e-04 9.99706883e-01 9.93203126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.922755096 meters 0.018800971861057083 Centerline is valid? [True, True] Translation: X:443.31, Y:-276.79, Z:9.93 [[ 8.19675305e-01 5.72484589e-01 -1.98441285e-02 4.43312487e+02] [-5.72308583e-01 8.19915432e-01 1.41975280e-02 -2.76791369e+02] [ 2.43983732e-02 -2.80398076e-04 9.99702276e-01 9.93408383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.982755096 meters 0.019299934286926803 Centerline is valid? [True, True] Translation: X:443.36, Y:-276.83, Z:9.94 [[ 8.20177651e-01 5.71773534e-01 -1.95868895e-02 4.43362651e+02] [-5.71601639e-01 8.20411441e-01 1.40226121e-02 -2.76830112e+02] [ 2.40870667e-02 -3.05134927e-04 9.99709818e-01 9.93556820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.042755096 meters 0.019800450408877616 Centerline is valid? [True, True] Translation: X:443.41, Y:-276.87, Z:9.94 [[ 8.20973932e-01 5.70644723e-01 -1.91416433e-02 4.43411346e+02] [-5.70480046e-01 8.21196983e-01 1.37124486e-02 -2.76868086e+02] [ 2.35439962e-02 -3.37637279e-04 9.99722745e-01 9.93826960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1027550959999 meters 0.0203251526016803 Centerline is valid? [True, True] Translation: X:443.46, Y:-276.91, Z:9.94 [[ 8.21265676e-01 5.70241229e-01 -1.86448534e-02 4.43462465e+02] [-5.70084707e-01 8.21477219e-01 1.33643394e-02 -2.76905390e+02] [ 2.29372196e-02 -3.46527448e-04 9.99736847e-01 9.94005882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.162755096 meters 0.020363913853217543 Centerline is valid? [True, True] Translation: X:443.51, Y:-276.94, Z:9.94 [[ 8.21477814e-01 5.69949516e-01 -1.82140157e-02 4.43513611e+02] [-5.69799886e-01 8.21679636e-01 1.30639412e-02 -2.76941667e+02] [ 2.24118728e-02 -3.53393790e-04 9.99748760e-01 9.94211935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2227550959999 meters 0.020178490536009088 Centerline is valid? [True, True] Translation: X:443.57, Y:-276.98, Z:9.94 [[ 8.20968071e-01 5.70679517e-01 -1.83388929e-02 4.43565260e+02] [-5.70527809e-01 8.21172802e-01 1.31623686e-02 -2.76977169e+02] [ 2.25708943e-02 -3.43035967e-04 9.99745186e-01 9.94311856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.282755096 meters 0.020365039771659148 Centerline is valid? [True, True] Translation: X:443.62, Y:-277.01, Z:9.94 [[ 8.20545034e-01 5.71270159e-01 -1.88746389e-02 4.43617246e+02] [-5.71109396e-01 8.20762016e-01 1.35562333e-02 -2.77012929e+02] [ 2.32358582e-02 -3.44016350e-04 9.99729952e-01 9.94355250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3427550959999 meters 0.020014861880568106 Centerline is valid? [True, True] Translation: X:443.67, Y:-277.05, Z:9.94 [[ 8.20152543e-01 5.71831052e-01 -1.89487198e-02 4.43668544e+02] [-5.71668961e-01 8.20371339e-01 1.36185608e-02 -2.77048663e+02] [ 2.33325026e-02 -3.36902318e-04 9.99727703e-01 9.94447759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.402755096 meters 0.020302532256487652 Centerline is valid? [True, True] Translation: X:443.72, Y:-277.09, Z:9.95 [[ 8.20098489e-01 5.71911041e-01 -1.88740184e-02 4.43719004e+02] [-5.71750038e-01 8.20315576e-01 1.35738294e-02 -2.77085255e+02] [ 2.32456742e-02 -3.40656253e-04 9.99729725e-01 9.94636164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4627550959999 meters 0.020642792261614105 Centerline is valid? [True, True] Translation: X:443.77, Y:-277.12, Z:9.95 [[ 8.20769194e-01 5.70978587e-01 -1.79271528e-02 4.43769415e+02] [-5.70832945e-01 8.20964876e-01 1.29004439e-02 -2.77121745e+02] [ 2.20834400e-02 -3.54877531e-04 9.99756068e-01 9.94928077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.522755096 meters 0.021387347630641925 Centerline is valid? [True, True] Translation: X:443.82, Y:-277.16, Z:9.95 [[ 8.21530019e-01 5.69912658e-01 -1.69702537e-02 4.43818071e+02] [-5.69781783e-01 8.21705194e-01 1.22185548e-02 -2.77159333e+02] [ 2.09080547e-02 -3.68568156e-04 9.99781335e-01 9.95184164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5827550959999 meters 0.020987235179626848 Centerline is valid? [True, True] Translation: X:443.87, Y:-277.20, Z:9.95 [[ 8.21648317e-01 5.69736571e-01 -1.71546982e-02 4.43869315e+02] [-5.69602652e-01 8.21827289e-01 1.23582318e-02 -2.77195139e+02] [ 2.11391357e-02 -3.82758804e-04 9.99776470e-01 9.95357584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.642755096 meters 0.021609349977994064 Centerline is valid? [True, True] Translation: X:443.92, Y:-277.23, Z:9.96 [[ 8.21530125e-01 5.69907319e-01 -1.71435457e-02 4.43918223e+02] [-5.69773434e-01 8.21708890e-01 1.23585805e-02 -2.77232443e+02] [ 2.11302494e-02 -3.85009287e-04 9.99776657e-01 9.95560450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7027550959999 meters 0.02212216497241943 Centerline is valid? [True, True] Translation: X:443.97, Y:-277.27, Z:9.96 [[ 8.22042508e-01 5.69158955e-01 -1.74412735e-02 4.43967766e+02] [-5.69020040e-01 8.22227407e-01 1.25811489e-02 -2.77269431e+02] [ 2.15013666e-02 -4.17805001e-04 9.99768732e-01 9.95654804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.762755096 meters 0.02265011075975843 Centerline is valid? [True, True] Translation: X:444.02, Y:-277.31, Z:9.96 [[ 8.23239312e-01 5.67410640e-01 -1.79499757e-02 4.44016939e+02] [-5.67262920e-01 8.23434838e-01 1.29556099e-02 -2.77307763e+02] [ 2.21317862e-02 -4.83211800e-04 9.99754945e-01 9.95738625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8227550959999 meters 0.024547737486196458 Centerline is valid? [True, True] Translation: X:444.06, Y:-277.35, Z:9.96 [[ 8.23907410e-01 5.66447146e-01 -1.77260016e-02 4.44063942e+02] [-5.66302709e-01 8.24097914e-01 1.28011225e-02 -2.77347103e+02] [ 2.18591203e-02 -5.08656949e-04 9.99760931e-01 9.95896039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.882755096 meters 0.02292726018762456 Centerline is valid? [True, True] Translation: X:444.12, Y:-277.38, Z:9.96 [[ 8.23384160e-01 5.67214098e-01 -1.75126184e-02 4.44116392e+02] [-5.67073149e-01 8.23570233e-01 1.26536801e-02 -2.77380782e+02] [ 2.16002170e-02 -4.87904098e-04 9.99766569e-01 9.96078022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9427550959999 meters 0.022525824374076048 Centerline is valid? [True, True] Translation: X:444.17, Y:-277.42, Z:9.96 [[ 8.22523648e-01 5.68470052e-01 -1.72234882e-02 4.44167084e+02] [-5.68333844e-01 8.22703831e-01 1.24518166e-02 -2.77416082e+02] [ 2.12483146e-02 -4.53222360e-04 9.99774126e-01 9.96194705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.002755096 meters 0.021013143011736905 Centerline is valid? [True, True] Translation: X:444.22, Y:-277.45, Z:9.96 [[ 8.20332935e-01 5.71618895e-01 -1.74847171e-02 4.44219463e+02] [-5.71479077e-01 8.20519160e-01 1.26480225e-02 -2.77449482e+02] [ 2.15763941e-02 -3.83439465e-04 9.99767129e-01 9.96270152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0627550959999 meters 0.020713430674415285 Centerline is valid? [True, True] Translation: X:444.27, Y:-277.49, Z:9.96 [[ 8.18978100e-01 5.73550239e-01 -1.77480974e-02 4.44269279e+02] [-5.73406464e-01 8.19170315e-01 1.28460492e-02 -2.77485014e+02] [ 2.19065692e-02 -3.43759197e-04 9.99759963e-01 9.96449620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.122755096 meters 0.019413825747601438 Centerline is valid? [True, True] Translation: X:444.32, Y:-277.52, Z:9.97 [[ 8.16951275e-01 5.76441694e-01 -1.74810632e-02 4.44323184e+02] [-5.76302743e-01 8.17138239e-01 1.26588344e-02 -2.77517415e+02] [ 2.15815252e-02 -2.67266243e-04 9.99767056e-01 9.96633801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1827550959999 meters 0.019163709570888292 Centerline is valid? [True, True] Translation: X:444.37, Y:-277.55, Z:9.97 [[ 8.15332926e-01 5.78725966e-01 -1.75634953e-02 4.44374162e+02] [-5.78586158e-01 8.15522049e-01 1.27218721e-02 -2.77551495e+02] [ 2.16858954e-02 -2.10565916e-04 9.99764811e-01 9.96750311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.242755096 meters 0.018638242189260936 Centerline is valid? [True, True] Translation: X:444.43, Y:-277.59, Z:9.97 [[ 8.14877637e-01 5.79354431e-01 -1.79688549e-02 4.44425549e+02] [-5.79208081e-01 8.15075703e-01 1.30229327e-02 -2.77587094e+02] [ 2.21908708e-02 -2.04390685e-04 9.99753731e-01 9.96906995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3027550959999 meters 0.018945184912211314 Centerline is valid? [True, True] Translation: X:444.48, Y:-277.62, Z:9.97 [[ 8.15272353e-01 5.78811342e-01 -1.75619282e-02 4.44476180e+02] [-5.78671241e-01 8.15461453e-01 1.27363038e-02 -2.77624661e+02] [ 2.16929926e-02 -2.20973623e-04 9.99764655e-01 9.97069300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.362755096 meters 0.019377645959293508 Centerline is valid? [True, True] Translation: X:444.53, Y:-277.66, Z:9.97 [[ 8.15933268e-01 5.77875531e-01 -1.76853617e-02 4.44525756e+02] [-5.77733052e-01 8.16124871e-01 1.28341166e-02 -2.77661510e+02] [ 2.18499855e-02 -2.54364731e-04 9.99761228e-01 9.97073865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.422755096 meters 0.020263400817777402 Centerline is valid? [True, True] Translation: X:444.57, Y:-277.70, Z:9.97 [[ 8.17556689e-01 5.75532929e-01 -1.90501291e-02 4.44574727e+02] [-5.75366776e-01 8.17778531e-01 1.38328365e-02 -2.77699845e+02] [ 2.35400395e-02 -3.48316681e-04 9.99722834e-01 9.97034734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.482755096 meters 0.0210043983222497 Centerline is valid? [True, True] Translation: X:444.62, Y:-277.74, Z:9.97 [[ 8.19696491e-01 5.72468752e-01 -1.94213935e-02 4.44624410e+02] [-5.72294997e-01 8.19926414e-01 1.41107050e-02 -2.77737148e+02] [ 2.40020512e-02 -4.51729022e-04 9.99711807e-01 9.97034450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.542755096 meters 0.022303241123919716 Centerline is valid? [True, True] Translation: X:444.67, Y:-277.78, Z:9.97 [[ 8.21704857e-01 5.69572101e-01 -1.97167461e-02 4.44673382e+02] [-5.69391978e-01 8.21941188e-01 1.43338390e-02 -2.77775237e+02] [ 2.43701605e-02 -5.51628014e-04 9.99702851e-01 9.97138668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6027550959999 meters 0.023477478752769832 Centerline is valid? [True, True] Translation: X:444.72, Y:-277.81, Z:9.97 [[ 8.22882424e-01 5.67857277e-01 -2.00656071e-02 4.44723904e+02] [-5.67669997e-01 8.23126800e-01 1.45960863e-02 -2.77811478e+02] [ 2.48050328e-02 -6.20219756e-04 9.99692115e-01 9.97188310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.662755096 meters 0.02312456045874161 Centerline is valid? [True, True] Translation: X:444.78, Y:-277.85, Z:9.97 [[ 8.22890155e-01 5.67840367e-01 -2.02264984e-02 4.44775658e+02] [-5.67649841e-01 8.23138456e-01 1.47221095e-02 -2.77846862e+02] [ 2.50090167e-02 -6.33110313e-04 9.99687025e-01 9.97315176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7227550959999 meters 0.023341841349852704 Centerline is valid? [True, True] Translation: X:444.83, Y:-277.88, Z:9.97 [[ 8.22510639e-01 5.68360177e-01 -2.10465451e-02 4.44826841e+02] [-5.68153779e-01 8.22779609e-01 1.53296481e-02 -2.77882863e+02] [ 2.60294297e-02 -6.51124550e-04 9.99660965e-01 9.97353101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.782755096 meters 0.02315871918781252 Centerline is valid? [True, True] Translation: X:444.88, Y:-277.92, Z:9.97 [[ 8.22381195e-01 5.68518623e-01 -2.18115984e-02 4.44879442e+02] [-5.68296704e-01 8.22670113e-01 1.58978339e-02 -2.77917221e+02] [ 2.69819647e-02 -6.78620173e-04 9.99635690e-01 9.97327803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8427550959999 meters 0.026069841748836513 Centerline is valid? [True, True] Translation: X:444.93, Y:-277.96, Z:9.97 [[ 8.23178103e-01 5.67363647e-01 -2.18243771e-02 4.44926696e+02] [-5.67140790e-01 8.23467040e-01 1.59172196e-02 -2.77956455e+02] [ 2.70025070e-02 -7.25212123e-04 9.99635103e-01 9.97405500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.902755096 meters 0.02489383085958025 Centerline is valid? [True, True] Translation: X:444.98, Y:-277.99, Z:9.98 [[ 8.23900138e-01 5.66327902e-01 -2.14771764e-02 4.44977277e+02] [-5.66111508e-01 8.24179676e-01 1.56723397e-02 -2.77991604e+02] [ 2.65767356e-02 -7.53966092e-04 9.99646492e-01 9.97702836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9627550959999 meters 0.024900949614736947 Centerline is valid? [True, True] Translation: X:445.03, Y:-278.03, Z:9.98 [[ 8.24372595e-01 5.65693109e-01 -2.00282602e-02 4.45027733e+02] [-5.65504556e-01 8.24615532e-01 1.46226556e-02 -2.78027766e+02] [ 2.47875499e-02 -7.28444162e-04 9.99692476e-01 9.98059129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.022755096 meters 0.02377886883382337 Centerline is valid? [True, True] Translation: X:445.08, Y:-278.06, Z:9.98 [[ 8.23942019e-01 5.66376452e-01 -1.83647726e-02 4.45079472e+02] [-5.66217926e-01 8.24146398e-01 1.34154655e-02 -2.78061496e+02] [ 2.27334649e-02 -6.55102238e-04 9.99741347e-01 9.98351627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0827550959999 meters 0.02394201878577371 Centerline is valid? [True, True] Translation: X:445.13, Y:-278.10, Z:9.99 [[ 8.22657807e-01 5.68243865e-01 -1.82494314e-02 4.45128365e+02] [-5.68087618e-01 8.22859978e-01 1.33384941e-02 -2.78097834e+02] [ 2.25962441e-02 -6.05740337e-04 9.99744489e-01 9.98538039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.142755096 meters 0.02163747289315378 Centerline is valid? [True, True] Translation: X:445.18, Y:-278.13, Z:9.99 [[ 8.20338700e-01 5.71584445e-01 -1.83204771e-02 4.45181625e+02] [-5.71427691e-01 8.20543084e-01 1.33956120e-02 -2.78130365e+02] [ 2.26894642e-02 -5.20110979e-04 9.99742426e-01 9.98668128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2027550959999 meters 0.021119924703854098 Centerline is valid? [True, True] Translation: X:445.23, Y:-278.17, Z:9.99 [[ 8.18824503e-01 5.73750393e-01 -1.83553642e-02 4.45233488e+02] [-5.73593425e-01 8.19030078e-01 1.34281158e-02 -2.78165635e+02] [ 2.27379821e-02 -4.66753990e-04 9.99741350e-01 9.98717729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.262755096 meters 0.02066588763706738 Centerline is valid? [True, True] Translation: X:445.28, Y:-278.20, Z:9.99 [[ 8.17573458e-01 5.75503626e-01 -1.92150199e-02 4.45283741e+02] [-5.75331994e-01 8.17799109e-01 1.40611002e-02 -2.78200626e+02] [ 2.38062403e-02 -4.40966591e-04 9.99716494e-01 9.98755988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3227550959999 meters 0.020960002442668685 Centerline is valid? [True, True] Translation: X:445.33, Y:-278.24, Z:9.99 [[ 8.17719717e-01 5.75268317e-01 -2.00206787e-02 4.45334021e+02] [-5.75081715e-01 8.17964632e-01 1.46588553e-02 -2.78237538e+02] [ 2.48089821e-02 -4.73308760e-04 9.99692098e-01 9.98737688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.382755096 meters 0.022219158471650728 Centerline is valid? [True, True] Translation: X:445.38, Y:-278.28, Z:9.99 [[ 8.19182633e-01 5.73183669e-01 -2.00073798e-02 4.45381953e+02] [-5.72996486e-01 8.19426743e-01 1.46574268e-02 -2.78276808e+02] [ 2.47959797e-02 -5.42951120e-04 9.99692385e-01 9.98856640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4427550959999 meters 0.023843495286196986 Centerline is valid? [True, True] Translation: X:445.43, Y:-278.32, Z:9.99 [[ 8.21526829e-01 5.69848835e-01 -1.91304376e-02 4.45429108e+02] [-5.69676639e-01 8.21749304e-01 1.40216967e-02 -2.78316656e+02] [ 2.37106713e-02 -6.21036616e-04 9.99718670e-01 9.99111228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.502755096 meters 0.026460307308328837 Centerline is valid? [True, True] Translation: X:445.48, Y:-278.36, Z:9.99 [[ 8.22386826e-01 5.68607588e-01 -1.91133312e-02 4.45475860e+02] [-5.68435254e-01 8.22608640e-01 1.40137967e-02 -2.78356348e+02] [ 2.36911425e-02 -6.60070501e-04 9.99719108e-01 9.99211829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5627550959999 meters 0.026127231717245347 Centerline is valid? [True, True] Translation: X:445.53, Y:-278.39, Z:9.99 [[ 8.22717583e-01 5.68110277e-01 -1.96594130e-02 4.45526955e+02] [-5.67927623e-01 8.22952139e-01 1.44219129e-02 -2.78391900e+02] [ 2.43719929e-02 -7.00037581e-04 9.99702714e-01 9.99292111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.622755096 meters 0.026147261354658304 Centerline is valid? [True, True] Translation: X:445.58, Y:-278.43, Z:9.99 [[ 8.21692617e-01 5.69593212e-01 -1.96167099e-02 4.45575196e+02] [-5.69411609e-01 8.21926479e-01 1.43973272e-02 -2.78427357e+02] [ 2.43241131e-02 -6.60195135e-04 9.99703907e-01 9.99467499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6827550959999 meters 0.021799025546160512 Centerline is valid? [True, True] Translation: X:445.63, Y:-278.46, Z:10.00 [[ 8.19491916e-01 5.72773226e-01 -1.90743582e-02 4.45630164e+02] [-5.72602285e-01 8.19713685e-01 1.40035099e-02 -2.78457099e+02] [ 2.36563479e-02 -5.53742063e-04 9.99719996e-01 9.99723499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.742755096 meters 0.02137453395995467 Centerline is valid? [True, True] Translation: X:445.68, Y:-278.49, Z:10.00 [[ 8.17068262e-01 5.76235876e-01 -1.87528646e-02 4.45679950e+02] [-5.76071376e-01 8.17283311e-01 1.37752965e-02 -2.78492479e+02] [ 2.32642233e-02 -4.52369028e-04 9.99729249e-01 9.99812051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8027550959999 meters 0.022133796123730454 Centerline is valid? [True, True] Translation: X:445.73, Y:-278.53, Z:10.00 [[ 8.16532556e-01 5.77000085e-01 -1.85872681e-02 4.45726653e+02] [-5.76838550e-01 8.16743972e-01 1.36590932e-02 -2.78528778e+02] [ 2.30623372e-02 -4.31241532e-04 9.99733936e-01 9.99853954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.862755096 meters 0.020497644255045227 Centerline is valid? [True, True] Translation: X:445.77, Y:-278.56, Z:10.00 [[ 8.15470106e-01 5.78502343e-01 -1.85349652e-02 4.45774777e+02] [-5.78342142e-01 8.15680630e-01 1.36189775e-02 -2.78563067e+02] [ 2.29972225e-02 -3.86317544e-04 9.99735454e-01 9.99968412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.922755096 meters 0.019318866195374623 Centerline is valid? [True, True] Translation: X:445.83, Y:-278.60, Z:10.00 [[ 8.15154687e-01 5.78931554e-01 -1.90024260e-02 4.45825477e+02] [-5.78763278e-01 8.15376053e-01 1.39628178e-02 -2.78599716e+02] [ 2.35776389e-02 -3.83949971e-04 9.99721935e-01 1.00005755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.982755096 meters 0.02210836869248707 Centerline is valid? [True, True] Translation: X:445.87, Y:-278.64, Z:10.00 [[ 8.15200239e-01 5.78856411e-01 -1.93345768e-02 4.45871434e+02] [-5.78681950e-01 8.15429393e-01 1.42163814e-02 -2.78642442e+02] [ 2.39952257e-02 -4.00626879e-04 9.99711993e-01 9.99937941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.042755096 meters 0.02344094420521832 Centerline is valid? [True, True] Translation: X:445.91, Y:-278.68, Z:10.00 [[ 8.16359587e-01 5.77241453e-01 -1.86903741e-02 4.45914951e+02] [-5.77077869e-01 8.16573397e-01 1.37484712e-02 -2.78680832e+02] [ 2.31982497e-02 -4.37895050e-04 9.99730788e-01 1.00010811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1027550959999 meters 0.02098233231718393 Centerline is valid? [True, True] Translation: X:445.97, Y:-278.72, Z:10.00 [[ 8.17028772e-01 5.76279867e-01 -1.91180836e-02 4.45965935e+02] [-5.76108471e-01 8.17252280e-01 1.40619913e-02 -2.78716644e+02] [ 2.37279399e-02 -4.74961596e-04 9.99718340e-01 1.00030907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.162755096 meters 0.02090199866073344 Centerline is valid? [True, True] Translation: X:446.01, Y:-278.76, Z:10.00 [[ 8.17121897e-01 5.76118937e-01 -1.99693841e-02 4.46014598e+02] [-5.75931674e-01 8.17365715e-01 1.46967296e-02 -2.78755367e+02] [ 2.47893541e-02 -5.08018754e-04 9.99692568e-01 1.00040496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2227550959999 meters 0.02012575560600439 Centerline is valid? [True, True] Translation: X:446.06, Y:-278.79, Z:10.00 [[ 8.15346753e-01 5.78573913e-01 -2.14918396e-02 4.46064237e+02] [-5.78357600e-01 8.15629819e-01 1.58266826e-02 -2.78793113e+02] [ 2.66862909e-02 -4.74265518e-04 9.99643745e-01 1.00028916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.282755096 meters 0.018956309039737735 Centerline is valid? [True, True] Translation: X:446.11, Y:-278.83, Z:10.00 [[ 8.13240786e-01 5.81518761e-01 -2.18026316e-02 4.46114714e+02] [-5.81296953e-01 8.13532899e-01 1.60647143e-02 -2.78829410e+02] [ 2.70790909e-02 -3.90677541e-04 9.99633218e-01 1.00039857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3427550959999 meters 0.01780413149590202 Centerline is valid? [True, True] Translation: X:446.16, Y:-278.86, Z:10.00 [[ 8.10333451e-01 5.85572279e-01 -2.15593169e-02 4.46164878e+02] [-5.85356591e-01 8.10620157e-01 1.58941052e-02 -2.78864408e+02] [ 2.67835643e-02 -2.59636883e-04 9.99641222e-01 1.00040839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.402755096 meters 0.01716692888514535 Centerline is valid? [True, True] Translation: X:446.21, Y:-278.90, Z:10.00 [[ 8.08797742e-01 5.87673499e-01 -2.20470144e-02 4.46211652e+02] [-5.87448590e-01 8.09098152e-01 1.62583788e-02 -2.78898280e+02] [ 2.73928170e-02 -1.98252565e-04 9.99624727e-01 1.00043211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4627550959999 meters 0.017165087385737535 Centerline is valid? [True, True] Translation: X:446.26, Y:-278.93, Z:10.01 [[ 8.09002297e-01 5.87414434e-01 -2.14375074e-02 4.46258357e+02] [-5.87201773e-01 8.09286255e-01 1.58061560e-02 -2.78934362e+02] [ 2.66338443e-02 -1.99074194e-04 9.99645236e-01 1.00059066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.522755096 meters 0.017783378397070167 Centerline is valid? [True, True] Translation: X:446.31, Y:-278.97, Z:10.01 [[ 8.10920175e-01 5.84781360e-01 -2.09578437e-02 4.46305309e+02] [-5.84577271e-01 8.11190904e-01 1.54508970e-02 -2.78973299e+02] [ 2.60362087e-02 -2.77965021e-04 9.99660962e-01 1.00084677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5827550959999 meters 0.01777457858555824 Centerline is valid? [True, True] Translation: X:446.35, Y:-279.01, Z:10.01 [[ 8.12583272e-01 5.82512043e-01 -1.97014251e-02 4.46354813e+02] [-5.82330974e-01 8.12822004e-01 1.45267718e-02 -2.79011288e+02] [ 2.44757714e-02 -3.31461711e-04 9.99700368e-01 1.00125791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.642755096 meters 0.01778679911315875 Centerline is valid? [True, True] Translation: X:446.41, Y:-279.05, Z:10.01 [[ 8.12607603e-01 5.82513058e-01 -1.86392045e-02 4.46405699e+02] [-5.82350805e-01 8.12821281e-01 1.37515582e-02 -2.79048598e+02] [ 2.31608043e-02 -3.20065063e-04 9.99731701e-01 1.00146350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7027550959999 meters 0.018272885954992945 Centerline is valid? [True, True] Translation: X:446.46, Y:-279.09, Z:10.01 [[ 8.11333058e-01 5.84282803e-01 -1.87689967e-02 4.46455237e+02] [-5.84118544e-01 8.11550078e-01 1.38563372e-02 -2.79085264e+02] [ 2.33280003e-02 -2.78785408e-04 9.99727826e-01 1.00135988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.762755096 meters 0.016636961093412526 Centerline is valid? [True, True] Translation: X:446.51, Y:-279.12, Z:10.01 [[ 8.10171883e-01 5.85872576e-01 -1.93609262e-02 4.46507739e+02] [-5.85698042e-01 8.10403149e-01 1.43017426e-02 -2.79118269e+02] [ 2.40691543e-02 -2.47213094e-04 9.99710265e-01 1.00148505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8227550959999 meters 0.016530996782242104 Centerline is valid? [True, True] Translation: X:446.56, Y:-279.16, Z:10.02 [[ 8.09425781e-01 5.86886721e-01 -1.98464431e-02 4.46558787e+02] [-5.86703408e-01 8.09669021e-01 1.46692816e-02 -2.79155737e+02] [ 2.46782568e-02 -2.29718945e-04 9.99695419e-01 1.00159815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.882755096 meters 0.016714699702671768 Centerline is valid? [True, True] Translation: X:446.61, Y:-279.19, Z:10.02 [[ 8.09201915e-01 5.87196317e-01 -1.98178241e-02 4.46608465e+02] [-5.87013394e-01 8.09444522e-01 1.46574896e-02 -2.79192487e+02] [ 2.46482531e-02 -2.27540417e-04 9.99696160e-01 1.00169871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9427550959999 meters 0.017626694246843825 Centerline is valid? [True, True] Translation: X:446.66, Y:-279.23, Z:10.02 [[ 8.10448786e-01 5.85493613e-01 -1.92352572e-02 4.46656408e+02] [-5.85320612e-01 8.10676971e-01 1.42348025e-02 -2.79231751e+02] [ 2.39279660e-02 -2.77785940e-04 9.99713647e-01 1.00186704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.002755096 meters 0.01824231593116448 Centerline is valid? [True, True] Translation: X:446.70, Y:-279.27, Z:10.02 [[ 8.12828725e-01 5.82207968e-01 -1.85295990e-02 4.46704728e+02] [-5.82046403e-01 8.13039819e-01 1.37199894e-02 -2.79270691e+02] [ 2.30531890e-02 -3.66915071e-04 9.99734173e-01 1.00221962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0627550959999 meters 0.019786865365373555 Centerline is valid? [True, True] Translation: X:446.75, Y:-279.31, Z:10.02 [[ 8.14867674e-01 5.79372703e-01 -1.78310038e-02 4.46752507e+02] [-5.79222246e-01 8.15062624e-01 1.32102007e-02 -2.79310598e+02] [ 2.21870145e-02 -4.36451451e-04 9.99753743e-01 1.00241370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.122755096 meters 0.021246565711621018 Centerline is valid? [True, True] Translation: X:446.80, Y:-279.35, Z:10.03 [[ 8.15576188e-01 5.78388846e-01 -1.73730910e-02 4.46799604e+02] [-5.78245640e-01 8.15761077e-01 1.28781114e-02 -2.79349265e+02] [ 2.16208473e-02 -4.57166877e-04 9.99766138e-01 1.00260617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1827550959999 meters 0.020652021301050802 Centerline is valid? [True, True] Translation: X:446.85, Y:-279.38, Z:10.03 [[ 8.15188724e-01 5.78901158e-01 -1.84606009e-02 4.46852025e+02] [-5.78739411e-01 8.15397584e-01 1.36921188e-02 -2.79384906e+02] [ 2.29791128e-02 -4.77783542e-04 9.99735831e-01 1.00264379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.242755096 meters 0.019481250612203238 Centerline is valid? [True, True] Translation: X:446.90, Y:-279.42, Z:10.03 [[ 8.14189474e-01 5.80273114e-01 -1.94580024e-02 4.46903462e+02] [-5.80093575e-01 8.14421815e-01 1.44413329e-02 -2.79419094e+02] [ 2.42269389e-02 -4.70519030e-04 9.99706374e-01 1.00264114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3027550959999 meters 0.019696746891955635 Centerline is valid? [True, True] Translation: X:446.95, Y:-279.46, Z:10.03 [[ 8.14065810e-01 5.80422478e-01 -2.01644232e-02 4.46953892e+02] [-5.80229478e-01 8.14315361e-01 1.49748597e-02 -2.79456744e+02] [ 2.51119447e-02 -4.90528514e-04 9.99684525e-01 1.00272872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.362755096 meters 0.0208230588897913 Centerline is valid? [True, True] Translation: X:447.00, Y:-279.49, Z:10.03 [[ 8.14856902e-01 5.79309781e-01 -2.02090814e-02 4.47003211e+02] [-5.79115341e-01 8.15107289e-01 1.50176138e-02 -2.79493806e+02] [ 2.51724201e-02 -5.33817167e-04 9.99682982e-01 1.00281294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.422755096 meters 0.02357357598359316 Centerline is valid? [True, True] Translation: X:447.05, Y:-279.53, Z:10.03 [[ 8.16337567e-01 5.77242662e-01 -1.95930078e-02 4.47049319e+02] [-5.77059125e-01 8.16572450e-01 1.45670763e-02 -2.79534441e+02] [ 2.44078483e-02 -5.85327739e-04 9.99701913e-01 1.00304766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.482755096 meters 0.02202348751842793 Centerline is valid? [True, True] Translation: X:447.10, Y:-279.57, Z:10.03 [[ 8.17469205e-01 5.75653990e-01 -1.91463691e-02 4.47100762e+02] [-5.75478167e-01 8.17693156e-01 1.42401548e-02 -2.79568939e+02] [ 2.38532569e-02 -6.22570654e-04 9.99715277e-01 1.00334561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.542755096 meters 0.02293618511702325 Centerline is valid? [True, True] Translation: X:447.15, Y:-279.61, Z:10.04 [[ 8.17759268e-01 5.75267497e-01 -1.83599120e-02 4.47149668e+02] [-5.75105554e-01 8.17965115e-01 1.36628047e-02 -2.79605463e+02] [ 2.28775350e-02 -6.13997811e-04 9.99738086e-01 1.00351291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6027550959999 meters 0.022621831711337744 Centerline is valid? [True, True] Translation: X:447.20, Y:-279.64, Z:10.04 [[ 8.17534631e-01 5.75618468e-01 -1.73351224e-02 4.47202045e+02] [-5.75474032e-01 8.17718196e-01 1.29069881e-02 -2.79641015e+02] [ 2.16047457e-02 -5.75996942e-04 9.99766424e-01 1.00373183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.662755096 meters 0.022074945685692637 Centerline is valid? [True, True] Translation: X:447.25, Y:-279.68, Z:10.04 [[ 8.16853726e-01 5.76578416e-01 -1.75305782e-02 4.47253797e+02] [-5.76430755e-01 8.17041623e-01 1.30602876e-02 -2.79676427e+02] [ 2.18534919e-02 -5.63180152e-04 9.99761025e-01 1.00382596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7227550959999 meters 0.021748044449125106 Centerline is valid? [True, True] Translation: X:447.30, Y:-279.71, Z:10.04 [[ 8.15268590e-01 5.78818327e-01 -1.75062994e-02 4.47304160e+02] [-5.78671517e-01 8.15456369e-01 1.30455609e-02 -2.79710856e+02] [ 2.18266331e-02 -5.05239251e-04 9.99761643e-01 1.00394831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.782755096 meters 0.01992296272622035 Centerline is valid? [True, True] Translation: X:447.36, Y:-279.74, Z:10.04 [[ 8.12610573e-01 5.82530004e-01 -1.79680658e-02 4.47358016e+02] [-5.82376086e-01 8.12809089e-01 1.33969617e-02 -2.79742760e+02] [ 2.24087393e-02 -4.22340912e-04 9.99748803e-01 1.00391739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8427550959999 meters 0.018680119561626816 Centerline is valid? [True, True] Translation: X:447.41, Y:-279.78, Z:10.04 [[ 8.11340519e-01 5.84284873e-01 -1.83779708e-02 4.47409969e+02] [-5.84124119e-01 8.11548542e-01 1.37104665e-02 -2.79776226e+02] [ 2.29254336e-02 -3.88840975e-04 9.99737102e-01 1.00401369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.902755096 meters 0.018340995036204916 Centerline is valid? [True, True] Translation: X:447.46, Y:-279.81, Z:10.04 [[ 8.10227530e-01 5.85842286e-01 -1.78931858e-02 4.47459841e+02] [-5.85690114e-01 8.10425011e-01 1.33562940e-02 -2.79812273e+02] [ 2.23257672e-02 -3.41775030e-04 9.99750691e-01 1.00418908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9627550959999 meters 0.018004832114591852 Centerline is valid? [True, True] Translation: X:447.51, Y:-279.85, Z:10.04 [[ 8.09556710e-01 5.86796340e-01 -1.69702198e-02 4.47510301e+02] [-5.86659535e-01 8.09734502e-01 1.26738615e-02 -2.79847916e+02] [ 2.11783480e-02 -3.04468331e-04 9.99775667e-01 1.00443421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.022755096 meters 0.01830284080505065 Centerline is valid? [True, True] Translation: X:447.56, Y:-279.88, Z:10.05 [[ 8.09185794e-01 5.87336453e-01 -1.59449828e-02 4.47560516e+02] [-5.87215657e-01 8.09342828e-01 1.19145998e-02 -2.79883133e+02] [ 1.99028362e-02 -2.77981329e-04 9.99801880e-01 1.00457126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0827550959999 meters 0.018336675182041448 Centerline is valid? [True, True] Translation: X:447.61, Y:-279.92, Z:10.05 [[ 8.09730931e-01 5.86601712e-01 -1.53052395e-02 4.47610429e+02] [-5.86490175e-01 8.09875514e-01 1.14423474e-02 -2.79919452e+02] [ 1.91074393e-02 -2.88850060e-04 9.99817394e-01 1.00478148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.142755096 meters 0.018328974543486937 Centerline is valid? [True, True] Translation: X:447.66, Y:-279.96, Z:10.05 [[ 8.09967959e-01 5.86293632e-01 -1.45492953e-02 4.47660964e+02] [-5.86192685e-01 8.10098571e-01 1.08830498e-02 -2.79956419e+02] [ 1.81670262e-02 -2.86231156e-04 9.99834925e-01 1.00500892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2027550959999 meters 0.01959898479275529 Centerline is valid? [True, True] Translation: X:447.71, Y:-279.99, Z:10.05 [[ 8.10228932e-01 5.85940860e-01 -1.42262442e-02 4.47710596e+02] [-5.85844170e-01 8.10353764e-01 1.06483086e-02 -2.79993819e+02] [ 1.77675696e-02 -2.93205492e-04 9.99842101e-01 1.00506792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.262755096 meters 0.01827647077797264 Centerline is valid? [True, True] Translation: X:447.76, Y:-280.03, Z:10.05 [[ 8.09884204e-01 5.86408245e-01 -1.45926859e-02 4.47763264e+02] [-5.86306460e-01 8.10015606e-01 1.09294185e-02 -2.80028793e+02] [ 1.82294045e-02 -2.95777399e-04 9.99833787e-01 1.00522698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3227550959999 meters 0.018126579002257247 Centerline is valid? [True, True] Translation: X:447.81, Y:-280.06, Z:10.05 [[ 8.09350407e-01 5.87134372e-01 -1.50049180e-02 4.47814098e+02] [-5.87026734e-01 8.09489433e-01 1.12459231e-02 -2.80064745e+02] [ 1.87491906e-02 -2.93604469e-04 9.99824175e-01 1.00522256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.382755096 meters 0.01807448706814569 Centerline is valid? [True, True] Translation: X:447.86, Y:-280.10, Z:10.05 [[ 8.09063879e-01 5.87503820e-01 -1.59656234e-02 4.47863114e+02] [-5.87381896e-01 8.09221333e-01 1.19725938e-02 -2.80098204e+02] [ 1.99536676e-02 -3.08675014e-04 9.99800858e-01 1.00514395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4427550959999 meters 0.0184395648712583 Centerline is valid? [True, True] Translation: X:447.91, Y:-280.13, Z:10.05 [[ 8.09484539e-01 5.86916453e-01 -1.62436956e-02 4.47909984e+02] [-5.86790148e-01 8.09647435e-01 1.21800310e-02 -2.80133227e+02] [ 2.03003271e-02 -3.27906238e-04 9.99793873e-01 1.00531355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.502755096 meters 0.01859976559863481 Centerline is valid? [True, True] Translation: X:447.96, Y:-280.17, Z:10.06 [[ 8.10216886e-01 5.85926847e-01 -1.54378768e-02 4.47961247e+02] [-5.85812610e-01 8.10363880e-01 1.15744595e-02 -2.80168451e+02] [ 1.92920843e-02 -3.34119609e-04 9.99813835e-01 1.00564052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5627550959999 meters 0.01893307041240757 Centerline is valid? [True, True] Translation: X:448.01, Y:-280.20, Z:10.06 [[ 8.10361573e-01 5.85758826e-01 -1.41675079e-02 4.48012756e+02] [-5.85662493e-01 8.10485348e-01 1.06275722e-02 -2.80204285e+02] [ 1.77077518e-02 -3.14798099e-04 9.99843156e-01 1.00588796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.622755096 meters 0.02065566546623996 Centerline is valid? [True, True] Translation: X:448.06, Y:-280.24, Z:10.06 [[ 8.10882267e-01 5.85073775e-01 -1.25947323e-02 4.48061033e+02] [-5.84997457e-01 8.10980018e-01 9.45444230e-03 -2.80237421e+02] [ 1.57456225e-02 -2.98553211e-04 9.99875985e-01 1.00614098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6827550959999 meters 0.019228292631692463 Centerline is valid? [True, True] Translation: X:448.12, Y:-280.27, Z:10.06 [[ 8.10276041e-01 5.85950945e-01 -1.06877642e-02 4.48115602e+02] [-5.85896104e-01 8.10346490e-01 8.02005234e-03 -2.80267337e+02] [ 1.33601494e-02 -2.36536871e-04 9.99910721e-01 1.00630914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.742755096 meters 0.019004340950752277 Centerline is valid? [True, True] Translation: X:448.17, Y:-280.30, Z:10.06 [[ 8.08638649e-01 5.88236508e-01 -9.01924317e-03 4.48166213e+02] [-5.88197524e-01 8.08688927e-01 6.77431096e-03 -2.80296170e+02] [ 1.12786591e-02 -1.72873159e-04 9.99936379e-01 1.00636047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8027550959999 meters 0.018285689080068918 Centerline is valid? [True, True] Translation: X:448.22, Y:-280.33, Z:10.06 [[ 8.06723222e-01 5.90872352e-01 -8.21624994e-03 4.48217563e+02] [-5.90840150e-01 8.06765052e-01 6.16992416e-03 -2.80325373e+02] [ 1.02742209e-02 -1.22930755e-04 9.99947211e-01 1.00635688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.862755096 meters 0.018342565556097524 Centerline is valid? [True, True] Translation: X:448.27, Y:-280.36, Z:10.06 [[ 8.05887742e-01 5.92027569e-01 -6.95023567e-03 4.48265494e+02] [-5.92004570e-01 8.05917707e-01 5.21909401e-03 -2.80358028e+02] [ 8.69116553e-03 -9.14326026e-05 9.99962227e-01 1.00649692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.922755096 meters 0.018913406882770805 Centerline is valid? [True, True] Translation: X:448.31, Y:-280.39, Z:10.07 [[ 8.06636974e-01 5.91024253e-01 -5.20812414e-03 4.48312193e+02] [-5.91011322e-01 8.06653784e-01 3.91032870e-03 -2.80392967e+02] [ 6.51225215e-03 -7.61553785e-05 9.99978792e-01 1.00669722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.982755096 meters 0.019886797322212713 Centerline is valid? [True, True] Translation: X:448.36, Y:-280.43, Z:10.07 [[ 8.08793469e-01 5.88065364e-01 -5.67915160e-03 4.48357140e+02] [-5.88049925e-01 8.08813400e-01 4.26264684e-03 -2.80431195e+02] [ 7.10008888e-03 -1.07976258e-04 9.99974788e-01 1.00660809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.042755096 meters 0.02105437791063385 Centerline is valid? [True, True] Translation: X:448.40, Y:-280.47, Z:10.07 [[ 8.10620928e-01 5.85544752e-01 -5.57268807e-03 4.48401081e+02] [-5.85529829e-01 8.10640073e-01 4.18234602e-03 -2.80469311e+02] [ 6.96639503e-03 -1.27322122e-04 9.99975726e-01 1.00663042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1027550959999 meters 0.020667748613547792 Centerline is valid? [True, True] Translation: X:448.45, Y:-280.51, Z:10.06 [[ 8.11753323e-01 5.83971629e-01 -5.80334638e-03 4.48451446e+02] [-5.83955450e-01 8.11774055e-01 4.34923179e-03 -2.80505829e+02] [ 7.25083400e-03 -1.41607615e-04 9.99973702e-01 1.00646632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.162755096 meters 0.021752586787598335 Centerline is valid? [True, True] Translation: X:448.50, Y:-280.54, Z:10.07 [[ 8.12166429e-01 5.83398674e-01 -5.62839164e-03 4.48498871e+02] [-5.83383399e-01 8.12185918e-01 4.22417128e-03 -2.80543909e+02] [ 7.03567635e-03 -1.47219864e-04 9.99975238e-01 1.00658771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2227550959999 meters 0.021436296214648095 Centerline is valid? [True, True] Translation: X:448.55, Y:-280.58, Z:10.07 [[ 8.12661837e-01 5.82714922e-01 -4.90505162e-03 4.48547641e+02] [-5.82703310e-01 8.12676628e-01 3.68108511e-03 -2.80581194e+02] [ 6.13124403e-03 -1.33287570e-04 9.99981195e-01 1.00669765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.282755096 meters 0.021893264580188275 Centerline is valid? [True, True] Translation: X:448.59, Y:-280.62, Z:10.07 [[ 8.12761039e-01 5.82568109e-01 -5.82168207e-03 4.48593409e+02] [-5.82551734e-01 8.12781873e-01 4.37088939e-03 -2.80618139e+02] [ 7.27809842e-03 -1.61057618e-04 9.99973501e-01 1.00669757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3427550959999 meters 0.02215051113430987 Centerline is valid? [True, True] Translation: X:448.64, Y:-280.66, Z:10.07 [[ 8.12418406e-01 5.83038475e-01 -6.51694080e-03 4.48639069e+02] [-5.83017975e-01 8.12444525e-01 4.89236344e-03 -2.80655795e+02] [ 8.14708899e-03 -1.75152480e-04 9.99966797e-01 1.00668708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.402755096 meters 0.02140484998129158 Centerline is valid? [True, True] Translation: X:448.69, Y:-280.69, Z:10.07 [[ 8.11789374e-01 5.83911131e-01 -6.76781837e-03 4.48685400e+02] [-5.83889060e-01 8.11817567e-01 5.07982730e-03 -2.80691688e+02] [ 8.46040154e-03 -1.72094717e-04 9.99964195e-01 1.00671490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4627550959999 meters 0.020131916753013904 Centerline is valid? [True, True] Translation: X:448.73, Y:-280.73, Z:10.07 [[ 8.09563475e-01 5.86991790e-01 -6.90063844e-03 4.48733095e+02] [-5.86968959e-01 8.09592872e-01 5.17901285e-03 -2.80726783e+02] [ 8.62674572e-03 -1.42279077e-04 9.99962779e-01 1.00680840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.522755096 meters 0.018807214834782673 Centerline is valid? [True, True] Translation: X:448.78, Y:-280.76, Z:10.07 [[ 8.06304489e-01 5.91461609e-01 -6.79969366e-03 4.48780610e+02] [-5.91439611e-01 8.06333155e-01 5.10193607e-03 -2.80760203e+02] [ 8.50041776e-03 -9.21057768e-05 9.99963867e-01 1.00687677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5827550959999 meters 0.01779556624579784 Centerline is valid? [True, True] Translation: X:448.83, Y:-280.80, Z:10.07 [[ 8.04021121e-01 5.94560012e-01 -6.95915707e-03 4.48828515e+02] [-5.94537101e-01 8.04051235e-01 5.21985521e-03 -2.80796112e+02] [ 8.69903602e-03 -5.93967704e-05 9.99962161e-01 1.00692593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.642755096 meters 0.017855486006510053 Centerline is valid? [True, True] Translation: X:448.88, Y:-280.83, Z:10.07 [[ 8.03663930e-01 5.95045146e-01 -6.74992869e-03 4.48875474e+02] [-5.95023612e-01 8.03692274e-01 5.06252422e-03 -2.80832202e+02] [ 8.43729600e-03 -5.22011618e-05 9.99964404e-01 1.00708160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7027550959999 meters 0.017874943814332297 Centerline is valid? [True, True] Translation: X:448.92, Y:-280.87, Z:10.07 [[ 8.02910681e-01 5.96065225e-01 -6.37852670e-03 4.48920487e+02] [-5.96046027e-01 8.02936016e-01 4.78412665e-03 -2.80869682e+02] [ 7.97320034e-03 -3.93308843e-05 9.99968213e-01 1.00729547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.762755096 meters 0.01790817961500491 Centerline is valid? [True, True] Translation: X:448.97, Y:-280.91, Z:10.07 [[ 8.02429157e-01 5.96708967e-01 -6.77173874e-03 4.48966020e+02] [-5.96687364e-01 8.02457729e-01 5.07762018e-03 -2.80907959e+02] [ 8.46389559e-03 -3.38195464e-05 9.99964180e-01 1.00739973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8227550959999 meters 0.017772263303168667 Centerline is valid? [True, True] Translation: X:449.02, Y:-280.95, Z:10.07 [[ 8.01984565e-01 5.97298517e-01 -7.43235540e-03 4.49015132e+02] [-5.97272562e-01 8.02019003e-01 5.56832448e-03 -2.80948103e+02] [ 9.28684222e-03 -2.65683328e-05 9.99956876e-01 1.00736208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.882755096 meters 0.01763204594443581 Centerline is valid? [True, True] Translation: X:449.06, Y:-280.99, Z:10.07 [[ 8.01737298e-01 5.97599236e-01 -9.61548539e-03 4.49061217e+02] [-5.97555703e-01 8.01794956e-01 7.21316829e-03 -2.80988235e+02] [ 1.20202315e-02 -3.72779301e-05 9.99927754e-01 1.00728884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9427550959999 meters 0.017653750859890415 Centerline is valid? [True, True] Translation: X:449.10, Y:-281.03, Z:10.07 [[ 8.02615929e-01 5.96394064e-01 -1.10359089e-02 4.49104565e+02] [-5.96336598e-01 8.02691794e-01 8.27923805e-03 -2.81030302e+02] [ 1.37961219e-02 -6.39319901e-05 9.99904827e-01 1.00728822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.002755096 meters 0.017806389707941794 Centerline is valid? [True, True] Translation: X:449.15, Y:-281.07, Z:10.07 [[ 8.03689237e-01 5.94929798e-01 -1.19224608e-02 4.49148566e+02] [-5.94862530e-01 8.03777659e-01 8.94677048e-03 -2.81070740e+02] [ 1.49057080e-02 -9.81979708e-05 9.99888899e-01 1.00734133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0627550959999 meters 0.018577629440276872 Centerline is valid? [True, True] Translation: X:449.19, Y:-281.12, Z:10.08 [[ 8.05703010e-01 5.92208840e-01 -1.14608018e-02 4.49189183e+02] [-5.92146416e-01 8.05784506e-01 8.59958940e-03 -2.81115805e+02] [ 1.43276894e-02 -1.42242333e-04 9.99897343e-01 1.00755772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.122755096 meters 0.01849586453874875 Centerline is valid? [True, True] Translation: X:449.24, Y:-281.16, Z:10.08 [[ 8.06100393e-01 5.91679094e-01 -1.08630387e-02 4.49236912e+02] [-5.91622995e-01 8.06173573e-01 8.14878600e-03 -2.81156580e+02] [ 1.35789611e-02 -1.41916097e-04 9.99907792e-01 1.00775261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1827550959999 meters 0.018153019124255466 Centerline is valid? [True, True] Translation: X:449.28, Y:-281.20, Z:10.08 [[ 8.05141092e-01 5.92968385e-01 -1.16754713e-02 4.49283578e+02] [-5.92903622e-01 8.05225730e-01 8.76464859e-03 -2.81197619e+02] [ 1.45985494e-02 -1.34349514e-04 9.99893426e-01 1.00781875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.242755096 meters 0.01766997399878352 Centerline is valid? [True, True] Translation: X:449.33, Y:-281.24, Z:10.08 [[ 8.03360917e-01 5.95345794e-01 -1.32144939e-02 4.49331647e+02] [-5.95263044e-01 8.03469585e-01 9.92646853e-03 -2.81237763e+02] [ 1.65271252e-02 -1.08437009e-04 9.99863412e-01 1.00781042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3027550959999 meters 0.017382732617635406 Centerline is valid? [True, True] Translation: X:449.38, Y:-281.27, Z:10.08 [[ 8.01771473e-01 5.97473061e-01 -1.37275439e-02 4.49382343e+02] [-5.97383966e-01 8.01888980e-01 1.03180084e-02 -2.81274287e+02] [ 1.71726983e-02 -7.20701851e-05 9.99852536e-01 1.00791439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.362755096 meters 0.017196602780070624 Centerline is valid? [True, True] Translation: X:449.43, Y:-281.31, Z:10.08 [[ 7.98316351e-01 6.02039953e-01 -1.54563558e-02 4.49433199e+02] [-6.01927709e-01 7.98465964e-01 1.16248808e-02 -2.81307806e+02] [ 1.93400167e-02 2.32763773e-05 9.99812964e-01 1.00793444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.422755096 meters 0.01713804129366195 Centerline is valid? [True, True] Translation: X:449.48, Y:-281.34, Z:10.08 [[ 7.98444259e-01 6.01866957e-01 -1.55862537e-02 4.49481240e+02] [-6.01752670e-01 7.98596372e-01 1.17285431e-02 -2.81344319e+02] [ 1.95061482e-02 1.44818572e-05 9.99809737e-01 1.00800068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.482755096 meters 0.017220845115416872 Centerline is valid? [True, True] Translation: X:449.53, Y:-281.38, Z:10.08 [[ 8.00574705e-01 5.99025973e-01 -1.57488180e-02 4.49527884e+02] [-5.98908698e-01 8.00729593e-01 1.18528729e-02 -2.81382266e+02] [ 1.97107233e-02 -5.70061600e-05 9.99805723e-01 1.00814838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.542755096 meters 0.017863625334503058 Centerline is valid? [True, True] Translation: X:449.57, Y:-281.42, Z:10.08 [[ 8.03401452e-01 5.95234303e-01 -1.55638236e-02 4.49572868e+02] [-5.95119071e-01 8.03552178e-01 1.17127146e-02 -2.81420677e+02] [ 1.94781538e-02 -1.47683658e-04 9.99810272e-01 1.00833193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6027550959999 meters 0.018889193020402727 Centerline is valid? [True, True] Translation: X:449.62, Y:-281.46, Z:10.09 [[ 8.05278736e-01 5.92705916e-01 -1.50284561e-02 4.49618699e+02] [-5.92598060e-01 8.05418932e-01 1.13085421e-02 -2.81456803e+02] [ 1.88068429e-02 -2.00694512e-04 9.99823116e-01 1.00852398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.662755096 meters 0.018543472568347603 Centerline is valid? [True, True] Translation: X:449.67, Y:-281.49, Z:10.09 [[ 8.05808506e-01 5.91970065e-01 -1.56234974e-02 4.49669378e+02] [-5.91853394e-01 8.05959919e-01 1.17545302e-02 -2.81491905e+02] [ 1.95502427e-02 -2.25080400e-04 9.99808850e-01 1.00853835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7227550959999 meters 0.018724400445988863 Centerline is valid? [True, True] Translation: X:449.72, Y:-281.53, Z:10.08 [[ 8.05616468e-01 5.92197499e-01 -1.68590920e-02 4.49719460e+02] [-5.92061534e-01 8.05792816e-01 1.26915857e-02 -2.81528952e+02] [ 2.11008606e-02 -2.42930557e-04 9.99777323e-01 1.00840583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.782755096 meters 0.018887469698498513 Centerline is valid? [True, True] Translation: X:449.77, Y:-281.57, Z:10.08 [[ 8.05697008e-01 5.92067558e-01 -1.75595291e-02 4.49768646e+02] [-5.91919855e-01 8.05888291e-01 1.32268048e-02 -2.81566739e+02] [ 2.19821809e-02 -2.62963145e-04 9.99758328e-01 1.00846616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8427550959999 meters 0.01895375816401652 Centerline is valid? [True, True] Translation: X:449.82, Y:-281.60, Z:10.09 [[ 8.05481263e-01 5.92377847e-01 -1.69829734e-02 4.49819371e+02] [-5.92239639e-01 8.05660241e-01 1.27979019e-02 -2.81603690e+02] [ 2.12637000e-02 -2.50480159e-04 9.99773871e-01 1.00864055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.902755096 meters 0.019061935416002422 Centerline is valid? [True, True] Translation: X:449.87, Y:-281.64, Z:10.09 [[ 8.05520562e-01 5.92335584e-01 -1.65885374e-02 4.49868202e+02] [-5.92203570e-01 8.05691313e-01 1.25075748e-02 -2.81640465e+02] [ 2.07739221e-02 -2.51317632e-04 9.99784167e-01 1.00880837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9627550959999 meters 0.019674394711974134 Centerline is valid? [True, True] Translation: X:449.91, Y:-281.68, Z:10.09 [[ 8.06378700e-01 5.91158854e-01 -1.68701519e-02 4.49913638e+02] [-5.91022046e-01 8.06555099e-01 1.27206328e-02 -2.81677719e+02] [ 2.11266217e-02 -2.87015620e-04 9.99776767e-01 1.00883726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.022755096 meters 0.02040713313416642 Centerline is valid? [True, True] Translation: X:449.96, Y:-281.72, Z:10.09 [[ 8.07209616e-01 5.89990854e-01 -1.79841261e-02 4.49959608e+02] [-5.89835121e-01 8.07409858e-01 1.35591806e-02 -2.81715273e+02] [ 2.25203533e-02 -3.37431761e-04 9.99746328e-01 1.00879083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0827550959999 meters 0.020625880823599337 Centerline is valid? [True, True] Translation: X:450.01, Y:-281.75, Z:10.09 [[ 8.07261692e-01 5.89933134e-01 -1.75344521e-02 4.50006199e+02] [-5.89785124e-01 8.07452035e-01 1.32181267e-02 -2.81749589e+02] [ 2.19560399e-02 -3.28928303e-04 9.99758883e-01 1.00886329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.142755096 meters 0.019406757841684538 Centerline is valid? [True, True] Translation: X:450.06, Y:-281.78, Z:10.09 [[ 8.06546368e-01 5.90907503e-01 -1.76430891e-02 4.50058073e+02] [-5.90757903e-01 8.06739258e-01 1.32992137e-02 -2.81783793e+02] [ 2.20919778e-02 -3.03638215e-04 9.99755896e-01 1.00901653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2027550959999 meters 0.018887499436029315 Centerline is valid? [True, True] Translation: X:450.11, Y:-281.82, Z:10.09 [[ 8.05591182e-01 5.92240048e-01 -1.65702374e-02 4.50109121e+02] [-5.92108236e-01 8.05761541e-01 1.24970546e-02 -2.81819728e+02] [ 2.07529162e-02 -2.56142991e-04 9.99784602e-01 1.00925931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.262755096 meters 0.018366453026041965 Centerline is valid? [True, True] Translation: X:450.16, Y:-281.86, Z:10.10 [[ 8.04672273e-01 5.93505078e-01 -1.59453710e-02 4.50159077e+02] [-5.93383141e-01 8.04830214e-01 1.20322123e-02 -2.81856524e+02] [ 1.99744955e-02 -2.20273300e-04 9.99800466e-01 1.00955067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3227550959999 meters 0.017722375385350937 Centerline is valid? [True, True] Translation: X:450.21, Y:-281.89, Z:10.10 [[ 8.03132213e-01 5.95582281e-01 -1.61367321e-02 4.50208483e+02] [-5.95457695e-01 8.03294290e-01 1.21826818e-02 -2.81890577e+02] [ 2.02183342e-02 -1.75562852e-04 9.99795573e-01 1.00965887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.382755096 meters 0.01726296055517068 Centerline is valid? [True, True] Translation: X:450.26, Y:-281.92, Z:10.10 [[ 8.01927860e-01 5.97208068e-01 -1.59446288e-02 4.50255963e+02] [-5.97086773e-01 8.02086345e-01 1.20366064e-02 -2.81923581e+02] [ 1.99773275e-02 -1.32163017e-04 9.99800425e-01 1.00976633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4427550959999 meters 0.01678137299696081 Centerline is valid? [True, True] Translation: X:450.30, Y:-281.96, Z:10.10 [[ 8.00792651e-01 5.98735099e-01 -1.57293563e-02 4.50304631e+02] [-5.98617393e-01 8.00947110e-01 1.18719321e-02 -2.81958914e+02] [ 1.97065249e-02 -9.10896642e-05 9.99805803e-01 1.00985800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.502755096 meters 0.01693475265140809 Centerline is valid? [True, True] Translation: X:450.35, Y:-281.99, Z:10.10 [[ 8.00886488e-01 5.98566110e-01 -1.73045152e-02 4.50350203e+02] [-5.98423636e-01 8.01073406e-01 1.30594623e-02 -2.81994485e+02] [ 2.16791385e-02 -1.03716041e-04 9.99764974e-01 1.00978375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5627550959999 meters 0.016881520603927547 Centerline is valid? [True, True] Translation: X:450.40, Y:-282.03, Z:10.10 [[ 8.01179218e-01 5.98171290e-01 -1.74059777e-02 4.50396478e+02] [-5.98027102e-01 8.01368264e-01 1.31335689e-02 -2.82030394e+02] [ 2.18047220e-02 -1.13096083e-04 9.99762242e-01 1.00986919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.622755096 meters 0.017026635351893162 Centerline is valid? [True, True] Translation: X:450.45, Y:-282.07, Z:10.10 [[ 8.02393554e-01 5.96550825e-01 -1.70791722e-02 4.50445349e+02] [-5.96411643e-01 8.02575286e-01 1.28865084e-02 -2.82069322e+02] [ 2.13947787e-02 -1.53834131e-04 9.99771094e-01 1.01003438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6827550959999 meters 0.01752695631389572 Centerline is valid? [True, True] Translation: X:450.49, Y:-282.11, Z:10.10 [[ 8.03603776e-01 5.94934501e-01 -1.65502688e-02 4.50493276e+02] [-5.94803302e-01 8.03774160e-01 1.24952568e-02 -2.82109203e+02] [ 2.07365378e-02 -1.97081049e-04 9.99784955e-01 1.01024291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.742755096 meters 0.017793780770871525 Centerline is valid? [True, True] Translation: X:450.54, Y:-282.15, Z:10.10 [[ 8.04205188e-01 5.94127567e-01 -1.63232790e-02 4.50542860e+02] [-5.93999632e-01 8.04370801e-01 1.23309371e-02 -2.82147635e+02] [ 2.04561187e-02 -2.20581888e-04 9.99790727e-01 1.01039430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8027550959999 meters 0.018760700496147246 Centerline is valid? [True, True] Translation: X:450.59, Y:-282.19, Z:10.10 [[ 8.05104198e-01 5.92911151e-01 -1.62356765e-02 4.50590681e+02] [-5.92784179e-01 8.05267844e-01 1.22725798e-02 -2.82185470e+02] [ 2.03506177e-02 -2.56453381e-04 9.99792872e-01 1.01046687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.862755096 meters 0.01943281547670308 Centerline is valid? [True, True] Translation: X:450.64, Y:-282.22, Z:10.10 [[ 8.06014855e-01 5.91656396e-01 -1.68155326e-02 4.50637543e+02] [-5.91519797e-01 8.06190187e-01 1.27166208e-02 -2.82220495e+02] [ 2.10803874e-02 -3.03064853e-04 9.99777738e-01 1.01041551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.922755096 meters 0.019315737663373963 Centerline is valid? [True, True] Translation: X:450.69, Y:-282.26, Z:10.10 [[ 8.06407681e-01 5.91070089e-01 -1.85149386e-02 4.50688843e+02] [-5.90904331e-01 8.06620126e-01 1.40015745e-02 -2.82255915e+02] [ 2.32104340e-02 -3.50419779e-04 9.99730540e-01 1.01037920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.982755096 meters 0.019555111603890358 Centerline is valid? [True, True] Translation: X:450.74, Y:-282.29, Z:10.10 [[ 8.06803236e-01 5.90494386e-01 -1.96193160e-02 4.50740114e+02] [-5.90307878e-01 8.07041649e-01 1.48454114e-02 -2.82291023e+02] [ 2.45997373e-02 -3.95889187e-04 9.99697302e-01 1.01033711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.042755096 meters 0.020637922606955048 Centerline is valid? [True, True] Translation: X:450.79, Y:-282.33, Z:10.10 [[ 8.06720745e-01 5.90599992e-01 -1.98315128e-02 4.50788708e+02] [-5.90409252e-01 8.06964365e-01 1.50142865e-02 -2.82327930e+02] [ 2.48707616e-02 -4.03627746e-04 9.99690593e-01 1.01042742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1027550959999 meters 0.018819126358177733 Centerline is valid? [True, True] Translation: X:450.84, Y:-282.36, Z:10.11 [[ 8.05933291e-01 5.91695875e-01 -1.91708857e-02 4.50842616e+02] [-5.91517762e-01 8.06161187e-01 1.45216330e-02 -2.82360208e+02] [ 2.40472143e-02 -3.63548092e-04 9.99710758e-01 1.01076292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.162755096 meters 0.01848843366360988 Centerline is valid? [True, True] Translation: X:450.90, Y:-282.39, Z:10.11 [[ 8.04891275e-01 5.93143656e-01 -1.81834657e-02 4.50895252e+02] [-5.92983614e-01 8.05096583e-01 1.37813809e-02 -2.82393752e+02] [ 2.28137847e-02 -3.10016026e-04 9.99739684e-01 1.01098626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2227550959999 meters 0.01788362814275849 Centerline is valid? [True, True] Translation: X:450.95, Y:-282.43, Z:10.11 [[ 8.03826549e-01 5.94597324e-01 -1.78017125e-02 4.50947532e+02] [-5.94444116e-01 8.04023600e-01 1.34997512e-02 -2.82427788e+02] [ 2.23399130e-02 -2.69335156e-04 9.99750397e-01 1.01120482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.282755096 meters 0.018008175322867748 Centerline is valid? [True, True] Translation: X:451.00, Y:-282.46, Z:10.11 [[ 8.03422451e-01 5.95135548e-01 -1.80567392e-02 4.50997134e+02] [-5.94977877e-01 8.03625292e-01 1.37009245e-02 -2.82464490e+02] [ 2.26647595e-02 -2.64270014e-04 9.99743086e-01 1.01129299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3427550959999 meters 0.018333742099142635 Centerline is valid? [True, True] Translation: X:451.05, Y:-282.50, Z:10.11 [[ 8.03406244e-01 5.95129231e-01 -1.89632501e-02 4.51047361e+02] [-5.94955206e-01 8.03629964e-01 1.43939037e-02 -2.82500513e+02] [ 2.38056689e-02 -2.81867748e-04 9.99716565e-01 1.01120943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.402755096 meters 0.018350377732275693 Centerline is valid? [True, True] Translation: X:451.10, Y:-282.54, Z:10.11 [[ 8.03509206e-01 5.94972536e-01 -1.95099046e-02 4.51098155e+02] [-5.94788201e-01 8.03745975e-01 1.48122607e-02 -2.82538016e+02] [ 2.44938956e-02 -2.97526794e-04 9.99699935e-01 1.01127354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4627550959999 meters 0.01920334705454073 Centerline is valid? [True, True] Translation: X:451.15, Y:-282.58, Z:10.11 [[ 8.03824767e-01 5.94493781e-01 -2.10449372e-02 4.51146065e+02] [-5.94278847e-01 8.04100134e-01 1.59883211e-02 -2.82576131e+02] [ 2.64271942e-02 -3.45247433e-04 9.99650681e-01 1.01118651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.522755096 meters 0.019644785307882103 Centerline is valid? [True, True] Translation: X:451.19, Y:-282.61, Z:10.11 [[ 8.04640370e-01 5.93358313e-01 -2.19040212e-02 4.51192263e+02] [-5.93124904e-01 8.04938352e-01 1.66462821e-02 -2.82612858e+02] [ 2.75085966e-02 -4.02450102e-04 9.99621486e-01 1.01119636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5827550959999 meters 0.020221823551692206 Centerline is valid? [True, True] Translation: X:451.24, Y:-282.65, Z:10.11 [[ 8.06251302e-01 5.91125496e-01 -2.30105688e-02 4.51240591e+02] [-5.90866939e-01 8.06579440e-01 1.74890665e-02 -2.82651990e+02] [ 2.88980848e-02 -5.04398275e-04 9.99582236e-01 1.01131255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.642755096 meters 0.02334440928291064 Centerline is valid? [True, True] Translation: X:451.28, Y:-282.70, Z:10.11 [[ 8.08209296e-01 5.88450896e-01 -2.28752351e-02 4.51284658e+02] [-5.88194062e-01 8.08532732e-01 1.73944611e-02 -2.82695165e+02] [ 2.87311625e-02 -6.03287730e-04 9.99586993e-01 1.01130304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7027550959999 meters 0.02318018553443549 Centerline is valid? [True, True] Translation: X:451.33, Y:-282.73, Z:10.12 [[ 8.08565363e-01 5.87966418e-01 -2.27496162e-02 4.51330922e+02] [-5.87712138e-01 8.08885102e-01 1.73012812e-02 -2.82731404e+02] [ 2.85743979e-02 -6.18991141e-04 9.99591477e-01 1.01150381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.762755096 meters 0.021719561930939667 Centerline is valid? [True, True] Translation: X:451.38, Y:-282.76, Z:10.11 [[ 8.06301169e-01 5.91034850e-01 -2.35845621e-02 4.51378278e+02] [-5.90762957e-01 8.06645851e-01 1.79332160e-02 -2.82764403e+02] [ 2.96235448e-02 -5.26687362e-04 9.99560988e-01 1.01148273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8227550959999 meters 0.018779707634897023 Centerline is valid? [True, True] Translation: X:451.43, Y:-282.80, Z:10.12 [[ 8.03560120e-01 5.94764389e-01 -2.33764038e-02 4.51430937e+02] [-5.94498907e-01 8.03899978e-01 1.77728633e-02 -2.82795590e+02] [ 2.93629567e-02 -3.84317635e-04 9.99568742e-01 1.01176670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.882755096 meters 0.017708551444364194 Centerline is valid? [True, True] Translation: X:451.48, Y:-282.83, Z:10.12 [[ 7.99878432e-01 5.99691090e-01 -2.37716370e-02 4.51479481e+02] [-5.99418760e-01 8.00231563e-01 1.80719472e-02 -2.82827781e+02] [ 2.98603999e-02 -2.06195589e-04 9.99554058e-01 1.01172231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9427550959999 meters 0.016819732367082726 Centerline is valid? [True, True] Translation: X:451.53, Y:-282.86, Z:10.12 [[ 7.97220677e-01 6.03271051e-01 -2.24328350e-02 4.51528368e+02] [-6.03030038e-01 7.97536228e-01 1.70510604e-02 -2.82860529e+02] [ 2.81774097e-02 -6.57845861e-05 9.99602936e-01 1.01199633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.002755096 meters 0.01661203699237848 Centerline is valid? [True, True] Translation: X:451.58, Y:-282.90, Z:10.12 [[ 7.96959574e-01 6.03649691e-01 -2.15055465e-02 4.51575019e+02] [-6.03428403e-01 7.97249677e-01 1.63436404e-02 -2.82896349e+02] [ 2.70111235e-02 -4.81630730e-05 9.99635132e-01 1.01224084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0627550959999 meters 0.016637503832404737 Centerline is valid? [True, True] Translation: X:451.62, Y:-282.94, Z:10.13 [[ 7.98472989e-01 6.01686407e-01 -2.03556682e-02 4.51617908e+02] [-6.01487582e-01 7.98732406e-01 1.54671586e-02 -2.82935265e+02] [ 2.55651110e-02 -1.06426712e-04 9.99673153e-01 1.01252190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.122755096 meters 0.016975321980352277 Centerline is valid? [True, True] Translation: X:451.66, Y:-282.98, Z:10.13 [[ 8.00138695e-01 5.99538987e-01 -1.81953793e-02 4.51661938e+02] [-5.99379624e-01 8.00345537e-01 1.38234509e-02 -2.82975097e+02] [ 2.28502884e-02 -1.54738346e-04 9.99738886e-01 1.01297818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1827550959999 meters 0.01734265797901845 Centerline is valid? [True, True] Translation: X:451.71, Y:-283.01, Z:10.13 [[ 8.01313898e-01 5.98003721e-01 -1.69583743e-02 4.51707137e+02] [-5.97864970e-01 8.01493304e-01 1.28826178e-02 -2.83013249e+02] [ 2.12958768e-02 -1.84202787e-04 9.99773200e-01 1.01323339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.242755096 meters 0.01747167324255067 Centerline is valid? [True, True] Translation: X:451.76, Y:-283.05, Z:10.13 [[ 8.01704530e-01 5.97489586e-01 -1.66145198e-02 4.51755217e+02] [-5.97356301e-01 8.01876647e-01 1.26210895e-02 -2.83053363e+02] [ 2.08637649e-02 -1.93596537e-04 9.99782309e-01 1.01334740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3027550959999 meters 0.017438184405743806 Centerline is valid? [True, True] Translation: X:451.80, Y:-283.09, Z:10.13 [[ 8.01573764e-01 5.97660596e-01 -1.67724022e-02 4.51803727e+02] [-5.97524628e-01 8.01749196e-01 1.27493704e-02 -2.83093721e+02] [ 2.10670562e-02 -1.97637438e-04 9.99778045e-01 1.01339028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.362755096 meters 0.01736246870001925 Centerline is valid? [True, True] Translation: X:451.85, Y:-283.13, Z:10.13 [[ 8.01081830e-01 5.98313169e-01 -1.70074493e-02 4.51852986e+02] [-5.98173324e-01 8.01262327e-01 1.29366784e-02 -2.83132121e+02] [ 2.13676135e-02 -1.89935502e-04 9.99771668e-01 1.01343008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.422755096 meters 0.017083974440720778 Centerline is valid? [True, True] Translation: X:451.90, Y:-283.17, Z:10.14 [[ 8.00401389e-01 5.99235122e-01 -1.65796487e-02 4.51903110e+02] [-5.99102254e-01 8.00573070e-01 1.26193983e-02 -2.83169770e+02] [ 2.08352069e-02 -1.67678986e-04 9.99782909e-01 1.01356066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.482755096 meters 0.016794128727882465 Centerline is valid? [True, True] Translation: X:451.95, Y:-283.21, Z:10.14 [[ 7.99302823e-01 6.00725322e-01 -1.56232426e-02 4.51950956e+02] [-6.00607480e-01 7.99455484e-01 1.18988777e-02 -2.83207952e+02] [ 1.96380441e-02 -1.27370185e-04 9.99807147e-01 1.01379003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.542755096 meters 0.016748649810342426 Centerline is valid? [True, True] Translation: X:452.00, Y:-283.25, Z:10.14 [[ 7.98619608e-01 6.01645773e-01 -1.51355990e-02 4.52001182e+02] [-6.01535224e-01 7.98763014e-01 1.15335120e-02 -2.83246494e+02] [ 1.90288454e-02 -1.06292915e-04 9.99818929e-01 1.01394298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6027550959999 meters 0.01688858253412779 Centerline is valid? [True, True] Translation: X:452.05, Y:-283.28, Z:10.14 [[ 7.98546628e-01 6.01745013e-01 -1.50406656e-02 4.52050748e+02] [-6.01635724e-01 7.98688254e-01 1.14685881e-02 -2.83284164e+02] [ 1.89139686e-02 -1.09200621e-04 9.99821109e-01 1.01404998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.662755096 meters 0.017473115863240084 Centerline is valid? [True, True] Translation: X:452.10, Y:-283.32, Z:10.14 [[ 8.00082705e-01 5.99726508e-01 -1.39921791e-02 4.52097770e+02] [-5.99631543e-01 8.00205032e-01 1.06732849e-02 -2.83322060e+02] [ 1.75976640e-02 -1.49358710e-04 9.99845138e-01 1.01425605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7227550959999 meters 0.018723557373217542 Centerline is valid? [True, True] Translation: X:452.14, Y:-283.36, Z:10.14 [[ 8.02458180e-01 5.96568365e-01 -1.29250106e-02 4.52143777e+02] [-5.96486916e-01 8.02562237e-01 9.85974956e-03 -2.83360796e+02] [ 1.62551401e-02 -2.02436979e-04 9.99867856e-01 1.01444866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.782755096 meters 0.019746170918402816 Centerline is valid? [True, True] Translation: X:452.19, Y:-283.40, Z:10.14 [[ 8.06006817e-01 5.91777976e-01 -1.23222869e-02 4.52192366e+02] [-5.91703404e-01 8.06100953e-01 9.39865740e-03 -2.83398574e+02] [ 1.54949256e-02 -2.84242846e-04 9.99879906e-01 1.01449426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8427550959999 meters 0.02307320665458072 Centerline is valid? [True, True] Translation: X:452.24, Y:-283.44, Z:10.15 [[ 8.08188270e-01 5.88805521e-01 -1.18227564e-02 4.52237332e+02] [-5.88736527e-01 8.08274675e-01 9.01956460e-03 -2.83440001e+02] [ 1.48668040e-02 -3.29017760e-04 9.99889429e-01 1.01461852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.902755096 meters 0.02282457190404401 Centerline is valid? [True, True] Translation: X:452.29, Y:-283.48, Z:10.15 [[ 8.09781020e-01 5.86611157e-01 -1.19184720e-02 4.52287047e+02] [-5.86540730e-01 8.09868637e-01 9.09742502e-03 -2.83477152e+02] [ 1.49890477e-02 -3.76252856e-04 9.99887587e-01 1.01466810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9627550959999 meters 0.022111213593033145 Centerline is valid? [True, True] Translation: X:452.34, Y:-283.51, Z:10.15 [[ 8.08939991e-01 5.87764126e-01 -1.22238498e-02 4.52338718e+02] [-5.87690091e-01 8.09032259e-01 9.33597707e-03 -2.83512453e+02] [ 1.53768412e-02 -3.68409817e-04 9.99881702e-01 1.01470454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.022755096 meters 0.020918260168095924 Centerline is valid? [True, True] Translation: X:452.39, Y:-283.55, Z:10.15 [[ 8.06732540e-01 5.90781757e-01 -1.26303166e-02 4.52391309e+02] [-5.90702984e-01 8.06831339e-01 9.65271291e-03 -2.83546817e+02] [ 1.58931819e-02 -3.26391913e-04 9.99873642e-01 1.01471449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0827550959999 meters 0.021100358791283393 Centerline is valid? [True, True] Translation: X:452.44, Y:-283.58, Z:10.15 [[ 8.04621402e-01 5.93637258e-01 -1.33867517e-02 4.52442682e+02] [-5.93549130e-01 8.04732703e-01 1.02326999e-02 -2.83581429e+02] [ 1.68472688e-02 -2.87754551e-04 9.99858033e-01 1.01460977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.142755096 meters 0.018837878334707805 Centerline is valid? [True, True] Translation: X:452.49, Y:-283.62, Z:10.15 [[ 8.02948309e-01 5.95899569e-01 -1.33310405e-02 4.52494246e+02] [-5.95812388e-01 8.03058929e-01 1.01957777e-02 -2.83616651e+02] [ 1.67812706e-02 -2.43883325e-04 9.99859155e-01 1.01486523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2027550959999 meters 0.01823579084362085 Centerline is valid? [True, True] Translation: X:452.54, Y:-283.65, Z:10.15 [[ 8.01683896e-01 5.97586502e-01 -1.39033869e-02 4.52543896e+02] [-5.97491811e-01 8.01804417e-01 1.06401344e-02 -2.83650340e+02] [ 1.75061977e-02 -2.22864575e-04 9.99846730e-01 1.01487062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.262755096 meters 0.018144728356236425 Centerline is valid? [True, True] Translation: X:452.59, Y:-283.69, Z:10.15 [[ 8.01623623e-01 5.97674848e-01 -1.35773109e-02 4.52590388e+02] [-5.97584566e-01 8.01738567e-01 1.03902771e-02 -2.83685997e+02] [ 1.70954610e-02 -2.15500129e-04 9.99853839e-01 1.01504209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3227550959999 meters 0.018514241731749665 Centerline is valid? [True, True] Translation: X:452.64, Y:-283.72, Z:10.15 [[ 8.02244632e-01 5.96827356e-01 -1.41653714e-02 4.52637937e+02] [-5.96728982e-01 8.02369646e-01 1.08385016e-02 -2.83722395e+02] [ 1.78345783e-02 -2.42242044e-04 9.99840922e-01 1.01510513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.382755096 meters 0.020698868748462215 Centerline is valid? [True, True] Translation: X:452.68, Y:-283.76, Z:10.15 [[ 8.02987230e-01 5.95819705e-01 -1.45047802e-02 4.52682963e+02] [-5.95716412e-01 8.03118177e-01 1.10973025e-02 -2.83758727e+02] [ 1.82610441e-02 -2.70256625e-04 9.99833217e-01 1.01509499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4427550959999 meters 0.019769507352145173 Centerline is valid? [True, True] Translation: X:452.73, Y:-283.80, Z:10.15 [[ 8.03519995e-01 5.95105723e-01 -1.43107393e-02 4.52728741e+02] [-5.95005100e-01 8.03647373e-01 1.09467346e-02 -2.83795920e+02] [ 1.80152525e-02 -2.80957227e-04 9.99837673e-01 1.01535865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.502755096 meters 0.01841141175209347 Centerline is valid? [True, True] Translation: X:452.78, Y:-283.83, Z:10.15 [[ 8.02783475e-01 5.96083901e-01 -1.49222851e-02 4.52778525e+02] [-5.95974693e-01 8.02922107e-01 1.14129340e-02 -2.83832315e+02] [ 1.87844988e-02 -2.68810512e-04 9.99823520e-01 1.01540214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5627550959999 meters 0.017668965224208747 Centerline is valid? [True, True] Translation: X:452.83, Y:-283.87, Z:10.15 [[ 8.00248892e-01 5.99446760e-01 -1.62878180e-02 4.52827095e+02] [-5.99317202e-01 8.00414603e-01 1.24641427e-02 -2.83866174e+02] [ 2.05085973e-02 -2.12846912e-04 9.99789654e-01 1.01529928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.622755096 meters 0.017235878436999353 Centerline is valid? [True, True] Translation: X:452.88, Y:-283.90, Z:10.15 [[ 7.98314201e-01 6.02005277e-01 -1.68547468e-02 4.52875613e+02] [-6.01867133e-01 7.98492093e-01 1.28969184e-02 -2.83900254e+02] [ 2.12223950e-02 -1.51474925e-04 9.99774768e-01 1.01532284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6827550959999 meters 0.015647317615257745 Centerline is valid? [True, True] Translation: X:452.92, Y:-283.94, Z:10.16 [[ 7.95333782e-01 6.05952723e-01 -1.62933190e-02 4.52922806e+02] [-6.05824477e-01 7.95500657e-01 1.24662393e-02 -2.83935596e+02] [ 2.05152976e-02 -4.39298111e-05 9.99789538e-01 1.01561999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.742755096 meters 0.015493511431070672 Centerline is valid? [True, True] Translation: X:452.97, Y:-283.97, Z:10.16 [[ 7.94646124e-01 6.06873352e-01 -1.55650828e-02 4.52969653e+02] [-6.06756528e-01 7.94798550e-01 1.19072176e-02 -2.83971466e+02] [ 1.95972783e-02 -1.78087783e-05 9.99807955e-01 1.01581605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8027550959999 meters 0.015281416890594318 Centerline is valid? [True, True] Translation: X:453.02, Y:-284.01, Z:10.16 [[ 7.94394299e-01 6.07231002e-01 -1.44293838e-02 4.53015622e+02] [-6.07130694e-01 7.94525336e-01 1.10367898e-02 -2.84008287e+02] [ 1.81663920e-02 -7.04107838e-06 9.99834977e-01 1.01601732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.862755096 meters 0.015099965689519115 Centerline is valid? [True, True] Translation: X:453.06, Y:-284.05, Z:10.16 [[ 7.94885107e-01 6.06602527e-01 -1.38217646e-02 4.53063162e+02] [-6.06510430e-01 7.95005267e-01 1.05699568e-02 -2.84049013e+02] [ 1.74001382e-02 -1.88568108e-05 9.99848606e-01 1.01622753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.922755096 meters 0.015033156098159445 Centerline is valid? [True, True] Translation: X:453.11, Y:-284.09, Z:10.16 [[ 7.95157493e-01 6.06243893e-01 -1.38889759e-02 4.53112762e+02] [-6.06150718e-01 7.95278782e-01 1.06285302e-02 -2.84088422e+02] [ 1.74890894e-02 -3.25427665e-05 9.99847054e-01 1.01625443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.982755096 meters 0.014954986324160273 Centerline is valid? [True, True] Translation: X:453.16, Y:-284.13, Z:10.16 [[ 7.95625080e-01 6.05614213e-01 -1.45655878e-02 4.53160843e+02] [-6.05511490e-01 7.95758394e-01 1.11540991e-02 -2.84126992e+02] [ 1.83457697e-02 -5.48501949e-05 9.99831701e-01 1.01628554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.042755096 meters 0.015098357653106721 Centerline is valid? [True, True] Translation: X:453.21, Y:-284.17, Z:10.16 [[ 7.97186824e-01 6.03534077e-01 -1.54849738e-02 4.53207671e+02] [-6.03417433e-01 7.97337196e-01 1.18658274e-02 -2.84168705e+02] [ 1.95081768e-02 -1.15378153e-04 9.99809691e-01 1.01627637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1027550959999 meters 0.01618439664827036 Centerline is valid? [True, True] Translation: X:453.25, Y:-284.21, Z:10.16 [[ 8.00032453e-01 5.99739603e-01 -1.61394682e-02 4.53251772e+02] [-5.99611969e-01 8.00195200e-01 1.23745119e-02 -2.84210899e+02] [ 2.03362098e-02 -2.22592849e-04 9.99793173e-01 1.01630557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.162755096 meters 0.017437792103398343 Centerline is valid? [True, True] Translation: X:453.30, Y:-284.25, Z:10.16 [[ 8.01815780e-01 5.97343926e-01 -1.64829637e-02 4.53297279e+02] [-5.97210173e-01 8.01985129e-01 1.26436641e-02 -2.84251968e+02] [ 2.07717078e-02 -2.94095780e-04 9.99784202e-01 1.01634501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2227550959999 meters 0.017768767563164048 Centerline is valid? [True, True] Translation: X:453.35, Y:-284.29, Z:10.17 [[ 8.03066761e-01 5.95660994e-01 -1.64850831e-02 4.53345266e+02] [-5.95526715e-01 8.03235870e-01 1.26518207e-02 -2.84291034e+02] [ 2.07776062e-02 -3.42949293e-04 9.99784063e-01 1.01650550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.282755096 meters 0.017868206081409863 Centerline is valid? [True, True] Translation: X:453.39, Y:-284.33, Z:10.17 [[ 8.02811589e-01 5.96033865e-01 -1.54007937e-02 4.53394686e+02] [-5.95916618e-01 8.02959234e-01 1.18259503e-02 -2.84328910e+02] [ 1.94148764e-02 -3.16421048e-04 9.99811463e-01 1.01676133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3427550959999 meters 0.018382202645407714 Centerline is valid? [True, True] Translation: X:453.44, Y:-284.37, Z:10.17 [[ 8.02368671e-01 5.96637835e-01 -1.50933988e-02 4.53442770e+02] [-5.96525200e-01 8.02510563e-01 1.15966483e-02 -2.84367067e+02] [ 1.90316111e-02 -3.01194558e-04 9.99818837e-01 1.01692076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.402755096 meters 0.016400699547814427 Centerline is valid? [True, True] Translation: X:453.50, Y:-284.40, Z:10.17 [[ 8.01390080e-01 5.97966335e-01 -1.44983342e-02 4.53495122e+02] [-5.97862525e-01 8.01521175e-01 1.11448331e-02 -2.84400130e+02] [ 1.82849568e-02 -2.63347997e-04 9.99832782e-01 1.01705420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4627550959999 meters 0.015430026120163112 Centerline is valid? [True, True] Translation: X:453.55, Y:-284.43, Z:10.17 [[ 7.99296163e-01 6.00768528e-01 -1.42414961e-02 4.53547420e+02] [-6.00668693e-01 7.99423002e-01 1.09538102e-02 -2.84434780e+02] [ 1.79656840e-02 -2.00917636e-04 9.99838584e-01 1.01714405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.522755096 meters 0.014436381009760423 Centerline is valid? [True, True] Translation: X:453.60, Y:-284.47, Z:10.17 [[ 7.96568687e-01 6.04378106e-01 -1.43329200e-02 4.53600150e+02] [-6.04277527e-01 7.96697615e-01 1.10263637e-02 -2.84467766e+02] [ 1.80830960e-02 -1.22194607e-04 9.99836480e-01 1.01712638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5827550959999 meters 0.014118041168763123 Centerline is valid? [True, True] Translation: X:453.65, Y:-284.50, Z:10.17 [[ 7.95590180e-01 6.05652815e-01 -1.48637976e-02 4.53648320e+02] [-6.05544744e-01 7.95729010e-01 1.14413883e-02 -2.84502128e+02] [ 1.87570640e-02 -1.01961711e-04 9.99824066e-01 1.01712494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.642755096 meters 0.013989964604228388 Centerline is valid? [True, True] Translation: X:453.70, Y:-284.54, Z:10.17 [[ 7.95794609e-01 6.05380352e-01 -1.50189801e-02 4.53695059e+02] [-6.05269973e-01 7.95936315e-01 1.15603573e-02 -2.84539500e+02] [ 1.89525648e-02 -1.09132292e-04 9.99820378e-01 1.01718773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7027550959999 meters 0.014612298026052508 Centerline is valid? [True, True] Translation: X:453.74, Y:-284.58, Z:10.17 [[ 7.97652894e-01 6.02943647e-01 -1.44506114e-02 4.53739825e+02] [-6.02841080e-01 7.97783764e-01 1.11220252e-02 -2.84579495e+02] [ 1.82344176e-02 -1.60093384e-04 9.99833726e-01 1.01734446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.762755096 meters 0.015595188301650725 Centerline is valid? [True, True] Translation: X:453.78, Y:-284.62, Z:10.17 [[ 7.99287768e-01 6.00784320e-01 -1.40451298e-02 4.53783468e+02] [-6.00687108e-01 7.99411133e-01 1.08091439e-02 -2.84618120e+02] [ 1.77217973e-02 -2.02888057e-04 9.99842936e-01 1.01744085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8227550959999 meters 0.01622687334654976 Centerline is valid? [True, True] Translation: X:453.83, Y:-284.66, Z:10.17 [[ 8.00682274e-01 5.98924936e-01 -1.40291452e-02 4.53830518e+02] [-5.98827694e-01 8.00805134e-01 1.07948865e-02 -2.84658465e+02] [ 1.76999382e-02 -2.42233652e-04 9.99843314e-01 1.01748750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.882755096 meters 0.016218919057355334 Centerline is valid? [True, True] Translation: X:453.88, Y:-284.70, Z:10.18 [[ 8.01138558e-01 5.98316681e-01 -1.39341791e-02 4.53879474e+02] [-5.98220557e-01 8.01259685e-01 1.07276422e-02 -2.84696703e+02] [ 1.75834232e-02 -2.58615405e-04 9.99845366e-01 1.01756662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9427550959999 meters 0.01552789409830592 Centerline is valid? [True, True] Translation: X:453.93, Y:-284.73, Z:10.17 [[ 8.00178605e-01 5.99588089e-01 -1.44333956e-02 4.53929832e+02] [-5.99485041e-01 8.00308730e-01 1.11185365e-02 -2.84732585e+02] [ 1.82177146e-02 -2.44210262e-04 9.99834014e-01 1.01749559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.002755096 meters 0.014958049595555072 Centerline is valid? [True, True] Translation: X:453.98, Y:-284.77, Z:10.17 [[ 7.98673316e-01 6.01543019e-01 -1.63380178e-02 4.53980398e+02] [-6.01411219e-01 7.98840373e-01 1.25938023e-02 -2.84768541e+02] [ 2.06271821e-02 -2.32466614e-04 9.99787210e-01 1.01735121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0627550959999 meters 0.014518745722788303 Centerline is valid? [True, True] Translation: X:454.03, Y:-284.80, Z:10.17 [[ 7.96911874e-01 6.03857637e-01 -1.69534416e-02 4.54031017e+02] [-6.03716078e-01 7.97092165e-01 1.30758375e-02 -2.84803734e+02] [ 2.14093998e-02 -1.85224947e-04 9.99770775e-01 1.01730437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.122755096 meters 0.014288702020073903 Centerline is valid? [True, True] Translation: X:454.08, Y:-284.84, Z:10.17 [[ 7.96345808e-01 6.04594860e-01 -1.72745396e-02 4.54078931e+02] [-6.04447937e-01 7.96533129e-01 1.33291465e-02 -2.84837885e+02] [ 2.18184766e-02 -1.73050078e-04 9.99761934e-01 1.01731050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1827550959999 meters 0.014581160413663533 Centerline is valid? [True, True] Translation: X:454.12, Y:-284.87, Z:10.17 [[ 7.96604351e-01 6.04225052e-01 -1.82645625e-02 4.54123631e+02] [-6.04060762e-01 7.96813686e-01 1.40906205e-02 -2.84874483e+02] [ 2.30673592e-02 -1.91744031e-04 9.99733895e-01 1.01730619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.242755096 meters 0.014504562374756004 Centerline is valid? [True, True] Translation: X:454.17, Y:-284.91, Z:10.17 [[ 7.97173710e-01 6.03456581e-01 -1.88210152e-02 4.54170294e+02] [-6.03281966e-01 7.97395828e-01 1.45176638e-02 -2.84913623e+02] [ 2.37685788e-02 -2.18720845e-04 9.99717463e-01 1.01744113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3027550959999 meters 0.01499863929765513 Centerline is valid? [True, True] Translation: X:454.22, Y:-284.95, Z:10.18 [[ 7.98121270e-01 6.02206916e-01 -1.86887007e-02 4.54216577e+02] [-6.02034411e-01 7.98340006e-01 1.44153502e-02 -2.84951958e+02] [ 2.36009610e-02 -2.53956717e-04 9.99721426e-01 1.01760414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.362755096 meters 0.01493981900400226 Centerline is valid? [True, True] Translation: X:454.27, Y:-284.99, Z:10.18 [[ 7.98907277e-01 6.01228465e-01 -1.64770939e-02 4.54266498e+02] [-6.01094164e-01 7.99077136e-01 1.27096669e-02 -2.84990676e+02] [ 2.08078826e-02 -2.49560338e-04 9.99783461e-01 1.01801093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.422755096 meters 0.015076506081338795 Centerline is valid? [True, True] Translation: X:454.32, Y:-285.03, Z:10.18 [[ 7.98972620e-01 6.01167432e-01 -1.55071257e-02 4.54315542e+02] [-6.01048320e-01 7.99123057e-01 1.19689818e-02 -2.85029409e+02] [ 1.95874637e-02 -2.42356924e-04 9.99808118e-01 1.01832189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.482755096 meters 0.015395287115102624 Centerline is valid? [True, True] Translation: X:454.36, Y:-285.07, Z:10.19 [[ 7.99277662e-01 6.00770386e-01 -1.51711022e-02 4.54364395e+02] [-6.00656164e-01 7.99421591e-01 1.17172055e-02 -2.85068801e+02] [ 1.91674568e-02 -2.52684551e-04 9.99816255e-01 1.01851714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.542755096 meters 0.01576075998541339 Centerline is valid? [True, True] Translation: X:454.41, Y:-285.11, Z:10.19 [[ 8.00285492e-01 5.99409045e-01 -1.58722172e-02 4.54412934e+02] [-5.99283585e-01 8.00442817e-01 1.22670704e-02 -2.85107604e+02] [ 2.00577952e-02 -3.05199247e-04 9.99798776e-01 1.01856183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6027550959999 meters 0.016940680030899765 Centerline is valid? [True, True] Translation: X:454.46, Y:-285.15, Z:10.18 [[ 8.01438267e-01 5.97813182e-01 -1.77792879e-02 4.54460778e+02] [-5.97655167e-01 8.01635356e-01 1.37497996e-02 -2.85145740e+02] [ 2.24723172e-02 -3.93732278e-04 9.99747388e-01 1.01838710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.662755096 meters 0.017866488475659647 Centerline is valid? [True, True] Translation: X:454.51, Y:-285.19, Z:10.18 [[ 8.02050859e-01 5.96950159e-01 -1.91030829e-02 4.54509180e+02] [-5.96767282e-01 8.02278194e-01 1.47821103e-02 -2.85185149e+02] [ 2.41501700e-02 -4.55909420e-04 9.99708238e-01 1.01833631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7227550959999 meters 0.018358657123441494 Centerline is valid? [True, True] Translation: X:454.56, Y:-285.22, Z:10.18 [[ 8.02292458e-01 5.96619500e-01 -1.92868799e-02 4.54557904e+02] [-5.96432783e-01 8.02524108e-01 1.49328870e-02 -2.85224274e+02] [ 2.43874377e-02 -4.77215223e-04 9.99702468e-01 1.01842615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.782755096 meters 0.01862001549785197 Centerline is valid? [True, True] Translation: X:454.61, Y:-285.26, Z:10.19 [[ 8.02108462e-01 5.96875929e-01 -1.90036867e-02 4.54607536e+02] [-5.96694524e-01 8.02333412e-01 1.47220894e-02 -2.85262913e+02] [ 2.40345536e-02 -4.69316728e-04 9.99711018e-01 1.01859202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8427550959999 meters 0.018144088757749678 Centerline is valid? [True, True] Translation: X:454.66, Y:-285.30, Z:10.19 [[ 8.01303958e-01 5.97993969e-01 -1.77532907e-02 4.54656604e+02] [-5.97835773e-01 8.01500495e-01 1.37602949e-02 -2.85299186e+02] [ 2.24578446e-02 -4.12626496e-04 9.99747706e-01 1.01886505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.902755096 meters 0.01680992320813534 Centerline is valid? [True, True] Translation: X:454.71, Y:-285.33, Z:10.19 [[ 8.00316810e-01 5.99353672e-01 -1.63761867e-02 4.54707753e+02] [-5.99219319e-01 8.00484264e-01 1.26945681e-02 -2.85334462e+02] [ 2.07174158e-02 -3.46748819e-04 9.99785311e-01 1.01923044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9627550959999 meters 0.01621361189925031 Centerline is valid? [True, True] Translation: X:454.76, Y:-285.37, Z:10.19 [[ 7.99061332e-01 6.01010742e-01 -1.69433083e-02 4.54758260e+02] [-6.00867127e-01 7.99240881e-01 1.31419447e-02 -2.85370524e+02] [ 2.14402345e-02 -3.20542891e-04 9.99770080e-01 1.01925561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.022755096 meters 0.01658546534750666 Centerline is valid? [True, True] Translation: X:454.81, Y:-285.41, Z:10.19 [[ 7.98343250e-01 6.01913546e-01 -1.86584866e-02 4.54807574e+02] [-6.01739427e-01 7.98561189e-01 1.44806774e-02 -2.85408739e+02] [ 2.36160591e-02 -3.33003959e-04 9.99721047e-01 1.01912663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0827550959999 meters 0.016396602961745454 Centerline is valid? [True, True] Translation: X:454.86, Y:-285.45, Z:10.19 [[ 7.98261621e-01 6.02001395e-01 -1.93055848e-02 4.54857623e+02] [-6.01814840e-01 7.98494959e-01 1.49899643e-02 -2.85447039e+02] [ 2.44393916e-02 -3.47525796e-04 9.99701253e-01 1.01917072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.142755096 meters 0.018355774676147456 Centerline is valid? [True, True] Translation: X:454.90, Y:-285.49, Z:10.19 [[ 7.99707565e-01 6.00070128e-01 -1.95870561e-02 4.54902854e+02] [-5.99877326e-01 7.99947290e-01 1.52160173e-02 -2.85487354e+02] [ 2.47992899e-02 -4.18533337e-04 9.99692363e-01 1.01919329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2027550959999 meters 0.017984291120649917 Centerline is valid? [True, True] Translation: X:454.95, Y:-285.53, Z:10.20 [[ 8.01294165e-01 5.97975783e-01 -1.87782662e-02 4.54951132e+02] [-5.97797945e-01 8.01514034e-01 1.45900713e-02 -2.85525715e+02] [ 2.37755532e-02 -4.65330100e-04 9.99717213e-01 1.01960424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.262755096 meters 0.018237369832786947 Centerline is valid? [True, True] Translation: X:455.00, Y:-285.57, Z:10.20 [[ 8.01360283e-01 5.97899211e-01 -1.83910416e-02 4.55000354e+02] [-5.97728417e-01 8.01571156e-01 1.42975981e-02 -2.85565031e+02] [ 2.32902511e-02 -4.64679056e-04 9.99728637e-01 1.01977118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3227550959999 meters 0.02009283031376318 Centerline is valid? [True, True] Translation: X:455.05, Y:-285.60, Z:10.20 [[ 8.01223555e-01 5.98094770e-01 -1.79850284e-02 4.55047347e+02] [-5.97931281e-01 8.01425255e-01 1.39908587e-02 -2.85604920e+02] [ 2.27815154e-02 -4.55994490e-04 9.99740364e-01 1.01987341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.382755096 meters 0.019006565661197756 Centerline is valid? [True, True] Translation: X:455.10, Y:-285.64, Z:10.20 [[ 8.00384207e-01 5.99204030e-01 -1.84296358e-02 4.55095057e+02] [-5.99032499e-01 8.00596238e-01 1.43432614e-02 -2.85639610e+02] [ 2.33492371e-02 -4.40169125e-04 9.99727272e-01 1.01996632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4427550959999 meters 0.017760593641558825 Centerline is valid? [True, True] Translation: X:455.15, Y:-285.67, Z:10.20 [[ 7.99262178e-01 6.00676859e-01 -1.91646314e-02 4.55145862e+02] [-6.00491787e-01 7.99491802e-01 1.49155257e-02 -2.85674998e+02] [ 2.42813768e-02 -4.13211842e-04 9.99705079e-01 1.01996756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.502755096 meters 0.016991258941777287 Centerline is valid? [True, True] Translation: X:455.20, Y:-285.71, Z:10.20 [[ 7.97653030e-01 6.02805414e-01 -1.93720619e-02 4.55195558e+02] [-6.02616787e-01 7.97888154e-01 1.50831801e-02 -2.85709018e+02] [ 2.45489613e-02 -3.57214664e-04 9.99698565e-01 1.02001890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5627550959999 meters 0.01586273470114328 Centerline is valid? [True, True] Translation: X:455.25, Y:-285.74, Z:10.20 [[ 7.95917094e-01 6.05077398e-01 -1.99329277e-02 4.55247069e+02] [-6.04878349e-01 7.96166599e-01 1.55218824e-02 -2.85743619e+02] [ 2.52618715e-02 -2.97135143e-04 9.99680824e-01 1.02011697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.622755096 meters 0.015712648991525486 Centerline is valid? [True, True] Translation: X:455.30, Y:-285.78, Z:10.20 [[ 7.95233293e-01 6.05980864e-01 -1.97788599e-02 4.55297152e+02] [-6.05784937e-01 7.95479175e-01 1.54107896e-02 -2.85780767e+02] [ 2.50723148e-02 -2.73437530e-04 9.99685603e-01 1.02017773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6827550959999 meters 0.015397481791201418 Centerline is valid? [True, True] Translation: X:455.35, Y:-285.82, Z:10.20 [[ 7.94527447e-01 6.06904023e-01 -1.98404256e-02 4.55347718e+02] [-6.06706927e-01 7.94775090e-01 1.54680579e-02 -2.85818692e+02] [ 2.51563026e-02 -2.52472851e-04 9.99683498e-01 1.02030268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.742755096 meters 0.01539182246446988 Centerline is valid? [True, True] Translation: X:455.40, Y:-285.86, Z:10.20 [[ 7.93431541e-01 6.08356125e-01 -1.92149698e-02 4.55395562e+02] [-6.08171461e-01 7.93664149e-01 1.49897380e-02 -2.85856325e+02] [ 2.43693316e-02 -2.07334664e-04 9.99703002e-01 1.02039804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8027550959999 meters 0.015262221530169163 Centerline is valid? [True, True] Translation: X:455.44, Y:-285.89, Z:10.21 [[ 7.92912177e-01 6.09046276e-01 -1.87860012e-02 4.55441879e+02] [-6.08869831e-01 7.93134667e-01 1.46604536e-02 -2.85892202e+02] [ 2.38287235e-02 -1.86222802e-04 9.99716038e-01 1.02059680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.862755096 meters 0.015270121513938995 Centerline is valid? [True, True] Translation: X:455.49, Y:-285.93, Z:10.21 [[ 7.92884360e-01 6.09118574e-01 -1.75770850e-02 4.55487757e+02] [-6.08964175e-01 7.93079147e-01 1.37149595e-02 -2.85928756e+02] [ 2.22940562e-02 -1.70561851e-04 9.99751442e-01 1.02086910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.922755096 meters 0.015613002626213806 Centerline is valid? [True, True] Translation: X:455.54, Y:-285.97, Z:10.21 [[ 7.93470891e-01 6.08384190e-01 -1.65112866e-02 4.55536314e+02] [-6.08247803e-01 7.93642644e-01 1.28826933e-02 -2.85968773e+02] [ 2.09416880e-02 -1.79088335e-04 9.99780683e-01 1.02110863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.982755096 meters 0.016277521443320432 Centerline is valid? [True, True] Translation: X:455.58, Y:-286.01, Z:10.21 [[ 7.94601481e-01 6.06906496e-01 -1.65224507e-02 4.55583558e+02] [-6.06769432e-01 7.94773209e-01 1.28997144e-02 -2.86009147e+02] [ 2.09605217e-02 -2.24814126e-04 9.99780279e-01 1.02127243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.042755096 meters 0.016975661020303207 Centerline is valid? [True, True] Translation: X:455.63, Y:-286.05, Z:10.21 [[ 7.95427078e-01 6.05816700e-01 -1.67896005e-02 4.55630921e+02] [-6.05674781e-01 7.95604209e-01 1.31149697e-02 -2.86048341e+02] [ 2.13031445e-02 -2.62964396e-04 9.99773028e-01 1.02147325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1027550959999 meters 0.017221007785596116 Centerline is valid? [True, True] Translation: X:455.68, Y:-286.09, Z:10.22 [[ 7.95532451e-01 6.05679135e-01 -1.67602000e-02 4.55678144e+02] [-6.05537667e-01 7.95708938e-01 1.30927633e-02 -2.86085470e+02] [ 2.12662545e-02 -2.66785650e-04 9.99773812e-01 1.02163853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.162755096 meters 0.01778134407084143 Centerline is valid? [True, True] Translation: X:455.72, Y:-286.12, Z:10.22 [[ 7.95543554e-01 6.05634767e-01 -1.78039958e-02 4.55723943e+02] [-6.05475146e-01 7.95742702e-01 1.39068027e-02 -2.86122111e+02] [ 2.25898429e-02 -2.83590273e-04 9.99744777e-01 1.02183283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2227550959999 meters 0.017447340700182515 Centerline is valid? [True, True] Translation: X:455.77, Y:-286.16, Z:10.22 [[ 7.94806779e-01 6.06554584e-01 -1.93318474e-02 4.55773839e+02] [-6.06366645e-01 7.95041796e-01 1.51007933e-02 -2.86160604e+02] [ 2.45290821e-02 -2.80025458e-04 9.99699078e-01 1.02206082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.282755096 meters 0.017615846615780275 Centerline is valid? [True, True] Translation: X:455.82, Y:-286.20, Z:10.22 [[ 7.94213957e-01 6.07281330e-01 -2.08225191e-02 4.55822996e+02] [-6.07063237e-01 7.94486818e-01 1.62764348e-02 -2.86199250e+02] [ 2.64275919e-02 -2.86385827e-04 9.99650689e-01 1.02227249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3427550959999 meters 0.01764517732217943 Centerline is valid? [True, True] Translation: X:455.87, Y:-286.24, Z:10.22 [[ 7.93575873e-01 6.08091151e-01 -2.15054953e-02 4.55872232e+02] [-6.07858503e-01 7.93867165e-01 1.68215667e-02 -2.86238126e+02] [ 2.73015524e-02 -2.76891275e-04 9.99627205e-01 1.02243937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.402755096 meters 0.01773579834912265 Centerline is valid? [True, True] Translation: X:455.92, Y:-286.27, Z:10.23 [[ 7.92891692e-01 6.08967997e-01 -2.19258626e-02 4.55918642e+02] [-6.08726302e-01 7.93194751e-01 1.71574038e-02 -2.86273713e+02] [ 2.78397889e-02 -2.57113675e-04 9.99612365e-01 1.02274518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4627550959999 meters 0.017556281306227686 Centerline is valid? [True, True] Translation: X:455.97, Y:-286.31, Z:10.23 [[ 7.92484574e-01 6.09543940e-01 -2.06006009e-02 4.55965605e+02] [-6.09330828e-01 7.92752254e-01 1.61185055e-02 -2.86306846e+02] [ 2.61561102e-02 -2.21085810e-04 9.99657846e-01 1.02308029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.522755096 meters 0.017268667258095706 Centerline is valid? [True, True] Translation: X:456.02, Y:-286.34, Z:10.23 [[ 7.92582669e-01 6.09447611e-01 -1.96550841e-02 4.56017489e+02] [-6.09253571e-01 7.92826313e-01 1.53793139e-02 -2.86342877e+02] [ 2.49559540e-02 -2.14447467e-04 9.99688529e-01 1.02348284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5827550959999 meters 0.01785457689112113 Centerline is valid? [True, True] Translation: X:456.07, Y:-286.38, Z:10.24 [[ 7.92494140e-01 6.09563971e-01 -1.96164181e-02 4.56065462e+02] [-6.09370487e-01 7.92736853e-01 1.53587667e-02 -2.86380037e+02] [ 2.49128084e-02 -2.18066357e-04 9.99689604e-01 1.02351989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.642755096 meters 0.017339794644328624 Centerline is valid? [True, True] Translation: X:456.12, Y:-286.41, Z:10.24 [[ 7.92251181e-01 6.09891244e-01 -1.92545486e-02 4.56116158e+02] [-6.09704793e-01 7.92485096e-01 1.50810463e-02 -2.86412748e+02] [ 2.44567409e-02 -2.08386204e-04 9.99700867e-01 1.02373161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7027550959999 meters 0.01750286700657147 Centerline is valid? [True, True] Translation: X:456.16, Y:-286.45, Z:10.24 [[ 7.92174747e-01 6.09971881e-01 -1.98362068e-02 4.56163323e+02] [-6.09774064e-01 7.92423031e-01 1.55348363e-02 -2.86445580e+02] [ 2.51944804e-02 -2.10700572e-04 9.99682546e-01 1.02377742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.762755096 meters 0.017673815160454635 Centerline is valid? [True, True] Translation: X:456.21, Y:-286.48, Z:10.24 [[ 7.92950489e-01 6.08956980e-01 -2.00229648e-02 4.56211085e+02] [-6.08755172e-01 7.93203213e-01 1.56781198e-02 -2.86480768e+02] [ 2.54295806e-02 -2.42889390e-04 9.99676586e-01 1.02383568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8227550959999 meters 0.0181785352606286 Centerline is valid? [True, True] Translation: X:456.26, Y:-286.52, Z:10.24 [[ 7.94294181e-01 6.07199681e-01 -2.01321171e-02 4.56258235e+02] [-6.06995165e-01 7.94549217e-01 1.57610651e-02 -2.86515821e+02] [ 2.55660716e-02 -2.98824561e-04 9.99673090e-01 1.02388190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.882755096 meters 0.018940522145092252 Centerline is valid? [True, True] Translation: X:456.30, Y:-286.55, Z:10.24 [[ 7.95704710e-01 6.05358777e-01 -1.98687190e-02 4.56304330e+02] [-6.05159066e-01 7.95952654e-01 1.55524098e-02 -2.86552217e+02] [ 2.52293474e-02 -3.51390348e-04 9.99681628e-01 1.02398584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9427550959999 meters 0.019682240041943157 Centerline is valid? [True, True] Translation: X:456.35, Y:-286.59, Z:10.24 [[ 7.97627480e-01 6.02837390e-01 -1.94289372e-02 4.56351767e+02] [-6.02645733e-01 7.97863964e-01 1.52057992e-02 -2.86587760e+02] [ 2.46682731e-02 -4.19797178e-04 9.99695604e-01 1.02411514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.002755096 meters 0.020268641303459116 Centerline is valid? [True, True] Translation: X:456.40, Y:-286.62, Z:10.24 [[ 7.99410685e-01 6.00508385e-01 -1.82273626e-02 4.56401119e+02] [-6.00339136e-01 7.99618327e-01 1.42636975e-02 -2.86622869e+02] [ 2.31404031e-02 -4.59953083e-04 9.99732119e-01 1.02432393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0627550959999 meters 0.02067542276827331 Centerline is valid? [True, True] Translation: X:456.45, Y:-286.66, Z:10.24 [[ 8.00300576e-01 5.99340031e-01 -1.76214570e-02 4.56450632e+02] [-5.99181561e-01 8.00494409e-01 1.37897564e-02 -2.86658969e+02] [ 2.23706308e-02 -4.77497862e-04 9.99749632e-01 1.02440969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.122755096 meters 0.02088144385232646 Centerline is valid? [True, True] Translation: X:456.50, Y:-286.69, Z:10.24 [[ 8.00741939e-01 5.98768781e-01 -1.69792240e-02 4.56501074e+02] [-5.98621502e-01 8.00921794e-01 1.32882444e-02 -2.86693677e+02] [ 2.15556165e-02 -4.76326015e-04 9.99767537e-01 1.02445327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1827550959999 meters 0.021111562453655065 Centerline is valid? [True, True] Translation: X:456.55, Y:-286.73, Z:10.25 [[ 8.00582938e-01 5.99003928e-01 -1.61633518e-02 4.56547528e+02] [-5.98870499e-01 8.00745961e-01 1.26503493e-02 -2.86727562e+02] [ 2.05203475e-02 -4.47899249e-04 9.99789335e-01 1.02450385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.242755096 meters 0.02055422236356982 Centerline is valid? [True, True] Translation: X:456.60, Y:-286.76, Z:10.25 [[ 8.00082391e-01 5.99693676e-01 -1.53512768e-02 4.56596657e+02] [-5.99573491e-01 8.00229548e-01 1.20124628e-02 -2.86759908e+02] [ 1.94883433e-02 -4.06741337e-04 9.99810001e-01 1.02455265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3027550959999 meters 0.02043524598652613 Centerline is valid? [True, True] Translation: X:456.64, Y:-286.79, Z:10.25 [[ 7.99900599e-01 5.99950963e-01 -1.47605415e-02 4.56643692e+02] [-5.99839929e-01 8.00036684e-01 1.15483730e-02 -2.86794578e+02] [ 1.87374322e-02 -3.83588340e-04 9.99824365e-01 1.02462735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.362755096 meters 0.020321999686152562 Centerline is valid? [True, True] Translation: X:456.69, Y:-286.83, Z:10.25 [[ 7.99755557e-01 6.00170559e-01 -1.36509762e-02 4.56691296e+02] [-6.00075652e-01 7.99871976e-01 1.06786432e-02 -2.86829564e+02] [ 1.73280406e-02 -3.48685820e-04 9.99849797e-01 1.02471268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.422755096 meters 0.020524221278145037 Centerline is valid? [True, True] Translation: X:456.74, Y:-286.86, Z:10.25 [[ 8.00219771e-01 5.99565442e-01 -1.30229980e-02 4.56738114e+02] [-5.99479012e-01 8.00325660e-01 1.01858148e-02 -2.86864953e+02] [ 1.65297020e-02 -3.43876431e-04 9.99863316e-01 1.02481993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.482755096 meters 0.022591971761970083 Centerline is valid? [True, True] Translation: X:456.78, Y:-286.90, Z:10.25 [[ 8.01680334e-01 5.97624582e-01 -1.23895456e-02 4.56782043e+02] [-5.97546148e-01 8.01775983e-01 9.68887970e-03 -2.86903497e+02] [ 1.57239528e-02 -3.64059081e-04 9.99876305e-01 1.02504889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.542755096 meters 0.022512450569798868 Centerline is valid? [True, True] Translation: X:456.83, Y:-286.94, Z:10.25 [[ 8.02567040e-01 5.96430401e-01 -1.25268674e-02 4.56827770e+02] [-5.96350096e-01 8.02664702e-01 9.79482550e-03 -2.86938230e+02] [ 1.58968060e-02 -3.90605550e-04 9.99873562e-01 1.02512978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6027550959999 meters 0.02265492908573596 Centerline is valid? [True, True] Translation: X:456.88, Y:-286.97, Z:10.25 [[ 8.02297944e-01 5.96772942e-01 -1.34187979e-02 4.56875018e+02] [-5.96680920e-01 8.02410051e-01 1.04876453e-02 -2.86973586e+02] [ 1.70261212e-02 -4.07475586e-04 9.99854962e-01 1.02521904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.662755096 meters 0.022520207356962 Centerline is valid? [True, True] Translation: X:456.92, Y:-287.01, Z:10.25 [[ 8.01017540e-01 5.98464441e-01 -1.45332014e-02 4.56921498e+02] [-5.98356812e-01 8.01149270e-01 1.13566578e-02 -2.87009061e+02] [ 1.84398195e-02 -4.00842016e-04 9.99829892e-01 1.02531401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7227550959999 meters 0.020588270623206048 Centerline is valid? [True, True] Translation: X:456.97, Y:-287.04, Z:10.26 [[ 7.98814660e-01 6.01394121e-01 -1.48408258e-02 4.56970597e+02] [-6.01282514e-01 7.98952438e-01 1.15905043e-02 -2.87041128e+02] [ 1.88275751e-02 -3.35135674e-04 9.99822689e-01 1.02551848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.782755096 meters 0.019650870672540677 Centerline is valid? [True, True] Translation: X:457.02, Y:-287.08, Z:10.26 [[ 7.97068051e-01 6.03692542e-01 -1.54219719e-02 4.57018293e+02] [-6.03572589e-01 7.97217181e-01 1.20372797e-02 -2.87076047e+02] [ 1.95614769e-02 -2.86251617e-04 9.99808615e-01 1.02564290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8427550959999 meters 0.019813922979575686 Centerline is valid? [True, True] Translation: X:457.06, Y:-287.11, Z:10.26 [[ 7.96632796e-01 6.04253339e-01 -1.59402184e-02 4.57064009e+02] [-6.04125351e-01 7.96792209e-01 1.24393267e-02 -2.87112388e+02] [ 2.02175465e-02 -2.79685529e-04 9.99795565e-01 1.02569877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.902755096 meters 0.018777215767080413 Centerline is valid? [True, True] Translation: X:457.11, Y:-287.15, Z:10.26 [[ 7.96007085e-01 6.05069280e-01 -1.62445725e-02 4.57110971e+02] [-6.04936660e-01 7.96172782e-01 1.26703866e-02 -2.87148180e+02] [ 2.05999482e-02 -2.58780124e-04 9.99787765e-01 1.02575027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9627550959999 meters 0.018794424721498136 Centerline is valid? [True, True] Translation: X:457.16, Y:-287.18, Z:10.26 [[ 7.95482294e-01 6.05787688e-01 -1.51392607e-02 4.57156472e+02] [-6.05672668e-01 7.95626312e-01 1.18064074e-02 -2.87184507e+02] [ 1.91973704e-02 -2.22351683e-04 9.99815689e-01 1.02583044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.022755096 meters 0.018848455029286216 Centerline is valid? [True, True] Translation: X:457.20, Y:-287.22, Z:10.26 [[ 7.95129165e-01 6.06290750e-01 -1.34587466e-02 4.57200944e+02] [-6.06199954e-01 7.95243040e-01 1.04939571e-02 -2.87221056e+02] [ 1.70653637e-02 -1.85359758e-04 9.99854359e-01 1.02602138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0827550959999 meters 0.018742771402347338 Centerline is valid? [True, True] Translation: X:457.25, Y:-287.26, Z:10.26 [[ 7.94820116e-01 6.06711650e-01 -1.27262051e-02 4.57246512e+02] [-6.06630555e-01 7.94921975e-01 9.92086875e-03 -2.87257774e+02] [ 1.61354467e-02 -1.65201217e-04 9.99869802e-01 1.02607904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.142755096 meters 0.018820847780270447 Centerline is valid? [True, True] Translation: X:457.29, Y:-287.29, Z:10.26 [[ 7.94306772e-01 6.07387477e-01 -1.25381436e-02 4.57292595e+02] [-6.07308870e-01 7.94405709e-01 9.77271514e-03 -2.87294370e+02] [ 1.58961976e-02 -1.48007990e-04 9.99873637e-01 1.02607569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2027550959999 meters 0.01886279916473304 Centerline is valid? [True, True] Translation: X:457.34, Y:-287.33, Z:10.26 [[ 7.93847467e-01 6.07989673e-01 -1.24401261e-02 4.57337179e+02] [-6.07912387e-01 7.93944923e-01 9.69478939e-03 -2.87330784e+02] [ 1.57711068e-02 -1.33677226e-04 9.99875619e-01 1.02607957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.262755096 meters 0.019198890989765936 Centerline is valid? [True, True] Translation: X:457.38, Y:-287.37, Z:10.26 [[ 7.93789277e-01 6.08080187e-01 -1.17076817e-02 4.57380968e+02] [-6.08011769e-01 7.93875602e-01 9.12232856e-03 -2.87369740e+02] [ 1.48415501e-02 -1.22798318e-04 9.99889851e-01 1.02619833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3227550959999 meters 0.019466684236685225 Centerline is valid? [True, True] Translation: X:457.43, Y:-287.41, Z:10.26 [[ 7.94565132e-01 6.07075083e-01 -1.12291915e-02 4.57425486e+02] [-6.07012075e-01 7.94644465e-01 8.74730268e-03 -2.87408363e+02] [ 1.42334843e-02 -1.34046896e-04 9.99898690e-01 1.02632935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.382755096 meters 0.019613344563487498 Centerline is valid? [True, True] Translation: X:457.47, Y:-287.45, Z:10.26 [[ 7.95754119e-01 6.05522918e-01 -1.08340733e-02 4.57470839e+02] [-6.05464149e-01 7.95827853e-01 8.43755628e-03 -2.87449541e+02] [ 1.37311910e-02 -1.54577195e-04 9.99905711e-01 1.02638127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4427550959999 meters 0.020491262600580012 Centerline is valid? [True, True] Translation: X:457.51, Y:-287.49, Z:10.27 [[ 7.97384037e-01 6.03386973e-01 -1.01418881e-02 4.57513654e+02] [-6.03335291e-01 7.97448512e-01 7.89922105e-03 -2.87492974e+02] [ 1.28539206e-02 -1.79753771e-04 9.99917369e-01 1.02657946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.502755096 meters 0.020862064917205003 Centerline is valid? [True, True] Translation: X:457.56, Y:-287.53, Z:10.27 [[ 7.98219413e-01 6.02288168e-01 -9.73296933e-03 4.57558605e+02] [-6.02240483e-01 7.98278727e-01 7.58116708e-03 -2.87533952e+02] [ 1.23356696e-02 -1.89846591e-04 9.99923895e-01 1.02676315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5627550959999 meters 0.02120722625110966 Centerline is valid? [True, True] Translation: X:457.60, Y:-287.57, Z:10.27 [[ 7.98796855e-01 6.01516407e-01 -1.00794537e-02 4.57603708e+02] [-6.01465205e-01 7.98860418e-01 7.85104936e-03 -2.87574874e+02] [ 1.27746116e-02 -2.08952849e-04 9.99918379e-01 1.02675013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.622755096 meters 0.021169786470415647 Centerline is valid? [True, True] Translation: X:457.65, Y:-287.62, Z:10.27 [[ 7.98846728e-01 6.01443527e-01 -1.04684685e-02 4.57650568e+02] [-6.01388317e-01 7.98915287e-01 8.15205216e-03 -2.87617773e+02] [ 1.32664185e-02 -2.16625560e-04 9.99911974e-01 1.02677236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6827550959999 meters 0.021347234479065096 Centerline is valid? [True, True] Translation: X:457.70, Y:-287.66, Z:10.27 [[ 7.99262173e-01 6.00889040e-01 -1.05990687e-02 4.57695914e+02] [-6.00832319e-01 7.99332414e-01 8.25939024e-03 -2.87660761e+02] [ 1.34351562e-02 -2.33155168e-04 9.99909717e-01 1.02678697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.742755096 meters 0.021488949096350483 Centerline is valid? [True, True] Translation: X:457.74, Y:-287.70, Z:10.27 [[ 7.99039782e-01 6.01169486e-01 -1.14314017e-02 4.57741761e+02] [-6.01103455e-01 7.99121509e-01 8.91342985e-03 -2.87703177e+02] [ 1.44935610e-02 -2.50729996e-04 9.99894931e-01 1.02677873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8027550959999 meters 0.021045307363496187 Centerline is valid? [True, True] Translation: X:457.79, Y:-287.74, Z:10.27 [[ 7.98629001e-01 6.01697469e-01 -1.23237151e-02 4.57787882e+02] [-6.01620692e-01 7.98724036e-01 9.61547580e-03 -2.87744641e+02] [ 1.56288549e-02 -2.64995827e-04 9.99877827e-01 1.02674292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.862755096 meters 0.021364057142041117 Centerline is valid? [True, True] Translation: X:457.84, Y:-287.79, Z:10.27 [[ 7.98618631e-01 6.01709788e-01 -1.23940698e-02 4.57835160e+02] [-6.01632049e-01 7.98714754e-01 9.67572839e-03 -2.87785870e+02] [ 1.57213069e-02 -2.70547368e-04 9.99876376e-01 1.02682579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.922755096 meters 0.02129225347134618 Centerline is valid? [True, True] Translation: X:457.88, Y:-287.83, Z:10.27 [[ 7.99090041e-01 6.01081033e-01 -1.25178849e-02 4.57881717e+02] [-6.01001554e-01 7.99188030e-01 9.77878606e-03 -2.87827454e+02] [ 1.58819866e-02 -2.90862275e-04 9.99873831e-01 1.02696922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.982755096 meters 0.02139549703011174 Centerline is valid? [True, True] Translation: X:457.93, Y:-287.87, Z:10.27 [[ 7.98854434e-01 6.01383291e-01 -1.30280402e-02 4.57929423e+02] [-6.01297143e-01 7.98960604e-01 1.01832806e-02 -2.87868112e+02] [ 1.65329456e-02 -3.01235480e-04 9.99863276e-01 1.02704643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.042755096 meters 0.021146364090954623 Centerline is valid? [True, True] Translation: X:457.98, Y:-287.91, Z:10.27 [[ 7.98085193e-01 6.02400251e-01 -1.31894687e-02 4.57978612e+02] [-6.02311980e-01 7.98194120e-01 1.03162431e-02 -2.87905678e+02] [ 1.67422638e-02 -2.89065893e-04 9.99859797e-01 1.02715641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1027550959999 meters 0.019779245681213056 Centerline is valid? [True, True] Translation: X:458.03, Y:-287.94, Z:10.27 [[ 7.95320680e-01 6.06043453e-01 -1.32796844e-02 4.58030299e+02] [-6.05954378e-01 7.95431509e-01 1.03926141e-02 -2.87940173e+02] [ 1.68614552e-02 -2.18578027e-04 9.99857812e-01 1.02725492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.162755096 meters 0.01897563968943938 Centerline is valid? [True, True] Translation: X:458.08, Y:-287.97, Z:10.27 [[ 7.92975961e-01 6.09112447e-01 -1.30825171e-02 4.58081970e+02] [-6.09026312e-01 7.93083856e-01 1.02444254e-02 -2.87973627e+02] [ 1.66155402e-02 -1.55985909e-04 9.99861940e-01 1.02733244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2227550959999 meters 0.01883570216198169 Centerline is valid? [True, True] Translation: X:458.13, Y:-288.01, Z:10.27 [[ 7.92590447e-01 6.09608620e-01 -1.33309382e-02 4.58130519e+02] [-6.09519237e-01 7.92702535e-01 1.04398625e-02 -2.88010214e+02] [ 1.69316987e-02 -1.49071962e-04 9.99856637e-01 1.02745201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.282755096 meters 0.019546145137602368 Centerline is valid? [True, True] Translation: X:458.18, Y:-288.05, Z:10.28 [[ 7.93847398e-01 6.07976899e-01 -1.30537075e-02 4.58175487e+02] [-6.07890973e-01 7.93954695e-01 1.02228811e-02 -2.88047654e+02] [ 1.65793279e-02 -1.80176582e-04 9.99862537e-01 1.02757381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3427550959999 meters 0.020460116591411597 Centerline is valid? [True, True] Translation: X:458.22, Y:-288.09, Z:10.28 [[ 7.95869703e-01 6.05342058e-01 -1.23454150e-02 4.58221005e+02] [-6.05264906e-01 7.95965417e-01 9.66692574e-03 -2.88086886e+02] [ 1.56783201e-02 -2.21366901e-04 9.99877063e-01 1.02763956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.402755096 meters 0.023215072486440853 Centerline is valid? [True, True] Translation: X:458.26, Y:-288.13, Z:10.28 [[ 7.99099377e-01 6.01056206e-01 -1.31005234e-02 4.58264514e+02] [-6.00968748e-01 7.99206689e-01 1.02582406e-02 -2.88129156e+02] [ 1.66358052e-02 -3.24348510e-04 9.99861563e-01 1.02757901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4627550959999 meters 0.024320358069477063 Centerline is valid? [True, True] Translation: X:458.31, Y:-288.17, Z:10.28 [[ 8.01008772e-01 5.98512245e-01 -1.29630370e-02 4.58309881e+02] [-5.98426253e-01 8.01113570e-01 1.01521798e-02 -2.88169165e+02] [ 1.64610688e-02 -3.74563454e-04 9.99864437e-01 1.02771601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.522755096 meters 0.023866766318884056 Centerline is valid? [True, True] Translation: X:458.36, Y:-288.21, Z:10.28 [[ 8.02394271e-01 5.96663972e-01 -1.24715582e-02 4.58358151e+02] [-5.96584167e-01 8.02491089e-01 9.76646749e-03 -2.88207292e+02] [ 1.58356136e-02 -3.96223412e-04 9.99874530e-01 1.02792685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5827550959999 meters 0.02358617884743544 Centerline is valid? [True, True] Translation: X:458.41, Y:-288.24, Z:10.28 [[ 8.00969324e-01 5.98577123e-01 -1.23923367e-02 4.58406982e+02] [-5.98498478e-01 8.01065103e-01 9.70944520e-03 -2.88243351e+02] [ 1.57389202e-02 -3.60173113e-04 9.99876071e-01 1.02800347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.642755096 meters 0.020665674354409594 Centerline is valid? [True, True] Translation: X:458.46, Y:-288.27, Z:10.28 [[ 7.97424773e-01 6.03278312e-01 -1.30003671e-02 4.58461025e+02] [-6.03192284e-01 7.97530687e-01 1.01917565e-02 -2.88274746e+02] [ 1.65166573e-02 -2.85437983e-04 9.99863550e-01 1.02802374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7027550959999 meters 0.019560356008135805 Centerline is valid? [True, True] Translation: X:458.51, Y:-288.31, Z:10.28 [[ 7.94812367e-01 6.06692988e-01 -1.40327733e-02 4.58512457e+02] [-6.06593260e-01 7.94936201e-01 1.10024255e-02 -2.88309768e+02] [ 1.78302539e-02 -2.32678123e-04 9.99841001e-01 1.02800878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.762755096 meters 0.01835470460151633 Centerline is valid? [True, True] Translation: X:458.56, Y:-288.34, Z:10.28 [[ 7.92145742e-01 6.10157886e-01 -1.45766168e-02 4.58563801e+02] [-6.10050740e-01 7.92279829e-01 1.14353634e-02 -2.88342744e+02] [ 1.85261366e-02 -1.65998501e-04 9.99828363e-01 1.02799436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8227550959999 meters 0.01809577317021498 Centerline is valid? [True, True] Translation: X:458.61, Y:-288.38, Z:10.28 [[ 7.91557265e-01 6.10914684e-01 -1.48440070e-02 4.58609846e+02] [-6.10803706e-01 7.91696423e-01 1.16450691e-02 -2.88378403e+02] [ 1.88660909e-02 -1.50964550e-04 9.99822008e-01 1.02812901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.882755096 meters 0.018077187898612877 Centerline is valid? [True, True] Translation: X:458.65, Y:-288.42, Z:10.28 [[ 7.91493328e-01 6.11006167e-01 -1.44836299e-02 4.58653824e+02] [-6.10900567e-01 7.91625823e-01 1.13601836e-02 -2.88415145e+02] [ 1.84067577e-02 -1.43451756e-04 9.99830571e-01 1.02836095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9427550959999 meters 0.01800454338017203 Centerline is valid? [True, True] Translation: X:458.70, Y:-288.45, Z:10.29 [[ 7.91055606e-01 6.11588379e-01 -1.38087709e-02 4.58701017e+02] [-6.11492529e-01 7.91176112e-01 1.08280645e-02 -2.88450819e+02] [ 1.75474880e-02 -1.21640879e-04 9.99846024e-01 1.02856167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.002755096 meters 0.017737124351234097 Centerline is valid? [True, True] Translation: X:458.75, Y:-288.49, Z:10.29 [[ 7.90576360e-01 6.12235414e-01 -1.25226920e-02 4.58748218e+02] [-6.12156689e-01 7.90675527e-01 9.81829531e-03 -2.88485728e+02] [ 1.59124942e-02 -9.62624857e-05 9.99873384e-01 1.02882175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0627550959999 meters 0.017899342201201873 Centerline is valid? [True, True] Translation: X:458.79, Y:-288.52, Z:10.29 [[ 7.91076701e-01 6.11605310e-01 -1.16875592e-02 4.58793010e+02] [-6.11536686e-01 7.91163027e-01 9.16226879e-03 -2.88522866e+02] [ 1.48504569e-02 -1.00686149e-04 9.99889721e-01 1.02909685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.122755096 meters 0.01808494476434488 Centerline is valid? [True, True] Translation: X:458.84, Y:-288.56, Z:10.29 [[ 7.91293917e-01 6.11335873e-01 -1.10628769e-02 4.58839046e+02] [-6.11274386e-01 7.91371241e-01 8.67088823e-03 -2.88559205e+02] [ 1.40556676e-02 -9.87678526e-05 9.99901209e-01 1.02928765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1827550959999 meters 0.01784144835296717 Centerline is valid? [True, True] Translation: X:458.89, Y:-288.59, Z:10.29 [[ 7.90882274e-01 6.11847066e-01 -1.21817955e-02 4.58886267e+02] [-6.11772595e-01 7.90976079e-01 9.54643626e-03 -2.88593394e+02] [ 1.54764679e-02 -9.76185680e-05 9.99880228e-01 1.02923572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.242755096 meters 0.017663674417370306 Centerline is valid? [True, True] Translation: X:458.94, Y:-288.63, Z:10.29 [[ 7.90973247e-01 6.11717402e-01 -1.27727498e-02 4.58936266e+02] [-6.11635577e-01 7.91076361e-01 1.00055496e-02 -2.88631476e+02] [ 1.62247892e-02 -1.01853829e-04 9.99868364e-01 1.02926089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3027550959999 meters 0.017792903524143096 Centerline is valid? [True, True] Translation: X:458.98, Y:-288.67, Z:10.29 [[ 7.91479792e-01 6.11044832e-01 -1.35629336e-02 4.58982621e+02] [-6.10952335e-01 7.91595981e-01 1.06323827e-02 -2.88667709e+02] [ 1.72332262e-02 -1.29010060e-04 9.99851489e-01 1.02926653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.362755096 meters 0.017851404475773203 Centerline is valid? [True, True] Translation: X:459.03, Y:-288.70, Z:10.29 [[ 7.91717060e-01 6.10734167e-01 -1.37067060e-02 4.59030881e+02] [-6.10639676e-01 7.91835689e-01 1.07437304e-02 -2.88704017e+02] [ 1.74150222e-02 -1.36136140e-04 9.99848338e-01 1.02938468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.422755096 meters 0.017791928498721476 Centerline is valid? [True, True] Translation: X:459.08, Y:-288.74, Z:10.30 [[ 7.91346720e-01 6.11206953e-01 -1.40153300e-02 4.59077057e+02] [-6.11108231e-01 7.91470811e-01 1.09857052e-02 -2.88739245e+02] [ 1.78072640e-02 -1.28618219e-04 9.99841430e-01 1.02957760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.482755096 meters 0.017808464482727535 Centerline is valid? [True, True] Translation: X:459.12, Y:-288.77, Z:10.30 [[ 7.91254227e-01 6.11323505e-01 -1.41534346e-02 4.59123785e+02] [-6.11222886e-01 7.91380791e-01 1.10917696e-02 -2.88774071e+02] [ 1.79814158e-02 -1.25506463e-04 9.99838313e-01 1.02970272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.542755096 meters 0.01781488264823488 Centerline is valid? [True, True] Translation: X:459.17, Y:-288.81, Z:10.30 [[ 7.91280963e-01 6.11289130e-01 -1.41434430e-02 4.59170538e+02] [-6.11188694e-01 7.91407344e-01 1.10813610e-02 -2.88807664e+02] [ 1.79671401e-02 -1.24157518e-04 9.99838570e-01 1.02979584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6027550959999 meters 0.017970288590765417 Centerline is valid? [True, True] Translation: X:459.22, Y:-288.84, Z:10.30 [[ 7.91832033e-01 6.10560724e-01 -1.47523770e-02 4.59217217e+02] [-6.10451378e-01 7.91969432e-01 1.15557094e-02 -2.88843089e+02] [ 1.87388939e-02 -1.44572055e-04 9.99824401e-01 1.02992676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.662755096 meters 0.018382161627123184 Centerline is valid? [True, True] Translation: X:459.26, Y:-288.88, Z:10.30 [[ 7.92648681e-01 6.09490526e-01 -1.51448999e-02 4.59262785e+02] [-6.09375123e-01 7.92793333e-01 1.18613247e-02 -2.88879518e+02] [ 1.92361407e-02 -1.72938169e-04 9.99814953e-01 1.03004754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7227550959999 meters 0.019358579963208233 Centerline is valid? [True, True] Translation: X:459.31, Y:-288.92, Z:10.30 [[ 7.94355486e-01 6.07253831e-01 -1.55610453e-02 4.59307183e+02] [-6.07131614e-01 7.94507854e-01 1.21849188e-02 -2.88917310e+02] [ 1.97627114e-02 -2.31554535e-04 9.99804672e-01 1.03017173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.782755096 meters 0.020730238460546342 Centerline is valid? [True, True] Translation: X:459.35, Y:-288.95, Z:10.30 [[ 7.96036727e-01 6.05022669e-01 -1.65257136e-02 4.59351400e+02] [-6.04884399e-01 7.96208188e-01 1.29377414e-02 -2.88953905e+02] [ 2.09855353e-02 -3.02770970e-04 9.99779734e-01 1.03020541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8427550959999 meters 0.022756975187623388 Centerline is valid? [True, True] Translation: X:459.40, Y:-288.99, Z:10.30 [[ 7.98420590e-01 6.01852402e-01 -1.72698570e-02 4.59396063e+02] [-6.01700734e-01 7.98607241e-01 1.35166866e-02 -2.88992260e+02] [ 2.19268832e-02 -4.00715265e-04 9.99759497e-01 1.03021866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.902755096 meters 0.02388735378052963 Centerline is valid? [True, True] Translation: X:459.44, Y:-289.03, Z:10.30 [[ 7.99799100e-01 6.00002835e-01 -1.78325028e-02 4.59441657e+02] [-5.99840822e-01 7.99997742e-01 1.39499885e-02 -2.89029864e+02] [ 2.26359946e-02 -4.60525105e-04 9.99743667e-01 1.03022965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9627550959999 meters 0.025079304521878697 Centerline is valid? [True, True] Translation: X:459.49, Y:-289.07, Z:10.30 [[ 8.00821580e-01 5.98632107e-01 -1.80110636e-02 4.59486753e+02] [-5.98466646e-01 8.01023940e-01 1.40826933e-02 -2.89067409e+02] [ 2.28576454e-02 -4.98703867e-04 9.99738606e-01 1.03030821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.022755096 meters 0.026157733461975665 Centerline is valid? [True, True] Translation: X:459.53, Y:-289.10, Z:10.30 [[ 8.01533273e-01 5.97674617e-01 -1.81511602e-02 4.59531401e+02] [-5.97506468e-01 8.01738596e-01 1.41860874e-02 -2.89103447e+02] [ 2.30311501e-02 -5.25185431e-04 9.99734610e-01 1.03045146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0827550959999 meters 0.02654324993734672 Centerline is valid? [True, True] Translation: X:459.58, Y:-289.14, Z:10.31 [[ 8.01808410e-01 5.97319495e-01 -1.76831791e-02 4.59577814e+02] [-5.97159901e-01 8.02003212e-01 1.38167071e-02 -2.89138662e+02] [ 2.24349549e-02 -5.18666460e-04 9.99748170e-01 1.03061888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.142755096 meters 0.02178192333051338 Centerline is valid? [True, True] Translation: X:459.63, Y:-289.17, Z:10.31 [[ 8.01154451e-01 5.98204110e-01 -1.74180542e-02 4.59630427e+02] [-5.98049604e-01 8.01343628e-01 1.36036947e-02 -2.89170252e+02] [ 2.20956328e-02 -4.81800101e-04 9.99755746e-01 1.03100233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2027550959999 meters 0.020616788884288518 Centerline is valid? [True, True] Translation: X:459.68, Y:-289.21, Z:10.31 [[ 7.99369461e-01 6.00588369e-01 -1.73803232e-02 4.59678670e+02] [-6.00435078e-01 7.99558277e-01 1.35749491e-02 -2.89205940e+02] [ 2.20495378e-02 -4.15644068e-04 9.99756793e-01 1.03116353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.262755096 meters 0.01884669059085356 Centerline is valid? [True, True] Translation: X:459.73, Y:-289.24, Z:10.31 [[ 7.96690201e-01 6.04124719e-01 -1.78338894e-02 4.59729219e+02] [-6.03964224e-01 7.96889715e-01 1.39282912e-02 -2.89239958e+02] [ 2.26260680e-02 -3.25501900e-04 9.99743945e-01 1.03120767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3227550959999 meters 0.018573991328297672 Centerline is valid? [True, True] Translation: X:459.77, Y:-289.28, Z:10.31 [[ 7.95448836e-01 6.05735054e-01 -1.86062669e-02 4.59774683e+02] [-6.05560809e-01 7.95666362e-01 1.45308768e-02 -2.89275230e+02] [ 2.36062421e-02 -2.91343045e-04 9.99721291e-01 1.03124135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.382755096 meters 0.01788977558231961 Centerline is valid? [True, True] Translation: X:459.82, Y:-289.31, Z:10.31 [[ 7.94759942e-01 6.06626879e-01 -1.89858874e-02 4.59822012e+02] [-6.06445767e-01 7.94986640e-01 1.48247759e-02 -2.89311325e+02] [ 2.40866344e-02 -2.68227009e-04 9.99709839e-01 1.03144845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4427550959999 meters 0.02015364424332318 Centerline is valid? [True, True] Translation: X:459.87, Y:-289.35, Z:10.31 [[ 7.96400355e-01 6.04467470e-01 -1.91194344e-02 4.59869278e+02] [-6.04283152e-01 7.96629754e-01 1.49300817e-02 -2.89350970e+02] [ 2.42558591e-02 -3.36770263e-04 9.99705727e-01 1.03146583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.502755096 meters 0.018604142158048953 Centerline is valid? [True, True] Translation: X:459.92, Y:-289.39, Z:10.32 [[ 7.97376199e-01 6.03196356e-01 -1.85836896e-02 4.59916907e+02] [-6.03021696e-01 7.97592640e-01 1.45194965e-02 -2.89391178e+02] [ 2.35803214e-02 -3.71132892e-04 9.99721877e-01 1.03199528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5627550959999 meters 0.01954645817156057 Centerline is valid? [True, True] Translation: X:459.96, Y:-289.43, Z:10.32 [[ 7.97303192e-01 6.03293850e-01 -1.85513128e-02 4.59964623e+02] [-6.03119636e-01 7.97518897e-01 1.45021887e-02 -2.89431349e+02] [ 2.35441038e-02 -3.73980253e-04 9.99722729e-01 1.03214571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.622755096 meters 0.01893274617181026 Centerline is valid? [True, True] Translation: X:460.01, Y:-289.47, Z:10.32 [[ 7.95807132e-01 6.05242339e-01 -1.93059691e-02 4.60013005e+02] [-6.05054128e-01 7.96041205e-01 1.50964292e-02 -2.89465083e+02] [ 2.45053450e-02 -3.32689707e-04 9.99699644e-01 1.03228808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6827550959999 meters 0.01786306148654928 Centerline is valid? [True, True] Translation: X:460.06, Y:-289.50, Z:10.32 [[ 7.94330208e-01 6.07123632e-01 -2.09861220e-02 4.60064472e+02] [-6.06901924e-01 7.94607329e-01 1.64087577e-02 -2.89499041e+02] [ 2.66378709e-02 -2.97454098e-04 9.99645105e-01 1.03232650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.742755096 meters 0.017988749761111627 Centerline is valid? [True, True] Translation: X:460.11, Y:-289.53, Z:10.32 [[ 7.94653551e-01 6.06678376e-01 -2.16120936e-02 4.60111570e+02] [-6.06443076e-01 7.94947322e-01 1.68982455e-02 -2.89534017e+02] [ 2.74322761e-02 -3.21746234e-04 9.99623613e-01 1.03228914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8027550959999 meters 0.018340190796361802 Centerline is valid? [True, True] Translation: X:460.16, Y:-289.57, Z:10.32 [[ 7.95377220e-01 6.05736834e-01 -2.14001474e-02 4.60158745e+02] [-6.05505860e-01 7.95664984e-01 1.67298332e-02 -2.89569832e+02] [ 2.71612241e-02 -3.48613600e-04 9.99631005e-01 1.03236788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.862755096 meters 0.018933989276392896 Centerline is valid? [True, True] Translation: X:460.21, Y:-289.61, Z:10.33 [[ 7.96553037e-01 6.04232500e-01 -2.01580048e-02 4.60205755e+02] [-6.04027146e-01 7.96807973e-01 1.57563269e-02 -2.89605183e+02] [ 2.55825437e-02 -3.74767941e-04 9.99672643e-01 1.03250896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.922755096 meters 0.01954657842471608 Centerline is valid? [True, True] Translation: X:460.26, Y:-289.64, Z:10.33 [[ 7.98016754e-01 6.02356469e-01 -1.83288026e-02 4.60255033e+02] [-6.02186200e-01 7.98227115e-01 1.43266540e-02 -2.89643098e+02] [ 2.32602999e-02 -3.95557988e-04 9.99729364e-01 1.03267389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.982755096 meters 0.02055194825917144 Centerline is valid? [True, True] Translation: X:460.30, Y:-289.68, Z:10.33 [[ 7.99381083e-01 6.00577124e-01 -1.72337506e-02 4.60303270e+02] [-6.00426018e-01 7.99566718e-01 1.34781606e-02 -2.89682604e+02] [ 2.18742083e-02 -4.26594437e-04 9.99760640e-01 1.03279871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.042755096 meters 0.020917987996528557 Centerline is valid? [True, True] Translation: X:460.35, Y:-289.72, Z:10.33 [[ 7.99569177e-01 6.00343706e-01 -1.66302645e-02 4.60352886e+02] [-6.00202792e-01 7.99741993e-01 1.30135922e-02 -2.89720924e+02] [ 2.11125490e-02 -4.23736033e-04 9.99777015e-01 1.03280694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1027550959999 meters 0.02036748750614953 Centerline is valid? [True, True] Translation: X:460.40, Y:-289.76, Z:10.33 [[ 7.97933966e-01 6.02524428e-01 -1.63003073e-02 4.60400234e+02] [-6.02389357e-01 7.98100358e-01 1.27625036e-02 -2.89755926e+02] [ 2.06990013e-02 -3.64503454e-04 9.99785686e-01 1.03282443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.162755096 meters 0.018894675322089338 Centerline is valid? [True, True] Translation: X:460.45, Y:-289.79, Z:10.33 [[ 7.95654971e-01 6.05517897e-01 -1.67703444e-02 4.60449145e+02] [-6.05375619e-01 7.95831634e-01 1.31289706e-02 -2.89790483e+02] [ 2.12961972e-02 -2.93773089e-04 9.99773167e-01 1.03279595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2227550959999 meters 0.018367480187115027 Centerline is valid? [True, True] Translation: X:460.50, Y:-289.83, Z:10.33 [[ 7.94664309e-01 6.06811824e-01 -1.69719159e-02 4.60496011e+02] [-6.06666423e-01 7.94845483e-01 1.32856843e-02 -2.89827870e+02] [ 2.15519610e-02 -2.61367665e-04 9.99767695e-01 1.03281032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.282755096 meters 0.018741327231176785 Centerline is valid? [True, True] Translation: X:460.54, Y:-289.87, Z:10.33 [[ 7.95575140e-01 6.05630024e-01 -1.65066649e-02 4.60541459e+02] [-6.05492251e-01 7.95746312e-01 1.29205875e-02 -2.89868481e+02] [ 2.09602134e-02 -2.84640582e-04 9.99780270e-01 1.03288010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3427550959999 meters 0.019517694394661673 Centerline is valid? [True, True] Translation: X:460.58, Y:-289.91, Z:10.33 [[ 7.96794640e-01 6.04034339e-01 -1.61498714e-02 4.60584961e+02] [-6.03902133e-01 7.96958227e-01 1.26411482e-02 -2.89908465e+02] [ 2.05064605e-02 -3.19457391e-04 9.99789669e-01 1.03301488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.402755096 meters 0.02042536107258751 Centerline is valid? [True, True] Translation: X:460.63, Y:-289.95, Z:10.33 [[ 7.98721875e-01 6.01499554e-01 -1.55451996e-02 4.60630206e+02] [-6.01376599e-01 7.98873050e-01 1.21670290e-02 -2.89951467e+02] [ 1.97371035e-02 -3.69552968e-04 9.99805136e-01 1.03320236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4627550959999 meters 0.021409180502663345 Centerline is valid? [True, True] Translation: X:460.68, Y:-289.99, Z:10.33 [[ 8.00264558e-01 5.99444770e-01 -1.55758040e-02 4.60675360e+02] [-5.99320803e-01 8.00416008e-01 1.21979374e-02 -2.89994455e+02] [ 1.97791126e-02 -4.26673645e-04 9.99804283e-01 1.03332284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.522755096 meters 0.021469782648965742 Centerline is valid? [True, True] Translation: X:460.72, Y:-290.03, Z:10.33 [[ 8.00737650e-01 5.98805821e-01 -1.58367866e-02 4.60723028e+02] [-5.98677395e-01 8.00894113e-01 1.24095084e-02 -2.90034822e+02] [ 2.01144750e-02 -4.55634443e-04 9.99797580e-01 1.03343125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5827550959999 meters 0.022022898283558627 Centerline is valid? [True, True] Translation: X:460.77, Y:-290.08, Z:10.34 [[ 8.00441819e-01 5.99197474e-01 -1.59775270e-02 4.60768583e+02] [-5.99066683e-01 8.00601136e-01 1.25271599e-02 -2.90077448e+02] [ 2.02978689e-02 -4.55658502e-04 9.99793873e-01 1.03359329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.642755096 meters 0.02083064485066297 Centerline is valid? [True, True] Translation: X:460.82, Y:-290.12, Z:10.34 [[ 7.99225007e-01 6.00801156e-01 -1.66540913e-02 4.60816409e+02] [-6.00659226e-01 7.99398385e-01 1.30658381e-02 -2.90116553e+02] [ 2.11632243e-02 -4.39110947e-04 9.99775937e-01 1.03359052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7027550959999 meters 0.02043953419603472 Centerline is valid? [True, True] Translation: X:460.86, Y:-290.16, Z:10.34 [[ 7.97756067e-01 6.02721574e-01 -1.76624557e-02 4.60862549e+02] [-6.02562230e-01 7.97951458e-01 1.38646619e-02 -2.90156950e+02] [ 2.24503131e-02 -4.17889483e-04 9.99747873e-01 1.03362066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.762755096 meters 0.019799556254605336 Centerline is valid? [True, True] Translation: X:460.91, Y:-290.20, Z:10.34 [[ 7.96544234e-01 6.04315957e-01 -1.78747540e-02 4.60910413e+02] [-6.04153041e-01 7.96744676e-01 1.40365643e-02 -2.90196713e+02] [ 2.27241348e-02 -3.81657425e-04 9.99741701e-01 1.03373317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8227550959999 meters 0.018814980423632624 Centerline is valid? [True, True] Translation: X:460.96, Y:-290.23, Z:10.34 [[ 7.94336802e-01 6.07226896e-01 -1.74511205e-02 4.60959971e+02] [-6.07072142e-01 7.94528419e-01 1.37115151e-02 -2.90234475e+02] [ 2.21914119e-02 -2.97471966e-04 9.99753696e-01 1.03392372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.882755096 meters 0.01847854623577799 Centerline is valid? [True, True] Translation: X:461.01, Y:-290.27, Z:10.34 [[ 7.93569889e-01 6.08239743e-01 -1.70659312e-02 4.61009013e+02] [-6.08091819e-01 7.93753326e-01 1.34163008e-02 -2.90271954e+02] [ 2.17064670e-02 -2.69119251e-04 9.99764351e-01 1.03403783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9427550959999 meters 0.018233765837176653 Centerline is valid? [True, True] Translation: X:461.06, Y:-290.31, Z:10.34 [[ 7.92484748e-01 6.09664527e-01 -1.66460145e-02 4.61057836e+02] [-6.09523954e-01 7.92659518e-01 1.30934046e-02 -2.90309949e+02] [ 2.11772061e-02 -2.30178880e-04 9.99775711e-01 1.03428151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.002755096 meters 0.01863680346251291 Centerline is valid? [True, True] Translation: X:461.10, Y:-290.35, Z:10.35 [[ 7.93281347e-01 6.08652374e-01 -1.57159701e-02 4.61104849e+02] [-6.08526743e-01 7.93436970e-01 1.23683906e-02 -2.90350206e+02] [ 1.99976820e-02 -2.48025447e-04 9.99799996e-01 1.03450165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0627550959999 meters 0.02019018629183661 Centerline is valid? [True, True] Translation: X:461.15, Y:-290.39, Z:10.35 [[ 7.94997522e-01 6.06424014e-01 -1.51279805e-02 4.61150218e+02] [-6.06307084e-01 7.95141388e-01 1.19119024e-02 -2.90390458e+02] [ 1.92525471e-02 -2.97731176e-04 9.99814608e-01 1.03465813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.122755096 meters 0.02127847534721249 Centerline is valid? [True, True] Translation: X:461.20, Y:-290.43, Z:10.35 [[ 7.96660058e-01 6.04233156e-01 -1.53311779e-02 4.61196789e+02] [-6.04112562e-01 7.96807482e-01 1.20767685e-02 -2.90428069e+02] [ 1.95131812e-02 -3.59321918e-04 9.99809535e-01 1.03472693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1827550959999 meters 0.02161769324114126 Centerline is valid? [True, True] Translation: X:461.25, Y:-290.47, Z:10.35 [[ 7.97516198e-01 6.03096264e-01 -1.55823483e-02 4.61245297e+02] [-6.02971485e-01 7.97668316e-01 1.22738226e-02 -2.90465945e+02] [ 1.98318421e-02 -3.92860703e-04 9.99803252e-01 1.03482804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.242755096 meters 0.02074920482836832 Centerline is valid? [True, True] Translation: X:461.30, Y:-290.50, Z:10.35 [[ 7.97817182e-01 6.02691258e-01 -1.58427451e-02 4.61295535e+02] [-6.02562162e-01 7.97974360e-01 1.24804544e-02 -2.90502224e+02] [ 2.01639652e-02 -4.10882226e-04 9.99796602e-01 1.03494467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3027550959999 meters 0.020614740357034145 Centerline is valid? [True, True] Translation: X:461.35, Y:-290.54, Z:10.35 [[ 7.97383784e-01 6.03254421e-01 -1.62236080e-02 4.61345905e+02] [-6.03119003e-01 7.97548703e-01 1.27880547e-02 -2.90539313e+02] [ 2.06535680e-02 -4.12221207e-04 9.99786607e-01 1.03503265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.362755096 meters 0.020282552402301788 Centerline is valid? [True, True] Translation: X:461.40, Y:-290.58, Z:10.35 [[ 7.96281074e-01 6.04695785e-01 -1.67170306e-02 4.61396519e+02] [-6.04552136e-01 7.96456435e-01 1.31856442e-02 -2.90575998e+02] [ 2.12876900e-02 -3.93162372e-04 9.99773314e-01 1.03505407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.422755096 meters 0.019649652277650427 Centerline is valid? [True, True] Translation: X:461.45, Y:-290.61, Z:10.35 [[ 7.95607718e-01 6.05554570e-01 -1.76641353e-02 4.61446589e+02] [-6.05394208e-01 7.95803684e-01 1.39408997e-02 -2.90612761e+02] [ 2.24991595e-02 -3.97722208e-04 9.99746783e-01 1.03509486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.482755096 meters 0.019599389676373823 Centerline is valid? [True, True] Translation: X:461.49, Y:-290.65, Z:10.35 [[ 7.94750930e-01 6.06668573e-01 -1.80056195e-02 4.61494807e+02] [-6.06502047e-01 7.94954778e-01 1.42185841e-02 -2.90650043e+02] [ 2.29396214e-02 -3.79787858e-04 9.99736780e-01 1.03524823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.542755096 meters 0.019941683947443445 Centerline is valid? [True, True] Translation: X:461.54, Y:-290.69, Z:10.35 [[ 7.95153636e-01 6.06132318e-01 -1.82841191e-02 4.61543144e+02] [-6.05960277e-01 7.95363720e-01 1.44462840e-02 -2.90689007e+02] [ 2.32988846e-02 -4.07565369e-04 9.99728461e-01 1.03535922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6027550959999 meters 0.020723075049074235 Centerline is valid? [True, True] Translation: X:461.59, Y:-290.73, Z:10.36 [[ 7.96443733e-01 6.04440777e-01 -1.81308359e-02 4.61589980e+02] [-6.04270991e-01 7.96649946e-01 1.43329547e-02 -2.90729118e+02] [ 2.31073517e-02 -4.59453761e-04 9.99732884e-01 1.03557540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.662755096 meters 0.020809153095896437 Centerline is valid? [True, True] Translation: X:461.64, Y:-290.77, Z:10.36 [[ 7.96503443e-01 6.04378092e-01 -1.75894026e-02 4.61638996e+02] [-6.04218118e-01 7.96697506e-01 1.39122457e-02 -2.90768413e+02] [ 2.24216897e-02 -4.53315830e-04 9.99748500e-01 1.03578677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7227550959999 meters 0.02046448192580758 Centerline is valid? [True, True] Translation: X:461.69, Y:-290.81, Z:10.36 [[ 7.95860558e-01 6.05223867e-01 -1.76080231e-02 4.61688720e+02] [-6.05063580e-01 7.96055199e-01 1.39349957e-02 -2.90806521e+02] [ 2.24507503e-02 -4.36339988e-04 9.99747855e-01 1.03590364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.782755096 meters 0.019287647471931207 Centerline is valid? [True, True] Translation: X:461.74, Y:-290.84, Z:10.36 [[ 7.94137766e-01 6.07476712e-01 -1.78115766e-02 4.61738662e+02] [-6.07313149e-01 7.94337396e-01 1.41010800e-02 -2.90843763e+02] [ 2.27144791e-02 -3.80995531e-04 9.99741920e-01 1.03598136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8427550959999 meters 0.01863477643152541 Centerline is valid? [True, True] Translation: X:461.79, Y:-290.88, Z:10.36 [[ 7.91952992e-01 6.10330534e-01 -1.75242284e-02 4.61785924e+02] [-6.10172758e-01 7.92146798e-01 1.38800444e-02 -2.90880331e+02] [ 2.23531763e-02 -2.99535920e-04 9.99750092e-01 1.03609567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.902755096 meters 0.017207568812396396 Centerline is valid? [True, True] Translation: X:461.84, Y:-290.92, Z:10.36 [[ 7.90100114e-01 6.12730110e-01 -1.74247662e-02 4.61836572e+02] [-6.12574654e-01 7.90292198e-01 1.38034282e-02 -2.90915821e+02] [ 2.22284328e-02 -2.32120038e-04 9.99752891e-01 1.03623358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9627550959999 meters 0.017316438752090844 Centerline is valid? [True, True] Translation: X:461.88, Y:-290.96, Z:10.36 [[ 7.90081120e-01 6.12749599e-01 -1.75998011e-02 4.61883618e+02] [-6.12590826e-01 7.90277085e-01 1.39502457e-02 -2.90955519e+02] [ 2.24567270e-02 -2.40349030e-04 9.99747787e-01 1.03631451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.022755096 meters 0.018004973542128353 Centerline is valid? [True, True] Translation: X:461.93, Y:-291.00, Z:10.36 [[ 7.91486066e-01 6.10942150e-01 -1.73059804e-02 4.61928943e+02] [-6.10788023e-01 7.91675188e-01 1.37254413e-02 -2.90998318e+02] [ 2.20861659e-02 -2.93210034e-04 9.99756028e-01 1.03646813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0827550959999 meters 0.01925730965660112 Centerline is valid? [True, True] Translation: X:461.97, Y:-291.04, Z:10.37 [[ 7.93108058e-01 6.08877398e-01 -1.57455591e-02 4.61973942e+02] [-6.08749280e-01 7.93264274e-01 1.24941964e-02 -2.91040333e+02] [ 2.00978233e-02 -3.24150066e-04 9.99797966e-01 1.03672809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.142755096 meters 0.02055084415683552 Centerline is valid? [True, True] Translation: X:462.02, Y:-291.08, Z:10.37 [[ 7.94525364e-01 6.07032292e-01 -1.55319624e-02 4.62018972e+02] [-6.06907161e-01 7.94677078e-01 1.23304221e-02 -2.91079893e+02] [ 1.98278589e-02 -3.70373896e-04 9.99803340e-01 1.03687992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2027550959999 meters 0.020868387165766628 Centerline is valid? [True, True] Translation: X:462.07, Y:-291.12, Z:10.37 [[ 7.95995897e-01 6.05111511e-01 -1.51852173e-02 4.62066523e+02] [-6.04991548e-01 7.96140623e-01 1.20554813e-02 -2.91119047e+02] [ 1.93844789e-02 -4.09185577e-04 9.99812020e-01 1.03701000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.262755096 meters 0.020447207520931574 Centerline is valid? [True, True] Translation: X:462.12, Y:-291.16, Z:10.37 [[ 7.95042025e-01 6.06350843e-01 -1.57109592e-02 4.62115655e+02] [-6.06222537e-01 7.95197144e-01 1.24795230e-02 -2.91156707e+02] [ 2.00602792e-02 -3.97407686e-04 9.99798693e-01 1.03707849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3227550959999 meters 0.019095490292930103 Centerline is valid? [True, True] Translation: X:462.17, Y:-291.19, Z:10.37 [[ 7.92835738e-01 6.09227437e-01 -1.59192565e-02 4.62166590e+02] [-6.09096154e-01 7.92995472e-01 1.26513615e-02 -2.91190695e+02] [ 2.03314549e-02 -3.34093670e-04 9.99793239e-01 1.03703964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.382755096 meters 0.017971106201373144 Centerline is valid? [True, True] Translation: X:462.22, Y:-291.22, Z:10.37 [[ 7.90481743e-01 6.12272847e-01 -1.61423077e-02 4.62215294e+02] [-6.12138488e-01 7.90646503e-01 1.28288049e-02 -2.91222631e+02] [ 2.06175880e-02 -2.59608231e-04 9.99787401e-01 1.03711107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4427550959999 meters 0.01811934008793373 Centerline is valid? [True, True] Translation: X:462.26, Y:-291.26, Z:10.37 [[ 7.89305869e-01 6.13797081e-01 -1.57920375e-02 4.62262720e+02] [-6.13668841e-01 7.89463804e-01 1.25481284e-02 -2.91256955e+02] [ 2.01692466e-02 -2.13230018e-04 9.99796557e-01 1.03713500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.502755096 meters 0.017392914576858563 Centerline is valid? [True, True] Translation: X:462.31, Y:-291.29, Z:10.37 [[ 7.89397376e-01 6.13691418e-01 -1.53175010e-02 4.62307605e+02] [-6.13570786e-01 7.89545946e-01 1.21692017e-02 -2.91292305e+02] [ 1.95620055e-02 -2.07964761e-04 9.99808624e-01 1.03741336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5627550959999 meters 0.01794081305126537 Centerline is valid? [True, True] Translation: X:462.35, Y:-291.33, Z:10.38 [[ 7.90234087e-01 6.12640378e-01 -1.42075632e-02 4.62351737e+02] [-6.12536477e-01 7.90361766e-01 1.12846730e-02 -2.91328936e+02] [ 1.81425611e-02 -2.14882523e-04 9.99835387e-01 1.03763940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.622755096 meters 0.01898185478434345 Centerline is valid? [True, True] Translation: X:462.40, Y:-291.37, Z:10.38 [[ 7.91561685e-01 6.10935131e-01 -1.37246002e-02 4.62396969e+02] [-6.10837958e-01 7.91680621e-01 1.08987268e-02 -2.91366393e+02] [ 1.75239151e-02 -2.43507803e-04 9.99846415e-01 1.03775971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6827550959999 meters 0.01962514018989769 Centerline is valid? [True, True] Translation: X:462.44, Y:-291.40, Z:10.38 [[ 7.92337309e-01 6.09942399e-01 -1.31095231e-02 4.62441973e+02] [-6.09853629e-01 7.92445712e-01 1.04088696e-02 -2.91404050e+02] [ 1.67373963e-02 -2.52445528e-04 9.99859888e-01 1.03794347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.742755096 meters 0.019933320637397476 Centerline is valid? [True, True] Translation: X:462.49, Y:-291.44, Z:10.38 [[ 7.92430010e-01 6.09820565e-01 -1.31741580e-02 4.62486656e+02] [-6.09730925e-01 7.92539471e-01 1.04587844e-02 -2.91439040e+02] [ 1.68190220e-02 -2.55163023e-04 9.99858518e-01 1.03803106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8027550959999 meters 0.020093078554416704 Centerline is valid? [True, True] Translation: X:462.53, Y:-291.47, Z:10.38 [[ 7.92522090e-01 6.09688604e-01 -1.37311120e-02 4.62532325e+02] [-6.09591250e-01 7.92640988e-01 1.08982981e-02 -2.91474951e+02] [ 1.75284103e-02 -2.66776221e-04 9.99846330e-01 1.03803165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.862755096 meters 0.018023479296546175 Centerline is valid? [True, True] Translation: X:462.58, Y:-291.51, Z:10.38 [[ 7.91734629e-01 6.10685778e-01 -1.48040010e-02 4.62584420e+02] [-6.10572913e-01 7.91872979e-01 1.17432137e-02 -2.91509335e+02] [ 1.88943020e-02 -2.58586891e-04 9.99821453e-01 1.03795096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.922755096 meters 0.017595550249902604 Centerline is valid? [True, True] Translation: X:462.63, Y:-291.55, Z:10.38 [[ 7.90843339e-01 6.11816579e-01 -1.57253763e-02 4.62633129e+02] [-6.11689316e-01 7.90999627e-01 1.24807916e-02 -2.91545564e+02] [ 2.00747220e-02 -2.51306235e-04 9.99798451e-01 1.03793690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.982755096 meters 0.017112829399869266 Centerline is valid? [True, True] Translation: X:462.68, Y:-291.58, Z:10.38 [[ 7.90099075e-01 6.12767979e-01 -1.60889865e-02 4.62684061e+02] [-6.12634940e-01 7.90262836e-01 1.27702735e-02 -2.91583259e+02] [ 2.05397427e-02 -2.33105986e-04 9.99789010e-01 1.03801055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.042755096 meters 0.01704030306302375 Centerline is valid? [True, True] Translation: X:462.73, Y:-291.62, Z:10.38 [[ 7.89242629e-01 6.13870083e-01 -1.61119337e-02 4.62732803e+02] [-6.13736730e-01 7.89407042e-01 1.27964520e-02 -2.91620007e+02] [ 2.05742330e-02 -2.11019940e-04 9.99788306e-01 1.03810416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1027550959999 meters 0.016900167860538707 Centerline is valid? [True, True] Translation: X:462.78, Y:-291.66, Z:10.38 [[ 7.88953047e-01 6.14228121e-01 -1.66404824e-02 4.62782180e+02] [-6.14085847e-01 7.89128488e-01 1.32212409e-02 -2.91659282e+02] [ 2.12523366e-02 -2.12253590e-04 9.99774121e-01 1.03826493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.162755096 meters 0.01739840543789823 Centerline is valid? [True, True] Translation: X:462.83, Y:-291.70, Z:10.38 [[ 7.89556174e-01 6.13442361e-01 -1.70152299e-02 4.62828681e+02] [-6.13293234e-01 7.89739457e-01 1.35277549e-02 -2.91698407e+02] [ 2.17360964e-02 -2.45597008e-04 9.99763713e-01 1.03835982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2227550959999 meters 0.017258830228638146 Centerline is valid? [True, True] Translation: X:462.88, Y:-291.74, Z:10.39 [[ 7.89733960e-01 6.13224234e-01 -1.66226135e-02 4.62878858e+02] [-6.13081712e-01 7.89908840e-01 1.32226531e-02 -2.91736972e+02] [ 2.12388007e-02 -2.51357838e-04 9.99774400e-01 1.03855935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.282755096 meters 0.017349744626706534 Centerline is valid? [True, True] Translation: X:462.93, Y:-291.78, Z:10.39 [[ 7.89461095e-01 6.13563240e-01 -1.70683810e-02 4.62927931e+02] [-6.13412859e-01 7.89645544e-01 1.35859922e-02 -2.91775438e+02] [ 2.18138364e-02 -2.55647838e-04 9.99762017e-01 1.03868509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3427550959999 meters 0.01701943367767933 Centerline is valid? [True, True] Translation: X:462.98, Y:-291.81, Z:10.39 [[ 7.88562258e-01 6.14734396e-01 -1.64677981e-02 4.62976262e+02] [-6.14594572e-01 7.88734160e-01 1.31124835e-02 -2.91812266e+02] [ 2.10494095e-02 -2.18990249e-04 9.99778413e-01 1.03884675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.402755096 meters 0.016799171996401987 Centerline is valid? [True, True] Translation: X:463.02, Y:-291.85, Z:10.39 [[ 7.87723793e-01 6.15791602e-01 -1.70859113e-02 4.63024014e+02] [-6.15641336e-01 7.87909045e-01 1.36044821e-02 -2.91848632e+02] [ 2.18396699e-02 -1.97780967e-04 9.99761466e-01 1.03888943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4627550959999 meters 0.016598009834150426 Centerline is valid? [True, True] Translation: X:463.07, Y:-291.88, Z:10.39 [[ 7.87053086e-01 6.16640843e-01 -1.73640411e-02 4.63071017e+02] [-6.16485880e-01 7.87244587e-01 1.38246311e-02 -2.91883735e+02] [ 2.21945796e-02 -1.76032451e-04 9.99753654e-01 1.03889889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.522755096 meters 0.016523264811674973 Centerline is valid? [True, True] Translation: X:463.12, Y:-291.92, Z:10.39 [[ 7.87272400e-01 6.16371982e-01 -1.69631151e-02 4.63120201e+02] [-6.16224039e-01 7.87455108e-01 1.35050341e-02 -2.91923001e+02] [ 2.16818162e-02 -1.79061285e-04 9.99764906e-01 1.03904704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5827550959999 meters 0.017188707580046116 Centerline is valid? [True, True] Translation: X:463.17, Y:-291.96, Z:10.39 [[ 7.88769166e-01 6.14481611e-01 -1.59860050e-02 4.63166331e+02] [-6.14349686e-01 7.88931112e-01 1.27343476e-02 -2.91963441e+02] [ 2.04368791e-02 -2.23463617e-04 9.99791120e-01 1.03930222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.642755096 meters 0.018021845327473095 Centerline is valid? [True, True] Translation: X:463.21, Y:-292.00, Z:10.40 [[ 7.90074966e-01 6.12820891e-01 -1.52349638e-02 4.63210882e+02] [-6.12700746e-01 7.90221798e-01 1.21369292e-02 -2.92003153e+02] [ 1.94767643e-02 -2.54610201e-04 9.99810277e-01 1.03953010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7027550959999 meters 0.01894192734466217 Centerline is valid? [True, True] Translation: X:463.26, Y:-292.04, Z:10.40 [[ 7.91144293e-01 6.11452679e-01 -1.47081002e-02 4.63255789e+02] [-6.11340474e-01 7.91280951e-01 1.17167094e-02 -2.92039831e+02] [ 1.88024528e-02 -2.77950818e-04 9.99823180e-01 1.03966523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.762755096 meters 0.018797647352544036 Centerline is valid? [True, True] Translation: X:463.31, Y:-292.08, Z:10.40 [[ 7.91448322e-01 6.11072692e-01 -1.41322028e-02 4.63305401e+02] [-6.10969082e-01 7.91574437e-01 1.12557181e-02 -2.92077637e+02] [ 1.80647524e-02 -2.73980243e-04 9.99836782e-01 1.03986141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8227550959999 meters 0.018944115741261567 Centerline is valid? [True, True] Translation: X:463.35, Y:-292.12, Z:10.40 [[ 7.91386981e-01 6.11150418e-01 -1.42060819e-02 4.63353207e+02] [-6.11045617e-01 7.91514427e-01 1.13210056e-02 -2.92115337e+02] [ 1.81631561e-02 -2.78732352e-04 9.99834997e-01 1.04001050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.882755096 meters 0.018951556423535063 Centerline is valid? [True, True] Translation: X:463.40, Y:-292.15, Z:10.40 [[ 7.91049129e-01 6.11578077e-01 -1.46126998e-02 4.63400758e+02] [-6.11467263e-01 7.91184036e-01 1.16450119e-02 -2.92150788e+02] [ 1.86831688e-02 -2.76588981e-04 9.99825416e-01 1.04002261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9427550959999 meters 0.0188209104849313 Centerline is valid? [True, True] Translation: X:463.45, Y:-292.19, Z:10.40 [[ 7.91002384e-01 6.11623326e-01 -1.52360048e-02 4.63448955e+02] [-6.11502903e-01 7.91149054e-01 1.21397961e-02 -2.92185768e+02] [ 1.94789333e-02 -2.85746469e-04 9.99810227e-01 1.04004091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.002755096 meters 0.019824752040161858 Centerline is valid? [True, True] Translation: X:463.49, Y:-292.22, Z:10.40 [[ 7.92362507e-01 6.09860961e-01 -1.52074206e-02 4.63494781e+02] [-6.09740684e-01 7.92508360e-01 1.21160090e-02 -2.92222919e+02] [ 1.94410889e-02 -3.27688213e-04 9.99810950e-01 1.04014858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0627550959999 meters 0.020751580356673436 Centerline is valid? [True, True] Translation: X:463.54, Y:-292.26, Z:10.40 [[ 7.93838382e-01 6.07952029e-01 -1.46612943e-02 4.63540770e+02] [-6.07839943e-01 7.93973678e-01 1.16791559e-02 -2.92260454e+02] [ 1.87410483e-02 -3.59641937e-04 9.99824306e-01 1.04034896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.122755096 meters 0.022103550182663505 Centerline is valid? [True, True] Translation: X:463.59, Y:-292.30, Z:10.41 [[ 7.95950799e-01 6.05224709e-01 -1.28598887e-02 4.63587746e+02] [-6.05138134e-01 7.96054592e-01 1.02432800e-02 -2.92299719e+02] [ 1.64366596e-02 -3.71137831e-04 9.99864840e-01 1.04079125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1827550959999 meters 0.02238290976180608 Centerline is valid? [True, True] Translation: X:463.64, Y:-292.34, Z:10.41 [[ 7.96414710e-01 6.04633880e-01 -1.18946020e-02 4.63636265e+02] [-6.04559739e-01 7.96503449e-01 9.47507929e-03 -2.92337448e+02] [ 1.52030455e-02 -3.55095046e-04 9.99884364e-01 1.04107373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.242755096 meters 0.02128385236167156 Centerline is valid? [True, True] Translation: X:463.69, Y:-292.37, Z:10.41 [[ 7.96218875e-01 6.04924856e-01 -1.00708724e-02 4.63688722e+02] [-6.04871751e-01 7.96282508e-01 8.02079740e-03 -2.92373063e+02] [ 1.28712393e-02 -2.94724037e-04 9.99917119e-01 1.04130657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3027550959999 meters 0.020858456058867516 Centerline is valid? [True, True] Translation: X:463.74, Y:-292.41, Z:10.42 [[ 7.94952082e-01 6.06591881e-01 -9.87307523e-03 4.63738157e+02] [-6.06540901e-01 7.95013345e-01 7.86871717e-03 -2.92410114e+02] [ 1.26223265e-02 -2.66829145e-04 9.99920300e-01 1.04152558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.362755096 meters 0.020456166525364625 Centerline is valid? [True, True] Translation: X:463.79, Y:-292.45, Z:10.42 [[ 7.94004564e-01 6.07837128e-01 -9.52776279e-03 4.63787757e+02] [-6.07789690e-01 7.94061690e-01 7.59769468e-03 -2.92447716e+02] [ 1.21837923e-02 -2.41728260e-04 9.99925746e-01 1.04163355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.422755096 meters 0.019708346345061883 Centerline is valid? [True, True] Translation: X:463.84, Y:-292.48, Z:10.41 [[ 7.92215371e-01 6.10146894e-01 -1.07505170e-02 4.63839170e+02] [-6.10086631e-01 7.92288275e-01 8.57856684e-03 -2.92482532e+02] [ 1.37516945e-02 -2.37325794e-04 9.99905413e-01 1.04147891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.482755096 meters 0.019408333018523283 Centerline is valid? [True, True] Translation: X:463.89, Y:-292.52, Z:10.41 [[ 7.91372802e-01 6.11235625e-01 -1.09589995e-02 4.63888184e+02] [-6.11173014e-01 7.91448646e-01 8.75144715e-03 -2.92519067e+02] [ 1.40226816e-02 -2.27812463e-04 9.99901651e-01 1.04146562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.542755096 meters 0.02004702092046257 Centerline is valid? [True, True] Translation: X:463.93, Y:-292.56, Z:10.41 [[ 7.91359372e-01 6.11235177e-01 -1.19123325e-02 4.63932732e+02] [-6.11161180e-01 7.91448986e-01 9.51393250e-03 -2.92556761e+02] [ 1.52432537e-02 -2.48584479e-04 9.99883784e-01 1.04138946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6027550959999 meters 0.020080387403284647 Centerline is valid? [True, True] Translation: X:463.98, Y:-292.60, Z:10.41 [[ 7.91921102e-01 6.10499805e-01 -1.22864215e-02 4.63978880e+02] [-6.10421013e-01 7.92016361e-01 9.81181013e-03 -2.92595179e+02] [ 1.57211550e-02 -2.70289659e-04 9.99876378e-01 1.04139442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.662755096 meters 0.02016693546745469 Centerline is valid? [True, True] Translation: X:464.02, Y:-292.63, Z:10.42 [[ 7.92086568e-01 6.10285287e-01 -1.22774856e-02 4.64024648e+02] [-6.10206595e-01 7.92181667e-01 9.80402034e-03 -2.92632780e+02] [ 1.57092484e-02 -2.73830170e-04 9.99876565e-01 1.04151390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7227550959999 meters 0.020651181865314554 Centerline is valid? [True, True] Translation: X:464.07, Y:-292.67, Z:10.42 [[ 7.92338742e-01 6.09959218e-01 -1.22094588e-02 4.64067796e+02] [-6.09881379e-01 7.92432758e-01 9.74821316e-03 -2.92671476e+02] [ 1.56211876e-02 -2.77565357e-04 9.99877943e-01 1.04165794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.782755096 meters 0.02024093970279557 Centerline is valid? [True, True] Translation: X:464.11, Y:-292.71, Z:10.42 [[ 7.92127750e-01 6.10232634e-01 -1.22376760e-02 4.64112924e+02] [-6.10154501e-01 7.92222229e-01 9.76862408e-03 -2.92710443e+02] [ 1.56560922e-02 -2.71125119e-04 9.99877399e-01 1.04172367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8427550959999 meters 0.020033674495080644 Centerline is valid? [True, True] Translation: X:464.16, Y:-292.75, Z:10.42 [[ 7.91328492e-01 6.11279068e-01 -1.17097611e-02 4.64156074e+02] [-6.11207652e-01 7.91415090e-01 9.34675838e-03 -2.92748703e+02] [ 1.49807594e-02 -2.39260629e-04 9.99887754e-01 1.04187542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.902755096 meters 0.01958373874073493 Centerline is valid? [True, True] Translation: X:464.20, Y:-292.79, Z:10.42 [[ 7.90761145e-01 6.12029684e-01 -1.07924542e-02 4.64203050e+02] [-6.11969140e-01 7.90834764e-01 8.61089710e-03 -2.92788788e+02] [ 1.38051726e-02 -2.04513964e-04 9.99904683e-01 1.04203559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9627550959999 meters 0.01941293430916028 Centerline is valid? [True, True] Translation: X:464.25, Y:-292.83, Z:10.42 [[ 7.89946437e-01 6.13092020e-01 -1.01391143e-02 4.64248791e+02] [-6.13038618e-01 7.90011483e-01 8.09378940e-03 -2.92830997e+02] [ 1.29722544e-02 -1.77991478e-04 9.99915841e-01 1.04220529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.022755096 meters 0.01883485567455828 Centerline is valid? [True, True] Translation: X:464.29, Y:-292.87, Z:10.42 [[ 7.88560640e-01 6.14886782e-01 -9.29316194e-03 4.64294382e+02] [-6.14842002e-01 7.88615385e-01 7.42207697e-03 -2.92873598e+02] [ 1.18924675e-02 -1.38931474e-04 9.99929272e-01 1.04239159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0827550959999 meters 0.018402817781324042 Centerline is valid? [True, True] Translation: X:464.34, Y:-292.92, Z:10.43 [[ 7.87044820e-01 6.16830097e-01 -9.00463785e-03 4.64338915e+02] [-6.16788133e-01 7.87096322e-01 7.19579564e-03 -2.92915375e+02] [ 1.15261007e-02 -1.09459910e-04 9.99933566e-01 1.04262871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.142755096 meters 0.017905495699072453 Centerline is valid? [True, True] Translation: X:464.38, Y:-292.96, Z:10.43 [[ 7.85830784e-01 6.18372447e-01 -9.24636292e-03 4.64384760e+02] [-6.18328261e-01 7.85885175e-01 7.39280619e-03 -2.92957522e+02] [ 1.18380872e-02 -9.22071845e-05 9.99929923e-01 1.04277817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2027550959999 meters 0.017617442043622672 Centerline is valid? [True, True] Translation: X:464.43, Y:-292.99, Z:10.43 [[ 7.84196651e-01 6.20464337e-01 -7.72137697e-03 4.64434030e+02] [-6.20433592e-01 7.84234661e-01 6.17688141e-03 -2.92994948e+02] [ 9.88790608e-03 -5.32880635e-05 9.99951112e-01 1.04311591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.262755096 meters 0.017553333882201698 Centerline is valid? [True, True] Translation: X:464.48, Y:-293.03, Z:10.43 [[ 7.82908596e-01 6.22102042e-01 -6.57118701e-03 4.64483199e+02] [-6.22079828e-01 7.82936172e-01 5.25727751e-03 -2.93032272e+02] [ 8.41538307e-03 -2.81648672e-05 9.99964590e-01 1.04347269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3227550959999 meters 0.018124990183663186 Centerline is valid? [True, True] Translation: X:464.53, Y:-293.07, Z:10.44 [[ 7.84999257e-01 6.19470268e-01 -5.72310718e-03 4.64529318e+02] [-6.19453335e-01 7.85020117e-01 4.58048878e-03 -2.93073722e+02] [ 7.33023088e-03 -5.04824535e-05 9.99973132e-01 1.04371079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.382755096 meters 0.0199634889271867 Centerline is valid? [True, True] Translation: X:464.57, Y:-293.12, Z:10.44 [[ 7.88809462e-01 6.14624259e-01 -4.08092122e-03 4.64574537e+02] [-6.14615567e-01 7.88820015e-01 3.26940479e-03 -2.93116430e+02] [ 5.22856783e-03 -7.07397212e-05 9.99986328e-01 1.04402041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4427550959999 meters 0.02148846053175912 Centerline is valid? [True, True] Translation: X:464.62, Y:-293.16, Z:10.44 [[ 7.92260328e-01 6.10178769e-01 -2.33290578e-03 4.64621520e+02] [-6.10175911e-01 7.92263761e-01 1.86845827e-03 -2.93157267e+02] [ 2.98837028e-03 -5.68224583e-05 9.99995533e-01 1.04404245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.502755096 meters 0.02288000505279551 Centerline is valid? [True, True] Translation: X:464.67, Y:-293.20, Z:10.44 [[ 7.94496089e-01 6.07264470e-01 -2.41438220e-03 4.64668229e+02] [-6.07261405e-01 7.94499754e-01 1.93033688e-03 -2.93197809e+02] [ 3.09045107e-03 -6.74839714e-05 9.99995222e-01 1.04405510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5627550959999 meters 0.02506099095178987 Centerline is valid? [True, True] Translation: X:464.71, Y:-293.24, Z:10.44 [[ 7.98147742e-01 6.02452369e-01 -3.36529950e-03 4.64714961e+02] [-6.02446337e-01 7.98154827e-01 2.69877825e-03 -2.93237877e+02] [ 4.31191539e-03 -1.26611410e-04 9.99990696e-01 1.04382135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.622755096 meters 0.026744125680989637 Centerline is valid? [True, True] Translation: X:464.76, Y:-293.28, Z:10.44 [[ 8.00282668e-01 5.99608169e-01 -4.20667397e-03 4.64762935e+02] [-5.99598706e-01 8.00293704e-01 3.37336349e-03 -2.93277968e+02] [ 5.38927100e-03 -1.77328060e-04 9.99985462e-01 1.04362271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6827550959999 meters 0.027934006120048153 Centerline is valid? [True, True] Translation: X:464.81, Y:-293.32, Z:10.43 [[ 8.00309311e-01 5.99553630e-01 -6.36009871e-03 4.64809756e+02] [-5.99532001e-01 8.00334538e-01 5.09973627e-03 -2.93316743e+02] [ 8.14777205e-03 -2.68283717e-04 9.99966770e-01 1.04342820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.742755096 meters 0.026652676287561766 Centerline is valid? [True, True] Translation: X:464.86, Y:-293.35, Z:10.43 [[ 7.99573526e-01 6.00502817e-01 -8.86244240e-03 4.64861504e+02] [-6.00460811e-01 7.99622557e-01 7.11202626e-03 -2.93351458e+02] [ 1.13574007e-02 -3.65038566e-04 9.99935436e-01 1.04295742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8027550959999 meters 0.026261588236901938 Centerline is valid? [True, True] Translation: X:464.91, Y:-293.39, Z:10.43 [[ 7.98815042e-01 6.01487322e-01 -1.03696928e-02 4.64911517e+02] [-6.01429818e-01 7.98882237e-01 8.32737229e-03 -2.93388122e+02] [ 1.32929722e-02 -4.15387809e-04 9.99911558e-01 1.04272804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.862755096 meters 0.02468999519114966 Centerline is valid? [True, True] Translation: X:464.96, Y:-293.42, Z:10.43 [[ 7.96912311e-01 6.03974284e-01 -1.20761092e-02 4.64962522e+02] [-6.03896480e-01 7.97003682e-01 9.70418931e-03 -2.93423746e+02] [ 1.54857843e-02 -4.40668089e-04 9.99879991e-01 1.04254403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.922755096 meters 0.022315090070680672 Centerline is valid? [True, True] Translation: X:465.02, Y:-293.46, Z:10.42 [[ 7.93984180e-01 6.07795547e-01 -1.31793459e-02 4.65015464e+02] [-6.07703282e-01 7.94093451e-01 1.05977162e-02 -2.93456876e+02] [ 1.69068770e-02 -4.05287202e-04 9.99856986e-01 1.04239031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.982755096 meters 0.02085580818868729 Centerline is valid? [True, True] Translation: X:465.07, Y:-293.49, Z:10.42 [[ 7.90803769e-01 6.11893999e-01 -1.46674328e-02 4.65067303e+02] [-6.11780391e-01 7.90939699e-01 1.17959676e-02 -2.93488939e+02] [ 1.88189367e-02 -3.55047871e-04 9.99822845e-01 1.04219262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.042755096 meters 0.019750813840473024 Centerline is valid? [True, True] Translation: X:465.12, Y:-293.52, Z:10.42 [[ 7.87811788e-01 6.15719828e-01 -1.55460440e-02 4.65116997e+02] [-6.15592886e-01 7.87965109e-01 1.25054003e-02 -2.93520604e+02] [ 1.99495632e-02 -2.81867696e-04 9.99800948e-01 1.04205220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1027550959999 meters 0.018328958371450182 Centerline is valid? [True, True] Translation: X:465.17, Y:-293.55, Z:10.42 [[ 7.85540390e-01 6.18588662e-01 -1.65639004e-02 4.65171039e+02] [-6.18445195e-01 7.85714972e-01 1.33237837e-02 -2.93552932e+02] [ 2.12564461e-02 -2.22505602e-04 9.99774031e-01 1.04191332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.162755096 meters 0.018256781397381665 Centerline is valid? [True, True] Translation: X:465.22, Y:-293.59, Z:10.42 [[ 7.85067784e-01 6.19168217e-01 -1.73001092e-02 4.65218105e+02] [-6.19011702e-01 7.85258346e-01 1.39227381e-02 -2.93587518e+02] [ 2.22055721e-02 -2.21323120e-04 9.99753401e-01 1.04183061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2227550959999 meters 0.018408228999421503 Centerline is valid? [True, True] Translation: X:465.26, Y:-293.62, Z:10.42 [[ 7.85224287e-01 6.18959923e-01 -1.76474720e-02 4.65264554e+02] [-6.18797053e-01 7.85422537e-01 1.42002122e-02 -2.93622833e+02] [ 2.26500845e-02 -2.30147845e-04 9.99743427e-01 1.04182590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.282755096 meters 0.018640984082530905 Centerline is valid? [True, True] Translation: X:465.31, Y:-293.66, Z:10.42 [[ 7.85980550e-01 6.17994144e-01 -1.78272870e-02 4.65311230e+02] [-6.17827762e-01 7.86182658e-01 1.43417506e-02 -2.93658251e+02] [ 2.28786218e-02 -2.58144202e-04 9.99738217e-01 1.04186385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3427550959999 meters 0.018819254675188857 Centerline is valid? [True, True] Translation: X:465.36, Y:-293.69, Z:10.42 [[ 7.86562145e-01 6.17248645e-01 -1.80028526e-02 4.65358210e+02] [-6.17078830e-01 7.86768093e-01 1.44805450e-02 -2.93692952e+02] [ 2.31021668e-02 -2.80669313e-04 9.99733070e-01 1.04187446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.402755096 meters 0.01910459866262334 Centerline is valid? [True, True] Translation: X:465.40, Y:-293.73, Z:10.42 [[ 7.86987646e-01 6.16682976e-01 -1.87763393e-02 4.65402471e+02] [-6.16498168e-01 7.87211542e-01 1.50995863e-02 -2.93730081e+02] [ 2.40926089e-02 -3.07609124e-04 9.99709684e-01 1.04196154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4627550959999 meters 0.019693532514565695 Centerline is valid? [True, True] Translation: X:465.45, Y:-293.77, Z:10.42 [[ 7.87243483e-01 6.16346744e-01 -1.90889781e-02 4.65446043e+02] [-6.16155704e-01 7.87474818e-01 1.53479636e-02 -2.93768200e+02] [ 2.44917569e-02 -3.20801596e-04 9.99699980e-01 1.04200900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.522755096 meters 0.019163850639786754 Centerline is valid? [True, True] Translation: X:465.49, Y:-293.80, Z:10.42 [[ 7.86583805e-01 6.17195869e-01 -1.88461594e-02 4.65492364e+02] [-6.17009969e-01 7.86809492e-01 1.51499870e-02 -2.93804603e+02] [ 2.41788465e-02 -2.88466235e-04 9.99707607e-01 1.04221819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5827550959999 meters 0.018744654722332468 Centerline is valid? [True, True] Translation: X:465.54, Y:-293.84, Z:10.42 [[ 7.85907375e-01 6.18056976e-01 -1.88460403e-02 4.65537781e+02] [-6.17871414e-01 7.86133263e-01 1.51462147e-02 -2.93842104e+02] [ 2.41767229e-02 -2.59092265e-04 9.99707667e-01 1.04240094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.642755096 meters 0.018008195272919202 Centerline is valid? [True, True] Translation: X:465.58, Y:-293.88, Z:10.43 [[ 7.85185491e-01 6.18988019e-01 -1.83732772e-02 4.65582002e+02] [-6.18812058e-01 7.85400398e-01 1.47598191e-02 -2.93880333e+02] [ 2.35665304e-02 -2.19590352e-04 9.99722247e-01 1.04274823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7027550959999 meters 0.018073371577096483 Centerline is valid? [True, True] Translation: X:465.63, Y:-293.92, Z:10.43 [[ 7.85346702e-01 6.18793303e-01 -1.80390299e-02 4.65625206e+02] [-6.18623694e-01 7.85553818e-01 1.44887822e-02 -2.93918504e+02] [ 2.31361902e-02 -2.19346000e-04 9.99732298e-01 1.04297994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.762755096 meters 0.01838206361416038 Centerline is valid? [True, True] Translation: X:465.67, Y:-293.96, Z:10.43 [[ 7.86529821e-01 6.17306776e-01 -1.74122147e-02 4.65668050e+02] [-6.17148454e-01 7.86722493e-01 1.39822880e-02 -2.93959123e+02] [ 2.23299420e-02 -2.51565066e-04 9.99750624e-01 1.04321384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8227550959999 meters 0.01917278674160315 Centerline is valid? [True, True] Translation: X:465.71, Y:-294.00, Z:10.43 [[ 7.87808500e-01 6.15655669e-01 -1.80516986e-02 4.65707897e+02] [-6.15485127e-01 7.88015230e-01 1.44932923e-02 -2.94002087e+02] [ 2.31478910e-02 -3.07386918e-04 9.99732004e-01 1.04344292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.882755096 meters 0.01939509147360136 Centerline is valid? [True, True] Translation: X:465.75, Y:-294.04, Z:10.44 [[ 7.88811663e-01 6.14371868e-01 -1.79824484e-02 4.65751487e+02] [-6.14202355e-01 7.89016534e-01 1.44351974e-02 -2.94043547e+02] [ 2.30570283e-02 -3.41789943e-04 9.99734093e-01 1.04362193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9427550959999 meters 0.018832000396498995 Centerline is valid? [True, True] Translation: X:465.80, Y:-294.08, Z:10.44 [[ 7.88606230e-01 6.14650383e-01 -1.74676875e-02 4.65799866e+02] [-6.14490488e-01 7.88799595e-01 1.40227841e-02 -2.94084061e+02] [ 2.23976144e-02 -3.24727073e-04 9.99749089e-01 1.04391887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.002755096 meters 0.019205656436379368 Centerline is valid? [True, True] Translation: X:465.85, Y:-294.12, Z:10.44 [[ 7.88369910e-01 6.14991228e-01 -1.60833400e-02 4.65847088e+02] [-6.14855584e-01 7.88533894e-01 1.29193583e-02 -2.94124763e+02] [ 2.06275507e-02 -2.96301965e-04 9.99787186e-01 1.04422843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0627550959999 meters 0.02006220558697835 Centerline is valid? [True, True] Translation: X:465.89, Y:-294.16, Z:10.44 [[ 7.88687592e-01 6.14599682e-01 -1.54632700e-02 4.65891572e+02] [-6.14474089e-01 7.88839109e-01 1.24279288e-02 -2.94162769e+02] [ 1.98362332e-02 -2.99974510e-04 9.99803198e-01 1.04439556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.122755096 meters 0.019453716204097398 Centerline is valid? [True, True] Translation: X:465.94, Y:-294.20, Z:10.45 [[ 7.88958920e-01 6.14272528e-01 -1.45973857e-02 4.65940994e+02] [-6.14160573e-01 7.89093896e-01 1.17308922e-02 -2.94202141e+02] [ 1.87246727e-02 -2.90053326e-04 9.99824636e-01 1.04471155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1827550959999 meters 0.020348189830384715 Centerline is valid? [True, True] Translation: X:465.99, Y:-294.24, Z:10.45 [[ 7.88944745e-01 6.14300395e-01 -1.41849492e-02 4.65986276e+02] [-6.14194553e-01 7.89072203e-01 1.14065435e-02 -2.94240268e+02] [ 1.81999933e-02 -2.86814068e-04 9.99834325e-01 1.04492549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.242755096 meters 0.019743612957767206 Centerline is valid? [True, True] Translation: X:466.04, Y:-294.28, Z:10.45 [[ 7.89323994e-01 6.13825833e-01 -1.36191032e-02 4.66035114e+02] [-6.13728187e-01 7.89441426e-01 1.09520139e-02 -2.94275324e+02] [ 1.74741134e-02 -2.86259824e-04 9.99847275e-01 1.04513005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3027550959999 meters 0.020034420029145978 Centerline is valid? [True, True] Translation: X:466.08, Y:-294.31, Z:10.45 [[ 7.89947616e-01 6.13040113e-01 -1.28290400e-02 4.66083434e+02] [-6.12953376e-01 7.90051732e-01 1.03160150e-02 -2.94313595e+02] [ 1.64597362e-02 -2.85508057e-04 9.99864489e-01 1.04540086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.362755096 meters 0.02059021695621045 Centerline is valid? [True, True] Translation: X:466.13, Y:-294.35, Z:10.46 [[ 7.90563357e-01 6.12253626e-01 -1.24529875e-02 4.66131102e+02] [-6.12171716e-01 7.90661375e-01 1.00190003e-02 -2.94353240e+02] [ 1.59802655e-02 -2.97287750e-04 9.99872263e-01 1.04558062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.422755096 meters 0.023750492234603775 Centerline is valid? [True, True] Translation: X:466.18, Y:-294.39, Z:10.46 [[ 7.93102825e-01 6.08958749e-01 -1.25360314e-02 4.66175988e+02] [-6.08875239e-01 7.93201806e-01 1.00914882e-02 -2.94394760e+02] [ 1.60889028e-02 -3.70708714e-04 9.99870497e-01 1.04574650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4827550959999 meters 0.025594424782253728 Centerline is valid? [True, True] Translation: X:466.22, Y:-294.43, Z:10.46 [[ 7.96522967e-01 6.04500979e-01 -1.13898621e-02 4.66223133e+02] [-6.04431510e-01 7.96604286e-01 9.17399788e-03 -2.94433237e+02] [ 1.46189036e-02 -4.22908477e-04 9.99893049e-01 1.04599824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.542755096 meters 0.027934494338341644 Centerline is valid? [True, True] Translation: X:466.27, Y:-294.47, Z:10.46 [[ 7.98398345e-01 6.02047994e-01 -9.91435215e-03 4.66268440e+02] [-6.01995163e-01 7.98459796e-01 7.98606085e-03 -2.94471857e+02] [ 1.27242035e-02 -4.07665727e-04 9.99918961e-01 1.04637671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6027550959999 meters 0.023471493878716655 Centerline is valid? [True, True] Translation: X:466.33, Y:-294.50, Z:10.46 [[ 7.97200056e-01 6.03626806e-01 -1.03320013e-02 4.66325089e+02] [-6.03569577e-01 7.97266907e-01 8.32136046e-03 -2.94501398e+02] [ 1.32603589e-02 -3.97707390e-04 9.99911998e-01 1.04624556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.662755096 meters 0.024086979734248438 Centerline is valid? [True, True] Translation: X:466.37, Y:-294.54, Z:10.46 [[ 7.95066898e-01 6.06422137e-01 -1.09918074e-02 4.66374484e+02] [-6.06357596e-01 7.95142786e-01 8.85521918e-03 -2.94536381e+02] [ 1.41100573e-02 -3.75525718e-04 9.99900378e-01 1.04622248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7227550959999 meters 0.02120003295722582 Centerline is valid? [True, True] Translation: X:466.43, Y:-294.56, Z:10.46 [[ 7.90984295e-01 6.11704773e-01 -1.26931245e-02 4.66428328e+02] [-6.11619371e-01 7.91086066e-01 1.02264786e-02 -2.94564858e+02] [ 1.62969397e-02 -3.25623073e-04 9.99867143e-01 1.04604716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.782755096 meters 0.019121242584714964 Centerline is valid? [True, True] Translation: X:466.48, Y:-294.59, Z:10.46 [[ 7.88677273e-01 6.14659439e-01 -1.34882420e-02 4.66480921e+02] [-6.14563446e-01 7.88792556e-01 1.08662408e-02 -2.94593332e+02] [ 1.73184623e-02 -2.80576673e-04 9.99849985e-01 1.04602571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8427550959999 meters 0.019570833898531977 Centerline is valid? [True, True] Translation: X:466.53, Y:-294.63, Z:10.46 [[ 7.89189298e-01 6.13997326e-01 -1.36943859e-02 4.66529710e+02] [-6.13898308e-01 7.89308048e-01 1.10305097e-02 -2.94626876e+02] [ 1.75817924e-02 -2.98199841e-04 9.99845384e-01 1.04617636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.902755096 meters 0.021344159965935913 Centerline is valid? [True, True] Translation: X:466.58, Y:-294.66, Z:10.46 [[ 7.92164110e-01 6.10156446e-01 -1.36063800e-02 4.66575806e+02] [-6.10058159e-01 7.92280864e-01 1.09579125e-02 -2.94662943e+02] [ 1.74661155e-02 -3.79781913e-04 9.99847384e-01 1.04636328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9627550959999 meters 0.02424155873810169 Centerline is valid? [True, True] Translation: X:466.62, Y:-294.70, Z:10.46 [[ 7.96258897e-01 6.04812857e-01 -1.31597070e-02 4.66622876e+02] [-6.04720221e-01 7.96367490e-01 1.05960386e-02 -2.94699795e+02] [ 1.68885832e-02 -4.79249131e-04 9.99857263e-01 1.04648819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.022755096 meters 0.027947079479929176 Centerline is valid? [True, True] Translation: X:466.67, Y:-294.74, Z:10.47 [[ 7.99269943e-01 6.00839162e-01 -1.26435482e-02 4.66667242e+02] [-6.00753164e-01 7.99369757e-01 1.01797572e-02 -2.94737356e+02] [ 1.62232669e-02 -5.40722344e-04 9.99868248e-01 1.04675400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0827550959999 meters 0.027865180878017343 Centerline is valid? [True, True] Translation: X:466.72, Y:-294.77, Z:10.47 [[ 7.99828869e-01 6.00104428e-01 -1.21842552e-02 4.66715827e+02] [-6.00024503e-01 7.99921490e-01 9.80848870e-03 -2.94771571e+02] [ 1.56325651e-02 -5.34260741e-04 9.99877661e-01 1.04678844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.142755096 meters 0.026264926901473674 Centerline is valid? [True, True] Translation: X:466.77, Y:-294.80, Z:10.47 [[ 7.97365126e-01 6.03364088e-01 -1.26740811e-02 4.66770077e+02] [-6.03278047e-01 7.97465698e-01 1.02009634e-02 -2.94800408e+02] [ 1.62620399e-02 -4.87897614e-04 9.99867645e-01 1.04667156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2027550959999 meters 0.02290495724209722 Centerline is valid? [True, True] Translation: X:466.82, Y:-294.83, Z:10.47 [[ 7.94969083e-01 6.06505398e-01 -1.32423390e-02 4.66821300e+02] [-6.06411907e-01 7.95079246e-01 1.06579538e-02 -2.94831504e+02] [ 1.69928155e-02 -4.42431725e-04 9.99855514e-01 1.04698662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.262755096 meters 0.02181733857693964 Centerline is valid? [True, True] Translation: X:466.87, Y:-294.87, Z:10.47 [[ 7.91044133e-01 6.11613514e-01 -1.33449880e-02 4.66870838e+02] [-6.11519312e-01 7.91156620e-01 1.07393116e-02 -2.94866212e+02] [ 1.71262837e-02 -3.34551551e-04 9.99853278e-01 1.04712795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3227550959999 meters 0.019661635641166235 Centerline is valid? [True, True] Translation: X:466.92, Y:-294.90, Z:10.47 [[ 7.88719709e-01 6.14581785e-01 -1.45068797e-02 4.66919098e+02] [-6.14471016e-01 7.88853056e-01 1.16715842e-02 -2.94898061e+02] [ 1.86169394e-02 -2.91551349e-04 9.99826647e-01 1.04716384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.382755096 meters 0.01933853938750594 Centerline is valid? [True, True] Translation: X:466.96, Y:-294.94, Z:10.47 [[ 7.88315027e-01 6.15084040e-01 -1.52000694e-02 4.66964449e+02] [-6.14962602e-01 7.88461502e-01 1.22253484e-02 -2.94935110e+02] [ 1.95042862e-02 -2.89951616e-04 9.99809731e-01 1.04725683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4427550959999 meters 0.019408819676022114 Centerline is valid? [True, True] Translation: X:467.01, Y:-294.97, Z:10.48 [[ 7.88198094e-01 6.15246480e-01 -1.46810221e-02 4.67009220e+02] [-6.15133257e-01 7.88334760e-01 1.18060387e-02 -2.94973898e+02] [ 1.88371838e-02 -2.74712197e-04 9.99822527e-01 1.04754423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.502755096 meters 0.01989671553648994 Centerline is valid? [True, True] Translation: X:467.05, Y:-295.01, Z:10.48 [[ 7.88411104e-01 6.14973533e-01 -1.46794011e-02 4.67052594e+02] [-6.14860324e-01 7.88547700e-01 1.18028343e-02 -2.95011662e+02] [ 1.88338387e-02 -2.79704274e-04 9.99822588e-01 1.04769733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5627550959999 meters 0.02029108714001453 Centerline is valid? [True, True] Translation: X:467.10, Y:-295.05, Z:10.48 [[ 7.89728478e-01 6.13263840e-01 -1.53750716e-02 4.67096489e+02] [-6.13139377e-01 7.89878061e-01 1.23593251e-02 -2.95051293e+02] [ 1.97239589e-02 -3.33449145e-04 9.99805408e-01 1.04781907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.622755096 meters 0.02050618509639051 Centerline is valid? [True, True] Translation: X:467.14, Y:-295.09, Z:10.48 [[ 7.90743566e-01 6.11919261e-01 -1.67161824e-02 4.67139774e+02] [-6.11771991e-01 7.90920137e-01 1.34301134e-02 -2.95091050e+02] [ 2.14393104e-02 -3.93283567e-04 9.99770074e-01 1.04787719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6827550959999 meters 0.020352080676372612 Centerline is valid? [True, True] Translation: X:467.18, Y:-295.13, Z:10.48 [[ 7.90395481e-01 6.12336294e-01 -1.78674826e-02 4.67184174e+02] [-6.12168199e-01 7.90597305e-01 1.43526244e-02 -2.95129156e+02] [ 2.29146164e-02 -4.06344821e-04 9.99737343e-01 1.04793396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.742755096 meters 0.019573231592355595 Centerline is valid? [True, True] Translation: X:467.23, Y:-295.17, Z:10.48 [[ 7.89124038e-01 6.13911059e-01 -1.99113867e-02 4.67227346e+02] [-6.13702873e-01 7.89375102e-01 1.59916166e-02 -2.95169254e+02] [ 2.55349832e-02 -3.99693837e-04 9.99673849e-01 1.04808119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8027550959999 meters 0.019739051602113093 Centerline is valid? [True, True] Translation: X:467.27, Y:-295.21, Z:10.48 [[ 7.89320463e-01 6.13627858e-01 -2.08340680e-02 4.67269985e+02] [-6.13399905e-01 7.89595258e-01 1.67297693e-02 -2.95209627e+02] [ 2.67163338e-02 -4.25533918e-04 9.99642964e-01 1.04819681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.862755096 meters 0.02001493153676186 Centerline is valid? [True, True] Translation: X:467.31, Y:-295.25, Z:10.48 [[ 7.89741741e-01 6.13037245e-01 -2.22107787e-02 4.67311259e+02] [-6.12778019e-01 7.90053867e-01 1.78321831e-02 -2.95252433e+02] [ 2.84795040e-02 -4.72542374e-04 9.99594265e-01 1.04840244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.922755096 meters 0.02042045925270787 Centerline is valid? [True, True] Translation: X:467.35, Y:-295.29, Z:10.49 [[ 7.89718983e-01 6.13048361e-01 -2.27075878e-02 4.67353009e+02] [-6.12777507e-01 7.90045237e-01 1.82277362e-02 -2.95293609e+02] [ 2.91145053e-02 -4.80090219e-04 9.99575968e-01 1.04852895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9827550959999 meters 0.019916369607053962 Centerline is valid? [True, True] Translation: X:467.40, Y:-295.33, Z:10.49 [[ 7.88933037e-01 6.14073809e-01 -2.23163860e-02 4.67397312e+02] [-6.13812713e-01 7.89248485e-01 1.79103928e-02 -2.95332444e+02] [ 2.86114769e-02 -4.32019182e-04 9.99590515e-01 1.04879884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.042755096 meters 0.019384614420477293 Centerline is valid? [True, True] Translation: X:467.44, Y:-295.37, Z:10.49 [[ 7.87441763e-01 6.16019978e-01 -2.13273978e-02 4.67440751e+02] [-6.15782300e-01 7.87730455e-01 1.71140195e-02 -2.95372513e+02] [ 2.73428186e-02 -3.43259596e-04 9.99626056e-01 1.04907246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1027550959999 meters 0.019016570710501262 Centerline is valid? [True, True] Translation: X:467.49, Y:-295.41, Z:10.49 [[ 7.86397351e-01 6.17357673e-01 -2.11827917e-02 4.67486082e+02] [-6.17123765e-01 7.86682540e-01 1.69953080e-02 -2.95410096e+02] [ 2.71563162e-02 -2.92661020e-04 9.99631156e-01 1.04917335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.162755096 meters 0.018287937492026413 Centerline is valid? [True, True] Translation: X:467.53, Y:-295.45, Z:10.49 [[ 7.84520896e-01 6.19700744e-01 -2.23148176e-02 4.67531716e+02] [-6.19442193e-01 7.84838161e-01 1.79005699e-02 -2.95446781e+02] [ 2.86065169e-02 -2.20631589e-04 9.99590726e-01 1.04915230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2227550959999 meters 0.018393713540672322 Centerline is valid? [True, True] Translation: X:467.58, Y:-295.48, Z:10.49 [[ 7.83892672e-01 6.20451298e-01 -2.35046093e-02 4.67576288e+02] [-6.20164876e-01 7.84244953e-01 1.88515103e-02 -2.95484467e+02] [ 3.01298152e-02 -2.00827709e-04 9.99545974e-01 1.04896577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.282755096 meters 0.01867028773195463 Centerline is valid? [True, True] Translation: X:467.62, Y:-295.53, Z:10.49 [[ 7.84994194e-01 6.18988410e-01 -2.52480260e-02 4.67620290e+02] [-6.18657258e-01 7.85400072e-01 2.02465755e-02 -2.95525488e+02] [ 3.23621970e-02 -2.73569659e-04 9.99476169e-01 1.04894469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3427550959999 meters 0.01928493989529979 Centerline is valid? [True, True] Translation: X:467.66, Y:-295.57, Z:10.49 [[ 7.87077537e-01 6.16342036e-01 -2.51285753e-02 4.67662347e+02] [-6.16012712e-01 7.87478476e-01 2.01491492e-02 -2.95567792e+02] [ 3.22069798e-02 -3.79420953e-04 9.99481149e-01 1.04911771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.402755096 meters 0.0197575642947392 Centerline is valid? [True, True] Translation: X:467.71, Y:-295.61, Z:10.49 [[ 7.88844083e-01 6.14124763e-01 -2.39956031e-02 4.67707050e+02] [-6.13823335e-01 7.89208827e-01 1.92442644e-02 -2.95610869e+02] [ 3.07559211e-02 -4.51662959e-04 9.99526823e-01 1.04946278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4627550959999 meters 0.020053409543782867 Centerline is valid? [True, True] Translation: X:467.75, Y:-295.65, Z:10.50 [[ 7.89346532e-01 6.13502099e-01 -2.33929070e-02 4.67753957e+02] [-6.13215017e-01 7.89692948e-01 1.87720981e-02 -2.95652478e+02] [ 2.99899353e-02 -4.72808682e-04 9.99550089e-01 1.04965672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.522755096 meters 0.020384936267376835 Centerline is valid? [True, True] Translation: X:467.80, Y:-295.69, Z:10.50 [[ 7.88848926e-01 6.14173193e-01 -2.25535336e-02 4.67798332e+02] [-6.13906421e-01 7.89171147e-01 1.81054672e-02 -2.95691613e+02] [ 2.89184906e-02 -4.36719274e-04 9.99581678e-01 1.04973019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5827550959999 meters 0.01842349531373962 Centerline is valid? [True, True] Translation: X:467.85, Y:-295.72, Z:10.50 [[ 7.85422359e-01 6.18577641e-01 -2.17582165e-02 4.67850558e+02] [-6.18331049e-01 7.85723636e-01 1.74665623e-02 -2.95723122e+02] [ 2.79003699e-02 -2.64847759e-04 9.99610674e-01 1.04995493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.642755096 meters 0.01765668803563011 Centerline is valid? [True, True] Translation: X:467.90, Y:-295.75, Z:10.50 [[ 7.82723291e-01 6.22017926e-01 -2.09272433e-02 4.67900449e+02] [-6.21791063e-01 7.83002989e-01 1.67986276e-02 -2.95754642e+02] [ 2.68351416e-02 -1.36304216e-04 9.99639863e-01 1.05010786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7027550959999 meters 0.01784350204988652 Centerline is valid? [True, True] Translation: X:467.95, Y:-295.79, Z:10.50 [[ 7.82154183e-01 6.22718486e-01 -2.13663662e-02 4.67947155e+02] [-6.22482338e-01 7.82445957e-01 1.71482991e-02 -2.95790664e+02] [ 2.73965896e-02 -1.12428294e-04 9.99624637e-01 1.05009337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.762755096 meters 0.018347569074190145 Centerline is valid? [True, True] Translation: X:467.99, Y:-295.83, Z:10.50 [[ 7.83129585e-01 6.21459916e-01 -2.22626533e-02 4.67992852e+02] [-6.21203112e-01 7.83445944e-01 1.78647021e-02 -2.95827684e+02] [ 2.85437817e-02 -1.60747239e-04 9.99592530e-01 1.04997247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8227550959999 meters 0.020110916131542714 Centerline is valid? [True, True] Translation: X:468.04, Y:-295.87, Z:10.50 [[ 7.87534822e-01 6.15845867e-01 -2.28642178e-02 4.68036314e+02] [-6.15572694e-01 7.87866568e-01 1.83447137e-02 -2.95868231e+02] [ 2.93114689e-02 -3.72512692e-04 9.99570257e-01 1.04974460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.882755096 meters 0.02165637864994619 Centerline is valid? [True, True] Translation: X:468.08, Y:-295.91, Z:10.50 [[ 7.90327266e-01 6.12226856e-01 -2.36873434e-02 4.68080007e+02] [-6.11932087e-01 7.90681986e-01 1.90031066e-02 -2.95908951e+02] [ 3.03633679e-02 -5.23627816e-04 9.99538789e-01 1.04972477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9427550959999 meters 0.02417988791505644 Centerline is valid? [True, True] Translation: X:468.12, Y:-295.95, Z:10.50 [[ 7.93838375e-01 6.07635498e-01 -2.44894964e-02 4.68121574e+02] [-6.07318269e-01 7.94215701e-01 1.96453707e-02 -2.95952872e+02] [ 3.13871672e-02 -7.22330567e-04 9.99507040e-01 1.04981132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.002755096 meters 0.02411603842232583 Centerline is valid? [True, True] Translation: X:468.17, Y:-295.99, Z:10.50 [[ 7.94636789e-01 6.06604045e-01 -2.41641533e-02 4.68169642e+02] [-6.06294590e-01 7.95003749e-01 1.93884019e-02 -2.95992752e+02] [ 3.09716755e-02 -7.56141982e-04 9.99519977e-01 1.05000188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0627550959999 meters 0.02440384018668836 Centerline is valid? [True, True] Translation: X:468.22, Y:-296.03, Z:10.50 [[ 7.93267708e-01 6.08434672e-01 -2.30996536e-02 4.68216911e+02] [-6.08152468e-01 7.93603689e-01 1.85407682e-02 -2.96030739e+02] [ 2.96128165e-02 -6.59681293e-04 9.99561227e-01 1.05010633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.122755096 meters 0.024001688743610684 Centerline is valid? [True, True] Translation: X:468.26, Y:-296.07, Z:10.50 [[ 7.91880195e-01 6.10266149e-01 -2.23826906e-02 4.68262579e+02] [-6.10001940e-01 7.92196251e-01 1.79647756e-02 -2.96067042e+02] [ 2.86947780e-02 -5.72465297e-04 9.99588056e-01 1.05033807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1827550959999 meters 0.022157264931669533 Centerline is valid? [True, True] Translation: X:468.31, Y:-296.10, Z:10.51 [[ 7.90926272e-01 6.11506153e-01 -2.22678544e-02 4.68310887e+02] [-6.11245216e-01 7.91239504e-01 1.78699042e-02 -2.96101367e+02] [ 2.85467624e-02 -5.22657245e-04 9.99592321e-01 1.05067172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.242755096 meters 0.021370160295713266 Centerline is valid? [True, True] Translation: X:468.36, Y:-296.14, Z:10.51 [[ 7.90143251e-01 6.12506882e-01 -2.25602147e-02 4.68359883e+02] [-6.12239507e-01 7.90465102e-01 1.81027084e-02 -2.96137274e+02] [ 2.89210959e-02 -4.91478157e-04 9.99581577e-01 1.05095085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3027550959999 meters 0.021924030553285793 Centerline is valid? [True, True] Translation: X:468.41, Y:-296.18, Z:10.51 [[ 7.91174327e-01 6.11164030e-01 -2.28410195e-02 4.68407353e+02] [-6.10889282e-01 7.91503775e-01 1.83319259e-02 -2.96177125e+02] [ 2.92825669e-02 -5.50415184e-04 9.99571022e-01 1.05117461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.362755096 meters 0.023225471061304365 Centerline is valid? [True, True] Translation: X:468.45, Y:-296.22, Z:10.51 [[ 7.93075819e-01 6.08706808e-01 -2.25114854e-02 4.68453639e+02] [-6.08438648e-01 7.93394992e-01 1.80775993e-02 -2.96218899e+02] [ 2.88644576e-02 -6.40049137e-04 9.99583130e-01 1.05138457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.422755096 meters 0.023944252396459552 Centerline is valid? [True, True] Translation: X:468.50, Y:-296.26, Z:10.51 [[ 7.93718367e-01 6.07872311e-01 -2.24144299e-02 4.68501192e+02] [-6.07605836e-01 7.94034506e-01 1.80097341e-02 -2.96259482e+02] [ 2.87454495e-02 -6.75518332e-04 9.99586536e-01 1.05149862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4827550959999 meters 0.025396643771587343 Centerline is valid? [True, True] Translation: X:468.55, Y:-296.30, Z:10.52 [[ 7.95766354e-01 6.05241319e-01 -2.09488808e-02 4.68547498e+02] [-6.05007405e-01 7.96041718e-01 1.68411164e-02 -2.96301516e+02] [ 2.68691225e-02 -7.27365761e-04 9.99638695e-01 1.05171645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.542755096 meters 0.025112055540747767 Centerline is valid? [True, True] Translation: X:468.60, Y:-296.34, Z:10.52 [[ 7.95651126e-01 6.05441781e-01 -1.94816559e-02 4.68596266e+02] [-6.05239345e-01 7.95889309e-01 1.56698173e-02 -2.96340153e+02] [ 2.49924038e-02 -6.76643089e-04 9.99687412e-01 1.05199304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6027550959999 meters 0.024125992056529686 Centerline is valid? [True, True] Translation: X:468.65, Y:-296.38, Z:10.52 [[ 7.94141414e-01 6.07431017e-01 -1.91565513e-02 4.68647155e+02] [-6.07235651e-01 7.94372196e-01 1.54167957e-02 -2.96376269e+02] [ 2.45820716e-02 -6.10575026e-04 9.99697629e-01 1.05200571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.662755096 meters 0.023309600363132642 Centerline is valid? [True, True] Translation: X:468.70, Y:-296.41, Z:10.52 [[ 7.92444648e-01 6.09617260e-01 -1.99568491e-02 4.68696489e+02] [-6.09405683e-01 7.92695697e-01 1.60700466e-02 -2.96414124e+02] [ 2.56162862e-02 -5.72805160e-04 9.99671685e-01 1.05198306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7227550959999 meters 0.021387560966010476 Centerline is valid? [True, True] Translation: X:468.75, Y:-296.45, Z:10.52 [[ 7.89047159e-01 6.13995532e-01 -2.03486544e-02 4.68745548e+02] [-6.13776862e-01 7.89309375e-01 1.63912715e-02 -2.96446985e+02] [ 2.61255511e-02 -4.43952934e-04 9.99658571e-01 1.05194216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.782755096 meters 0.020340146404608385 Centerline is valid? [True, True] Translation: X:468.80, Y:-296.48, Z:10.52 [[ 7.87926057e-01 6.15412506e-01 -2.09756150e-02 4.68795709e+02] [-6.15180690e-01 7.88205101e-01 1.68948838e-02 -2.96482933e+02] [ 2.69304095e-02 -4.08125858e-04 9.99637227e-01 1.05196400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8427550959999 meters 0.020672454141282114 Centerline is valid? [True, True] Translation: X:468.84, Y:-296.52, Z:10.52 [[ 7.88339211e-01 6.14935142e-01 -1.93922654e-02 4.68841264e+02] [-6.14736850e-01 7.88577591e-01 1.56201042e-02 -2.96521410e+02] [ 2.48976569e-02 -3.92800495e-04 9.99689928e-01 1.05224684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.902755096 meters 0.020685026179693106 Centerline is valid? [True, True] Translation: X:468.89, Y:-296.56, Z:10.53 [[ 7.89140762e-01 6.13958301e-01 -1.76652780e-02 4.68887730e+02] [-6.13793493e-01 7.89338365e-01 1.42299924e-02 -2.96563666e+02] [ 2.26805036e-02 -3.86634356e-04 9.99742690e-01 1.05267246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9627550959999 meters 0.020744804113296895 Centerline is valid? [True, True] Translation: X:468.93, Y:-296.60, Z:10.53 [[ 7.89190110e-01 6.13921824e-01 -1.67022128e-02 4.68934768e+02] [-6.13774310e-01 7.89366743e-01 1.34626101e-02 -2.96604767e+02] [ 2.14491614e-02 -3.73169621e-04 9.99769871e-01 1.05285404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.022755096 meters 0.020806474396285385 Centerline is valid? [True, True] Translation: X:468.98, Y:-296.64, Z:10.53 [[ 7.88748882e-01 6.14474588e-01 -1.72099173e-02 4.68982282e+02] [-6.14317898e-01 7.88936524e-01 1.38809774e-02 -2.96643853e+02] [ 2.21070402e-02 -3.76245207e-04 9.99755539e-01 1.05280359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0827550959999 meters 0.02034124333565654 Centerline is valid? [True, True] Translation: X:469.03, Y:-296.68, Z:10.53 [[ 7.88151797e-01 6.15234193e-01 -1.74250620e-02 4.69030518e+02] [-6.15073557e-01 7.88344312e-01 1.40629149e-02 -2.96682385e+02] [ 2.23889346e-02 -3.66016820e-04 9.99749269e-01 1.05292422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.142755096 meters 0.02046440415867801 Centerline is valid? [True, True] Translation: X:469.08, Y:-296.72, Z:10.53 [[ 7.88314968e-01 6.14995495e-01 -1.84405344e-02 4.69076608e+02] [-6.14815362e-01 7.88530520e-01 1.48892435e-02 -2.96721437e+02] [ 2.36977419e-02 -3.99889641e-04 9.99719089e-01 1.05291338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2027550959999 meters 0.021042309355642115 Centerline is valid? [True, True] Translation: X:469.12, Y:-296.76, Z:10.53 [[ 7.89277902e-01 6.13726095e-01 -1.95108788e-02 4.69124245e+02] [-6.13524044e-01 7.89518882e-01 1.57537937e-02 -2.96760771e+02] [ 2.50727215e-02 -4.63728019e-04 9.99685522e-01 1.05285228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.262755096 meters 0.021758135106675264 Centerline is valid? [True, True] Translation: X:469.17, Y:-296.80, Z:10.53 [[ 7.90435661e-01 6.12229964e-01 -1.96452785e-02 4.69171312e+02] [-6.12024634e-01 7.90679584e-01 1.58632297e-02 -2.96798440e+02] [ 2.52450652e-02 -5.15468078e-04 9.99681160e-01 1.05282386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3227550959999 meters 0.021668342891484782 Centerline is valid? [True, True] Translation: X:469.22, Y:-296.84, Z:10.53 [[ 7.90831898e-01 6.11713218e-01 -1.97951475e-02 4.69219953e+02] [-6.11504517e-01 7.91079420e-01 1.59867494e-02 -2.96837358e+02] [ 2.54388397e-02 -5.38009266e-04 9.99676236e-01 1.05294447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.382755096 meters 0.02212660740701285 Centerline is valid? [True, True] Translation: X:469.27, Y:-296.87, Z:10.53 [[ 7.90701313e-01 6.11866954e-01 -2.02549867e-02 4.69267624e+02] [-6.11648325e-01 7.90960510e-01 1.63645589e-02 -2.96872841e+02] [ 2.60338274e-02 -5.50549518e-04 9.99660911e-01 1.05290721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4427550959999 meters 0.021247873496725696 Centerline is valid? [True, True] Translation: X:469.32, Y:-296.91, Z:10.53 [[ 7.89926282e-01 6.12882841e-01 -1.97760494e-02 4.69317122e+02] [-6.12674777e-01 7.90173633e-01 1.59764740e-02 -2.96905458e+02] [ 2.54182196e-02 -5.03950019e-04 9.99676778e-01 1.05304247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.502755096 meters 0.021057339444844992 Centerline is valid? [True, True] Translation: X:469.36, Y:-296.94, Z:10.53 [[ 7.89447455e-01 6.13509739e-01 -1.94555071e-02 4.69363654e+02] [-6.13308617e-01 7.89687011e-01 1.57151016e-02 -2.96941733e+02] [ 2.50051292e-02 -4.74016828e-04 9.99687210e-01 1.05324657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5627550959999 meters 0.020504591972529216 Centerline is valid? [True, True] Translation: X:469.41, Y:-296.98, Z:10.54 [[ 7.88848472e-01 6.14324310e-01 -1.79925452e-02 4.69410225e+02] [-6.14152562e-01 7.89053529e-01 1.45313055e-02 -2.96977220e+02] [ 2.31240155e-02 -4.12830400e-04 9.99732519e-01 1.05362250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.622755096 meters 0.020389254032795394 Centerline is valid? [True, True] Translation: X:469.46, Y:-297.01, Z:10.54 [[ 7.89325900e-01 6.13750004e-01 -1.65998945e-02 4.69458159e+02] [-6.13603731e-01 7.89500334e-01 1.34046498e-02 -2.97012050e+02] [ 2.13327261e-02 -3.94880047e-04 9.99772354e-01 1.05390698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6827550959999 meters 0.02132464917794439 Centerline is valid? [True, True] Translation: X:469.50, Y:-297.05, Z:10.54 [[ 7.90237954e-01 6.12587254e-01 -1.61502616e-02 4.69502880e+02] [-6.12448598e-01 7.90402862e-01 1.30395421e-02 -2.97049388e+02] [ 2.07530703e-02 -4.13135951e-04 9.99784546e-01 1.05414678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.742755096 meters 0.02198394260878846 Centerline is valid? [True, True] Translation: X:469.55, Y:-297.09, Z:10.54 [[ 7.90846395e-01 6.11813417e-01 -1.56946285e-02 4.69547974e+02] [-6.11682369e-01 7.91002002e-01 1.26693673e-02 -2.97086528e+02] [ 2.01657714e-02 -4.19395914e-04 9.99796562e-01 1.05440284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8027550959999 meters 0.022158712129913046 Centerline is valid? [True, True] Translation: X:469.59, Y:-297.12, Z:10.55 [[ 7.90824075e-01 6.11860842e-01 -1.49529800e-02 4.69594184e+02] [-6.11741930e-01 7.90965329e-01 1.20689551e-02 -2.97122729e+02] [ 1.92118098e-02 -3.97055381e-04 9.99815357e-01 1.05457614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.862755096 meters 0.022807651641846206 Centerline is valid? [True, True] Translation: X:469.64, Y:-297.16, Z:10.55 [[ 7.91217337e-01 6.11362748e-01 -1.45160576e-02 4.69640145e+02] [-6.11250631e-01 7.91350386e-01 1.17146038e-02 -2.97158644e+02] [ 1.86491601e-02 -3.95848231e-04 9.99826011e-01 1.05466913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.922755096 meters 0.024276698141261863 Centerline is valid? [True, True] Translation: X:469.68, Y:-297.20, Z:10.55 [[ 7.92262039e-01 6.10002911e-01 -1.47414659e-02 4.69684351e+02] [-6.09887111e-01 7.92399055e-01 1.18932616e-02 -2.97195819e+02] [ 1.89360478e-02 -4.31949625e-04 9.99820604e-01 1.05472538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9827550959999 meters 0.02516913490733593 Centerline is valid? [True, True] Translation: X:469.73, Y:-297.23, Z:10.55 [[ 7.93815208e-01 6.07972037e-01 -1.50803684e-02 4.69730148e+02] [-6.07850531e-01 7.93958288e-01 1.21642640e-02 -2.97232758e+02] [ 1.93687158e-02 -4.89567820e-04 9.99812289e-01 1.05472208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.042755096 meters 0.02646135809206827 Centerline is valid? [True, True] Translation: X:469.77, Y:-297.27, Z:10.55 [[ 7.94467491e-01 6.07126041e-01 -1.48113477e-02 4.69774141e+02] [-6.07008795e-01 7.94605389e-01 1.19414754e-02 -2.97270066e+02] [ 1.90191574e-02 -4.96495703e-04 9.99818996e-01 1.05498894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1027550959999 meters 0.02620382917650624 Centerline is valid? [True, True] Translation: X:469.82, Y:-297.31, Z:10.55 [[ 7.94098433e-01 6.07613182e-01 -1.46252974e-02 4.69821550e+02] [-6.07498986e-01 7.94232959e-01 1.17893273e-02 -2.97305567e+02] [ 1.87792440e-02 -4.77033018e-04 9.99823541e-01 1.05504690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.162755096 meters 0.02489326142287648 Centerline is valid? [True, True] Translation: X:469.87, Y:-297.34, Z:10.55 [[ 7.93678787e-01 6.08155615e-01 -1.48569910e-02 4.69870985e+02] [-6.08037981e-01 7.93817693e-01 1.19701347e-02 -2.97338311e+02] [ 1.90734470e-02 -4.66827210e-04 9.99817976e-01 1.05500942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2227550959999 meters 0.024469977378063324 Centerline is valid? [True, True] Translation: X:469.92, Y:-297.37, Z:10.55 [[ 7.93165956e-01 6.08819559e-01 -1.50502595e-02 4.69918963e+02] [-6.08699083e-01 7.93308603e-01 1.21196763e-02 -2.97373123e+02] [ 1.93181963e-02 -4.51835459e-04 9.99813284e-01 1.05508154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.282755096 meters 0.02249042768188229 Centerline is valid? [True, True] Translation: X:469.97, Y:-297.41, Z:10.55 [[ 7.93050047e-01 6.08976031e-01 -1.48262083e-02 4.69967363e+02] [-6.08859251e-01 7.93188504e-01 1.19335337e-02 -2.97407302e+02] [ 1.90272140e-02 -4.36815360e-04 9.99818871e-01 1.05524028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3427550959999 meters 0.021555547762735328 Centerline is valid? [True, True] Translation: X:470.02, Y:-297.44, Z:10.55 [[ 7.91517590e-01 6.10965657e-01 -1.48617167e-02 4.70015428e+02] [-6.10848702e-01 7.91657006e-01 1.19602878e-02 -2.97441518e+02] [ 1.90727072e-02 -3.88517896e-04 9.99818024e-01 1.05536447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.402755096 meters 0.020262792905884848 Centerline is valid? [True, True] Translation: X:470.06, Y:-297.48, Z:10.55 [[ 7.90734924e-01 6.11969449e-01 -1.52208524e-02 4.70063397e+02] [-6.11846995e-01 7.90881316e-01 1.22474225e-02 -2.97476331e+02] [ 1.95329362e-02 -3.71631922e-04 9.99809145e-01 1.05549392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4627550959999 meters 0.019248781007746768 Centerline is valid? [True, True] Translation: X:470.11, Y:-297.51, Z:10.56 [[ 7.89629859e-01 6.13388642e-01 -1.54615636e-02 4.70110533e+02] [-6.13262594e-01 7.89781146e-01 1.24391717e-02 -2.97512408e+02] [ 1.98412980e-02 -3.40342803e-04 9.99803084e-01 1.05561017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.522755096 meters 0.01994992032740778 Centerline is valid? [True, True] Translation: X:470.15, Y:-297.55, Z:10.56 [[ 7.90137795e-01 6.12726050e-01 -1.57814033e-02 4.70154471e+02] [-6.12594635e-01 7.90295297e-01 1.26947618e-02 -2.97550639e+02] [ 2.02503800e-02 -3.63008125e-04 9.99794874e-01 1.05564080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5827550959999 meters 0.02181457637812338 Centerline is valid? [True, True] Translation: X:470.20, Y:-297.59, Z:10.56 [[ 7.92205704e-01 6.10032212e-01 -1.64567196e-02 4.70195625e+02] [-6.09888802e-01 7.92376489e-01 1.32344122e-02 -2.97593566e+02] [ 2.11133355e-02 -4.47607772e-04 9.99776988e-01 1.05568467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.642755096 meters 0.024685535281012236 Centerline is valid? [True, True] Translation: X:470.24, Y:-297.64, Z:10.56 [[ 7.95301738e-01 6.05996713e-01 -1.62212777e-02 4.70236418e+02] [-6.05856574e-01 7.95466961e-01 1.30432233e-02 -2.97638323e+02] [ 2.08076410e-02 -5.45530436e-04 9.99783349e-01 1.05587071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7027550959999 meters 0.025999231460276665 Centerline is valid? [True, True] Translation: X:470.28, Y:-297.68, Z:10.56 [[ 7.96557030e-01 6.04355996e-01 -1.58344018e-02 4.70279271e+02] [-6.04222159e-01 7.96714190e-01 1.27311149e-02 -2.97679492e+02] [ 2.03096182e-02 -5.73562672e-04 9.99793574e-01 1.05609022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.762755096 meters 0.026395084942621466 Centerline is valid? [True, True] Translation: X:470.32, Y:-297.72, Z:10.56 [[ 7.96646295e-01 6.04224672e-01 -1.63470504e-02 4.70324079e+02] [-6.04082043e-01 7.96813775e-01 1.31412805e-02 -2.97718325e+02] [ 2.09658408e-02 -5.93992853e-04 9.99780016e-01 1.05615671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8227550959999 meters 0.02384014910387013 Centerline is valid? [True, True] Translation: X:470.37, Y:-297.76, Z:10.56 [[ 7.95987205e-01 6.05076140e-01 -1.69479953e-02 4.70372847e+02] [-6.04923035e-01 7.96167391e-01 1.36237884e-02 -2.97756094e+02] [ 2.17368705e-02 -5.92128542e-04 9.99763551e-01 1.05624063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.882755096 meters 0.023943839141511256 Centerline is valid? [True, True] Translation: X:470.42, Y:-297.80, Z:10.56 [[ 7.95180350e-01 6.06122944e-01 -1.74122856e-02 4.70416318e+02] [-6.05961446e-01 7.95370753e-01 1.40032434e-02 -2.97795431e+02] [ 2.23369098e-02 -5.83930217e-04 9.99750330e-01 1.05638403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9427550959999 meters 0.02293292109508159 Centerline is valid? [True, True] Translation: X:470.46, Y:-297.83, Z:10.56 [[ 7.93680768e-01 6.08067267e-01 -1.80288100e-02 4.70462378e+02] [-6.07894671e-01 7.93885319e-01 1.44972185e-02 -2.97831750e+02] [ 2.31280916e-02 -5.46546026e-04 9.99732361e-01 1.05639603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.002755096 meters 0.020455911652735116 Centerline is valid? [True, True] Translation: X:470.51, Y:-297.87, Z:10.56 [[ 7.89780855e-01 6.13111050e-01 -1.84673201e-02 4.70510121e+02] [-6.12931374e-01 7.89996629e-01 1.48477781e-02 -2.97866650e+02] [ 2.36924574e-02 -4.07291006e-04 9.99719211e-01 1.05646421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0627550959999 meters 0.018702887821374498 Centerline is valid? [True, True] Translation: X:470.56, Y:-297.90, Z:10.57 [[ 7.87039260e-01 6.16632863e-01 -1.82514576e-02 4.70558323e+02] [-6.16458337e-01 7.87250802e-01 1.46729002e-02 -2.97900941e+02] [ 2.34162670e-02 -2.96885301e-04 9.99725758e-01 1.05651681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.122755096 meters 0.018641625853719552 Centerline is valid? [True, True] Translation: X:470.60, Y:-297.94, Z:10.57 [[ 7.87889501e-01 6.15559534e-01 -1.77931032e-02 4.70602595e+02] [-6.15393439e-01 7.88090324e-01 1.43023193e-02 -2.97939913e+02] [ 2.28265015e-02 -3.18888253e-04 9.99739391e-01 1.05677560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1827550959999 meters 0.020283618253395447 Centerline is valid? [True, True] Translation: X:470.65, Y:-297.98, Z:10.57 [[ 7.90702484e-01 6.11974271e-01 -1.66455237e-02 4.70646000e+02] [-6.11828148e-01 7.90877574e-01 1.33783473e-02 -2.97984142e+02] [ 2.13517758e-02 -3.94092482e-04 9.99771947e-01 1.05713550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.242755096 meters 0.02135968573346109 Centerline is valid? [True, True] Translation: X:470.69, Y:-298.03, Z:10.57 [[ 7.91991843e-01 6.10314467e-01 -1.62841196e-02 4.70691327e+02] [-6.10174249e-01 7.92159117e-01 1.30888835e-02 -2.98025099e+02] [ 2.08879487e-02 -4.30138469e-04 9.99781730e-01 1.05736488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3027550959999 meters 0.022837055865685747 Centerline is valid? [True, True] Translation: X:470.73, Y:-298.06, Z:10.58 [[ 7.93173719e-01 6.08798947e-01 -1.54690974e-02 4.70734877e+02] [-6.08672113e-01 7.93324424e-01 1.24345222e-02 -2.98064858e+02] [ 1.98421368e-02 -4.47127993e-04 9.99803025e-01 1.05766716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.362755096 meters 0.023169614127583203 Centerline is valid? [True, True] Translation: X:470.78, Y:-298.10, Z:10.58 [[ 7.93369177e-01 6.08541125e-01 -1.55900181e-02 4.70779492e+02] [-6.08412279e-01 7.93522206e-01 1.25302440e-02 -2.98102765e+02] [ 1.99961943e-02 -4.55950892e-04 9.99799952e-01 1.05786425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.422755096 meters 0.022764122207212273 Centerline is valid? [True, True] Translation: X:470.82, Y:-298.14, Z:10.58 [[ 7.92416817e-01 6.09773051e-01 -1.58875895e-02 4.70823916e+02] [-6.09639526e-01 7.92575953e-01 1.27674388e-02 -2.98139628e+02] [ 2.03773615e-02 -4.31430682e-04 9.99792267e-01 1.05803060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4827550959999 meters 0.020379701414983277 Centerline is valid? [True, True] Translation: X:470.87, Y:-298.17, Z:10.58 [[ 7.90225828e-01 6.12617435e-01 -1.55890490e-02 4.70872078e+02] [-6.12489478e-01 7.90379501e-01 1.25253143e-02 -2.98173264e+02] [ 1.99944907e-02 -3.49698423e-04 9.99800029e-01 1.05829913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.542755096 meters 0.018928555139910857 Centerline is valid? [True, True] Translation: X:470.92, Y:-298.21, Z:10.58 [[ 7.87431881e-01 6.16198655e-01 -1.58193158e-02 4.70918981e+02] [-6.16067649e-01 7.87590725e-01 1.27083563e-02 -2.98207376e+02] [ 2.02900184e-02 -2.61196251e-04 9.99794102e-01 1.05843456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6027550959999 meters 0.01743443522777915 Centerline is valid? [True, True] Translation: X:470.97, Y:-298.24, Z:10.59 [[ 7.84993182e-01 6.19294960e-01 -1.61076925e-02 4.70967088e+02] [-6.19159832e-01 7.85158404e-01 1.29376541e-02 -2.98240739e+02] [ 2.06593141e-02 -1.82734030e-04 9.99786557e-01 1.05859770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.662755096 meters 0.016945134492320553 Centerline is valid? [True, True] Translation: X:471.02, Y:-298.28, Z:10.59 [[ 7.83529587e-01 6.21121795e-01 -1.70029938e-02 4.71015354e+02] [-6.20971716e-01 7.83714040e-01 1.36539798e-02 -2.98275473e+02] [ 2.18062694e-02 -1.39918907e-04 9.99762205e-01 1.05864020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7227550959999 meters 0.016809640921983546 Centerline is valid? [True, True] Translation: X:471.06, Y:-298.31, Z:10.59 [[ 7.82665283e-01 6.22199111e-01 -1.74161176e-02 4.71062794e+02] [-6.22042072e-01 7.82859026e-01 1.39787899e-02 -2.98309794e+02] [ 2.23319555e-02 -1.07155667e-04 9.99750605e-01 1.05869508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.782755096 meters 0.017441792962464304 Centerline is valid? [True, True] Translation: X:471.11, Y:-298.35, Z:10.59 [[ 7.83950893e-01 6.20563093e-01 -1.79567648e-02 4.71107298e+02] [-6.20395888e-01 7.84156505e-01 1.44054741e-02 -2.98347330e+02] [ 2.30204195e-02 -1.52881234e-04 9.99734983e-01 1.05864034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8427550959999 meters 0.018225061593955427 Centerline is valid? [True, True] Translation: X:471.15, Y:-298.39, Z:10.59 [[ 7.85865311e-01 6.18131603e-01 -1.81392925e-02 4.71150642e+02] [-6.17960390e-01 7.86074596e-01 1.45494285e-02 -2.98386873e+02] [ 2.32522986e-02 -2.24526870e-04 9.99729604e-01 1.05870838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.902755096 meters 0.018293672098588426 Centerline is valid? [True, True] Translation: X:471.20, Y:-298.43, Z:10.59 [[ 7.87985623e-01 6.15460260e-01 -1.69507189e-02 4.71197648e+02] [-6.15310140e-01 7.88167868e-01 1.35957431e-02 -2.98427568e+02] [ 2.17276515e-02 -2.83300907e-04 9.99763887e-01 1.05897334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9627550959999 meters 0.018312819422340067 Centerline is valid? [True, True] Translation: X:471.25, Y:-298.47, Z:10.59 [[ 7.87278675e-01 6.16393363e-01 -1.58590466e-02 4.71245955e+02] [-6.16262008e-01 7.87438354e-01 1.27270032e-02 -2.98465293e+02] [ 2.03328619e-02 -2.46370287e-04 9.99793236e-01 1.05903226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.022755096 meters 0.017262560953483587 Centerline is valid? [True, True] Translation: X:471.30, Y:-298.50, Z:10.59 [[ 7.84615756e-01 6.19805136e-01 -1.48225869e-02 4.71295033e+02] [-6.19690890e-01 7.84755739e-01 1.19008898e-02 -2.98500167e+02] [ 1.90083428e-02 -1.52203569e-04 9.99819314e-01 1.05915655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0827550959999 meters 0.016671618189457033 Centerline is valid? [True, True] Translation: X:471.34, Y:-298.53, Z:10.59 [[ 7.82089536e-01 6.23030044e-01 -1.30200336e-02 4.71343638e+02] [-6.22942339e-01 7.82197903e-01 1.04538044e-02 -2.98534099e+02] [ 1.66972772e-02 -6.50808359e-05 9.99860589e-01 1.05939821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.142755096 meters 0.016730916542456953 Centerline is valid? [True, True] Translation: X:471.39, Y:-298.57, Z:10.60 [[ 7.80778109e-01 6.24718051e-01 -1.06254915e-02 4.71389755e+02] [-6.24659809e-01 7.80850406e-01 8.53035546e-03 -2.98568488e+02] [ 1.36259863e-02 -2.29973493e-05 9.99907162e-01 1.05977991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2027550959999 meters 0.01679566002890956 Centerline is valid? [True, True] Translation: X:471.44, Y:-298.61, Z:10.60 [[ 7.80719343e-01 6.24804918e-01 -9.80419143e-03 4.71436333e+02] [-6.24755360e-01 7.80780900e-01 7.86934851e-03 -2.98605165e+02] [ 1.25717331e-02 -1.85314537e-05 9.99920972e-01 1.05991347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.262755096 meters 0.016973265244939244 Centerline is valid? [True, True] Translation: X:471.48, Y:-298.64, Z:10.60 [[ 7.81722666e-01 6.23560661e-01 -9.04296505e-03 4.71480413e+02] [-6.23518427e-01 7.81774968e-01 7.25749251e-03 -2.98642632e+02] [ 1.15950505e-02 -3.48910560e-05 9.99932775e-01 1.06006876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3227550959999 meters 0.017162340827336607 Centerline is valid? [True, True] Translation: X:471.53, Y:-298.68, Z:10.60 [[ 7.83590200e-01 6.21223322e-01 -8.24513065e-03 4.71528169e+02] [-6.21188132e-01 7.83633576e-01 6.61238211e-03 -2.98682545e+02] [ 1.05689272e-02 -5.96205185e-05 9.99944146e-01 1.06004654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.382755096 meters 0.017421215970973965 Centerline is valid? [True, True] Translation: X:471.58, Y:-298.72, Z:10.60 [[ 7.85092352e-01 6.19320094e-01 -8.52175896e-03 4.71576712e+02] [-6.19282347e-01 7.85138594e-01 6.83832546e-03 -2.98721784e+02] [ 1.09258742e-02 -9.13421301e-05 9.99940307e-01 1.05994366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4427550959999 meters 0.01795969271252831 Centerline is valid? [True, True] Translation: X:471.62, Y:-298.76, Z:10.60 [[ 7.86369011e-01 6.17690656e-01 -9.05712742e-03 4.71622925e+02] [-6.17647853e-01 7.86421158e-01 7.27270826e-03 -2.98761934e+02] [ 1.16150006e-02 -1.24917102e-04 9.99932536e-01 1.05998967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.502755096 meters 0.018646382143975165 Centerline is valid? [True, True] Translation: X:471.67, Y:-298.80, Z:10.60 [[ 7.88054559e-01 6.15537511e-01 -9.14243230e-03 4.71669611e+02] [-6.15493707e-01 7.88107573e-01 7.34507200e-03 -2.98802190e+02] [ 1.17263875e-02 -1.61207921e-04 9.99931231e-01 1.05997385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5627550959999 meters 0.019389198771353703 Centerline is valid? [True, True] Translation: X:471.72, Y:-298.84, Z:10.60 [[ 7.88370168e-01 6.15130111e-01 -9.35011173e-03 4.71716119e+02] [-6.15084221e-01 7.88425593e-01 7.51570319e-03 -2.98842554e+02] [ 1.19950027e-02 -1.74049999e-04 9.99928042e-01 1.06007693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.622755096 meters 0.018756151179416872 Centerline is valid? [True, True] Translation: X:471.76, Y:-298.88, Z:10.60 [[ 7.87333351e-01 6.16437350e-01 -1.05445318e-02 4.71760914e+02] [-6.16378991e-01 7.87403938e-01 8.48404860e-03 -2.98878687e+02] [ 1.35326903e-02 -1.80346558e-04 9.99908413e-01 1.05997953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6827550959999 meters 0.018274808210050158 Centerline is valid? [True, True] Translation: X:471.81, Y:-298.92, Z:10.60 [[ 7.86395707e-01 6.17626017e-01 -1.09496744e-02 4.71805544e+02] [-6.17563227e-01 7.86471917e-01 8.80818281e-03 -2.98916759e+02] [ 1.40517743e-02 -1.64600862e-04 9.99901255e-01 1.06003025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.742755096 meters 0.01753688723808833 Centerline is valid? [True, True] Translation: X:471.86, Y:-298.96, Z:10.60 [[ 7.86052627e-01 6.18073769e-01 -1.02997333e-02 4.71855042e+02] [-6.18018300e-01 7.86120090e-01 8.28166503e-03 -2.98955667e+02] [ 1.32155071e-02 -1.44400920e-04 9.99912661e-01 1.06008128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8027550959999 meters 0.017650431535048104 Centerline is valid? [True, True] Translation: X:471.90, Y:-299.00, Z:10.60 [[ 7.86436170e-01 6.17587989e-01 -1.01600369e-02 4.71901354e+02] [-6.17533906e-01 7.86501781e-01 8.17451905e-03 -2.98998802e+02] [ 1.30393719e-02 -1.54570195e-04 9.99914972e-01 1.06024615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.862755096 meters 0.017968141241317324 Centerline is valid? [True, True] Translation: X:471.95, Y:-299.04, Z:10.60 [[ 7.86680432e-01 6.17279055e-01 -1.00233055e-02 4.71947795e+02] [-6.17226323e-01 7.86744267e-01 8.06992328e-03 -2.99039723e+02] [ 1.28671728e-02 -1.61802737e-04 9.99917201e-01 1.06034461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.922755096 meters 0.01812258317053472 Centerline is valid? [True, True] Translation: X:472.00, Y:-299.08, Z:10.60 [[ 7.87193011e-01 6.16615390e-01 -1.06124874e-02 4.71995041e+02] [-6.16556142e-01 7.87264521e-01 8.54973633e-03 -2.99081586e+02] [ 1.36267338e-02 -1.87098412e-04 9.99907134e-01 1.06036270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9827550959999 meters 0.018318886743600576 Centerline is valid? [True, True] Translation: X:472.04, Y:-299.12, Z:10.60 [[ 7.87544404e-01 6.16157661e-01 -1.11152695e-02 4.72042427e+02] [-6.16092530e-01 7.87622811e-01 8.96108480e-03 -2.99122746e+02] [ 1.42760809e-02 -2.09217670e-04 9.99898070e-01 1.06045103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.042755096 meters 0.018275392217632355 Centerline is valid? [True, True] Translation: X:472.09, Y:-299.16, Z:10.61 [[ 7.86564133e-01 6.17392928e-01 -1.19514644e-02 4.72090598e+02] [-6.17317661e-01 7.86654899e-01 9.64240149e-03 -2.99160696e+02] [ 1.53548285e-02 -2.06517126e-04 9.99882086e-01 1.06050788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1027550959999 meters 0.01808618877998429 Centerline is valid? [True, True] Translation: X:472.14, Y:-299.20, Z:10.61 [[ 7.85930625e-01 6.18182907e-01 -1.27650174e-02 4.72139567e+02] [-6.18097053e-01 7.86034255e-01 1.03045551e-02 -2.99198548e+02] [ 1.64038408e-02 -2.08645832e-04 9.99865426e-01 1.06052486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.162755096 meters 0.018581992796319474 Centerline is valid? [True, True] Translation: X:472.19, Y:-299.24, Z:10.61 [[ 7.86431061e-01 6.17535242e-01 -1.32819631e-02 4.72188213e+02] [-6.17442094e-01 7.86543177e-01 1.07280986e-02 -2.99237302e+02] [ 1.70718165e-02 -2.36066870e-04 9.99854238e-01 1.06053646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2227550959999 meters 0.01906125386189837 Centerline is valid? [True, True] Translation: X:472.24, Y:-299.28, Z:10.61 [[ 7.87893065e-01 6.15659524e-01 -1.37064918e-02 4.72237830e+02] [-6.15559931e-01 7.88012225e-01 1.10772503e-02 -2.99275313e+02] [ 1.76206977e-02 -2.90521565e-04 9.99844701e-01 1.06057545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.282755096 meters 0.020102221818590716 Centerline is valid? [True, True] Translation: X:472.29, Y:-299.31, Z:10.61 [[ 7.88976355e-01 6.14282967e-01 -1.31433653e-02 4.72285261e+02] [-6.14191097e-01 7.89085762e-01 1.06281327e-02 -2.99314269e+02] [ 1.68999233e-02 -3.12807452e-04 9.99857137e-01 1.06080701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3427550959999 meters 0.02049158666438639 Centerline is valid? [True, True] Translation: X:472.33, Y:-299.35, Z:10.61 [[ 7.89338683e-01 6.13832600e-01 -1.24090036e-02 4.72334665e+02] [-6.13750615e-01 7.89436157e-01 1.00367600e-02 -2.99352604e+02] [ 1.59570066e-02 -3.06369316e-04 9.99872632e-01 1.06103936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.402755096 meters 0.019246441242103736 Centerline is valid? [True, True] Translation: X:472.38, Y:-299.39, Z:10.61 [[ 7.87844831e-01 6.15744868e-01 -1.26007638e-02 4.72384898e+02] [-6.15660483e-01 7.87945544e-01 1.01975297e-02 -2.99388711e+02] [ 1.62077922e-02 -2.76278727e-04 9.99868607e-01 1.06112339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4627550959999 meters 0.01842387400770556 Centerline is valid? [True, True] Translation: X:472.43, Y:-299.42, Z:10.61 [[ 7.85039593e-01 6.19330882e-01 -1.19204533e-02 4.72434356e+02] [-6.19255694e-01 7.85130066e-01 9.65215832e-03 -2.99424244e+02] [ 1.53369860e-02 -1.95517840e-04 9.99882362e-01 1.06133718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.522755096 meters 0.017235415621085007 Centerline is valid? [True, True] Translation: X:472.48, Y:-299.46, Z:10.61 [[ 7.83052112e-01 6.21838955e-01 -1.20708231e-02 4.72482179e+02] [-6.21762058e-01 7.83145127e-01 9.78022032e-03 -2.99458161e+02] [ 1.55349283e-02 -1.53242373e-04 9.99879314e-01 1.06145964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5827550959999 meters 0.016743386788816917 Centerline is valid? [True, True] Translation: X:472.53, Y:-299.49, Z:10.61 [[ 7.81793450e-01 6.23403916e-01 -1.29057533e-02 4.72529764e+02] [-6.23316255e-01 7.81899956e-01 1.04549510e-02 -2.99493507e+02] [ 1.66086653e-02 -1.29246352e-04 9.99862058e-01 1.06147045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.642755096 meters 0.017334412770185367 Centerline is valid? [True, True] Translation: X:472.57, Y:-299.53, Z:10.61 [[ 7.82941671e-01 6.21943508e-01 -1.37336301e-02 4.72572397e+02] [-6.21844045e-01 7.83062095e-01 1.11238023e-02 -2.99532245e+02] [ 1.76726618e-02 -1.69112219e-04 9.99843812e-01 1.06148658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7027550959999 meters 0.01930422167312643 Centerline is valid? [True, True] Translation: X:472.61, Y:-299.57, Z:10.62 [[ 7.86189806e-01 6.17827538e-01 -1.39543039e-02 4.72612683e+02] [-6.17724241e-01 7.86313591e-01 1.13003661e-02 -2.99573845e+02] [ 1.79541362e-02 -2.64320830e-04 9.99838777e-01 1.06161593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.762755096 meters 0.02229935741226938 Centerline is valid? [True, True] Translation: X:472.65, Y:-299.62, Z:10.62 [[ 7.89772192e-01 6.13242185e-01 -1.39250382e-02 4.72654003e+02] [-6.13138644e-01 7.89894859e-01 1.12745616e-02 -2.99616936e+02] [ 1.79133529e-02 -3.66356230e-04 9.99839476e-01 1.06171083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8227550959999 meters 0.02460886938802563 Centerline is valid? [True, True] Translation: X:472.70, Y:-299.66, Z:10.62 [[ 7.91985941e-01 6.10378393e-01 -1.40173540e-02 4.72696072e+02] [-6.10273054e-01 7.92109860e-01 1.13476704e-02 -2.99657541e+02] [ 1.80296571e-02 -4.32781970e-04 9.99837359e-01 1.06180500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.882755096 meters 0.026961477772503226 Centerline is valid? [True, True] Translation: X:472.74, Y:-299.70, Z:10.62 [[ 7.93802031e-01 6.07995891e-01 -1.48098639e-02 4.72737998e+02] [-6.07877930e-01 7.93940007e-01 1.19869824e-02 -2.99699636e+02] [ 1.90461795e-02 -5.12701545e-04 9.99818474e-01 1.06184757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9427550959999 meters 0.022964857370125307 Centerline is valid? [True, True] Translation: X:472.79, Y:-299.73, Z:10.62 [[ 7.93258490e-01 6.08677164e-01 -1.59084609e-02 4.72790111e+02] [-6.08541209e-01 7.93417814e-01 1.28751656e-02 -2.99734392e+02] [ 2.04588755e-02 -5.32380368e-04 9.99790554e-01 1.06186776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.002755096 meters 0.022076691970992362 Centerline is valid? [True, True] Translation: X:472.84, Y:-299.77, Z:10.62 [[ 7.91185085e-01 6.11351652e-01 -1.65927232e-02 4.72837950e+02] [-6.11204169e-01 7.91358906e-01 1.34367660e-02 -2.99773188e+02] [ 2.13453883e-02 -4.89427234e-04 9.99772041e-01 1.06187218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0627550959999 meters 0.020475248373477542 Centerline is valid? [True, True] Translation: X:472.89, Y:-299.81, Z:10.62 [[ 7.88573606e-01 6.14669742e-01 -1.82421296e-02 4.72887495e+02] [-6.14492153e-01 7.88784450e-01 1.47812308e-02 -2.99810966e+02] [ 2.34746835e-02 -4.46442931e-04 9.99724332e-01 1.06180607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.122755096 meters 0.020231734059584495 Centerline is valid? [True, True] Translation: X:472.94, Y:-299.85, Z:10.62 [[ 7.87661511e-01 6.15820124e-01 -1.88392933e-02 4.72936004e+02] [-6.15630836e-01 7.87886659e-01 1.52736842e-02 -2.99850264e+02] [ 2.42490700e-02 -4.32443281e-04 9.99705855e-01 1.06187333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1827550959999 meters 0.019273446383966414 Centerline is valid? [True, True] Translation: X:472.99, Y:-299.89, Z:10.62 [[ 7.86247723e-01 6.17594347e-01 -1.97924253e-02 4.72985432e+02] [-6.17385747e-01 7.86496700e-01 1.60555446e-02 -2.99887918e+02] [ 2.54824907e-02 -4.04074084e-04 9.99675187e-01 1.06194057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.242755096 meters 0.021346983858242314 Centerline is valid? [True, True] Translation: X:473.03, Y:-299.93, Z:10.62 [[ 7.86219237e-01 6.17651119e-01 -1.91417452e-02 4.73032899e+02] [-6.17455818e-01 7.86452121e-01 1.55362473e-02 -2.99927896e+02] [ 2.46500467e-02 -3.95714563e-04 9.99696063e-01 1.06182818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3027550959999 meters 0.020569792670129313 Centerline is valid? [True, True] Translation: X:473.08, Y:-299.97, Z:10.63 [[ 7.87489843e-01 6.16085162e-01 -1.72864133e-02 4.73078756e+02] [-6.15925380e-01 7.87679445e-01 1.40363114e-02 -2.99965534e+02] [ 2.22637156e-02 -4.06312008e-04 9.99752050e-01 1.06258712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.362755096 meters 0.021221207475731092 Centerline is valid? [True, True] Translation: X:473.13, Y:-300.00, Z:10.63 [[ 7.88989830e-01 6.14204045e-01 -1.57619954e-02 4.73128062e+02] [-6.14070831e-01 7.89147145e-01 1.27983762e-02 -3.00003762e+02] [ 2.02993481e-02 -4.18807050e-04 9.99793859e-01 1.06287974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.422755096 meters 0.02347018270546828 Centerline is valid? [True, True] Translation: X:473.17, Y:-300.04, Z:10.63 [[ 7.91288269e-01 6.11258122e-01 -1.50460643e-02 4.73174738e+02] [-6.11136079e-01 7.91431160e-01 1.22234176e-02 -3.00043801e+02] [ 1.93795874e-02 -4.77054166e-04 9.99812084e-01 1.06300425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4827550959999 meters 0.024213020469264088 Centerline is valid? [True, True] Translation: X:473.22, Y:-300.08, Z:10.63 [[ 7.92583960e-01 6.09576766e-01 -1.50609521e-02 4.73222272e+02] [-6.09454059e-01 7.92726871e-01 1.22416678e-02 -3.00084067e+02] [ 1.94014577e-02 -5.23591172e-04 9.99811637e-01 1.06308623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.542755096 meters 0.02494454496883823 Centerline is valid? [True, True] Translation: X:473.27, Y:-300.12, Z:10.63 [[ 7.92571826e-01 6.09579975e-01 -1.55613204e-02 4.73270313e+02] [-6.09448834e-01 7.92724388e-01 1.26555519e-02 -3.00124337e+02] [ 2.00504092e-02 -5.46605284e-04 9.99798821e-01 1.06314288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6027550959999 meters 0.022290680730074057 Centerline is valid? [True, True] Translation: X:473.32, Y:-300.16, Z:10.63 [[ 7.90723266e-01 6.11963395e-01 -1.60474386e-02 4.73322402e+02] [-6.11824253e-01 7.90885924e-01 1.30590537e-02 -3.00159115e+02] [ 2.06833562e-02 -5.07885485e-04 9.99785948e-01 1.06303764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.662755096 meters 0.023214983803607862 Centerline is valid? [True, True] Translation: X:473.37, Y:-300.20, Z:10.63 [[ 7.89383360e-01 6.13689295e-01 -1.61046900e-02 4.73368807e+02] [-6.13549363e-01 7.89547484e-01 1.31130083e-02 -3.00199184e+02] [ 2.07627303e-02 -4.70168239e-04 9.99784321e-01 1.06310002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7227550959999 meters 0.021201371624299303 Centerline is valid? [True, True] Translation: X:473.42, Y:-300.24, Z:10.64 [[ 7.88822415e-01 6.14442282e-01 -1.48283563e-02 4.73417773e+02] [-6.14323675e-01 7.88961664e-01 1.20795571e-02 -3.00237527e+02] [ 1.91211953e-02 -4.19215092e-04 9.99817085e-01 1.06353325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.782755096 meters 0.022773987672397765 Centerline is valid? [True, True] Translation: X:473.46, Y:-300.28, Z:10.64 [[ 7.89629793e-01 6.13444683e-01 -1.30541471e-02 4.73462920e+02] [-6.13352536e-01 7.89737593e-01 1.06395795e-02 -3.00278786e+02] [ 1.68361442e-02 -3.94534760e-04 9.99858184e-01 1.06387172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8427550959999 meters 0.02354159173582843 Centerline is valid? [True, True] Translation: X:473.51, Y:-300.32, Z:10.64 [[ 7.90570970e-01 6.12225424e-01 -1.33256267e-02 4.73510004e+02] [-6.12129132e-01 7.90683149e-01 1.08666354e-02 -3.00318485e+02] [ 1.71891789e-02 -4.33842140e-04 9.99852161e-01 1.06387732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.902755096 meters 0.024722132441084455 Centerline is valid? [True, True] Translation: X:473.56, Y:-300.36, Z:10.64 [[ 7.91687684e-01 6.10775854e-01 -1.35449646e-02 4.73556846e+02] [-6.10676054e-01 7.91803402e-01 1.10512214e-02 -3.00359164e+02] [ 1.74747682e-02 -4.77530361e-04 9.99847191e-01 1.06383818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9627550959999 meters 0.02416834694716914 Centerline is valid? [True, True] Translation: X:473.61, Y:-300.40, Z:10.64 [[ 7.92191875e-01 6.10093379e-01 -1.47683148e-02 4.73605571e+02] [-6.09974480e-01 7.92329335e-01 1.20565049e-02 -3.00398007e+02] [ 1.90569629e-02 -5.42770041e-04 9.99818252e-01 1.06372096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.022755096 meters 0.02410674106844823 Centerline is valid? [True, True] Translation: X:473.65, Y:-300.44, Z:10.64 [[ 7.91358557e-01 6.11143625e-01 -1.59719677e-02 4.73654455e+02] [-6.11004614e-01 7.91519520e-01 1.30465493e-02 -3.00437208e+02] [ 2.06154397e-02 -5.65552483e-04 9.99787319e-01 1.06359889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0827550959999 meters 0.02330398703525742 Centerline is valid? [True, True] Translation: X:473.70, Y:-300.47, Z:10.64 [[ 7.89127491e-01 6.14014330e-01 -1.62544231e-02 4.73704495e+02] [-6.13870895e-01 7.89294717e-01 1.32805537e-02 -3.00473337e+02] [ 2.09839806e-02 -5.01932789e-04 9.99779686e-01 1.06365788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.142755096 meters 0.021427869253266105 Centerline is valid? [True, True] Translation: X:473.76, Y:-300.51, Z:10.64 [[ 7.86071524e-01 6.17917248e-01 -1.64266338e-02 4.73755180e+02] [-6.17771470e-01 7.86243034e-01 1.34276431e-02 -3.00506344e+02] [ 2.12124987e-02 -4.07182151e-04 9.99774907e-01 1.06379979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2027550959999 meters 0.020012976680092436 Centerline is valid? [True, True] Translation: X:473.81, Y:-300.54, Z:10.64 [[ 7.84539119e-01 6.19847512e-01 -1.69538184e-02 4.73806041e+02] [-6.19692658e-01 7.84722197e-01 1.38593919e-02 -3.00542382e+02] [ 2.18947473e-02 -3.67078316e-04 9.99760214e-01 1.06394133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.262755096 meters 0.02051892224343325 Centerline is valid? [True, True] Translation: X:473.85, Y:-300.58, Z:10.64 [[ 7.84415624e-01 6.20019074e-01 -1.63852665e-02 4.73853490e+02] [-6.19874313e-01 7.84586656e-01 1.34020530e-02 -3.00581697e+02] [ 2.11651900e-02 -3.55973953e-04 9.99775929e-01 1.06413560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3227550959999 meters 0.021247651108033203 Centerline is valid? [True, True] Translation: X:473.90, Y:-300.62, Z:10.64 [[ 7.85616706e-01 6.18492771e-01 -1.65252322e-02 4.73900701e+02] [-6.18345016e-01 7.85790383e-01 1.35246003e-02 -3.00622427e+02] [ 2.13502361e-02 -4.06856922e-04 9.99771975e-01 1.06428853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.382755096 meters 0.023104720435200815 Centerline is valid? [True, True] Translation: X:473.94, Y:-300.66, Z:10.64 [[ 7.87851871e-01 6.15657842e-01 -1.59640425e-02 4.73945000e+02] [-6.15519243e-01 7.88013451e-01 1.30714451e-02 -3.00662257e+02] [ 2.06274179e-02 -4.72187121e-04 9.99787121e-01 1.06442347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4427550959999 meters 0.024032500055560502 Centerline is valid? [True, True] Translation: X:473.99, Y:-300.70, Z:10.65 [[ 7.90216214e-01 6.12634060e-01 -1.54221588e-02 4.73992377e+02] [-6.12504141e-01 7.90366513e-01 1.26274730e-02 -3.00702060e+02] [ 1.99251779e-02 -5.32297820e-04 9.99801332e-01 1.06455601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.502755096 meters 0.02755419511913144 Centerline is valid? [True, True] Translation: X:474.04, Y:-300.75, Z:10.64 [[ 7.91543606e-01 6.10898415e-01 -1.61816984e-02 4.74036282e+02] [-6.10754960e-01 7.91708759e-01 1.32521592e-02 -3.00745565e+02] [ 2.09069154e-02 -6.06609302e-04 9.99781243e-01 1.06442623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5627550959999 meters 0.024854829293943993 Centerline is valid? [True, True] Translation: X:474.09, Y:-300.78, Z:10.64 [[ 7.91974282e-01 6.10319624e-01 -1.69320101e-02 4.74086424e+02] [-6.10162262e-01 7.92154988e-01 1.38740424e-02 -3.00781574e+02] [ 2.18803766e-02 -6.56611178e-04 9.99760380e-01 1.06443625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.622755096 meters 0.026742022014562317 Centerline is valid? [True, True] Translation: X:474.13, Y:-300.82, Z:10.64 [[ 7.93284921e-01 6.08583335e-01 -1.80376919e-02 4.74132054e+02] [-6.08404122e-01 7.93489604e-01 1.47875560e-02 -3.00821679e+02] [ 2.33121812e-02 -7.56539082e-04 9.99727948e-01 1.06425736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6827550959999 meters 0.026868157458836205 Centerline is valid? [True, True] Translation: X:474.18, Y:-300.86, Z:10.64 [[ 7.94158268e-01 6.07431986e-01 -1.84127344e-02 4.74180193e+02] [-6.07244806e-01 7.94371277e-01 1.51003440e-02 -3.00861559e+02] [ 2.37989793e-02 -8.11025746e-04 9.99716435e-01 1.06431786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.742755096 meters 0.029391634244537352 Centerline is valid? [True, True] Translation: X:474.22, Y:-300.90, Z:10.64 [[ 7.94696742e-01 6.06712430e-01 -1.88975038e-02 4.74224336e+02] [-6.06514867e-01 7.94920931e-01 1.55058021e-02 -3.00903419e+02] [ 2.44295842e-02 -8.60793453e-04 9.99701183e-01 1.06431984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8027550959999 meters 0.025632902365813535 Centerline is valid? [True, True] Translation: X:474.28, Y:-300.93, Z:10.64 [[ 7.91676230e-01 6.10653206e-01 -1.87459193e-02 4.74279286e+02] [-6.10459809e-01 7.91897797e-01 1.53851160e-02 -3.00933436e+02] [ 2.42398226e-02 -7.36400310e-04 9.99705901e-01 1.06435047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.862755096 meters 0.023078309146129756 Centerline is valid? [True, True] Translation: X:474.33, Y:-300.97, Z:10.65 [[ 7.88092105e-01 6.15278118e-01 -1.85383571e-02 4.74332618e+02] [-6.15090209e-01 7.88309895e-01 1.52165905e-02 -3.00965907e+02] [ 2.39764056e-02 -5.89312906e-04 9.99712351e-01 1.06452939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.922755096 meters 0.022654917451557306 Centerline is valid? [True, True] Translation: X:474.38, Y:-301.00, Z:10.65 [[ 7.87057969e-01 6.16628502e-01 -1.75796446e-02 4.74382236e+02] [-6.16459828e-01 7.87254101e-01 1.44312300e-02 -3.01001725e+02] [ 2.27383551e-02 -5.21069863e-04 9.99741314e-01 1.06475072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9827550959999 meters 0.023231867911368786 Centerline is valid? [True, True] Translation: X:474.43, Y:-301.04, Z:10.65 [[ 7.87695742e-01 6.15854910e-01 -1.60669887e-02 4.74429816e+02] [-6.15713845e-01 7.87859431e-01 1.31900916e-02 -3.01036600e+02] [ 2.07817112e-02 -4.97111590e-04 9.99783913e-01 1.06503081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.042755096 meters 0.02431320049800569 Centerline is valid? [True, True] Translation: X:474.48, Y:-301.07, Z:10.65 [[ 7.89316529e-01 6.13795014e-01 -1.53329128e-02 4.74476302e+02] [-6.13666193e-01 7.89465266e-01 1.25856269e-02 -3.01073782e+02] [ 1.98297971e-02 -5.24753095e-04 9.99803233e-01 1.06520180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1027550959999 meters 0.02739379994791633 Centerline is valid? [True, True] Translation: X:474.52, Y:-301.11, Z:10.65 [[ 7.92234095e-01 6.10036733e-01 -1.48432680e-02 4.74519218e+02] [-6.09915366e-01 7.92372909e-01 1.21827841e-02 -3.01113345e+02] [ 1.91933493e-02 -5.98479725e-04 9.99815612e-01 1.06537655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.162755096 meters 0.027426811777485568 Centerline is valid? [True, True] Translation: X:474.57, Y:-301.15, Z:10.66 [[ 7.94316414e-01 6.07340909e-01 -1.40874251e-02 4.74568283e+02] [-6.07231182e-01 7.94441077e-01 1.15614412e-02 -3.01150924e+02] [ 1.82133654e-02 -6.29118748e-04 9.99833925e-01 1.06560618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2227550959999 meters 0.029298246592555453 Centerline is valid? [True, True] Translation: X:474.61, Y:-301.19, Z:10.66 [[ 7.94392818e-01 6.07269011e-01 -1.28218585e-02 4.74614538e+02] [-6.07178023e-01 7.94496076e-01 1.05277708e-02 -3.01191477e+02] [ 1.65801052e-02 -5.78034830e-04 9.99862374e-01 1.06597580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.282755096 meters 0.0285855626120879 Centerline is valid? [True, True] Translation: X:474.66, Y:-301.23, Z:10.66 [[ 7.91669127e-01 6.10841254e-01 -1.15306384e-02 4.74661424e+02] [-6.10767965e-01 7.91752962e-01 9.47311976e-03 -3.01227319e+02] [ 1.49159895e-02 -4.57031907e-04 9.99888646e-01 1.06648295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3427550959999 meters 0.021728493726532426 Centerline is valid? [True, True] Translation: X:474.72, Y:-301.25, Z:10.66 [[ 7.86267793e-01 6.17765790e-01 -1.21814258e-02 4.74717168e+02] [-6.17684832e-01 7.86362074e-01 1.00068938e-02 -3.01253873e+02] [ 1.57609279e-02 -3.43816304e-04 9.99875730e-01 1.06647340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.402755096 meters 0.0193317572221244 Centerline is valid? [True, True] Translation: X:474.77, Y:-301.28, Z:10.66 [[ 7.81127950e-01 6.24228884e-01 -1.33201441e-02 4.74768591e+02] [-6.24133018e-01 7.81241477e-01 1.09421188e-02 -3.01283963e+02] [ 1.72366357e-02 -2.33653091e-04 9.99851411e-01 1.06643454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4627550959999 meters 0.018588691675704153 Centerline is valid? [True, True] Translation: X:474.82, Y:-301.32, Z:10.67 [[ 7.79184351e-01 6.26656072e-01 -1.31876334e-02 4.74816444e+02] [-6.26562473e-01 7.79295923e-01 1.08320090e-02 -3.01317947e+02] [ 1.70650132e-02 -1.77255765e-04 9.99854366e-01 1.06657153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.522755096 meters 0.018978386423601244 Centerline is valid? [True, True] Translation: X:474.86, Y:-301.36, Z:10.67 [[ 7.80036980e-01 6.25580100e-01 -1.38509300e-02 4.74861708e+02] [-6.25476711e-01 7.80159916e-01 1.13749432e-02 -3.01355286e+02] [ 1.79218785e-02 -2.09442192e-04 9.99839368e-01 1.06667515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5827550959999 meters 0.020352404657901186 Centerline is valid? [True, True] Translation: X:474.91, Y:-301.39, Z:10.67 [[ 7.82328504e-01 6.22676312e-01 -1.53727579e-02 4.74905254e+02] [-6.22548437e-01 7.82479468e-01 1.26224416e-02 -3.01393422e+02] [ 1.98885628e-02 -3.04609415e-04 9.99802157e-01 1.06668054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.642755096 meters 0.022537341348083554 Centerline is valid? [True, True] Translation: X:474.95, Y:-301.43, Z:10.67 [[ 7.85251953e-01 6.18954806e-01 -1.65625953e-02 4.74949786e+02] [-6.18805618e-01 7.85426487e-01 1.35955957e-02 -3.01432164e+02] [ 2.14237604e-02 -4.26941040e-04 9.99770394e-01 1.06660210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7027550959999 meters 0.02519704676520453 Centerline is valid? [True, True] Translation: X:474.99, Y:-301.47, Z:10.67 [[ 7.88048994e-01 6.15383953e-01 -1.67742080e-02 4.74993573e+02] [-6.15230152e-01 7.88227321e-01 1.37677394e-02 -3.01471752e+02] [ 2.16943349e-02 -5.29654685e-04 9.99764510e-01 1.06669608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.762755096 meters 0.02429989996537544 Centerline is valid? [True, True] Translation: X:475.04, Y:-301.51, Z:10.67 [[ 7.89415106e-01 6.13610619e-01 -1.74871243e-02 4.75041558e+02] [-6.13443069e-01 7.89608540e-01 1.43511089e-02 -3.01505755e+02] [ 2.26139755e-02 -6.01626967e-04 9.99744090e-01 1.06679388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8227550959999 meters 0.024850636596765504 Centerline is valid? [True, True] Translation: X:475.09, Y:-301.54, Z:10.67 [[ 7.89842161e-01 6.13037355e-01 -1.82910325e-02 4.75087362e+02] [-6.12853949e-01 7.90053660e-01 1.50083958e-02 -3.01542585e+02] [ 2.36516045e-02 -6.44532283e-04 9.99720054e-01 1.06679967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.882755096 meters 0.02435805579023738 Centerline is valid? [True, True] Translation: X:475.13, Y:-301.58, Z:10.67 [[ 7.90173273e-01 6.12613435e-01 -1.81927882e-02 4.75134041e+02] [-6.12431937e-01 7.90382410e-01 1.49254410e-02 -3.01577794e+02] [ 2.35227855e-02 -6.51840077e-04 9.99723088e-01 1.06696879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9427550959999 meters 0.024104967343296327 Centerline is valid? [True, True] Translation: X:475.18, Y:-301.61, Z:10.67 [[ 7.90540003e-01 6.12188675e-01 -1.64781829e-02 4.75179554e+02] [-6.12039730e-01 7.90711493e-01 1.35167799e-02 -3.01614715e+02] [ 2.13043082e-02 -6.00252578e-04 9.99772857e-01 1.06732292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.002755096 meters 0.029084244070048785 Centerline is valid? [True, True] Translation: X:475.22, Y:-301.66, Z:10.68 [[ 7.89949511e-01 6.12993205e-01 -1.48020819e-02 4.75219745e+02] [-6.12873197e-01 7.90088009e-01 1.21401289e-02 -3.01657758e+02] [ 1.91367640e-02 -5.18289605e-04 9.99816741e-01 1.06750595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0627550959999 meters 0.023561579191806466 Centerline is valid? [True, True] Translation: X:475.27, Y:-301.69, Z:10.68 [[ 7.88672622e-01 6.14654921e-01 -1.39578833e-02 4.75270757e+02] [-6.14548503e-01 7.88795998e-01 1.14460308e-02 -3.01688941e+02] [ 1.80452817e-02 -4.49374826e-04 9.99837070e-01 1.06765209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.122755096 meters 0.02119490219781272 Centerline is valid? [True, True] Translation: X:475.32, Y:-301.72, Z:10.68 [[ 7.86791290e-01 6.17057943e-01 -1.41053593e-02 4.75319171e+02] [-6.16949682e-01 7.86917618e-01 1.15651268e-02 -3.01722651e+02] [ 1.82361091e-02 -3.97044067e-04 9.99833630e-01 1.06765688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1827550959999 meters 0.01960737709591958 Centerline is valid? [True, True] Translation: X:475.37, Y:-301.76, Z:10.68 [[ 7.82859146e-01 6.22065669e-01 -1.28786766e-02 4.75366740e+02] [-6.21976122e-01 7.82965030e-01 1.05577608e-02 -3.01756448e+02] [ 1.66511740e-02 -2.55010294e-04 9.99861327e-01 1.06782030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.242755096 meters 0.018271696448622792 Centerline is valid? [True, True] Translation: X:475.41, Y:-301.79, Z:10.68 [[ 7.78607948e-01 6.27415372e-01 -1.09368697e-02 4.75414718e+02] [-6.27351334e-01 7.78684748e-01 8.96470953e-03 -3.01790787e+02] [ 1.41409702e-02 -1.18734289e-04 9.99900004e-01 1.06810909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3027550959999 meters 0.017803514117148356 Centerline is valid? [True, True] Translation: X:475.46, Y:-301.83, Z:10.68 [[ 7.75497311e-01 6.31264454e-01 -1.04455492e-02 4.75460643e+02] [-6.31206405e-01 7.75567655e-01 8.56079930e-03 -3.01825568e+02] [ 1.35053584e-02 -4.55792951e-05 9.99908797e-01 1.06817211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.362755096 meters 0.017981594263322874 Centerline is valid? [True, True] Translation: X:475.51, Y:-301.86, Z:10.68 [[ 7.73868205e-01 6.33275467e-01 -9.49657909e-03 4.75506033e+02] [-6.33227634e-01 7.73926471e-01 7.78336655e-03 -3.01862127e+02] [ 1.22786690e-02 -9.80359581e-06 9.99924614e-01 1.06825010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.422755096 meters 0.018234496169910908 Centerline is valid? [True, True] Translation: X:475.55, Y:-301.90, Z:10.68 [[ 7.73980209e-01 6.33164708e-01 -7.55570673e-03 4.75549018e+02] [-6.33134451e-01 7.74017088e-01 6.18982424e-03 -3.01902901e+02] [ 9.76742437e-03 -7.02322807e-06 9.99952298e-01 1.06849269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4827550959999 meters 0.018374654644604492 Centerline is valid? [True, True] Translation: X:475.59, Y:-301.94, Z:10.69 [[ 7.74739273e-01 6.32246338e-01 -6.60499769e-03 4.75592502e+02] [-6.32223223e-01 7.74767428e-01 5.40639131e-03 -3.01942601e+02] [ 8.53550818e-03 -1.27107548e-05 9.99963572e-01 1.06862955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.542755096 meters 0.01842325356037131 Centerline is valid? [True, True] Translation: X:475.63, Y:-301.98, Z:10.68 [[ 7.75328968e-01 6.31520758e-01 -6.82082692e-03 4.75634634e+02] [-6.31496083e-01 7.75358969e-01 5.58261532e-03 -3.01982851e+02] [ 8.81412680e-03 -2.10378863e-05 9.99961155e-01 1.06846077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6027550959999 meters 0.0183749865945799 Centerline is valid? [True, True] Translation: X:475.68, Y:-302.02, Z:10.68 [[ 7.74264552e-01 6.32814779e-01 -7.73689334e-03 4.75677994e+02] [-6.32783119e-01 7.74303206e-01 6.32999069e-03 -3.02022861e+02] [ 9.99641298e-03 -5.31190519e-06 9.99950035e-01 1.06836429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.662755096 meters 0.01862986869072807 Centerline is valid? [True, True] Translation: X:475.72, Y:-302.06, Z:10.68 [[ 7.72354800e-01 6.35149162e-01 -7.32152583e-03 4.75721981e+02] [-6.35120923e-01 7.72389501e-01 5.98927100e-03 -3.02062689e+02] [ 9.45915014e-03 2.42120403e-05 9.99955261e-01 1.06840991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7227550959999 meters 0.019013339901366826 Centerline is valid? [True, True] Translation: X:475.77, Y:-302.10, Z:10.68 [[ 7.70580720e-01 6.37297657e-01 -7.55319238e-03 4.75765263e+02] [-6.37267717e-01 7.70617735e-01 6.17771316e-03 -3.02102778e+02] [ 9.75766613e-03 5.29790128e-05 9.99952391e-01 1.06843742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.782755096 meters 0.019222270941060084 Centerline is valid? [True, True] Translation: X:475.81, Y:-302.14, Z:10.68 [[ 7.69482291e-01 6.38625037e-01 -7.42071497e-03 4.75808310e+02] [-6.38596208e-01 7.69518068e-01 6.06845015e-03 -3.02142386e+02] [ 9.58583845e-03 6.92755160e-05 9.99954052e-01 1.06842428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8427550959999 meters 0.019462390113684218 Centerline is valid? [True, True] Translation: X:475.85, Y:-302.18, Z:10.68 [[ 7.68801341e-01 6.39434250e-01 -8.26667049e-03 4.75849803e+02] [-6.39398534e-01 7.68845779e-01 6.75892983e-03 -3.02184753e+02] [ 1.06776859e-02 8.94226700e-05 9.99942988e-01 1.06837775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.902755096 meters 0.019589156294970548 Centerline is valid? [True, True] Translation: X:475.89, Y:-302.23, Z:10.68 [[ 7.68411836e-01 6.39879198e-01 -9.89251186e-03 4.75892250e+02] [-6.39828107e-01 7.68475503e-01 8.08668277e-03 -3.02225016e+02] [ 1.27766531e-02 1.15604381e-04 9.99918369e-01 1.06829504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9627550959999 meters 0.019604563916495957 Centerline is valid? [True, True] Translation: X:475.94, Y:-302.27, Z:10.68 [[ 7.68604331e-01 6.39649067e-01 -9.82106959e-03 4.75935267e+02] [-6.39598715e-01 7.68667066e-01 8.02655066e-03 -3.02265893e+02] [ 1.26833084e-02 1.12301891e-04 9.99919557e-01 1.06834221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.022755096 meters 0.019711300915593217 Centerline is valid? [True, True] Translation: X:475.98, Y:-302.30, Z:10.68 [[ 7.68990541e-01 6.39188613e-01 -9.56369280e-03 4.75979678e+02] [-6.39140845e-01 7.69050002e-01 7.81499053e-03 -3.02304523e+02] [ 1.23502109e-02 1.02892903e-04 9.99923728e-01 1.06839893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0827550959999 meters 0.01959422973076528 Centerline is valid? [True, True] Translation: X:476.03, Y:-302.34, Z:10.69 [[ 7.70269445e-01 6.37657285e-01 -8.84132127e-03 4.76027434e+02] [-6.37616371e-01 7.70320181e-01 7.22369057e-03 -3.02339600e+02] [ 1.14168871e-02 7.31830595e-05 9.99934823e-01 1.06854721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.142755096 meters 0.019444846465179667 Centerline is valid? [True, True] Translation: X:476.07, Y:-302.38, Z:10.69 [[ 7.71990676e-01 6.35575149e-01 -8.63869797e-03 4.76073526e+02] [-6.35535968e-01 7.72039007e-01 7.05723419e-03 -3.02375153e+02] [ 1.11548145e-02 4.20842903e-05 9.99937782e-01 1.06872236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2027550959999 meters 0.019399564657436023 Centerline is valid? [True, True] Translation: X:476.11, Y:-302.42, Z:10.69 [[ 7.77939413e-01 6.28262100e-01 -9.84908325e-03 4.76112183e+02] [-6.28210602e-01 7.78001754e-01 8.04429839e-03 -3.02420305e+02] [ 1.27165318e-02 -7.06782527e-05 9.99919139e-01 1.06856427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.262755096 meters 0.02008968457256853 Centerline is valid? [True, True] Translation: X:476.16, Y:-302.46, Z:10.69 [[ 7.80348133e-01 6.25261653e-01 -1.02302101e-02 4.76157131e+02] [-6.25205863e-01 7.80415178e-01 8.35330964e-03 -3.02458209e+02] [ 1.32068154e-02 -1.22502265e-04 9.99912779e-01 1.06855154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3227550959999 meters 0.0216079695734079 Centerline is valid? [True, True] Translation: X:476.20, Y:-302.50, Z:10.68 [[ 7.83758798e-01 6.20967266e-01 -1.10363865e-02 4.76201989e+02] [-6.20901931e-01 7.83836469e-01 9.01004815e-03 -3.02496960e+02] [ 1.42456672e-02 -2.09190818e-04 9.99898503e-01 1.06840803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.382755096 meters 0.023962014292120346 Centerline is valid? [True, True] Translation: X:476.24, Y:-302.54, Z:10.68 [[ 7.87357829e-01 6.16375459e-01 -1.22042164e-02 4.76243464e+02] [-6.16295039e-01 7.87452341e-01 9.96168730e-03 -3.02539605e+02] [ 1.57503783e-02 -3.22014478e-04 9.99875903e-01 1.06840004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4427550959999 meters 0.02367233965725393 Centerline is valid? [True, True] Translation: X:476.29, Y:-302.58, Z:10.69 [[ 7.88523669e-01 6.14909591e-01 -1.07989773e-02 4.76291775e+02] [-6.14846516e-01 7.88597552e-01 8.81267203e-03 -3.02577700e+02] [ 1.39350436e-02 -3.09286936e-04 9.99902855e-01 1.06874871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.502755096 meters 0.023780488530821937 Centerline is valid? [True, True] Translation: X:476.34, Y:-302.62, Z:10.69 [[ 7.87150910e-01 6.16656850e-01 -1.13037072e-02 4.76339958e+02] [-6.16587885e-01 7.87232013e-01 9.22697567e-03 -3.02615100e+02] [ 1.45885180e-02 -2.93293361e-04 9.99893539e-01 1.06870564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5627550959999 meters 0.021950061303807764 Centerline is valid? [True, True] Translation: X:476.39, Y:-302.65, Z:10.69 [[ 7.84990868e-01 6.19406591e-01 -1.11719590e-02 4.76390110e+02] [-6.19339437e-01 7.85070325e-01 9.12389707e-03 -3.02651977e+02] [ 1.44221755e-02 -2.42941051e-04 9.99895966e-01 1.06883796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.622755096 meters 0.0214254210351912 Centerline is valid? [True, True] Translation: X:476.44, Y:-302.69, Z:10.69 [[ 7.82848540e-01 6.22094137e-01 -1.21263175e-02 4.76438694e+02] [-6.22015242e-01 7.82942424e-01 9.90961235e-03 -3.02688970e+02] [ 1.56589201e-02 -2.14971275e-04 9.99877368e-01 1.06881681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6827550959999 meters 0.020845488140851423 Centerline is valid? [True, True] Translation: X:476.49, Y:-302.73, Z:10.69 [[ 7.81522751e-01 6.23750289e-01 -1.25605187e-02 4.76487274e+02] [-6.23665767e-01 7.81623656e-01 1.02699544e-02 -3.02727364e+02] [ 1.62234856e-02 -1.92637494e-04 9.99868372e-01 1.06894793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.742755096 meters 0.020589404509546227 Centerline is valid? [True, True] Translation: X:476.53, Y:-302.77, Z:10.69 [[ 7.80802163e-01 6.24658360e-01 -1.22440273e-02 4.76534431e+02] [-6.24578070e-01 7.80898139e-01 1.00165093e-02 -3.02769405e+02] [ 1.58182344e-02 -1.73561149e-04 9.99874869e-01 1.06920546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8027550959999 meters 0.02092195955470157 Centerline is valid? [True, True] Translation: X:476.58, Y:-302.81, Z:10.69 [[ 7.81605069e-01 6.23634717e-01 -1.31626498e-02 4.76577536e+02] [-6.23541651e-01 7.81715865e-01 1.07756908e-02 -3.02813216e+02] [ 1.70095471e-02 -2.14874196e-04 9.99855304e-01 1.06929580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.862755096 meters 0.02124290371075039 Centerline is valid? [True, True] Translation: X:476.62, Y:-302.86, Z:10.69 [[ 7.82564536e-01 6.22427275e-01 -1.33054272e-02 4.76623557e+02] [-6.22331907e-01 7.82677600e-01 1.08982541e-02 -3.02855513e+02] [ 1.71972304e-02 -2.48195292e-04 9.99852086e-01 1.06942333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.922755096 meters 0.020966837802095014 Centerline is valid? [True, True] Translation: X:476.67, Y:-302.90, Z:10.70 [[ 7.82099969e-01 6.23021407e-01 -1.28048730e-02 4.76671929e+02] [-6.22933068e-01 7.82204751e-01 1.04937780e-02 -3.02895950e+02] [ 1.65538809e-02 -2.30604609e-04 9.99862949e-01 1.06968544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9827550959999 meters 0.02088302995763414 Centerline is valid? [True, True] Translation: X:476.72, Y:-302.94, Z:10.70 [[ 7.81244565e-01 6.24101540e-01 -1.24176694e-02 4.76717864e+02] [-6.24018493e-01 7.81343219e-01 1.01830392e-02 -3.02936445e+02] [ 1.60577122e-02 -2.06588743e-04 9.99871045e-01 1.07000819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.042755096 meters 0.02082947219921063 Centerline is valid? [True, True] Translation: X:476.76, Y:-302.98, Z:10.70 [[ 7.80482525e-01 6.25035472e-01 -1.33299535e-02 4.76763594e+02] [-6.24939805e-01 7.80596321e-01 1.09372646e-02 -3.02976567e+02] [ 1.72414910e-02 -2.05925296e-04 9.99851333e-01 1.07010165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1027550959999 meters 0.020306270928778902 Centerline is valid? [True, True] Translation: X:476.81, Y:-303.01, Z:10.70 [[ 7.78966500e-01 6.26883645e-01 -1.51025507e-02 4.76809735e+02] [-6.26761059e-01 7.79112866e-01 1.23982732e-02 -3.03012269e+02] [ 1.95388663e-02 -1.92148769e-04 9.99809080e-01 1.07012864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.162755096 meters 0.019994131326177556 Centerline is valid? [True, True] Translation: X:476.86, Y:-303.05, Z:10.70 [[ 7.78943391e-01 6.26889784e-01 -1.60122273e-02 4.76855726e+02] [-6.26752028e-01 7.79107924e-01 1.31429940e-02 -3.03048286e+02] [ 2.07144619e-02 -2.01952387e-04 9.99785412e-01 1.07026725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2227550959999 meters 0.020501967634891868 Centerline is valid? [True, True] Translation: X:476.90, Y:-303.09, Z:10.70 [[ 7.80365470e-01 6.25122221e-01 -1.58726865e-02 4.76899812e+02] [-6.24986530e-01 7.80526840e-01 1.30264763e-02 -3.03087553e+02] [ 2.05321977e-02 -2.45197053e-04 9.99789162e-01 1.07048178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.282755096 meters 0.022167082584667222 Centerline is valid? [True, True] Translation: X:476.94, Y:-303.13, Z:10.71 [[ 7.83523700e-01 6.21149268e-01 -1.62541908e-02 4.76940826e+02] [-6.21006157e-01 7.83692197e-01 1.33376293e-02 -3.03131417e+02] [ 2.10229412e-02 -3.56396115e-04 9.99778930e-01 1.07094121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3427550959999 meters 0.025050763326966385 Centerline is valid? [True, True] Translation: X:476.98, Y:-303.17, Z:10.71 [[ 7.86887083e-01 6.16891596e-01 -1.59209700e-02 4.76981276e+02] [-6.16753441e-01 7.87047995e-01 1.30631893e-02 -3.03174265e+02] [ 2.05891392e-02 -4.59941934e-04 9.99787915e-01 1.07136936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.402755096 meters 0.026634344468028506 Centerline is valid? [True, True] Translation: X:477.02, Y:-303.21, Z:10.72 [[ 7.88785401e-01 6.14490279e-01 -1.48083720e-02 4.77024220e+02] [-6.14370360e-01 7.88924244e-01 1.21490309e-02 -3.03214809e+02] [ 1.91481451e-02 -4.85153340e-04 9.99816540e-01 1.07176159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4627550959999 meters 0.026586702200138382 Centerline is valid? [True, True] Translation: X:477.07, Y:-303.26, Z:10.72 [[ 7.90173985e-01 6.12730191e-01 -1.36669430e-02 4.77069830e+02] [-6.12627816e-01 7.90292020e-01 1.12108010e-02 -3.03256869e+02] [ 1.76700722e-02 -4.85733856e-04 9.99843754e-01 1.07248076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.522755096 meters 0.025265274129820218 Centerline is valid? [True, True] Translation: X:477.12, Y:-303.30, Z:10.73 [[ 7.90012512e-01 6.12960147e-01 -1.26526230e-02 4.77118180e+02] [-6.12872354e-01 7.90113698e-01 1.03836884e-02 -3.03297196e+02] [ 1.63617980e-02 -4.48800942e-04 9.99866036e-01 1.07299094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5827550959999 meters 0.025172953314089336 Centerline is valid? [True, True] Translation: X:477.16, Y:-303.34, Z:10.73 [[ 7.88863150e-01 6.14437415e-01 -1.27119520e-02 4.77164266e+02] [-6.14348875e-01 7.88965450e-01 1.04392261e-02 -3.03337198e+02] [ 1.64435421e-02 -4.25547415e-04 9.99864705e-01 1.07320012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.642755096 meters 0.02523652331979362 Centerline is valid? [True, True] Translation: X:477.21, Y:-303.38, Z:10.73 [[ 7.87682121e-01 6.15912810e-01 -1.44321276e-02 4.77209125e+02] [-6.15798804e-01 7.87814194e-01 1.18586764e-02 -3.03378750e+02] [ 1.86737457e-02 -4.53580484e-04 9.99825528e-01 1.07338770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7027550959999 meters 0.02367577871518695 Centerline is valid? [True, True] Translation: X:477.26, Y:-303.42, Z:10.73 [[ 7.86520036e-01 6.17323088e-01 -1.72753548e-02 4.77258874e+02] [-6.17159884e-01 7.86709568e-01 1.42032750e-02 -3.03415339e+02] [ 2.23586965e-02 -5.09504438e-04 9.99749883e-01 1.07336518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.762755096 meters 0.02243438028360115 Centerline is valid? [True, True] Translation: X:477.31, Y:-303.45, Z:10.73 [[ 7.84568924e-01 6.19752452e-01 -1.89341352e-02 4.77310150e+02] [-6.19556871e-01 7.84797208e-01 1.55764405e-02 -3.03450354e+02] [ 2.45129937e-02 -4.90017614e-04 9.99699391e-01 1.07339532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8227550959999 meters 0.02220507676574296 Centerline is valid? [True, True] Translation: X:477.36, Y:-303.49, Z:10.73 [[ 7.82912399e-01 6.21781249e-01 -2.08866754e-02 4.77360152e+02] [-6.21543679e-01 7.83190813e-01 1.71931937e-02 -3.03487751e+02] [ 2.70486577e-02 -4.78783444e-04 9.99634003e-01 1.07339360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.882755096 meters 0.02302534731716582 Centerline is valid? [True, True] Translation: X:477.41, Y:-303.53, Z:10.73 [[ 7.83863333e-01 6.20483964e-01 -2.36204449e-02 4.77407683e+02] [-6.20179169e-01 7.84218903e-01 1.94553483e-02 -3.03527974e+02] [ 3.05953310e-02 -6.01426326e-04 9.99531672e-01 1.07333058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9427550959999 meters 0.025533969203233947 Centerline is valid? [True, True] Translation: X:477.45, Y:-303.57, Z:10.73 [[ 7.86576750e-01 6.17029639e-01 -2.39048404e-02 4.77452215e+02] [-6.16715527e-01 7.86939551e-01 1.97002942e-02 -3.03570527e+02] [ 3.09673297e-02 -7.53307133e-04 9.99520113e-01 1.07341483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.002755096 meters 0.028337188746376238 Centerline is valid? [True, True] Translation: X:477.50, Y:-303.61, Z:10.74 [[ 7.91565367e-01 6.10593312e-01 -2.44964725e-02 4.77498845e+02] [-6.10260154e-01 7.91943643e-01 2.01942980e-02 -3.03610254e+02] [ 3.17303289e-02 -1.03588582e-03 9.99495930e-01 1.07357970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0627550959999 meters 0.03131971432625661 Centerline is valid? [True, True] Translation: X:477.55, Y:-303.65, Z:10.74 [[ 7.94620644e-01 6.06560562e-01 -2.57355124e-02 4.77545934e+02] [-6.06190680e-01 7.95036288e-01 2.12169507e-02 -3.03649897e+02] [ 3.33300319e-02 -1.25879927e-03 9.99443607e-01 1.07350670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.122755096 meters 0.03078100172545872 Centerline is valid? [True, True] Translation: X:477.60, Y:-303.69, Z:10.74 [[ 7.95786408e-01 6.04950274e-01 -2.75528412e-02 4.77596237e+02] [-6.04525228e-01 7.96261981e-01 2.27179627e-02 -3.03686175e+02] [ 3.56825177e-02 -1.42225833e-03 9.99362164e-01 1.07353323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1827550959999 meters 0.03060033357526256 Centerline is valid? [True, True] Translation: X:477.65, Y:-303.72, Z:10.73 [[ 7.95328495e-01 6.05484977e-01 -2.89918629e-02 4.77646652e+02] [-6.05014374e-01 7.95855362e-01 2.39134046e-02 -3.03723305e+02] [ 3.75525368e-02 -1.47851833e-03 9.99293561e-01 1.07340197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.242755096 meters 0.030059125244773548 Centerline is valid? [True, True] Translation: X:477.70, Y:-303.76, Z:10.73 [[ 7.93548554e-01 6.07756333e-01 -3.02147578e-02 4.77698062e+02] [-6.07246252e-01 7.94122260e-01 2.49364298e-02 -3.03758649e+02] [ 3.91494848e-02 -1.44046938e-03 9.99232327e-01 1.07327585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3027550959999 meters 0.02842368781872567 Centerline is valid? [True, True] Translation: X:477.75, Y:-303.79, Z:10.73 [[ 7.90256809e-01 6.11906133e-01 -3.26352549e-02 4.77750551e+02] [-6.11314150e-01 7.90929254e-01 2.69429952e-02 -3.03792081e+02] [ 4.22987618e-02 -1.34149226e-03 9.99104106e-01 1.07313855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.362755096 meters 0.027195968254262754 Centerline is valid? [True, True] Translation: X:477.80, Y:-303.83, Z:10.73 [[ 7.87841062e-01 6.14967795e-01 -3.34824114e-02 4.77801170e+02] [-6.14347352e-01 7.88551298e-01 2.76438316e-02 -3.03825396e+02] [ 4.34026651e-02 -1.20911485e-03 9.99056929e-01 1.07308829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.422755096 meters 0.025017280124813007 Centerline is valid? [True, True] Translation: X:477.85, Y:-303.85, Z:10.73 [[ 7.83117291e-01 6.20907997e-01 -3.46492136e-02 4.77854749e+02] [-6.20249335e-01 7.83882918e-01 2.86065053e-02 -3.03854808e+02] [ 4.49229346e-02 -9.11097225e-04 9.98990040e-01 1.07298097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4827550959999 meters 0.022766795148335434 Centerline is valid? [True, True] Translation: X:477.91, Y:-303.88, Z:10.73 [[ 7.78486715e-01 6.26659733e-01 -3.54402721e-02 4.77907714e+02] [-6.25976706e-01 7.79292775e-01 2.92563416e-02 -3.03883497e+02] [ 4.59521192e-02 -5.90888532e-04 9.98943469e-01 1.07306794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.542755096 meters 0.021468685659850925 Centerline is valid? [True, True] Translation: X:477.96, Y:-303.91, Z:10.73 [[ 7.74790021e-01 6.31181927e-01 -3.61911474e-02 4.77959976e+02] [-6.30474769e-01 7.75634752e-01 2.98713298e-02 -3.03913258e+02] [ 4.69253551e-02 -3.26402876e-04 9.98898345e-01 1.07310118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6027550959999 meters 0.021679934687396665 Centerline is valid? [True, True] Translation: X:478.01, Y:-303.95, Z:10.73 [[ 7.73212413e-01 6.33052474e-01 -3.72441915e-02 4.78007666e+02] [-6.32305986e-01 7.74108855e-01 3.07347001e-02 -3.03947109e+02] [ 4.82877364e-02 -2.14726421e-04 9.98833444e-01 1.07304404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.662755096 meters 0.022631528332504716 Centerline is valid? [True, True] Translation: X:478.05, Y:-303.98, Z:10.73 [[ 7.73661119e-01 6.32557221e-01 -3.63295375e-02 4.78052329e+02] [-6.31846698e-01 7.74513594e-01 2.99740345e-02 -3.03983679e+02] [ 4.70980126e-02 -2.35046755e-04 9.98890245e-01 1.07291676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7227550959999 meters 0.022600860624090266 Centerline is valid? [True, True] Translation: X:478.10, Y:-304.02, Z:10.73 [[ 7.76165096e-01 6.29560259e-01 -3.49517293e-02 4.78097232e+02] [-6.28900096e-01 7.76951559e-01 2.88260919e-02 -3.04022257e+02] [ 4.53035624e-02 -3.92660470e-04 9.98973189e-01 1.07335004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.782755096 meters 0.024471238012538032 Centerline is valid? [True, True] Translation: X:478.14, Y:-304.06, Z:10.74 [[ 7.80693164e-01 6.24038000e-01 -3.30871297e-02 4.78137902e+02] [-6.23441794e-01 7.81393708e-01 2.72800734e-02 -3.04064789e+02] [ 4.28778774e-02 -6.69467302e-04 9.99080097e-01 1.07386912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8427550959999 meters 0.025046992603897193 Centerline is valid? [True, True] Translation: X:478.18, Y:-304.11, Z:10.74 [[ 7.85183386e-01 6.18450965e-01 -3.17089077e-02 4.78178625e+02] [-6.17898957e-01 7.85822839e-01 2.61408612e-02 -3.04109517e+02] [ 4.10844247e-02 -9.32468920e-04 9.99155243e-01 1.07442854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.902755096 meters 0.02724011691998315 Centerline is valid? [True, True] Translation: X:478.22, Y:-304.15, Z:10.75 [[ 7.88751057e-01 6.13970823e-01 -3.01927039e-02 4.78220699e+02] [-6.13467146e-01 7.89327941e-01 2.48890001e-02 -3.04152317e+02] [ 3.91130646e-02 -1.10899327e-03 9.99234176e-01 1.07470875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9627550959999 meters 0.027200224158124196 Centerline is valid? [True, True] Translation: X:478.27, Y:-304.19, Z:10.75 [[ 7.90464620e-01 6.11779664e-01 -2.98550890e-02 4.78265650e+02] [-6.11285585e-01 7.91027301e-01 2.46118405e-02 -3.04193358e+02] [ 3.86732140e-02 -1.20480358e-03 9.99251185e-01 1.07503537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.022755096 meters 0.028709319610147388 Centerline is valid? [True, True] Translation: X:478.31, Y:-304.24, Z:10.75 [[ 7.91461065e-01 6.10479075e-01 -3.00779466e-02 4.78306722e+02] [-6.09976598e-01 7.92031353e-01 2.47969012e-02 -3.04237430e+02] [ 3.89606661e-02 -1.27893832e-03 9.99239927e-01 1.07516267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0827550959999 meters 0.02682150426373885 Centerline is valid? [True, True] Translation: X:478.35, Y:-304.28, Z:10.75 [[ 7.89972439e-01 6.12395394e-01 -3.02560308e-02 4.78354525e+02] [-6.11888071e-01 7.90550725e-01 2.49507589e-02 -3.04277303e+02] [ 3.91986569e-02 -1.19710755e-03 9.99230720e-01 1.07528033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.142755096 meters 0.02554758521247324 Centerline is valid? [True, True] Translation: X:478.40, Y:-304.31, Z:10.75 [[ 7.87296863e-01 6.15806413e-01 -3.07589205e-02 4.78400196e+02] [-6.15284466e-01 7.87896796e-01 2.53705443e-02 -3.04314477e+02] [ 3.98581988e-02 -1.04866395e-03 9.99204796e-01 1.07532980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2027550959999 meters 0.024968690887268403 Centerline is valid? [True, True] Translation: X:478.45, Y:-304.35, Z:10.76 [[ 7.84992299e-01 6.18833654e-01 -2.88443931e-02 4.78446297e+02] [-6.18376802e-01 7.85521615e-01 2.37891326e-02 -3.04352202e+02] [ 3.73794101e-02 -8.37582323e-04 9.99300795e-01 1.07580849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.262755096 meters 0.021947764481235737 Centerline is valid? [True, True] Translation: X:478.49, Y:-304.39, Z:10.76 [[ 7.83161453e-01 6.21256336e-01 -2.64330020e-02 4.78493185e+02] [-6.20874118e-01 7.83607127e-01 2.17991098e-02 -3.04389993e+02] [ 3.42559238e-02 -6.60655777e-04 9.99412875e-01 1.07622221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3227550959999 meters 0.020757011361601838 Centerline is valid? [True, True] Translation: X:478.54, Y:-304.43, Z:10.76 [[ 7.80310354e-01 6.24895650e-01 -2.49234565e-02 4.78539901e+02] [-6.24557748e-01 7.80708143e-01 2.05527314e-02 -3.04426753e+02] [ 3.23012579e-02 -4.71371259e-04 9.99478067e-01 1.07649469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.382755096 meters 0.018305180690718518 Centerline is valid? [True, True] Translation: X:478.59, Y:-304.46, Z:10.77 [[ 7.76801996e-01 6.29303321e-01 -2.35794411e-02 4.78586589e+02] [-6.29003009e-01 7.77159737e-01 1.94411084e-02 -3.04461483e+02] [ 3.05593463e-02 -2.70352437e-04 9.99532918e-01 1.07682700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4427550959999 meters 0.01710396310377373 Centerline is valid? [True, True] Translation: X:478.63, Y:-304.50, Z:10.77 [[ 7.73901378e-01 6.32891646e-01 -2.29089771e-02 4.78633387e+02] [-6.32609887e-01 7.74240369e-01 1.88833790e-02 -3.04495797e+02] [ 2.96881877e-02 -1.21427583e-04 9.99559201e-01 1.07703299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.502755096 meters 0.016450231590756148 Centerline is valid? [True, True] Translation: X:478.68, Y:-304.53, Z:10.77 [[ 7.73682373e-01 6.33196398e-01 -2.18610835e-02 4.78677145e+02] [-6.32940068e-01 7.73991157e-01 1.80155432e-02 -3.04534716e+02] [ 2.83276624e-02 -1.01552594e-04 9.99598686e-01 1.07747083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5627550959999 meters 0.01635960728132835 Centerline is valid? [True, True] Translation: X:478.72, Y:-304.58, Z:10.78 [[ 7.74660483e-01 6.32011576e-01 -2.15059059e-02 4.78723714e+02] [-6.31762990e-01 7.74958933e-01 1.77250520e-02 -3.04576857e+02] [ 2.78686319e-02 -1.44261929e-04 9.99611584e-01 1.07773484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.622755096 meters 0.016989816205414062 Centerline is valid? [True, True] Translation: X:478.77, Y:-304.62, Z:10.78 [[ 7.77600731e-01 6.28392682e-01 -2.14415541e-02 4.78768735e+02] [-6.28143889e-01 7.77896239e-01 1.76832402e-02 -3.04620276e+02] [ 2.77913230e-02 -2.82119390e-04 9.99613707e-01 1.07786301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6827550959999 meters 0.018053900293327825 Centerline is valid? [True, True] Translation: X:478.81, Y:-304.66, Z:10.78 [[ 7.80130967e-01 6.25251693e-01 -2.13540086e-02 4.78812527e+02] [-6.25003474e-01 7.80423065e-01 1.76209485e-02 -3.04663320e+02] [ 2.76826887e-02 -4.00318006e-04 9.99616681e-01 1.07792801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.742755096 meters 0.019485158160895067 Centerline is valid? [True, True] Translation: X:478.86, Y:-304.71, Z:10.78 [[ 7.82062678e-01 6.22836400e-01 -2.12787998e-02 4.78855614e+02] [-6.22588776e-01 7.82351953e-01 1.75681014e-02 -3.04706824e+02] [ 2.75895636e-02 -4.91414552e-04 9.99619215e-01 1.07803139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8027550959999 meters 0.01938830757291833 Centerline is valid? [True, True] Translation: X:478.90, Y:-304.75, Z:10.78 [[ 7.82878310e-01 6.21777077e-01 -2.22445209e-02 4.78902623e+02] [-6.21505740e-01 7.83194070e-01 1.83756114e-02 -3.04746832e+02] [ 2.88473109e-02 -5.60770154e-04 9.99583672e-01 1.07825182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.862755096 meters 0.019467604169695014 Centerline is valid? [True, True] Translation: X:478.95, Y:-304.78, Z:10.78 [[ 7.81560631e-01 6.23416395e-01 -2.26931656e-02 4.78951030e+02] [-6.23134368e-01 7.81889845e-01 1.87571230e-02 -3.04784980e+02] [ 2.94370538e-02 -5.18937459e-04 9.99566501e-01 1.07819483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.922755096 meters 0.017813879093197264 Centerline is valid? [True, True] Translation: X:479.00, Y:-304.82, Z:10.78 [[ 7.78694348e-01 6.26976580e-01 -2.31404519e-02 4.79003132e+02] [-6.26684640e-01 7.79038003e-01 1.91350962e-02 -3.04820148e+02] [ 3.00245486e-02 -3.98625431e-04 9.99549082e-01 1.07824782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9827550959999 meters 0.017060584563198613 Centerline is valid? [True, True] Translation: X:479.05, Y:-304.86, Z:10.78 [[ 7.76877134e-01 6.29224835e-01 -2.31953896e-02 4.79052774e+02] [-6.28932307e-01 7.77223267e-01 1.91871659e-02 -3.04856898e+02] [ 3.01010377e-02 -3.17740563e-04 9.99546811e-01 1.07839690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.042755096 meters 0.01736462486133709 Centerline is valid? [True, True] Translation: X:479.10, Y:-304.90, Z:10.79 [[ 7.77236435e-01 6.28830951e-01 -2.17981390e-02 4.79099412e+02] [-6.28572186e-01 7.77541981e-01 1.80409453e-02 -3.04896164e+02] [ 2.82936730e-02 -3.20376111e-04 9.99599603e-01 1.07861699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1027550959999 meters 0.017789984876113284 Centerline is valid? [True, True] Translation: X:479.14, Y:-304.93, Z:10.79 [[ 7.78369366e-01 6.27440489e-01 -2.14374161e-02 4.79144863e+02] [-6.27189537e-01 7.78664431e-01 1.77479222e-02 -3.04934778e+02] [ 2.78283184e-02 -3.69115898e-04 9.99612649e-01 1.07880748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.162755096 meters 0.018091377062048424 Centerline is valid? [True, True] Translation: X:479.19, Y:-304.97, Z:10.79 [[ 7.79367294e-01 6.26208882e-01 -2.11909790e-02 4.79192770e+02] [-6.25963146e-01 7.79655224e-01 1.75462634e-02 -3.04974641e+02] [ 2.75092835e-02 -4.10211931e-04 9.99621464e-01 1.07892087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2227550959999 meters 0.018375715063271975 Centerline is valid? [True, True] Translation: X:479.24, Y:-305.01, Z:10.79 [[ 7.79690926e-01 6.25811281e-01 -2.10309352e-02 4.79239715e+02] [-6.25568835e-01 7.79974395e-01 1.74234155e-02 -3.05014604e+02] [ 2.73073610e-02 -4.28581347e-04 9.99626993e-01 1.07902568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.282755096 meters 0.018351838591380544 Centerline is valid? [True, True] Translation: X:479.29, Y:-305.05, Z:10.79 [[ 7.80014704e-01 6.25437820e-01 -2.01145398e-02 4.79287866e+02] [-6.25215676e-01 7.80273893e-01 1.66736178e-02 -3.05054354e+02] [ 2.61231615e-02 -4.29741422e-04 9.99658640e-01 1.07918058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3427550959999 meters 0.018861642578584987 Centerline is valid? [True, True] Translation: X:479.33, Y:-305.09, Z:10.79 [[ 7.79510905e-01 6.26085511e-01 -1.94853999e-02 4.79334495e+02] [-6.25877007e-01 7.79754301e-01 1.61617508e-02 -3.05094437e+02] [ 2.53124624e-02 -4.02797208e-04 9.99679507e-01 1.07926251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.402755096 meters 0.01726232462608429 Centerline is valid? [True, True] Translation: X:479.38, Y:-305.13, Z:10.79 [[ 7.78373571e-01 6.27518414e-01 -1.88474128e-02 4.79384416e+02] [-6.27323561e-01 7.78601642e-01 1.56407304e-02 -3.05130783e+02] [ 2.44894729e-02 -3.50905040e-04 9.99700026e-01 1.07945727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4627550959999 meters 0.016880953424263878 Centerline is valid? [True, True] Translation: X:479.43, Y:-305.17, Z:10.79 [[ 7.75865060e-01 6.30599401e-01 -1.94371728e-02 4.79431937e+02] [-6.30392887e-01 7.76108448e-01 1.61395622e-02 -3.05169286e+02] [ 2.52629523e-02 -2.69066904e-04 9.99680804e-01 1.07932670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.522755096 meters 0.015883962107343805 Centerline is valid? [True, True] Translation: X:479.48, Y:-305.21, Z:10.79 [[ 7.72422798e-01 6.34766714e-01 -2.08384154e-02 4.79481916e+02] [-6.34530660e-01 7.72703822e-01 1.73102233e-02 -3.05205071e+02] [ 2.70898768e-02 -1.48197625e-04 9.99632991e-01 1.07921359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5827550959999 meters 0.015461811487851732 Centerline is valid? [True, True] Translation: X:479.53, Y:-305.24, Z:10.79 [[ 7.69461542e-01 6.38387449e-01 -1.97585592e-02 4.79529596e+02] [-6.38176416e-01 7.69715184e-01 1.64133413e-02 -3.05239939e+02] [ 2.56865341e-02 -1.99884302e-05 9.99670046e-01 1.07933784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.642755096 meters 0.015667492539921914 Centerline is valid? [True, True] Translation: X:479.57, Y:-305.28, Z:10.79 [[ 7.68181889e-01 6.39942857e-01 -1.92282286e-02 4.79574998e+02] [-6.39743551e-01 7.68422500e-01 1.59702732e-02 -3.05277131e+02] [ 2.49954657e-02 3.30606671e-05 9.99687564e-01 1.07944628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7027550959999 meters 0.015870955614427328 Centerline is valid? [True, True] Translation: X:479.62, Y:-305.32, Z:10.80 [[ 7.68522781e-01 6.39554396e-01 -1.85178155e-02 4.79618717e+02] [-6.39369493e-01 7.68745845e-01 1.53778401e-02 -3.05316663e+02] [ 2.40704590e-02 2.15058561e-05 9.99710264e-01 1.07962086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.762755096 meters 0.016165434217492645 Centerline is valid? [True, True] Translation: X:479.66, Y:-305.36, Z:10.80 [[ 7.69977146e-01 6.37822380e-01 -1.78271316e-02 4.79661581e+02] [-6.37650601e-01 7.70183492e-01 1.48020043e-02 -3.05356768e+02] [ 2.31712121e-02 -2.97238687e-05 9.99731511e-01 1.07973517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8227550959999 meters 0.01654446120059738 Centerline is valid? [True, True] Translation: X:479.70, Y:-305.40, Z:10.80 [[ 7.71939724e-01 6.35479141e-01 -1.65928716e-02 4.79703123e+02] [-6.35329829e-01 7.72118030e-01 1.37751738e-02 -3.05398223e+02] [ 2.15654910e-02 -9.16575330e-05 9.99767434e-01 1.07996096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.882755096 meters 0.017010997742165836 Centerline is valid? [True, True] Translation: X:479.75, Y:-305.44, Z:10.80 [[ 7.73502143e-01 6.33606800e-01 -1.53902173e-02 4.79748786e+02] [-6.33477998e-01 7.73655224e-01 1.27757630e-02 -3.05442165e+02] [ 2.00015323e-02 -1.32716039e-04 9.99799941e-01 1.08016084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9427550959999 meters 0.017275379630745328 Centerline is valid? [True, True] Translation: X:479.80, Y:-305.48, Z:10.80 [[ 7.74012200e-01 6.32982006e-01 -1.54561881e-02 4.79795728e+02] [-6.32851803e-01 7.74166491e-01 1.28389974e-02 -3.05483764e+02] [ 2.00925172e-02 -1.56064148e-04 9.99798113e-01 1.08027002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.002755096 meters 0.018156376933742533 Centerline is valid? [True, True] Translation: X:479.84, Y:-305.53, Z:10.80 [[ 7.75361018e-01 6.31327573e-01 -1.55173140e-02 4.79839039e+02] [-6.31195836e-01 7.75516249e-01 1.28981738e-02 -3.05527971e+02] [ 2.01769019e-02 -2.06277118e-04 9.99796404e-01 1.08026277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0627550959999 meters 0.018689387277667332 Centerline is valid? [True, True] Translation: X:479.88, Y:-305.57, Z:10.80 [[ 7.76093754e-01 6.30412126e-01 -1.60946324e-02 4.79884609e+02] [-6.30270053e-01 7.76260583e-01 1.33853680e-02 -3.05570998e+02] [ 2.09319271e-02 -2.44335651e-04 9.99780873e-01 1.08032441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.122755096 meters 0.018705310350511355 Centerline is valid? [True, True] Translation: X:479.93, Y:-305.61, Z:10.80 [[ 7.75928369e-01 6.30619053e-01 -1.59616815e-02 4.79931798e+02] [-6.30479207e-01 7.76092489e-01 1.32822840e-02 -3.05612815e+02] [ 2.07638025e-02 -2.42592638e-04 9.99784380e-01 1.08043278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1827550959999 meters 0.018585951149511677 Centerline is valid? [True, True] Translation: X:479.98, Y:-305.65, Z:10.81 [[ 7.74580896e-01 6.32302152e-01 -1.47791729e-02 4.79978725e+02] [-6.32182425e-01 7.74721855e-01 1.23056435e-02 -3.05653935e+02] [ 1.92306331e-02 -1.88582984e-04 9.99815056e-01 1.08074956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.242755096 meters 0.018261538235269322 Centerline is valid? [True, True] Translation: X:480.03, Y:-305.69, Z:10.81 [[ 7.72853245e-01 6.34413340e-01 -1.47504370e-02 4.80026036e+02] [-6.34294330e-01 7.72993981e-01 1.22885548e-02 -3.05694557e+02] [ 1.91980221e-02 -1.41130907e-04 9.99815691e-01 1.08089759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3027550959999 meters 0.01785253346702041 Centerline is valid? [True, True] Translation: X:480.07, Y:-305.73, Z:10.81 [[ 7.69634036e-01 6.38316339e-01 -1.46867955e-02 4.80073744e+02] [-6.38198931e-01 7.69774155e-01 1.22423284e-02 -3.05733275e+02] [ 1.91199939e-02 -4.90153908e-05 9.99817195e-01 1.08107480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.362755096 meters 0.018951861032156254 Centerline is valid? [True, True] Translation: X:480.12, Y:-305.77, Z:10.81 [[ 7.67017622e-01 6.41455940e-01 -1.47730906e-02 4.80122262e+02] [-6.41337606e-01 7.67159877e-01 1.23206625e-02 -3.05773569e+02] [ 1.92364845e-02 2.43732963e-05 9.99814961e-01 1.08113468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.422755096 meters 0.018242257623029418 Centerline is valid? [True, True] Translation: X:480.17, Y:-305.81, Z:10.81 [[ 7.65782209e-01 6.42924685e-01 -1.50152675e-02 4.80169390e+02] [-6.42802564e-01 7.65929400e-01 1.25306618e-02 -3.05813142e+02] [ 1.95569066e-02 5.60945827e-05 9.99808744e-01 1.08134052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4827550959999 meters 0.018313358076440415 Centerline is valid? [True, True] Translation: X:480.22, Y:-305.85, Z:10.82 [[ 7.65575828e-01 6.43176228e-01 -1.47645036e-02 4.80215465e+02] [-6.43058109e-01 7.65718183e-01 1.23260844e-02 -3.05851605e+02] [ 1.92332933e-02 5.78814937e-05 9.99815021e-01 1.08155385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.542755096 meters 0.01815290793380896 Centerline is valid? [True, True] Translation: X:480.26, Y:-305.89, Z:10.82 [[ 7.66479277e-01 6.42108118e-01 -1.43764605e-02 4.80262505e+02] [-6.41995896e-01 7.66614091e-01 1.20043804e-02 -3.05893989e+02] [ 1.87293073e-02 2.85198040e-05 9.99824591e-01 1.08184123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6027550959999 meters 0.018213153487895636 Centerline is valid? [True, True] Translation: X:480.31, Y:-305.94, Z:10.82 [[ 7.69567339e-01 6.38392356e-01 -1.48765266e-02 4.80309625e+02] [-6.38271338e-01 7.69711111e-01 1.24299820e-02 -3.05936448e+02] [ 1.93858334e-02 -7.04476429e-05 9.99812075e-01 1.08193698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.662755096 meters 0.018605250586233447 Centerline is valid? [True, True] Translation: X:480.36, Y:-305.98, Z:10.82 [[ 7.71628455e-01 6.35884782e-01 -1.54942504e-02 4.80356246e+02] [-6.35752820e-01 7.71783987e-01 1.29548688e-02 -3.05977546e+02] [ 2.01960183e-02 -1.45831994e-04 9.99796029e-01 1.08193966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7227550959999 meters 0.019429392112765943 Centerline is valid? [True, True] Translation: X:480.40, Y:-306.02, Z:10.82 [[ 7.73839684e-01 6.33178042e-01 -1.60533693e-02 4.80402721e+02] [-6.33035634e-01 7.74006146e-01 1.34302722e-02 -3.06018400e+02] [ 2.09291599e-02 -2.30522774e-04 9.99780935e-01 1.08194333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.782755096 meters 0.02180875515209731 Centerline is valid? [True, True] Translation: X:480.45, Y:-306.06, Z:10.82 [[ 7.78839916e-01 6.26996076e-01 -1.68613879e-02 4.80448098e+02] [-6.26837349e-01 7.79022299e-01 1.41136811e-02 -3.06060788e+02] [ 2.19846198e-02 -4.22950535e-04 9.99758220e-01 1.08201917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8427550959999 meters 0.025294119654186792 Centerline is valid? [True, True] Translation: X:480.49, Y:-306.10, Z:10.82 [[ 7.84397480e-01 6.20031159e-01 -1.67915312e-02 4.80491757e+02] [-6.19872095e-01 7.84576944e-01 1.40572072e-02 -3.06103532e+02] [ 2.18901547e-02 -6.17836227e-04 9.99760191e-01 1.08227391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.902755096 meters 0.027110988556065762 Centerline is valid? [True, True] Translation: X:480.54, Y:-306.14, Z:10.83 [[ 7.88605039e-01 6.14688270e-01 -1.61376308e-02 4.80537709e+02] [-6.14540221e-01 7.88769794e-01 1.35103149e-02 -3.06143928e+02] [ 2.10335078e-02 -7.37079193e-04 9.99778500e-01 1.08263343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9627550959999 meters 0.02846005701024463 Centerline is valid? [True, True] Translation: X:480.59, Y:-306.18, Z:10.83 [[ 7.89591282e-01 6.13416993e-01 -1.62849527e-02 4.80585605e+02] [-6.13265926e-01 7.89758815e-01 1.36352060e-02 -3.06183414e+02] [ 2.12252520e-02 -7.79233153e-04 9.99774415e-01 1.08275846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.022755096 meters 0.02966610967015731 Centerline is valid? [True, True] Translation: X:480.63, Y:-306.22, Z:10.83 [[ 7.88452767e-01 6.14885001e-01 -1.60832076e-02 4.80632333e+02] [-6.14737807e-01 7.88616443e-01 1.34734887e-02 -3.06223125e+02] [ 2.09681280e-02 -7.36253665e-04 9.99779874e-01 1.08284307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0827550959999 meters 0.026600472182283282 Centerline is valid? [True, True] Translation: X:480.68, Y:-306.26, Z:10.83 [[ 7.85978292e-01 6.18048590e-01 -1.59394464e-02 4.80684384e+02] [-6.17904581e-01 7.86139631e-01 1.33570133e-02 -3.06257108e+02] [ 2.07859137e-02 -6.49265552e-04 9.99783739e-01 1.08310359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.142755096 meters 0.025053338774539177 Centerline is valid? [True, True] Translation: X:480.74, Y:-306.29, Z:10.83 [[ 7.82888323e-01 6.21974452e-01 -1.52858024e-02 4.80735398e+02] [-6.21842727e-01 7.83037360e-01 1.28107778e-02 -3.06292437e+02] [ 1.99373309e-02 -5.24043252e-04 9.99801094e-01 1.08343763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2027550959999 meters 0.025526599710369743 Centerline is valid? [True, True] Translation: X:480.78, Y:-306.33, Z:10.83 [[ 7.80918079e-01 6.24443234e-01 -1.54143188e-02 4.80784761e+02] [-6.24309722e-01 7.81070054e-01 1.29205727e-02 -3.06329592e+02] [ 2.01078270e-02 -4.66599718e-04 9.99797708e-01 1.08343950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.262755096 meters 0.02466262197922797 Centerline is valid? [True, True] Translation: X:480.83, Y:-306.37, Z:10.84 [[ 7.81059761e-01 6.24261905e-01 -1.55795830e-02 4.80834278e+02] [-6.24125326e-01 7.81214978e-01 1.30665747e-02 -3.06369073e+02] [ 2.03279684e-02 -4.82163440e-04 9.99793249e-01 1.08383444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3227550959999 meters 0.025333174368433294 Centerline is valid? [True, True] Translation: X:480.88, Y:-306.41, Z:10.84 [[ 7.81577327e-01 6.23599354e-01 -1.61470299e-02 4.80880924e+02] [-6.23452321e-01 7.81743929e-01 1.35511540e-02 -3.06409282e+02] [ 2.10733335e-02 -5.24371511e-04 9.99777795e-01 1.08397652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.382755096 meters 0.02553689761511549 Centerline is valid? [True, True] Translation: X:480.93, Y:-306.45, Z:10.84 [[ 7.81557077e-01 6.23629142e-01 -1.59758649e-02 4.80929852e+02] [-6.23485069e-01 7.81720167e-01 1.34145049e-02 -3.06448396e+02] [ 2.08543320e-02 -5.23488031e-04 9.99782388e-01 1.08421917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4427550959999 meters 0.02678010316222469 Centerline is valid? [True, True] Translation: X:480.98, Y:-306.49, Z:10.84 [[ 7.81985644e-01 6.23082655e-01 -1.63235330e-02 4.80976559e+02] [-6.22931949e-01 7.82155800e-01 1.37146115e-02 -3.06487644e+02] [ 2.13128826e-02 -5.56179126e-04 9.99772700e-01 1.08437482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.502755096 meters 0.024739758944420598 Centerline is valid? [True, True] Translation: X:481.03, Y:-306.52, Z:10.85 [[ 7.80691229e-01 6.24684699e-01 -1.70362070e-02 4.81028118e+02] [-6.24520813e-01 7.80876902e-01 1.43184593e-02 -3.06523137e+02] [ 2.22477029e-02 -5.38829753e-04 9.99752344e-01 1.08457995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5627550959999 meters 0.025136455982451324 Centerline is valid? [True, True] Translation: X:481.08, Y:-306.56, Z:10.84 [[ 7.78831772e-01 6.26983811e-01 -1.76740178e-02 4.81077637e+02] [-6.26807811e-01 7.79032126e-01 1.48632052e-02 -3.06561035e+02] [ 2.30876167e-02 -4.97724017e-04 9.99733322e-01 1.08447328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.622755096 meters 0.022822245183211805 Centerline is valid? [True, True] Translation: X:481.13, Y:-306.60, Z:10.85 [[ 7.75506861e-01 6.31069786e-01 -1.84399982e-02 4.81129237e+02] [-6.30879130e-01 7.75725960e-01 1.55163963e-02 -3.06596369e+02] [ 2.40963142e-02 -3.99661760e-04 9.99709562e-01 1.08486888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6827550959999 meters 0.022485614299659982 Centerline is valid? [True, True] Translation: X:481.18, Y:-306.63, Z:10.85 [[ 7.73542033e-01 6.33448020e-01 -1.93991945e-02 4.81175447e+02] [-6.33237592e-01 7.73785167e-01 1.63299427e-02 -3.06631874e+02] [ 2.53549788e-02 -3.47597880e-04 9.99678450e-01 1.08503700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.742755096 meters 0.02215161406112253 Centerline is valid? [True, True] Translation: X:481.22, Y:-306.67, Z:10.85 [[ 7.72729877e-01 6.34445449e-01 -1.91705207e-02 4.81222080e+02] [-6.34240294e-01 7.72967578e-01 1.61360708e-02 -3.06669935e+02] [ 2.50556477e-02 -3.10107326e-04 9.99686010e-01 1.08532323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8027550959999 meters 0.0218721306423229 Centerline is valid? [True, True] Translation: X:481.27, Y:-306.71, Z:10.86 [[ 7.72150595e-01 6.35169574e-01 -1.85221807e-02 4.81271312e+02] [-6.34978220e-01 7.72372665e-01 1.55925110e-02 -3.06708243e+02] [ 2.42099146e-02 -2.78585273e-04 9.99706858e-01 1.08571803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.862755096 meters 0.022962545575655587 Centerline is valid? [True, True] Translation: X:481.32, Y:-306.75, Z:10.86 [[ 7.72277883e-01 6.35014916e-01 -1.85183064e-02 4.81317789e+02] [-6.34823386e-01 7.72499820e-01 1.55979711e-02 -3.06747535e+02] [ 2.42103327e-02 -2.90114122e-04 9.99706845e-01 1.08566084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.922755096 meters 0.022674115642333677 Centerline is valid? [True, True] Translation: X:481.36, Y:-306.79, Z:10.86 [[ 7.73643608e-01 6.33354759e-01 -1.83662136e-02 4.81364045e+02] [-6.33165696e-01 7.73861506e-01 1.54781017e-02 -3.06788281e+02] [ 2.40160351e-02 -3.45678041e-04 9.99711514e-01 1.08606963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9827550959999 meters 0.02340603320760446 Centerline is valid? [True, True] Translation: X:481.41, Y:-306.83, Z:10.86 [[ 7.75594999e-01 6.30936632e-01 -1.92708116e-02 4.81410037e+02] [-6.30727489e-01 7.75834238e-01 1.62502077e-02 -3.06829755e+02] [ 2.52038067e-02 -4.48949251e-04 9.99682233e-01 1.08619537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.042755096 meters 0.024427825549763166 Centerline is valid? [True, True] Translation: X:481.46, Y:-306.87, Z:10.86 [[ 7.77804558e-01 6.28210405e-01 -1.92809911e-02 4.81456270e+02] [-6.27999967e-01 7.78043308e-01 1.62681075e-02 -3.06871741e+02] [ 2.52212405e-02 -5.44946415e-04 9.99681745e-01 1.08634641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1027550959999 meters 0.026029581963234502 Centerline is valid? [True, True] Translation: X:481.50, Y:-306.91, Z:10.86 [[ 7.79926013e-01 6.25553944e-01 -1.99418798e-02 4.81499895e+02] [-6.25327740e-01 7.80180639e-01 1.68341345e-02 -3.06914228e+02] [ 2.60889278e-02 -6.59168774e-04 9.99659409e-01 1.08638856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.162755096 meters 0.026887518652007947 Centerline is valid? [True, True] Translation: X:481.55, Y:-306.96, Z:10.86 [[ 7.80758270e-01 6.24476305e-01 -2.11155915e-02 4.81545561e+02] [-6.24222102e-01 7.81043401e-01 1.78317819e-02 -3.06956820e+02] [ 2.76277187e-02 -7.41492269e-04 9.99618007e-01 1.08644633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2227550959999 meters 0.028837985175343136 Centerline is valid? [True, True] Translation: X:481.59, Y:-307.00, Z:10.86 [[ 7.81737577e-01 6.23242000e-01 -2.13487834e-02 4.81591357e+02] [-6.22981417e-01 7.82028623e-01 1.80384780e-02 -3.06998138e+02] [ 2.79376968e-02 -8.01460757e-04 9.99609345e-01 1.08629452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.282755096 meters 0.029731539084270057 Centerline is valid? [True, True] Translation: X:481.64, Y:-307.04, Z:10.86 [[ 7.81759735e-01 6.23197771e-01 -2.18232669e-02 4.81635778e+02] [-6.22925289e-01 7.82063845e-01 1.84452611e-02 -3.07037630e+02] [ 2.85622337e-02 -8.25497604e-04 9.99591675e-01 1.08624418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3427550959999 meters 0.028348255541729206 Centerline is valid? [True, True] Translation: X:481.68, Y:-307.08, Z:10.86 [[ 7.80272138e-01 6.25016800e-01 -2.30084882e-02 4.81679747e+02] [-6.24714747e-01 7.80610890e-01 1.94454036e-02 -3.07075913e+02] [ 3.01143804e-02 -7.98964717e-04 9.99546140e-01 1.08648986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.402755096 meters 0.02584792310130784 Centerline is valid? [True, True] Translation: X:481.73, Y:-307.11, Z:10.87 [[ 7.79260956e-01 6.26283602e-01 -2.28300655e-02 4.81730434e+02] [-6.25986767e-01 7.79594957e-01 1.92943413e-02 -3.07112807e+02] [ 2.98819335e-02 -7.44007941e-04 9.99553158e-01 1.08676307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4627550959999 meters 0.02603660047014656 Centerline is valid? [True, True] Translation: X:481.78, Y:-307.15, Z:10.87 [[ 7.77724382e-01 6.28161230e-01 -2.36274169e-02 4.81778820e+02] [-6.27843941e-01 7.78082887e-01 1.99751697e-02 -3.07152084e+02] [ 3.09317159e-02 -7.00845928e-04 9.99521254e-01 1.08661097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.522755096 meters 0.026291380097612962 Centerline is valid? [True, True] Translation: X:481.82, Y:-307.19, Z:10.87 [[ 7.76233498e-01 6.29999086e-01 -2.37214633e-02 4.81821967e+02] [-6.29679927e-01 7.76595614e-01 2.00609507e-02 -3.07192596e+02] [ 3.10603650e-02 -6.35052650e-04 9.99517309e-01 1.08673809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5827550959999 meters 0.024066109054338165 Centerline is valid? [True, True] Translation: X:481.87, Y:-307.23, Z:10.87 [[ 7.75270464e-01 6.31196968e-01 -2.33686562e-02 4.81871742e+02] [-6.30887763e-01 7.75622364e-01 1.97630657e-02 -3.07229368e+02] [ 3.05996396e-02 -5.78721927e-04 9.99531554e-01 1.08705858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.642755096 meters 0.024024624825547364 Centerline is valid? [True, True] Translation: X:481.92, Y:-307.27, Z:10.87 [[ 7.74918401e-01 6.31615742e-01 -2.37281734e-02 4.81916858e+02] [-6.31297118e-01 7.75281386e-01 2.00678940e-02 -3.07268930e+02] [ 3.10712089e-02 -5.71452815e-04 9.99517010e-01 1.08712244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7027550959999 meters 0.02431059169624488 Centerline is valid? [True, True] Translation: X:481.96, Y:-307.31, Z:10.87 [[ 7.75126298e-01 6.31351710e-01 -2.39633144e-02 4.81963503e+02] [-6.31026492e-01 7.75496402e-01 2.02706011e-02 -3.07309309e+02] [ 3.13813428e-02 -5.90789713e-04 9.99507310e-01 1.08715319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.762755096 meters 0.02426179424320165 Centerline is valid? [True, True] Translation: X:482.01, Y:-307.35, Z:10.87 [[ 7.73982676e-01 6.32712202e-01 -2.50217436e-02 4.82007969e+02] [-6.32357909e-01 7.74386819e-01 2.11785051e-02 -3.07353293e+02] [ 3.27764070e-02 -5.69098589e-04 9.99462547e-01 1.08717283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8227550959999 meters 0.02309205224671341 Centerline is valid? [True, True] Translation: X:482.06, Y:-307.39, Z:10.87 [[ 7.73256449e-01 6.33581934e-01 -2.54636482e-02 4.82055947e+02] [-6.33215243e-01 7.73675406e-01 2.15597393e-02 -3.07390847e+02] [ 3.33604597e-02 -5.47237272e-04 9.99443235e-01 1.08725297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.882755096 meters 0.0241698101327681 Centerline is valid? [True, True] Translation: X:482.10, Y:-307.43, Z:10.87 [[ 7.73022348e-01 6.33862197e-01 -2.55961941e-02 4.82099272e+02] [-6.33491895e-01 7.73445814e-01 2.16700738e-02 -3.07428687e+02] [ 3.35331098e-02 -5.36469803e-04 9.99437463e-01 1.08694938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9427550959999 meters 0.022514114205475323 Centerline is valid? [True, True] Translation: X:482.14, Y:-307.47, Z:10.87 [[ 7.72362907e-01 6.34696645e-01 -2.48134608e-02 4.82142594e+02] [-6.34349197e-01 7.72761241e-01 2.10038037e-02 -3.07469107e+02] [ 3.25059245e-02 -4.82159956e-04 9.99471427e-01 1.08739604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.002755096 meters 0.021202077242770737 Centerline is valid? [True, True] Translation: X:482.19, Y:-307.51, Z:10.87 [[ 7.71247227e-01 6.36021959e-01 -2.55691771e-02 4.82192265e+02] [-6.35653595e-01 7.71670831e-01 2.16479743e-02 -3.07508496e+02] [ 3.34995752e-02 -4.42800786e-04 9.99438634e-01 1.08747365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0627550959999 meters 0.021703032038483 Centerline is valid? [True, True] Translation: X:482.24, Y:-307.55, Z:10.87 [[ 7.69936486e-01 6.37576567e-01 -2.63425264e-02 4.82238807e+02] [-6.37185997e-01 7.70386892e-01 2.23168502e-02 -3.07549926e+02] [ 3.45226378e-02 -3.97468316e-04 9.99403837e-01 1.08722586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.122755096 meters 0.02336061862901799 Centerline is valid? [True, True] Translation: X:482.29, Y:-307.59, Z:10.87 [[ 7.69429673e-01 6.38184254e-01 -2.64355184e-02 4.82286996e+02] [-6.37790799e-01 7.69883570e-01 2.24094842e-02 -3.07590171e+02] [ 3.46536513e-02 -3.82191660e-04 9.99399309e-01 1.08723668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1827550959999 meters 0.020101224958522568 Centerline is valid? [True, True] Translation: X:482.33, Y:-307.63, Z:10.88 [[ 7.68618136e-01 6.39193179e-01 -2.56562021e-02 4.82332879e+02] [-6.38822713e-01 7.69046141e-01 2.17617709e-02 -3.07632561e+02] [ 3.36407788e-02 -3.36727128e-04 9.99433932e-01 1.08783444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.242755096 meters 0.02030603569288469 Centerline is valid? [True, True] Translation: X:482.38, Y:-307.67, Z:10.88 [[ 7.68998892e-01 6.38749202e-01 -2.53014061e-02 4.82378110e+02] [-6.38388281e-01 7.69414925e-01 2.14726681e-02 -3.07674980e+02] [ 3.31829291e-02 -3.60336812e-04 9.99449230e-01 1.08799053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3027550959999 meters 0.02267464130718956 Centerline is valid? [True, True] Translation: X:482.42, Y:-307.72, Z:10.88 [[ 7.71706829e-01 6.35485837e-01 -2.50264308e-02 4.82417702e+02] [-6.35130703e-01 7.72112362e-01 2.12483248e-02 -3.07721990e+02] [ 3.28262261e-02 -5.02422707e-04 9.99460948e-01 1.08801676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.362755096 meters 0.022123398578931332 Centerline is valid? [True, True] Translation: X:482.46, Y:-307.77, Z:10.88 [[ 7.72755071e-01 6.34244731e-01 -2.41499520e-02 4.82461992e+02] [-6.33913193e-01 7.73132154e-01 2.05118587e-02 -3.07765645e+02] [ 3.16806427e-02 -5.41669640e-04 9.99497896e-01 1.08829994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.422755096 meters 0.02314754796381769 Centerline is valid? [True, True] Translation: X:482.50, Y:-307.81, Z:10.88 [[ 7.74222432e-01 6.32465483e-01 -2.38125910e-02 4.82504454e+02] [-6.32142088e-01 7.74588303e-01 2.02321697e-02 -3.07810005e+02] [ 3.12411035e-02 -6.11258635e-04 9.99511691e-01 1.08846307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4827550959999 meters 0.022990399224794362 Centerline is valid? [True, True] Translation: X:482.55, Y:-307.85, Z:10.88 [[ 7.73524736e-01 6.33320450e-01 -2.37632351e-02 4.82548781e+02] [-6.32998821e-01 7.73889448e-01 2.01894831e-02 -3.07847182e+02] [ 3.11765294e-02 -5.74964782e-04 9.99513728e-01 1.08849137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.542755096 meters 0.021878094243228237 Centerline is valid? [True, True] Translation: X:482.60, Y:-307.88, Z:10.89 [[ 7.72358818e-01 6.34729640e-01 -2.40860958e-02 4.82595841e+02] [-6.34399989e-01 7.72734114e-01 2.04607739e-02 -3.07884197e+02] [ 3.15992075e-02 -5.22840186e-04 9.99500484e-01 1.08856965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6027550959999 meters 0.02036773024245482 Centerline is valid? [True, True] Translation: X:482.64, Y:-307.92, Z:10.89 [[ 7.70015889e-01 6.37537027e-01 -2.49413291e-02 4.82644476e+02] [-6.37185074e-01 7.70419601e-01 2.11853659e-02 -3.07919785e+02] [ 3.27217440e-02 -4.20825753e-04 9.99464412e-01 1.08867921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.662755096 meters 0.019354548624193606 Centerline is valid? [True, True] Translation: X:482.69, Y:-307.96, Z:10.89 [[ 7.68792854e-01 6.39000332e-01 -2.52214707e-02 4.82694710e+02] [-6.38641079e-01 7.69206371e-01 2.14273327e-02 -3.07956830e+02] [ 3.30925887e-02 -3.65712993e-04 9.99452223e-01 1.08889014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7227550959999 meters 0.018403981779115248 Centerline is valid? [True, True] Translation: X:482.75, Y:-307.99, Z:10.89 [[ 7.66933362e-01 6.41253190e-01 -2.46488243e-02 4.82746314e+02] [-6.40910854e-01 7.67329312e-01 2.09524178e-02 -3.07991994e+02] [ 3.23495701e-02 -2.71409199e-04 9.99476579e-01 1.08906117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.782755096 meters 0.02037476387984734 Centerline is valid? [True, True] Translation: X:482.79, Y:-308.03, Z:10.89 [[ 7.66191129e-01 6.42151712e-01 -2.43378915e-02 4.82794497e+02] [-6.41818038e-01 7.66577538e-01 2.06998866e-02 -3.08030660e+02] [ 3.19493485e-02 -2.39571706e-04 9.99489461e-01 1.08915713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8427550959999 meters 0.018042186671425143 Centerline is valid? [True, True] Translation: X:482.84, Y:-308.07, Z:10.90 [[ 7.67029952e-01 6.41192445e-01 -2.31797844e-02 4.82840370e+02] [-6.40888993e-01 7.67380071e-01 1.97262670e-02 -3.08072835e+02] [ 3.04360380e-02 -2.74968971e-04 9.99536679e-01 1.08951536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.902755096 meters 0.018974654573488618 Centerline is valid? [True, True] Translation: X:482.88, Y:-308.12, Z:10.90 [[ 7.68840645e-01 6.38999250e-01 -2.37491101e-02 4.82884765e+02] [-6.38679276e-01 7.69207263e-01 2.02229735e-02 -3.08116798e+02] [ 3.11904529e-02 -3.80179535e-04 9.99513387e-01 1.08954446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9627550959999 meters 0.021150337241516156 Centerline is valid? [True, True] Translation: X:482.93, Y:-308.16, Z:10.90 [[ 7.70598352e-01 6.36883736e-01 -2.36069183e-02 4.82929415e+02] [-6.36566236e-01 7.70959716e-01 2.01132585e-02 -3.08159824e+02] [ 3.10097902e-02 -4.71876755e-04 9.99518969e-01 1.08953612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.022755096 meters 0.020012662571696635 Centerline is valid? [True, True] Translation: X:482.98, Y:-308.20, Z:10.90 [[ 7.71749830e-01 6.35565246e-01 -2.14247169e-02 4.82975171e+02] [-6.35302949e-01 7.72047009e-01 1.82641637e-02 -3.08203467e+02] [ 2.81489563e-02 -4.84179340e-04 9.99603622e-01 1.09004270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0827550959999 meters 0.02057051393976422 Centerline is valid? [True, True] Translation: X:483.02, Y:-308.24, Z:10.90 [[ 7.72176067e-01 6.35094619e-01 -1.99736434e-02 4.83022362e+02] [-6.34866231e-01 7.72434204e-01 1.70372819e-02 -3.08242895e+02] [ 2.62486114e-02 -4.75189664e-04 9.99655333e-01 1.09017481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.142755096 meters 0.020479676579691512 Centerline is valid? [True, True] Translation: X:483.07, Y:-308.28, Z:10.90 [[ 7.72931455e-01 6.34182137e-01 -1.97479939e-02 4.83069842e+02] [-6.33958332e-01 7.73183522e-01 1.68545215e-02 -3.08283080e+02] [ 2.59576600e-02 -5.07984554e-04 9.99662914e-01 1.09033515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2027550959999 meters 0.021579975770012125 Centerline is valid? [True, True] Translation: X:483.12, Y:-308.32, Z:10.90 [[ 7.73130653e-01 6.33944598e-01 -1.95765498e-02 4.83116466e+02] [-6.33724342e-01 7.73378289e-01 1.67176628e-02 -3.08324099e+02] [ 2.57381506e-02 -5.18801399e-04 9.99668584e-01 1.09031571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.262755096 meters 0.022132598224844015 Centerline is valid? [True, True] Translation: X:483.17, Y:-308.36, Z:10.90 [[ 7.75139397e-01 6.31441147e-01 -2.09998257e-02 4.83165447e+02] [-6.31186539e-01 7.75423531e-01 1.79416158e-02 -3.08362333e+02] [ 2.76128335e-02 -6.52445931e-04 9.99618480e-01 1.09013379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3227550959999 meters 0.024954281099296604 Centerline is valid? [True, True] Translation: X:483.21, Y:-308.41, Z:10.90 [[ 7.76065228e-01 6.30308689e-01 -2.08259071e-02 4.83209508e+02] [-6.30057739e-01 7.76344305e-01 1.77979123e-02 -3.08405526e+02] [ 2.73862532e-02 -6.90816904e-04 9.99624688e-01 1.09006932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.382755096 meters 0.02347196026759729 Centerline is valid? [True, True] Translation: X:483.26, Y:-308.44, Z:10.90 [[ 7.76813364e-01 6.29385824e-01 -2.08442279e-02 4.83258381e+02] [-6.29133850e-01 7.77092626e-01 1.78227131e-02 -3.08443127e+02] [ 2.74152588e-02 -7.31112385e-04 9.99623864e-01 1.09026692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4427550959999 meters 0.023834868624900318 Centerline is valid? [True, True] Translation: X:483.31, Y:-308.48, Z:10.90 [[ 7.76066213e-01 6.30312574e-01 -2.06710212e-02 4.83307121e+02] [-6.30064844e-01 7.76341142e-01 1.76840079e-02 -3.08482168e+02] [ 2.71942167e-02 -6.99877358e-04 9.99629924e-01 1.09030366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.502755096 meters 0.021835841919317867 Centerline is valid? [True, True] Translation: X:483.36, Y:-308.52, Z:10.91 [[ 7.74152513e-01 6.32685062e-01 -1.99373940e-02 4.83356022e+02] [-6.32455143e-01 7.74408968e-01 1.70658238e-02 -3.08519868e+02] [ 2.62369885e-02 -6.02042987e-04 9.99655570e-01 1.09056025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5627550959999 meters 0.019020796830837374 Centerline is valid? [True, True] Translation: X:483.41, Y:-308.56, Z:10.91 [[ 7.69923496e-01 6.37851162e-01 -1.90710747e-02 4.83406166e+02] [-6.37642191e-01 7.70159544e-01 1.63313321e-02 -3.08556548e+02] [ 2.51047294e-02 -4.13354476e-04 9.99684741e-01 1.09082704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.622755096 meters 0.017012886320144405 Centerline is valid? [True, True] Translation: X:483.46, Y:-308.59, Z:10.91 [[ 7.65359244e-01 6.43372718e-01 -1.72271282e-02 4.83456575e+02] [-6.43203563e-01 7.65553069e-01 1.47538229e-02 -3.08591989e+02] [ 2.26804880e-02 -2.11424492e-04 9.99742742e-01 1.09115614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6827550959999 meters 0.016287502018128817 Centerline is valid? [True, True] Translation: X:483.50, Y:-308.63, Z:10.91 [[ 7.62865787e-01 6.46372876e-01 -1.54238462e-02 4.83504672e+02] [-6.46237863e-01 7.63021685e-01 1.32110560e-02 -3.08630963e+02] [ 2.03079974e-02 -1.10789256e-04 9.99793765e-01 1.09143388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.742755096 meters 0.016771929960159335 Centerline is valid? [True, True] Translation: X:483.55, Y:-308.67, Z:10.91 [[ 7.59076937e-01 6.50821483e-01 -1.52839941e-02 4.83552623e+02] [-6.50689654e-01 7.59230793e-01 1.30987271e-02 -3.08669108e+02] [ 2.01290120e-02 2.19520630e-06 9.99797391e-01 1.09142159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8027550959999 meters 0.0159682449816472 Centerline is valid? [True, True] Translation: X:483.60, Y:-308.71, Z:10.92 [[ 7.58212412e-01 6.51843484e-01 -1.46290829e-02 4.83600730e+02] [-6.51722778e-01 7.58353527e-01 1.25438752e-02 -3.08709443e+02] [ 1.92706599e-02 2.31846944e-05 9.99814303e-01 1.09159650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.862755096 meters 0.015959920797348807 Centerline is valid? [True, True] Translation: X:483.65, Y:-308.75, Z:10.92 [[ 7.59429590e-01 6.50436009e-01 -1.41313980e-02 4.83645110e+02] [-6.50322992e-01 7.59561056e-01 1.21246590e-02 -3.08754654e+02] [ 1.86199744e-02 -1.78517836e-05 9.99826633e-01 1.09173327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.922755096 meters 0.018678901888851067 Centerline is valid? [True, True] Translation: X:483.69, Y:-308.80, Z:10.91 [[ 7.62759983e-01 6.46501639e-01 -1.52590572e-02 4.83687128e+02] [-6.46368897e-01 7.62912586e-01 1.31009631e-02 -3.08801015e+02] [ 2.01111209e-02 -1.29910399e-04 9.99797743e-01 1.09148182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9827550959999 meters 0.02064097094198597 Centerline is valid? [True, True] Translation: X:483.73, Y:-308.85, Z:10.91 [[ 7.65508868e-01 6.43223878e-01 -1.61001862e-02 4.83730537e+02] [-6.43075200e-01 7.65678123e-01 1.38310881e-02 -3.08845324e+02] [ 2.12240465e-02 -2.34190193e-04 9.99774717e-01 1.09120424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.042755096 meters 0.019613953754380353 Centerline is valid? [True, True] Translation: X:483.78, Y:-308.89, Z:10.91 [[ 7.68111780e-01 6.40107762e-01 -1.63201082e-02 4.83775961e+02] [-6.39954120e-01 7.68285066e-01 1.40278777e-02 -3.08888290e+02] [ 2.15178488e-02 -3.30857662e-04 9.99768410e-01 1.09134607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1027550959999 meters 0.02179463551516259 Centerline is valid? [True, True] Translation: X:483.82, Y:-308.93, Z:10.91 [[ 7.69801451e-01 6.38083955e-01 -1.59559672e-02 4.83819845e+02] [-6.37936501e-01 7.69966700e-01 1.37223244e-02 -3.08930315e+02] [ 2.10415584e-02 -3.84571358e-04 9.99778528e-01 1.09135606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.162755096 meters 0.021576019754474363 Centerline is valid? [True, True] Translation: X:483.87, Y:-308.97, Z:10.92 [[ 7.72325453e-01 6.35032153e-01 -1.57339977e-02 4.83865762e+02] [-6.34888013e-01 7.72485565e-01 1.35374787e-02 -3.08971185e+02] [ 2.07510203e-02 -4.66012821e-04 9.99784566e-01 1.09154196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2227550959999 meters 0.021730478185750343 Centerline is valid? [True, True] Translation: X:483.91, Y:-309.01, Z:10.92 [[ 7.72605558e-01 6.34680810e-01 -1.61530387e-02 4.83911772e+02] [-6.34528651e-01 7.72774240e-01 1.39055754e-02 -3.09011859e+02] [ 2.13082541e-02 -4.93958942e-04 9.99772831e-01 1.09170209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.282755096 meters 0.022149224180406216 Centerline is valid? [True, True] Translation: X:483.96, Y:-309.05, Z:10.92 [[ 7.72241692e-01 6.35142950e-01 -1.53689091e-02 4.83962827e+02] [-6.35005161e-01 7.72394471e-01 1.32373222e-02 -3.09048914e+02] [ 2.02784522e-02 -4.63075522e-04 9.99794264e-01 1.09172099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3427550959999 meters 0.02178396461720873 Centerline is valid? [True, True] Translation: X:484.01, Y:-309.09, Z:10.92 [[ 7.72295058e-01 6.35100364e-01 -1.44177307e-02 4.84011972e+02] [-6.34978952e-01 7.72429501e-01 1.24256528e-02 -3.09086827e+02] [ 1.90282172e-02 -4.41314710e-04 9.99818850e-01 1.09200067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.402755096 meters 0.022445402850255758 Centerline is valid? [True, True] Translation: X:484.06, Y:-309.13, Z:10.92 [[ 7.72833954e-01 6.34463101e-01 -1.35739814e-02 4.84058903e+02] [-6.34355269e-01 7.72953028e-01 1.17050961e-02 -3.09126975e+02] [ 1.79185016e-02 -4.35369062e-04 9.99839356e-01 1.09226612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4627550959999 meters 0.021817701841767675 Centerline is valid? [True, True] Translation: X:484.11, Y:-309.17, Z:10.93 [[ 7.73810927e-01 6.33299554e-01 -1.21788595e-02 4.84107137e+02] [-6.33212525e-01 7.73906648e-01 1.05071125e-02 -3.09165929e+02] [ 1.60794500e-02 -4.18712129e-04 9.99870630e-01 1.09260918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.522755096 meters 0.021619189920118496 Centerline is valid? [True, True] Translation: X:484.16, Y:-309.20, Z:10.93 [[ 7.73989809e-01 6.33099922e-01 -1.11473596e-02 4.84157685e+02] [-6.33026919e-01 7.74069981e-01 9.62201821e-03 -3.09202874e+02] [ 1.47205354e-02 -3.90765351e-04 9.99891571e-01 1.09278769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5827550959999 meters 0.023035663315596745 Centerline is valid? [True, True] Translation: X:484.21, Y:-309.24, Z:10.93 [[ 7.73076900e-01 6.34203457e-01 -1.17508676e-02 4.84207404e+02] [-6.34122366e-01 7.73166101e-01 1.01491197e-02 -3.09240550e+02] [ 1.55219793e-02 -3.94561981e-04 9.99879449e-01 1.09264805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.642755096 meters 0.0223819085805655 Centerline is valid? [True, True] Translation: X:484.26, Y:-309.28, Z:10.93 [[ 7.71092219e-01 6.36597211e-01 -1.26799113e-02 4.84256101e+02] [-6.36502997e-01 7.71196374e-01 1.09584394e-02 -3.09277194e+02] [ 1.67548135e-02 -3.79165830e-04 9.99859556e-01 1.09264721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7027550959999 meters 0.019321491992637684 Centerline is valid? [True, True] Translation: X:484.31, Y:-309.31, Z:10.93 [[ 7.68758246e-01 6.39424298e-01 -1.21377895e-02 4.84305316e+02] [-6.39338259e-01 7.68854000e-01 1.04936914e-02 -3.09312343e+02] [ 1.60421093e-02 -3.06958562e-04 9.99871270e-01 1.09299991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.762755096 meters 0.017410679864437353 Centerline is valid? [True, True] Translation: X:484.36, Y:-309.34, Z:10.93 [[ 7.65095353e-01 6.43798394e-01 -1.23583945e-02 4.84355550e+02] [-6.43709782e-01 7.65195126e-01 1.06834718e-02 -3.09342448e+02] [ 1.63345852e-02 -2.18655171e-04 9.99866558e-01 1.09303982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8227550959999 meters 0.015906946948625697 Centerline is valid? [True, True] Translation: X:484.40, Y:-309.38, Z:10.93 [[ 7.62566195e-01 6.46772708e-01 -1.33365029e-02 4.84404838e+02] [-6.46670010e-01 7.62682789e-01 1.15265836e-02 -3.09376225e+02] [ 1.76266009e-02 -1.65466501e-04 9.99844626e-01 1.09308691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.882755096 meters 0.015700774161686356 Centerline is valid? [True, True] Translation: X:484.45, Y:-309.41, Z:10.93 [[ 7.61510876e-01 6.47972183e-01 -1.52720645e-02 4.84452305e+02] [-6.47837776e-01 7.61663985e-01 1.31980979e-02 -3.09410210e+02] [ 2.01841818e-02 -1.56674772e-04 9.99796266e-01 1.09289089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9427550959999 meters 0.015853971247915717 Centerline is valid? [True, True] Translation: X:484.50, Y:-309.45, Z:10.93 [[ 7.62338537e-01 6.46956225e-01 -1.69587285e-02 4.84498416e+02] [-6.46790313e-01 7.62527116e-01 1.46522690e-02 -3.09447390e+02] [ 2.24108669e-02 -2.01248006e-04 9.99748825e-01 1.09280974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.002755096 meters 0.01780998312377113 Centerline is valid? [True, True] Translation: X:484.54, Y:-309.49, Z:10.93 [[ 7.65900041e-01 6.42694989e-01 -1.84466578e-02 4.84539801e+02] [-6.42497510e-01 7.66122071e-01 1.59349556e-02 -3.09487981e+02] [ 2.43737078e-02 -3.52651492e-04 9.99702855e-01 1.09268148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0627550959999 meters 0.021261133575477143 Centerline is valid? [True, True] Translation: X:484.58, Y:-309.53, Z:10.93 [[ 7.71099388e-01 6.36459088e-01 -1.80433572e-02 4.84580060e+02] [-6.36268498e-01 7.71310276e-01 1.55838431e-02 -3.09531981e+02] [ 2.38355053e-02 -5.36272110e-04 9.99715750e-01 1.09297903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.122755096 meters 0.024907135173955364 Centerline is valid? [True, True] Translation: X:484.62, Y:-309.58, Z:10.93 [[ 7.77099696e-01 6.29128893e-01 -1.76889342e-02 4.84622855e+02] [-6.28943836e-01 7.77300636e-01 1.52765148e-02 -3.09575694e+02] [ 2.33605166e-02 -7.46028849e-04 9.99726828e-01 1.09320042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1827550959999 meters 0.02728267639852043 Centerline is valid? [True, True] Translation: X:484.67, Y:-309.62, Z:10.94 [[ 7.81074071e-01 6.24215912e-01 -1.66670353e-02 4.84665489e+02] [-6.24050489e-01 7.81251423e-01 1.43944926e-02 -3.09619045e+02] [ 2.20064164e-02 -8.42093396e-04 9.99757475e-01 1.09358955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.242755096 meters 0.029352330616800575 Centerline is valid? [True, True] Translation: X:484.71, Y:-309.66, Z:10.94 [[ 7.82386020e-01 6.22576976e-01 -1.64324491e-02 4.84711803e+02] [-6.22415798e-01 7.82558075e-01 1.41927103e-02 -3.09661036e+02] [ 2.16954004e-02 -8.76362175e-04 9.99764243e-01 1.09365471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3027550959999 meters 0.03007961244092774 Centerline is valid? [True, True] Translation: X:484.76, Y:-309.70, Z:10.94 [[ 7.82337699e-01 6.22628484e-01 -1.67778125e-02 4.84758475e+02] [-6.22460396e-01 7.82517072e-01 1.44943944e-02 -3.09701859e+02] [ 2.21535475e-02 -8.95987335e-04 9.99754179e-01 1.09369394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.362755096 meters 0.029318708105087833 Centerline is valid? [True, True] Translation: X:484.81, Y:-309.74, Z:10.94 [[ 7.81728384e-01 6.23359080e-01 -1.80053324e-02 4.84805410e+02] [-6.23165500e-01 7.81935140e-01 1.55626338e-02 -3.09741316e+02] [ 2.37801112e-02 -9.45450572e-04 9.99716766e-01 1.09365652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.422755096 meters 0.029589096854790824 Centerline is valid? [True, True] Translation: X:484.85, Y:-309.78, Z:10.94 [[ 7.80953595e-01 6.24288398e-01 -1.93772788e-02 4.84850299e+02] [-6.24064466e-01 7.81193332e-01 1.67487314e-02 -3.09779461e+02] [ 2.55934397e-02 -9.87310821e-04 9.99671947e-01 1.09358167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4827550959999 meters 0.02705195632853174 Centerline is valid? [True, True] Translation: X:484.90, Y:-309.82, Z:10.94 [[ 7.78423612e-01 6.27411678e-01 -2.02797266e-02 4.84898101e+02] [-6.27167515e-01 7.78687185e-01 1.75264315e-02 -3.09815278e+02] [ 2.67878510e-02 -9.24202403e-04 9.99640714e-01 1.09363250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.542755096 meters 0.025949196524130892 Centerline is valid? [True, True] Translation: X:484.94, Y:-309.85, Z:10.94 [[ 7.76477764e-01 6.29802269e-01 -2.07697772e-02 4.84944161e+02] [-6.29547057e-01 7.76755020e-01 1.79483332e-02 -3.09852835e+02] [ 2.74369297e-02 -8.60929556e-04 9.99623166e-01 1.09370366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6027550959999 meters 0.022740388080510716 Centerline is valid? [True, True] Translation: X:484.99, Y:-309.89, Z:10.94 [[ 7.73931918e-01 6.32926904e-01 -2.08067486e-02 4.84991856e+02] [-6.32671969e-01 7.74211193e-01 1.79779837e-02 -3.09887129e+02] [ 2.74875672e-02 -7.49888816e-04 9.99621864e-01 1.09386478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.662755096 meters 0.020892976427673928 Centerline is valid? [True, True] Translation: X:485.04, Y:-309.92, Z:10.94 [[ 7.71208359e-01 6.36243214e-01 -2.07904006e-02 4.85037686e+02] [-6.35989955e-01 7.71488287e-01 1.79610595e-02 -3.09924107e+02] [ 2.74671528e-02 -6.29233283e-04 9.99622509e-01 1.09407684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7227550959999 meters 0.023407482474156804 Centerline is valid? [True, True] Translation: X:485.08, Y:-309.96, Z:10.94 [[ 7.68646974e-01 6.39286078e-01 -2.22517372e-02 4.85080991e+02] [-6.38997326e-01 7.68968792e-01 1.92201532e-02 -3.09963097e+02] [ 2.93980678e-02 -5.54711986e-04 9.99567629e-01 1.09386822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.782755096 meters 0.019375046439725808 Centerline is valid? [True, True] Translation: X:485.13, Y:-310.00, Z:10.94 [[ 7.65228146e-01 6.43372718e-01 -2.23031605e-02 4.85127656e+02] [-6.43084456e-01 7.65552996e-01 1.92611892e-02 -3.09998823e+02] [ 2.94663750e-02 -3.96388313e-04 9.99565694e-01 1.09409949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8427550959999 meters 0.016374350907122005 Centerline is valid? [True, True] Translation: X:485.17, Y:-310.04, Z:10.95 [[ 7.63227299e-01 6.45779098e-01 -2.12942946e-02 4.85173187e+02] [-6.45517340e-01 7.63524246e-01 1.83872445e-02 -3.10036142e+02] [ 2.81328084e-02 -2.87810537e-04 9.99604153e-01 1.09450385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.902755096 meters 0.01609863731089597 Centerline is valid? [True, True] Translation: X:485.22, Y:-310.08, Z:10.95 [[ 7.62214451e-01 6.46983450e-01 -2.10130082e-02 4.85215640e+02] [-6.46729101e-01 7.62504006e-01 1.81414238e-02 -3.10075615e+02] [ 2.77597039e-02 -2.37931527e-04 9.99614597e-01 1.09457156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9627550959999 meters 0.01796702932035506 Centerline is valid? [True, True] Translation: X:485.26, Y:-310.12, Z:10.95 [[ 7.62920449e-01 6.46153659e-01 -2.09245839e-02 4.85257675e+02] [-6.45901221e-01 7.63207298e-01 1.80619534e-02 -3.10117106e+02] [ 2.76405924e-02 -2.64619243e-04 9.99617891e-01 1.09462619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.022755096 meters 0.016882024029610823 Centerline is valid? [True, True] Translation: X:485.30, Y:-310.16, Z:10.95 [[ 7.63891028e-01 6.45015604e-01 -2.06244352e-02 4.85297840e+02] [-6.44770019e-01 7.64169341e-01 1.78000319e-02 -3.10159259e+02] [ 2.72418594e-02 -2.99267162e-04 9.99628827e-01 1.09484465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0827550959999 meters 0.017694726029268838 Centerline is valid? [True, True] Translation: X:485.34, Y:-310.20, Z:10.95 [[ 7.65092883e-01 6.43572058e-01 -2.11633314e-02 4.85339392e+02] [-6.43313068e-01 7.65385446e-01 1.82596741e-02 -3.10201031e+02] [ 2.79495218e-02 -3.55699041e-04 9.99609273e-01 1.09488326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.142755096 meters 0.019266861282871604 Centerline is valid? [True, True] Translation: X:485.38, Y:-310.24, Z:10.95 [[ 7.66835520e-01 6.41472990e-01 -2.18102907e-02 4.85377788e+02] [-6.41197304e-01 7.67145495e-01 1.88097541e-02 -3.10244721e+02] [ 2.87976154e-02 -4.39287972e-04 9.99585166e-01 1.09484403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2027550959999 meters 0.02082900166580063 Centerline is valid? [True, True] Translation: X:485.42, Y:-310.29, Z:10.95 [[ 7.67481669e-01 6.40672137e-01 -2.26075218e-02 4.85419078e+02] [-6.40375735e-01 7.67814417e-01 1.94920195e-02 -3.10285916e+02] [ 2.98463749e-02 -4.82459267e-04 9.99554381e-01 1.09470471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.262755096 meters 0.022593895675562276 Centerline is valid? [True, True] Translation: X:485.46, Y:-310.33, Z:10.95 [[ 7.68050794e-01 6.39961680e-01 -2.33885864e-02 4.85460653e+02] [-6.39644331e-01 7.68406647e-01 2.01582353e-02 -3.10327513e+02] [ 3.08724434e-02 -5.22171940e-04 9.99523196e-01 1.09468188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3227550959999 meters 0.02268299588334224 Centerline is valid? [True, True] Translation: X:485.50, Y:-310.37, Z:10.95 [[ 7.67712462e-01 6.40378030e-01 -2.30987974e-02 4.85501829e+02] [-6.40068902e-01 7.68059721e-01 1.99013763e-02 -3.10368652e+02] [ 3.04856600e-02 -4.93712682e-04 9.99535082e-01 1.09486900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.382755096 meters 0.01722733569526208 Centerline is valid? [True, True] Translation: X:485.55, Y:-310.41, Z:10.96 [[ 7.66535508e-01 6.41850292e-01 -2.12489414e-02 4.85550687e+02] [-6.41589223e-01 7.66829865e-01 1.83092096e-02 -3.10407207e+02] [ 2.80460944e-02 -4.01567464e-04 9.99606550e-01 1.09569252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4427550959999 meters 0.01684512332295289 Centerline is valid? [True, True] Translation: X:485.60, Y:-310.45, Z:10.96 [[ 7.65615584e-01 6.42988405e-01 -1.99672191e-02 4.85597040e+02] [-6.42758080e-01 7.65875834e-01 1.72121043e-02 -3.10449314e+02] [ 2.63595940e-02 -3.43763842e-04 9.99652466e-01 1.09594018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.502755096 meters 0.016930949403879115 Centerline is valid? [True, True] Translation: X:485.64, Y:-310.49, Z:10.96 [[ 7.64863571e-01 6.43897116e-01 -1.94992740e-02 4.85640829e+02] [-6.43677632e-01 7.65112024e-01 1.68135989e-02 -3.10491714e+02] [ 2.57453568e-02 -3.08862772e-04 9.99668486e-01 1.09599828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5627550959999 meters 0.017335286420845083 Centerline is valid? [True, True] Translation: X:485.69, Y:-310.53, Z:10.96 [[ 7.65005636e-01 6.43742747e-01 -1.90171514e-02 4.85686845e+02] [-6.43533713e-01 7.65241908e-01 1.64068006e-02 -3.10534107e+02] [ 2.51144801e-02 -3.13116869e-04 9.99684533e-01 1.09609708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.622755096 meters 0.016157260563530847 Centerline is valid? [True, True] Translation: X:485.73, Y:-310.58, Z:10.96 [[ 7.64870016e-01 6.43922031e-01 -1.83922882e-02 4.85731702e+02] [-6.43726316e-01 7.65091057e-01 1.58778220e-02 -3.10577855e+02] [ 2.42958546e-02 -3.04870010e-04 9.99704766e-01 1.09642119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6827550959999 meters 0.016383803151714817 Centerline is valid? [True, True] Translation: X:485.78, Y:-310.62, Z:10.96 [[ 7.64894412e-01 6.43891860e-01 -1.84339893e-02 4.85776723e+02] [-6.43694995e-01 7.65116445e-01 1.59241589e-02 -3.10620873e+02] [ 2.43575846e-02 -3.14433460e-04 9.99703261e-01 1.09649031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.742755096 meters 0.017743796462663452 Centerline is valid? [True, True] Translation: X:485.82, Y:-310.67, Z:10.96 [[ 7.64806014e-01 6.44004028e-01 -1.81816706e-02 4.85821154e+02] [-6.43812318e-01 7.65022035e-01 1.57157579e-02 -3.10665121e+02] [ 2.40303900e-02 -3.13922664e-04 9.99711179e-01 1.09644982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8027550959999 meters 0.016532681703640337 Centerline is valid? [True, True] Translation: X:485.87, Y:-310.71, Z:10.97 [[ 7.63980863e-01 6.44981914e-01 -1.82091215e-02 4.85867105e+02] [-6.44789669e-01 7.64197779e-01 1.57491714e-02 -3.10707571e+02] [ 2.40733009e-02 -2.91012170e-04 9.99710154e-01 1.09662950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.862755096 meters 0.01840830253149808 Centerline is valid? [True, True] Translation: X:485.91, Y:-310.75, Z:10.97 [[ 7.63033874e-01 6.46121960e-01 -1.74848729e-02 4.85913400e+02] [-6.45944819e-01 7.63234138e-01 1.51308022e-02 -3.10748438e+02] [ 2.31213955e-02 -2.51051564e-04 9.99732633e-01 1.09663817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.922755096 meters 0.015125596647760144 Centerline is valid? [True, True] Translation: X:485.96, Y:-310.79, Z:10.97 [[ 7.60467693e-01 6.49135744e-01 -1.76542688e-02 4.85961748e+02] [-6.48955762e-01 7.60672569e-01 1.52859628e-02 -3.10788011e+02] [ 2.33517828e-02 -1.67641387e-04 9.99727296e-01 1.09691990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9827550959999 meters 0.014864352300947674 Centerline is valid? [True, True] Translation: X:486.01, Y:-310.83, Z:10.97 [[ 7.58580996e-01 6.51323259e-01 -1.82451049e-02 4.86008602e+02] [-6.51131444e-01 7.58800369e-01 1.58064288e-02 -3.10826593e+02] [ 2.41394871e-02 -1.10494978e-04 9.99708594e-01 1.09694129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.042755096 meters 0.014595328032101257 Centerline is valid? [True, True] Translation: X:486.06, Y:-310.87, Z:10.97 [[ 7.56604610e-01 6.53636140e-01 -1.75857887e-02 4.86057123e+02] [-6.53458383e-01 7.56808955e-01 1.52429469e-02 -3.10865206e+02] [ 2.32724233e-02 -4.13028585e-05 9.99729160e-01 1.09708864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1027550959999 meters 0.017314135412609566 Centerline is valid? [True, True] Translation: X:486.10, Y:-310.91, Z:10.97 [[ 7.56624715e-01 6.53605485e-01 -1.78580707e-02 4.86103362e+02] [-6.53421963e-01 7.56835430e-01 1.54877513e-02 -3.10905757e+02] [ 2.36384998e-02 -4.95598522e-05 9.99720570e-01 1.09693042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.162755096 meters 0.01479154424587306 Centerline is valid? [True, True] Translation: X:486.15, Y:-310.95, Z:10.97 [[ 7.57635106e-01 6.52454360e-01 -1.70983805e-02 4.86150071e+02] [-6.52285635e-01 7.57828015e-01 1.48374285e-02 -3.10948388e+02] [ 2.26383767e-02 -8.83286832e-05 9.99743715e-01 1.09741278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2227550959999 meters 0.015682100459741156 Centerline is valid? [True, True] Translation: X:486.19, Y:-310.99, Z:10.98 [[ 7.60469128e-01 6.49166332e-01 -1.64249659e-02 4.86193413e+02] [-6.49009683e-01 7.60646461e-01 1.42615793e-02 -3.10991989e+02] [ 2.17517294e-02 -1.85528852e-04 9.99763386e-01 1.09762280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.282755096 meters 0.01803723206451062 Centerline is valid? [True, True] Translation: X:486.24, Y:-311.03, Z:10.98 [[ 7.61366640e-01 6.48109268e-01 -1.65896349e-02 4.86239013e+02] [-6.47949046e-01 7.61547324e-01 1.44120317e-02 -3.11033942e+02] [ 2.19743634e-02 -2.23602047e-04 9.99758510e-01 1.09759765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3427550959999 meters 0.020826812192597757 Centerline is valid? [True, True] Translation: X:486.28, Y:-311.08, Z:10.98 [[ 7.64926264e-01 6.43935933e-01 -1.53076698e-02 4.86282543e+02] [-6.43798544e-01 7.65079349e-01 1.33050330e-02 -3.11078636e+02] [ 2.02791708e-02 -3.22313638e-04 9.99794305e-01 1.09780524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.402755096 meters 0.02066830415940832 Centerline is valid? [True, True] Translation: X:486.33, Y:-311.12, Z:10.98 [[ 7.67824906e-01 6.40494827e-01 -1.45358242e-02 4.86326105e+02] [-6.40370207e-01 7.67962381e-01 1.26403558e-02 -3.11123274e+02] [ 1.92590486e-02 -3.97271257e-04 9.99814448e-01 1.09819457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4627550959999 meters 0.021946167572345826 Centerline is valid? [True, True] Translation: X:486.37, Y:-311.17, Z:10.98 [[ 7.68916600e-01 6.39188986e-01 -1.43074424e-02 4.86370605e+02] [-6.39067988e-01 7.69049583e-01 1.24437333e-02 -3.11166049e+02] [ 1.89570299e-02 -4.24764665e-04 9.99820209e-01 1.09838115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.522755096 meters 0.023322829749853093 Centerline is valid? [True, True] Translation: X:486.42, Y:-311.21, Z:10.98 [[ 7.68097166e-01 6.40166876e-01 -1.45984546e-02 4.86417546e+02] [-6.40040962e-01 7.68235771e-01 1.27030613e-02 -3.11205657e+02] [ 1.93471341e-02 -4.13576475e-04 9.99812741e-01 1.09823743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5827550959999 meters 0.017968030753775534 Centerline is valid? [True, True] Translation: X:486.47, Y:-311.24, Z:10.98 [[ 7.64907191e-01 6.43969385e-01 -1.48465840e-02 4.86470311e+02] [-6.43839750e-01 7.65051190e-01 1.29248774e-02 -3.11239166e+02] [ 1.96816222e-02 -3.27510734e-04 9.99806244e-01 1.09846490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.642755096 meters 0.01752094216630517 Centerline is valid? [True, True] Translation: X:486.52, Y:-311.28, Z:10.99 [[ 7.62982518e-01 6.46263740e-01 -1.41723486e-02 4.86518053e+02] [-6.46145979e-01 7.63114088e-01 1.23394686e-02 -3.11278475e+02] [ 1.87896700e-02 -2.57392773e-04 9.99823425e-01 1.09864594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7027550959999 meters 0.017758786975469305 Centerline is valid? [True, True] Translation: X:486.57, Y:-311.32, Z:10.99 [[ 7.62013786e-01 6.47402319e-01 -1.43257898e-02 4.86565596e+02] [-6.47282063e-01 7.62148399e-01 1.24799689e-02 -3.11319261e+02] [ 1.89979386e-02 -2.37081559e-04 9.99819495e-01 1.09878508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.762755096 meters 0.017851275125383256 Centerline is valid? [True, True] Translation: X:486.61, Y:-311.36, Z:10.99 [[ 7.60914041e-01 6.48685921e-01 -1.47104563e-02 4.86613420e+02] [-6.48559302e-01 7.61056194e-01 1.28180068e-02 -3.11359577e+02] [ 1.95103445e-02 -2.12798077e-04 9.99809632e-01 1.09882915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8227550959999 meters 0.017713975934819142 Centerline is valid? [True, True] Translation: X:486.66, Y:-311.40, Z:10.99 [[ 7.60880525e-01 6.48748782e-01 -1.36324865e-02 4.86659629e+02] [-6.48639939e-01 7.61002614e-01 1.18849364e-02 -3.11400187e+02] [ 1.80846959e-02 -2.00441492e-04 9.99836438e-01 1.09910580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.882755096 meters 0.01705338676458713 Centerline is valid? [True, True] Translation: X:486.71, Y:-311.44, Z:11.00 [[ 7.61805222e-01 6.47678888e-01 -1.28398545e-02 4.86705122e+02] [-6.47582076e-01 7.61913388e-01 1.12002101e-02 -3.11443002e+02] [ 1.70369967e-02 -2.17518918e-04 9.99854836e-01 1.09950186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9427550959999 meters 0.019866193670710477 Centerline is valid? [True, True] Translation: X:486.75, Y:-311.49, Z:10.99 [[ 7.63055990e-01 6.46189424e-01 -1.35935249e-02 4.86749982e+02] [-6.46080547e-01 7.63177014e-01 1.18647079e-02 -3.11485725e+02] [ 1.80411145e-02 -2.70924411e-04 9.99837209e-01 1.09938886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.002755096 meters 0.018906823341562153 Centerline is valid? [True, True] Translation: X:486.79, Y:-311.53, Z:11.00 [[ 7.64041836e-01 6.45055939e-01 -1.19544102e-02 4.86794250e+02] [-6.44971519e-01 7.64135305e-01 1.04391397e-02 -3.11528283e+02] [ 1.58686159e-02 -2.65685336e-04 9.99874050e-01 1.09985047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0627550959999 meters 0.021386240151590692 Centerline is valid? [True, True] Translation: X:486.84, Y:-311.57, Z:11.00 [[ 7.64499631e-01 6.44491581e-01 -1.30735202e-02 4.86839597e+02] [-6.44390420e-01 7.64611344e-01 1.14227482e-02 -3.11570772e+02] [ 1.73580269e-02 -3.08235582e-04 9.99849291e-01 1.09966254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.122755096 meters 0.020122688260471876 Centerline is valid? [True, True] Translation: X:486.89, Y:-311.61, Z:11.00 [[ 7.64307261e-01 6.44718976e-01 -1.31092586e-02 4.86885167e+02] [-6.44617187e-01 7.64419614e-01 1.14601556e-02 -3.11613545e+02] [ 1.74095542e-02 -3.08626758e-04 9.99848395e-01 1.09982937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1827550959999 meters 0.019493013256825262 Centerline is valid? [True, True] Translation: X:486.93, Y:-311.65, Z:11.00 [[ 7.63955815e-01 6.45128935e-01 -1.34227246e-02 4.86931769e+02] [-6.45022146e-01 7.64073661e-01 1.17419022e-02 -3.11653947e+02] [ 1.78309912e-02 -3.12339831e-04 9.99840966e-01 1.09987550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.242755096 meters 0.01893458751297256 Centerline is valid? [True, True] Translation: X:486.98, Y:-311.70, Z:11.00 [[ 7.63900471e-01 6.45183846e-01 -1.39239321e-02 4.86978786e+02] [-6.45068849e-01 7.64027289e-01 1.21853050e-02 -3.11695373e+02] [ 1.85000261e-02 -3.26465390e-04 9.99828807e-01 1.09992415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3027550959999 meters 0.02273573993106412 Centerline is valid? [True, True] Translation: X:487.02, Y:-311.74, Z:11.00 [[ 7.65007997e-01 6.43869950e-01 -1.39374271e-02 4.87021839e+02] [-6.43754367e-01 7.65134861e-01 1.22049390e-02 -3.11739074e+02] [ 1.85224048e-02 -3.64596371e-04 9.99828379e-01 1.09982042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.362755096 meters 0.022576779809855882 Centerline is valid? [True, True] Translation: X:487.07, Y:-311.78, Z:11.00 [[ 7.66328736e-01 6.42309296e-01 -1.33804300e-02 4.87066830e+02] [-6.42202426e-01 7.66445442e-01 1.17230143e-02 -3.11780801e+02] [ 1.77851706e-02 -3.90738136e-04 9.99841755e-01 1.10017704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.422755096 meters 0.02392868436267676 Centerline is valid? [True, True] Translation: X:487.11, Y:-311.82, Z:11.00 [[ 7.67238573e-01 6.41228943e-01 -1.30543085e-02 4.87112380e+02] [-6.41127012e-01 7.67349514e-01 1.14401861e-02 -3.11823064e+02] [ 1.73529957e-02 -4.07882247e-04 9.99849342e-01 1.10035268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4827550959999 meters 0.02313529609762476 Centerline is valid? [True, True] Translation: X:487.16, Y:-311.86, Z:11.00 [[ 7.67788330e-01 6.40561229e-01 -1.35052789e-02 4.87163296e+02] [-6.40451920e-01 7.67906971e-01 1.18415217e-02 -3.11858895e+02] [ 1.79560175e-02 -4.42300389e-04 9.99838680e-01 1.10021932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.542755096 meters 0.02279089316970543 Centerline is valid? [True, True] Translation: X:487.21, Y:-311.90, Z:11.01 [[ 7.68796702e-01 6.39367337e-01 -1.26901745e-02 4.87210509e+02] [-6.39270565e-01 7.68901300e-01 1.11326315e-02 -3.11899583e+02] [ 1.68753326e-02 -4.46275352e-04 9.99857502e-01 1.10050663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6027550959999 meters 0.022946749500606378 Centerline is valid? [True, True] Translation: X:487.26, Y:-311.94, Z:11.01 [[ 7.70111385e-01 6.37795047e-01 -1.20802651e-02 4.87257547e+02] [-6.37707071e-01 7.70205988e-01 1.06032142e-02 -3.11940514e+02] [ 1.60669700e-02 -4.61985490e-04 9.99870811e-01 1.10073760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.662755096 meters 0.024157876221994196 Centerline is valid? [True, True] Translation: X:487.30, Y:-311.98, Z:11.01 [[ 7.71493034e-01 6.36132422e-01 -1.15775812e-02 4.87304321e+02] [-6.36051343e-01 7.71579750e-01 1.01675035e-02 -3.11981191e+02] [ 1.54009058e-02 -4.80222088e-04 9.99881284e-01 1.10085851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7227550959999 meters 0.025021245484058718 Centerline is valid? [True, True] Translation: X:487.35, Y:-312.02, Z:11.01 [[ 7.71057000e-01 6.36658746e-01 -1.16937355e-02 4.87350640e+02] [-6.36575994e-01 7.71145519e-01 1.02758549e-02 -3.12020510e+02] [ 1.55597846e-02 -4.79318545e-04 9.99878824e-01 1.10089835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.782755096 meters 0.02355229421402017 Centerline is valid? [True, True] Translation: X:487.40, Y:-312.06, Z:11.01 [[ 7.68670410e-01 6.39542060e-01 -1.14784690e-02 4.87399714e+02] [-6.39462591e-01 7.68755996e-01 1.00902907e-02 -3.12057507e+02] [ 1.52773072e-02 -4.16056372e-04 9.99883209e-01 1.10100049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8427550959999 meters 0.020794769945793063 Centerline is valid? [True, True] Translation: X:487.45, Y:-312.09, Z:11.01 [[ 7.64324861e-01 6.44727088e-01 -1.15969296e-02 4.87450816e+02] [-6.44646552e-01 7.64412769e-01 1.01951580e-02 -3.12092558e+02] [ 1.54379356e-02 -3.16491977e-04 9.99880778e-01 1.10103694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.902755096 meters 0.019599947118048796 Centerline is valid? [True, True] Translation: X:487.50, Y:-312.13, Z:11.01 [[ 7.60796295e-01 6.48877233e-01 -1.21381320e-02 4.87500856e+02] [-6.48789518e-01 7.60893079e-01 1.06716535e-02 -3.12129721e+02] [ 1.61604136e-02 -2.43861657e-04 9.99869382e-01 1.10094742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9627550959999 meters 0.0173866393560135 Centerline is valid? [True, True] Translation: X:487.55, Y:-312.16, Z:11.01 [[ 7.56204828e-01 6.54232316e-01 -1.15902783e-02 4.87549654e+02] [-6.54152868e-01 7.56293633e-01 1.01963220e-02 -3.12163252e+02] [ 1.54364170e-02 -1.28694089e-04 9.99880843e-01 1.10120631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.022755096 meters 0.016905524656058775 Centerline is valid? [True, True] Translation: X:487.60, Y:-312.20, Z:11.01 [[ 7.54439051e-01 6.56273180e-01 -1.12796908e-02 4.87597097e+02] [-6.56198188e-01 7.54523363e-01 9.92130318e-03 -3.12202981e+02] [ 1.50218754e-02 -8.33059075e-05 9.99887162e-01 1.10131828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0827550959999 meters 0.018778275299760464 Centerline is valid? [True, True] Translation: X:487.64, Y:-312.25, Z:11.01 [[ 7.55436932e-01 6.55124204e-01 -1.12835762e-02 4.87640678e+02] [-6.55048941e-01 7.55521188e-01 9.93069026e-03 -3.12246373e+02] [ 1.50308165e-02 -1.10715533e-04 9.99887025e-01 1.10122532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.142755096 meters 0.01729191683657706 Centerline is valid? [True, True] Translation: X:487.69, Y:-312.29, Z:11.01 [[ 7.55599847e-01 6.54932579e-01 -1.14972792e-02 4.87687373e+02] [-6.54854380e-01 7.55687305e-01 1.01211543e-02 -3.12287778e+02] [ 1.53170216e-02 -1.18499049e-04 9.99882681e-01 1.10149185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2027550959999 meters 0.017859116377395 Centerline is valid? [True, True] Translation: X:487.73, Y:-312.33, Z:11.02 [[ 7.56512176e-01 6.53881422e-01 -1.13319801e-02 4.87732409e+02] [-6.53805240e-01 7.56597030e-01 9.98211637e-03 -3.12331101e+02] [ 1.51008629e-02 -1.42684611e-04 9.99885965e-01 1.10155715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.262755096 meters 0.018391703026453123 Centerline is valid? [True, True] Translation: X:487.78, Y:-312.37, Z:11.02 [[ 7.58148734e-01 6.51978170e-01 -1.16173470e-02 4.87777099e+02] [-6.51897787e-01 7.58237713e-01 1.02393753e-02 -3.12374244e+02] [ 1.54845598e-02 -1.89646656e-04 9.99880089e-01 1.10152236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3227550959999 meters 0.02249244207797127 Centerline is valid? [True, True] Translation: X:487.82, Y:-312.42, Z:11.01 [[ 7.61189139e-01 6.48405062e-01 -1.27267322e-02 4.87817419e+02] [-6.48307971e-01 7.61295468e-01 1.12243121e-02 -3.12421067e+02] [ 1.69667043e-02 -2.92982505e-04 9.99856012e-01 1.10118224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.382755096 meters 0.021257405340813527 Centerline is valid? [True, True] Translation: X:487.86, Y:-312.47, Z:11.02 [[ 7.63296246e-01 6.45907900e-01 -1.34842711e-02 4.87860898e+02] [-6.45798397e-01 7.63415251e-01 1.18989898e-02 -3.12465224e+02] [ 1.79797497e-02 -3.74333584e-04 9.99838281e-01 1.10152631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4427550959999 meters 0.022388757796227746 Centerline is valid? [True, True] Translation: X:487.91, Y:-312.51, Z:11.02 [[ 7.64583139e-01 6.44375375e-01 -1.38924191e-02 4.87905062e+02] [-6.44258757e-01 7.64709221e-01 1.22662404e-02 -3.12509456e+02] [ 1.85277242e-02 -4.28247928e-04 9.99828255e-01 1.10157750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.502755096 meters 0.02234275051665183 Centerline is valid? [True, True] Translation: X:487.95, Y:-312.55, Z:11.02 [[ 7.63754711e-01 6.45357329e-01 -1.38801649e-02 4.87951962e+02] [-6.45240955e-01 7.63880717e-01 1.22621645e-02 -3.12550558e+02] [ 1.85162680e-02 -4.09235069e-04 9.99828475e-01 1.10171328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5627550959999 meters 0.02066297559979947 Centerline is valid? [True, True] Translation: X:488.00, Y:-312.59, Z:11.02 [[ 7.60577088e-01 6.49089878e-01 -1.43116420e-02 4.88000845e+02] [-6.48966682e-01 7.60711653e-01 1.26501807e-02 -3.12587568e+02] [ 1.90981370e-02 -3.33658791e-04 9.99817558e-01 1.10176773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.622755096 meters 0.019430520017905996 Centerline is valid? [True, True] Translation: X:488.05, Y:-312.63, Z:11.02 [[ 7.57774804e-01 6.52350383e-01 -1.47079571e-02 4.88050283e+02] [-6.52220852e-01 7.57917483e-01 1.30019011e-02 -3.12625453e+02] [ 1.96292130e-02 -2.59676765e-04 9.99807295e-01 1.10183239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6827550959999 meters 0.01922800048669573 Centerline is valid? [True, True] Translation: X:488.10, Y:-312.66, Z:11.02 [[ 7.56911934e-01 6.53342263e-01 -1.51066345e-02 4.88097930e+02] [-6.53205677e-01 7.57062631e-01 1.33610237e-02 -3.12663666e+02] [ 2.01659899e-02 -2.45378904e-04 9.99796616e-01 1.10188182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.742755096 meters 0.019582456531113998 Centerline is valid? [True, True] Translation: X:488.15, Y:-312.70, Z:11.02 [[ 7.57488120e-01 6.52678618e-01 -1.49121018e-02 4.88146169e+02] [-6.52545377e-01 7.57634842e-01 1.31900140e-02 -3.12703434e+02] [ 1.99067680e-02 -2.60455805e-04 9.99801807e-01 1.10190528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8027550959999 meters 0.020466051955536104 Centerline is valid? [True, True] Translation: X:488.19, Y:-312.75, Z:11.02 [[ 7.59854463e-01 6.49927911e-01 -1.46596228e-02 4.88189497e+02] [-6.49798488e-01 7.59995789e-01 1.29740128e-02 -3.12746333e+02] [ 1.95734246e-02 -3.32560814e-04 9.99808367e-01 1.10221811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.862755096 meters 0.023571730395339524 Centerline is valid? [True, True] Translation: X:488.23, Y:-312.79, Z:11.02 [[ 7.61701689e-01 6.47767658e-01 -1.44082723e-02 4.88234093e+02] [-6.47642121e-01 7.61837852e-01 1.27581748e-02 -3.12789779e+02] [ 1.92411002e-02 -3.86519272e-04 9.99814798e-01 1.10207412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.922755096 meters 0.02346911459000598 Centerline is valid? [True, True] Translation: X:488.28, Y:-312.83, Z:11.02 [[ 7.62661137e-01 6.46616317e-01 -1.53404162e-02 4.88280662e+02] [-6.46473614e-01 7.62815271e-01 1.35915070e-02 -3.12831124e+02] [ 2.04903939e-02 -4.48539902e-04 9.99789949e-01 1.10201309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9827550959999 meters 0.022274642728461365 Centerline is valid? [True, True] Translation: X:488.33, Y:-312.87, Z:11.02 [[ 7.63036817e-01 6.46158010e-01 -1.59575208e-02 4.88325775e+02] [-6.46003320e-01 7.63203505e-01 1.41464048e-02 -3.12873889e+02] [ 2.13196486e-02 -4.85616317e-04 9.99772593e-01 1.10241145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.042755096 meters 0.021855178694994357 Centerline is valid? [True, True] Translation: X:488.37, Y:-312.92, Z:11.02 [[ 7.62213987e-01 6.47098922e-01 -1.71120840e-02 4.88372003e+02] [-6.46921065e-01 7.62405887e-01 1.51788959e-02 -3.12915024e+02] [ 2.28686008e-02 -4.99399121e-04 9.99738355e-01 1.10248105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1027550959999 meters 0.02171588588041647 Centerline is valid? [True, True] Translation: X:488.42, Y:-312.95, Z:11.02 [[ 7.58506294e-01 6.51410806e-01 -1.82253732e-02 4.88421050e+02] [-6.51210058e-01 7.58725116e-01 1.61758969e-02 -3.12952853e+02] [ 2.43652025e-02 -4.00973259e-04 9.99703044e-01 1.10224774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.162755096 meters 0.021254105836110298 Centerline is valid? [True, True] Translation: X:488.47, Y:-312.99, Z:11.02 [[ 7.56944649e-01 6.53217714e-01 -1.84774672e-02 4.88468274e+02] [-6.53011685e-01 7.57170055e-01 1.64087452e-02 -3.12993040e+02] [ 2.47090679e-02 -3.54509884e-04 9.99694622e-01 1.10233972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2227550959999 meters 0.019400582283621633 Centerline is valid? [True, True] Translation: X:488.52, Y:-313.03, Z:11.03 [[ 7.55817871e-01 6.54488602e-01 -1.95963160e-02 4.88515565e+02] [-6.54257025e-01 7.56071792e-01 1.74123716e-02 -3.13032447e+02] [ 2.62124205e-02 -3.39554247e-04 9.99656338e-01 1.10254473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.282755096 meters 0.021508223436015838 Centerline is valid? [True, True] Translation: X:488.56, Y:-313.07, Z:11.02 [[ 7.57924238e-01 6.52030454e-01 -2.01776147e-02 4.88559336e+02] [-6.51783840e-01 7.58192647e-01 1.79369997e-02 -3.13074739e+02] [ 2.69939892e-02 -4.43443588e-04 9.99635498e-01 1.10241329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3427550959999 meters 0.02294345891759835 Centerline is valid? [True, True] Translation: X:488.60, Y:-313.12, Z:11.03 [[ 7.60958754e-01 6.48483051e-01 -2.02856601e-02 4.88601582e+02] [-6.48232477e-01 7.61228877e-01 1.80347480e-02 -3.13117666e+02] [ 2.71372587e-02 -5.73875686e-04 9.99631552e-01 1.10257603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.402755096 meters 0.02599275459041322 Centerline is valid? [True, True] Translation: X:488.64, Y:-313.16, Z:11.03 [[ 7.66736562e-01 6.41663142e-01 -1.95820665e-02 4.88643678e+02] [-6.41427420e-01 7.66986175e-01 1.74089899e-02 -3.13162088e+02] [ 2.61898814e-02 -7.87634618e-04 9.99656676e-01 1.10290095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4627550959999 meters 0.02783666078206403 Centerline is valid? [True, True] Translation: X:488.69, Y:-313.20, Z:11.03 [[ 7.68585676e-01 6.39464733e-01 -1.89977307e-02 4.88688870e+02] [-6.39242129e-01 7.68819974e-01 1.68922716e-02 -3.13204213e+02] [ 2.54078467e-02 -8.39008157e-04 9.99676816e-01 1.10297892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.522755096 meters 0.02850508009680606 Centerline is valid? [True, True] Translation: X:488.74, Y:-313.24, Z:11.03 [[ 7.69227969e-01 6.38752802e-01 -1.68282486e-02 4.88736440e+02] [-6.38577820e-01 7.69411636e-01 1.49700148e-02 -3.13244246e+02] [ 2.25099892e-02 -7.69207721e-04 9.99746322e-01 1.10330005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5827550959999 meters 0.028264725994315867 Centerline is valid? [True, True] Translation: X:488.78, Y:-313.28, Z:11.03 [[ 7.67346907e-01 6.41015282e-01 -1.66773192e-02 4.88784672e+02] [-6.40843813e-01 7.67527795e-01 1.48422109e-02 -3.13280745e+02] [ 2.23143900e-02 -7.01567776e-04 9.99750757e-01 1.10321144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.642755096 meters 0.026252510523214787 Centerline is valid? [True, True] Translation: X:488.83, Y:-313.32, Z:11.03 [[ 7.65344867e-01 6.43414195e-01 -1.62913376e-02 4.88831812e+02] [-6.43251111e-01 7.65517990e-01 1.44988083e-02 -3.13316710e+02] [ 2.18000511e-02 -6.17167536e-04 9.99762160e-01 1.10336947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7027550959999 meters 0.02140487692820648 Centerline is valid? [True, True] Translation: X:488.88, Y:-313.35, Z:11.03 [[ 7.59890761e-01 6.49843614e-01 -1.64106171e-02 4.88884770e+02] [-6.49679663e-01 7.60067818e-01 1.46029965e-02 -3.13347421e+02] [ 2.19628460e-02 -4.35037930e-04 9.99758693e-01 1.10328932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.762755096 meters 0.01941135748206508 Centerline is valid? [True, True] Translation: X:488.93, Y:-313.38, Z:11.03 [[ 7.57048051e-01 6.53166150e-01 -1.58817251e-02 4.88932273e+02] [-6.53013351e-01 7.57214549e-01 1.41311755e-02 -3.13382248e+02] [ 2.12558788e-02 -3.27000363e-04 9.99774015e-01 1.10340104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8227550959999 meters 0.016900407345104815 Centerline is valid? [True, True] Translation: X:488.98, Y:-313.42, Z:11.04 [[ 7.53811501e-01 6.56916341e-01 -1.51374088e-02 4.88981344e+02] [-6.56778320e-01 7.53963445e-01 1.34670404e-02 -3.13415182e+02] [ 2.02597718e-02 -2.09688025e-04 9.99794728e-01 1.10351053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.882755096 meters 0.016051183461681683 Centerline is valid? [True, True] Translation: X:489.03, Y:-313.45, Z:11.04 [[ 7.52834104e-01 6.58056812e-01 -1.42142183e-02 4.89027242e+02] [-6.57935351e-01 7.52968262e-01 1.26439683e-02 -3.13453486e+02] [ 1.90233048e-02 -1.66773850e-04 9.99819027e-01 1.10372083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9427550959999 meters 0.015763146363092402 Centerline is valid? [True, True] Translation: X:489.07, Y:-313.50, Z:11.04 [[ 7.52840775e-01 6.58070583e-01 -1.31862148e-02 4.89073526e+02] [-6.57966079e-01 7.52956230e-01 1.17283315e-02 -3.13495950e+02] [ 1.76467125e-02 -1.53484076e-04 9.99844273e-01 1.10393743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.002755096 meters 0.016310666173851535 Centerline is valid? [True, True] Translation: X:489.12, Y:-313.54, Z:11.04 [[ 7.54781503e-01 6.55862464e-01 -1.22192872e-02 4.89118762e+02] [-6.55772326e-01 7.54880382e-01 1.08750130e-02 -3.13538137e+02] [ 1.63566130e-02 -1.95188256e-04 9.99866203e-01 1.10405292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0627550959999 meters 0.016645166959334108 Centerline is valid? [True, True] Translation: X:489.16, Y:-313.58, Z:11.04 [[ 7.55658019e-01 6.54853554e-01 -1.21565385e-02 4.89164569e+02] [-6.54764109e-01 7.55755763e-01 1.08253582e-02 -3.13580776e+02] [ 1.62763983e-02 -2.20603653e-04 9.99867506e-01 1.10409853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.122755096 meters 0.018628587577992798 Centerline is valid? [True, True] Translation: X:489.20, Y:-313.63, Z:11.04 [[ 7.59086123e-01 6.50871043e-01 -1.24556614e-02 4.89204611e+02] [-6.50776492e-01 7.59188240e-01 1.10983362e-02 -3.13627803e+02] [ 1.66797773e-02 -3.18741369e-04 9.99860832e-01 1.10414856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1827550959999 meters 0.020743976659114174 Centerline is valid? [True, True] Translation: X:489.25, Y:-313.67, Z:11.04 [[ 7.61868340e-01 6.47619660e-01 -1.20585957e-02 4.89246270e+02] [-6.47530535e-01 7.61963667e-01 1.07506064e-02 -3.13672411e+02] [ 1.61505159e-02 -3.82237772e-04 9.99869499e-01 1.10427362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.242755096 meters 0.022133217987031696 Centerline is valid? [True, True] Translation: X:489.29, Y:-313.72, Z:11.04 [[ 7.65347429e-01 6.43503898e-01 -1.20849477e-02 4.89289115e+02] [-6.43413856e-01 7.65442690e-01 1.07749077e-02 -3.13715676e+02] [ 1.61840299e-02 -4.70925098e-04 9.99868919e-01 1.10428237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3027550959999 meters 0.025279846302538614 Centerline is valid? [True, True] Translation: X:489.33, Y:-313.76, Z:11.04 [[ 7.68971707e-01 6.39164339e-01 -1.23069302e-02 4.89329502e+02] [-6.39070380e-01 7.69069969e-01 1.09741336e-02 -3.13762822e+02] [ 1.64791653e-02 -5.73803671e-04 9.99864045e-01 1.10426602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.362755096 meters 0.027643651484977147 Centerline is valid? [True, True] Translation: X:489.37, Y:-313.81, Z:11.04 [[ 7.72596324e-01 6.34753964e-01 -1.35027856e-02 4.89370845e+02] [-6.34640162e-01 7.72713962e-01 1.20415422e-02 -3.13807527e+02] [ 1.80772076e-02 -7.33841159e-04 9.99836325e-01 1.10409622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.422755096 meters 0.028770415899708267 Centerline is valid? [True, True] Translation: X:489.42, Y:-313.85, Z:11.04 [[ 7.74297032e-01 6.32668686e-01 -1.39441494e-02 4.89415608e+02] [-6.32546973e-01 7.74422159e-01 1.24357083e-02 -3.13850251e+02] [ 1.86663415e-02 -8.08602495e-04 9.99825442e-01 1.10403415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4827550959999 meters 0.02850461869598798 Centerline is valid? [True, True] Translation: X:489.46, Y:-313.89, Z:11.04 [[ 7.73371456e-01 6.33811825e-01 -1.33851157e-02 4.89461356e+02] [-6.33699793e-01 7.73486914e-01 1.19401298e-02 -3.13891845e+02] [ 1.79210073e-02 -7.52010557e-04 9.99839123e-01 1.10415680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.542755096 meters 0.026113208959049103 Centerline is valid? [True, True] Translation: X:489.51, Y:-313.93, Z:11.04 [[ 7.69861059e-01 6.38082677e-01 -1.28237242e-02 4.89509394e+02] [-6.37980323e-01 7.69967597e-01 1.14458580e-02 -3.13929161e+02] [ 1.71772558e-02 -6.30436616e-04 9.99852261e-01 1.10425877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6027550959999 meters 0.023620885894112504 Centerline is valid? [True, True] Translation: X:489.56, Y:-313.97, Z:11.04 [[ 7.65579964e-01 6.43231101e-01 -1.18772478e-02 4.89557485e+02] [-6.43143907e-01 7.65671942e-01 1.06015246e-02 -3.13965084e+02] [ 1.59133057e-02 -4.77535277e-04 9.99873261e-01 1.10443435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.662755096 meters 0.022214180135968282 Centerline is valid? [True, True] Translation: X:489.60, Y:-314.00, Z:11.05 [[ 7.62763667e-01 6.46586644e-01 -1.08305278e-02 4.89604759e+02] [-6.46514481e-01 7.62840464e-01 9.66703602e-03 -3.14003113e+02] [ 1.45125413e-02 -3.71570747e-04 9.99894618e-01 1.10463819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7227550959999 meters 0.019784782313632024 Centerline is valid? [True, True] Translation: X:489.65, Y:-314.04, Z:11.05 [[ 7.61279105e-01 6.48351202e-01 -9.73875493e-03 4.89651951e+02] [-6.48293014e-01 7.61341334e-01 8.69142599e-03 -3.14042954e+02] [ 1.30496132e-02 -3.03034217e-04 9.99914804e-01 1.10485651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.782755096 meters 0.01930170219138026 Centerline is valid? [True, True] Translation: X:489.70, Y:-314.08, Z:11.05 [[ 7.60312626e-01 6.49485855e-01 -9.63512221e-03 4.89698874e+02] [-6.49428929e-01 7.60373621e-01 8.60365904e-03 -3.14083688e+02] [ 1.29142476e-02 -2.84143496e-04 9.99916567e-01 1.10492520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8427550959999 meters 0.018998971400402492 Centerline is valid? [True, True] Translation: X:489.75, Y:-314.12, Z:11.05 [[ 7.59227350e-01 6.50758531e-01 -9.33624385e-03 4.89745412e+02] [-6.50705122e-01 7.59284708e-01 8.34124248e-03 -3.14124307e+02] [ 1.25170019e-02 -2.57757734e-04 9.99921626e-01 1.10498640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.902755096 meters 0.01852126256853682 Centerline is valid? [True, True] Translation: X:489.79, Y:-314.17, Z:11.05 [[ 7.58825635e-01 6.51232931e-01 -8.90650423e-03 4.89792095e+02] [-6.51184292e-01 7.58877863e-01 7.96284189e-03 -3.14166057e+02] [ 1.19446138e-02 -2.42632904e-04 9.99928631e-01 1.10513275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9627550959999 meters 0.019319051028924096 Centerline is valid? [True, True] Translation: X:489.84, Y:-314.21, Z:11.05 [[ 7.58318150e-01 6.51820725e-01 -9.12825531e-03 4.89836721e+02] [-6.51769672e-01 7.58373051e-01 8.16152696e-03 -3.14208096e+02] [ 1.22424753e-02 -2.39514058e-04 9.99925029e-01 1.10520180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.022755096 meters 0.01735016445757931 Centerline is valid? [True, True] Translation: X:489.89, Y:-314.25, Z:11.05 [[ 7.56462719e-01 6.53957537e-01 -1.01831037e-02 4.89885057e+02] [-6.53894123e-01 7.56531220e-01 9.10983832e-03 -3.14247272e+02] [ 1.36612833e-02 -2.32581409e-04 9.99906653e-01 1.10505714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0827550959999 meters 0.01682422118264307 Centerline is valid? [True, True] Translation: X:489.93, Y:-314.29, Z:11.05 [[ 7.54921169e-01 6.55719523e-01 -1.12221083e-02 4.89930380e+02] [-6.55642601e-01 7.55004540e-01 1.00460950e-02 -3.14287855e+02] [ 1.50601634e-02 -2.26317490e-04 9.99886564e-01 1.10508310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.142755096 meters 0.015470861747057394 Centerline is valid? [True, True] Translation: X:489.98, Y:-314.33, Z:11.05 [[ 7.52825710e-01 6.58100268e-01 -1.25493694e-02 4.89979046e+02] [-6.58004335e-01 7.52930273e-01 1.12383326e-02 -3.14327382e+02] [ 1.68447498e-02 -2.02966297e-04 9.99858097e-01 1.10501359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2027550959999 meters 0.015096153242884108 Centerline is valid? [True, True] Translation: X:490.02, Y:-314.37, Z:11.05 [[ 7.51844311e-01 6.59222254e-01 -1.24960651e-02 4.90024921e+02] [-6.59127258e-01 7.51948128e-01 1.11924103e-02 -3.14369403e+02] [ 1.67746787e-02 -1.78452868e-04 9.99859279e-01 1.10518445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.262755096 meters 0.01509190613339536 Centerline is valid? [True, True] Translation: X:490.07, Y:-314.41, Z:11.05 [[ 7.51354723e-01 6.59768357e-01 -1.31070279e-02 4.90069979e+02] [-6.59663809e-01 7.51469016e-01 1.17463632e-02 -3.14413163e+02] [ 1.75994041e-02 -1.79453566e-04 9.99845102e-01 1.10527460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3227550959999 meters 0.015546416686468202 Centerline is valid? [True, True] Translation: X:490.11, Y:-314.46, Z:11.05 [[ 7.52257173e-01 6.58729100e-01 -1.36058165e-02 4.90113443e+02] [-6.58616128e-01 7.52380174e-01 1.22012693e-02 -3.14457232e+02] [ 1.82740777e-02 -2.17482182e-04 9.99832991e-01 1.10529358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.382755096 meters 0.016529235307350825 Centerline is valid? [True, True] Translation: X:490.16, Y:-314.50, Z:11.05 [[ 7.54344498e-01 6.56342046e-01 -1.33976241e-02 4.90155533e+02] [-6.56232011e-01 7.54463414e-01 1.20210388e-02 -3.14503219e+02] [ 1.79979305e-02 -2.76054670e-04 9.99837986e-01 1.10540754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4427550959999 meters 0.018272239879076745 Centerline is valid? [True, True] Translation: X:490.20, Y:-314.55, Z:11.06 [[ 7.57476175e-01 6.52723307e-01 -1.34955372e-02 4.90197242e+02] [-6.52610956e-01 7.57596296e-01 1.21157609e-02 -3.14549650e+02] [ 1.81324085e-02 -3.70064809e-04 9.99835526e-01 1.10550895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.502755096 meters 0.02001117675681365 Centerline is valid? [True, True] Translation: X:490.24, Y:-314.59, Z:11.06 [[ 7.59133838e-01 6.50788412e-01 -1.37934072e-02 4.90239066e+02] [-6.50670690e-01 7.59259020e-01 1.23852242e-02 -3.14594586e+02] [ 1.85329293e-02 -4.27077011e-04 9.99828159e-01 1.10557948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5627550959999 meters 0.021184022917606807 Centerline is valid? [True, True] Translation: X:490.28, Y:-314.64, Z:11.06 [[ 7.60994221e-01 6.48628486e-01 -1.29955057e-02 4.90283061e+02] [-6.48523622e-01 7.61105039e-01 1.16718050e-02 -3.14637755e+02] [ 1.74616101e-02 -4.54283738e-04 9.99847431e-01 1.10573368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.622755096 meters 0.021446627633298423 Centerline is valid? [True, True] Translation: X:490.33, Y:-314.68, Z:11.06 [[ 7.61186545e-01 6.48407436e-01 -1.27609171e-02 4.90330190e+02] [-6.48306195e-01 7.61293366e-01 1.14668114e-02 -3.14678847e+02] [ 1.71499674e-02 -4.55400940e-04 9.99852825e-01 1.10584014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6827550959999 meters 0.02221489599008674 Centerline is valid? [True, True] Translation: X:490.38, Y:-314.72, Z:11.06 [[ 7.61393270e-01 6.48137683e-01 -1.40652611e-02 4.90376963e+02] [-6.48014496e-01 7.61523000e-01 1.26464965e-02 -3.14720226e+02] [ 1.89076907e-02 -5.14464259e-04 9.99821101e-01 1.10576618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.742755096 meters 0.022567872792162356 Centerline is valid? [True, True] Translation: X:490.42, Y:-314.76, Z:11.06 [[ 7.61382899e-01 6.48136595e-01 -1.46640729e-02 4.90424386e+02] [-6.48002548e-01 7.61523906e-01 1.31923649e-02 -3.14761022e+02] [ 1.97174965e-02 -5.42084443e-04 9.99805444e-01 1.10579657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8027550959999 meters 0.024206828284641397 Centerline is valid? [True, True] Translation: X:490.47, Y:-314.80, Z:11.06 [[ 7.61002553e-01 6.48572823e-01 -1.51131444e-02 4.90469954e+02] [-6.48430359e-01 7.61152407e-01 1.36045093e-02 -3.14801360e+02] [ 2.03269212e-02 -5.53244713e-04 9.99793234e-01 1.10583869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.862755096 meters 0.021968942061826056 Centerline is valid? [True, True] Translation: X:490.52, Y:-314.84, Z:11.06 [[ 7.59417516e-01 6.50461488e-01 -1.35974106e-02 4.90520513e+02] [-6.50346411e-01 7.59539101e-01 1.22433686e-02 -3.14835188e+02] [ 1.82916048e-02 -4.54801411e-04 9.99832591e-01 1.10620501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.922755096 meters 0.02027655967947659 Centerline is valid? [True, True] Translation: X:490.57, Y:-314.87, Z:11.06 [[ 7.58409189e-01 6.51654762e-01 -1.27110983e-02 4.90570045e+02] [-6.51554382e-01 7.58515598e-01 1.14444491e-02 -3.14873519e+02] [ 1.70993961e-02 -3.97603574e-04 9.99853716e-01 1.10645193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9827550959999 meters 0.01996995029752908 Centerline is valid? [True, True] Translation: X:490.62, Y:-314.91, Z:11.07 [[ 7.57463675e-01 6.52747529e-01 -1.30171166e-02 4.90617160e+02] [-6.52642305e-01 7.57575418e-01 1.17263817e-02 -3.14913506e+02] [ 1.75158143e-02 -3.86787199e-04 9.99846512e-01 1.10653784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.042755096 meters 0.02006328689843453 Centerline is valid? [True, True] Translation: X:490.66, Y:-314.95, Z:11.07 [[ 7.56992445e-01 6.53291246e-01 -1.31524024e-02 4.90662586e+02] [-6.53183788e-01 7.57106598e-01 1.18548734e-02 -3.14949143e+02] [ 1.77024557e-02 -3.83113583e-04 9.99843226e-01 1.10654974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1027550959999 meters 0.019609309857965038 Centerline is valid? [True, True] Translation: X:490.71, Y:-314.99, Z:11.07 [[ 7.56621213e-01 6.53726253e-01 -1.28967243e-02 4.90708396e+02] [-6.53623037e-01 7.56731031e-01 1.16220626e-02 -3.14985567e+02] [ 1.73569990e-02 -3.63902998e-04 9.99849290e-01 1.10667789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.162755096 meters 0.019411383931844522 Centerline is valid? [True, True] Translation: X:490.75, Y:-315.02, Z:11.07 [[ 7.55938849e-01 6.54520442e-01 -1.26272607e-02 4.90754103e+02] [-6.54421633e-01 7.56044229e-01 1.13775917e-02 -3.15023303e+02] [ 1.69936339e-02 -3.37210996e-04 9.99855541e-01 1.10686320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2227550959999 meters 0.01964337179505417 Centerline is valid? [True, True] Translation: X:490.80, Y:-315.06, Z:11.07 [[ 7.55881614e-01 6.54603436e-01 -1.17186868e-02 4.90798002e+02] [-6.54518361e-01 7.55972384e-01 1.05579559e-02 -3.15059358e+02] [ 1.57702778e-02 -3.10469042e-04 9.99875593e-01 1.10710178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.282755096 meters 0.017610737009016622 Centerline is valid? [True, True] Translation: X:490.85, Y:-315.10, Z:11.07 [[ 7.55784913e-01 6.54722813e-01 -1.12784769e-02 4.90849521e+02] [-6.54644114e-01 7.55869005e-01 1.01553519e-02 -3.15096796e+02] [ 1.51739917e-02 -2.91873264e-04 9.99884826e-01 1.10713142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3427550959999 meters 0.018519849590143446 Centerline is valid? [True, True] Translation: X:490.90, Y:-315.14, Z:11.07 [[ 7.56049301e-01 6.54410009e-01 -1.17044866e-02 4.90895609e+02] [-6.54325103e-01 7.56139829e-01 1.05460142e-02 -3.15138347e+02] [ 1.57516458e-02 -3.14767251e-04 9.99875886e-01 1.10712098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.402755096 meters 0.017955080988995266 Centerline is valid? [True, True] Translation: X:490.95, Y:-315.18, Z:11.07 [[ 7.55921413e-01 6.54543847e-01 -1.24567186e-02 4.90945043e+02] [-6.54447578e-01 7.56023967e-01 1.12307684e-02 -3.15178156e+02] [ 1.67686081e-02 -3.37309028e-04 9.99859340e-01 1.10706918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4627550959999 meters 0.017486103655117713 Centerline is valid? [True, True] Translation: X:490.99, Y:-315.22, Z:11.07 [[ 7.54718813e-01 6.55912191e-01 -1.33682609e-02 4.90991231e+02] [-6.55801378e-01 7.54837125e-01 1.20609825e-02 -3.15215983e+02] [ 1.80018051e-02 -3.35726529e-04 9.99837898e-01 1.10696705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.522755096 meters 0.016985024878656118 Centerline is valid? [True, True] Translation: X:491.04, Y:-315.25, Z:11.07 [[ 7.53850640e-01 6.56908438e-01 -1.34356674e-02 4.91035893e+02] [-6.56796680e-01 7.53970295e-01 1.21208618e-02 -3.15253981e+02] [ 1.80923906e-02 -3.12817685e-04 9.99836270e-01 1.10705165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5827550959999 meters 0.016583721845241303 Centerline is valid? [True, True] Translation: X:491.08, Y:-315.29, Z:11.07 [[ 7.52923150e-01 6.57984938e-01 -1.27495453e-02 4.91080887e+02] [-6.57884487e-01 7.53031040e-01 1.15001886e-02 -3.15292205e+02] [ 1.71677543e-02 -2.71030164e-04 9.99852587e-01 1.10722238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.642755096 meters 0.016135990133038285 Centerline is valid? [True, True] Translation: X:491.13, Y:-315.33, Z:11.07 [[ 7.51791091e-01 6.59283920e-01 -1.24445815e-02 4.91125631e+02] [-6.59188421e-01 7.51894047e-01 1.12235570e-02 -3.15328592e+02] [ 1.67565175e-02 -2.34446129e-04 9.99859572e-01 1.10730236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7027550959999 meters 0.01614947549753181 Centerline is valid? [True, True] Translation: X:491.17, Y:-315.37, Z:11.08 [[ 7.51217852e-01 6.59955374e-01 -1.14299736e-02 4.91169309e+02] [-6.59874932e-01 7.51304775e-01 1.03057638e-02 -3.15367149e+02] [ 1.53887379e-02 -1.99520709e-04 9.99881566e-01 1.10756410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.762755096 meters 0.015880369284388025 Centerline is valid? [True, True] Translation: X:491.21, Y:-315.41, Z:11.08 [[ 7.51590135e-01 6.59529825e-01 -1.15186043e-02 4.91213250e+02] [-6.59448113e-01 7.51678366e-01 1.03836728e-02 -3.15406768e+02] [ 1.55066276e-02 -2.08344144e-04 9.99879743e-01 1.10762653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8227550959999 meters 0.01694272156090873 Centerline is valid? [True, True] Translation: X:491.26, Y:-315.45, Z:11.08 [[ 7.51746316e-01 6.59342800e-01 -1.20228488e-02 4.91255105e+02] [-6.59253778e-01 7.51842419e-01 1.08366314e-02 -3.15445908e+02] [ 1.61843427e-02 -2.20289216e-04 9.99869001e-01 1.10765400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.882755096 meters 0.015796580658586603 Centerline is valid? [True, True] Translation: X:491.30, Y:-315.49, Z:11.08 [[ 7.51748111e-01 6.59342520e-01 -1.19255588e-02 4.91302925e+02] [-6.59255002e-01 7.51842666e-01 1.07446904e-02 -3.15486801e+02] [ 1.60505751e-02 -2.15316435e-04 9.99871158e-01 1.10775527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9427550959999 meters 0.016771865715510707 Centerline is valid? [True, True] Translation: X:491.35, Y:-315.53, Z:11.08 [[ 7.53161658e-01 6.57723357e-01 -1.21450512e-02 4.91347237e+02] [-6.57632255e-01 7.53259529e-01 1.09498102e-02 -3.15530685e+02] [ 1.63503214e-02 -2.59999799e-04 9.99866291e-01 1.10784892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.002755096 meters 0.018864077613779145 Centerline is valid? [True, True] Translation: X:491.39, Y:-315.58, Z:11.08 [[ 7.55624592e-01 6.54879244e-01 -1.28316851e-02 4.91387063e+02] [-6.54777019e-01 7.55733456e-01 1.15758012e-02 -3.15577403e+02] [ 1.72780857e-02 -3.45067530e-04 9.99850663e-01 1.10794337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0627550959999 meters 0.020184298917304257 Centerline is valid? [True, True] Translation: X:491.43, Y:-315.62, Z:11.08 [[ 7.57462005e-01 6.52735267e-01 -1.37106491e-02 4.91429552e+02] [-6.52618079e-01 7.57585962e-01 1.23755069e-02 -3.15623107e+02] [ 1.84649251e-02 -4.26158769e-04 9.99829418e-01 1.10804781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.122755096 meters 0.02092613321223766 Centerline is valid? [True, True] Translation: X:491.47, Y:-315.66, Z:11.08 [[ 7.57206804e-01 6.53018537e-01 -1.43054522e-02 4.91471914e+02] [-6.52890875e-01 7.57341795e-01 1.29193796e-02 -3.15664610e+02] [ 1.92707112e-02 -4.42742943e-04 9.99814205e-01 1.10808762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1827550959999 meters 0.018965147857645585 Centerline is valid? [True, True] Translation: X:491.52, Y:-315.71, Z:11.08 [[ 7.55920939e-01 6.54466876e-01 -1.60200878e-02 4.91517900e+02] [-6.54307083e-01 7.56090538e-01 1.44685679e-02 -3.15706023e+02] [ 2.15818352e-02 -4.55036520e-04 9.99766982e-01 1.10802472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.242755096 meters 0.01783870687260606 Centerline is valid? [True, True] Translation: X:491.56, Y:-315.75, Z:11.08 [[ 7.54090824e-01 6.56561476e-01 -1.65546584e-02 4.91562041e+02] [-6.56391151e-01 7.54272401e-01 1.49599891e-02 -3.15749235e+02] [ 2.23088745e-02 -4.14859259e-04 9.99751040e-01 1.10817233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3027550959999 meters 0.016931462792532374 Centerline is valid? [True, True] Translation: X:491.61, Y:-315.79, Z:11.08 [[ 7.51634529e-01 6.59346618e-01 -1.75377308e-02 4.91607637e+02] [-6.59155993e-01 7.51839018e-01 1.58577356e-02 -3.15791252e+02] [ 2.36412947e-02 -3.59121237e-04 9.99720441e-01 1.10825633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.362755096 meters 0.015195543143663334 Centerline is valid? [True, True] Translation: X:491.66, Y:-315.83, Z:11.08 [[ 7.46990597e-01 6.64600403e-01 -1.76452112e-02 4.91655912e+02] [-6.64408676e-01 7.47198946e-01 1.59639222e-02 -3.15830237e+02] [ 2.37941123e-02 -2.01268352e-04 9.99716860e-01 1.10841075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.422755096 meters 0.014603754804764687 Centerline is valid? [True, True] Translation: X:491.70, Y:-315.87, Z:11.09 [[ 7.43107718e-01 6.68937638e-01 -1.77018414e-02 4.91701880e+02] [-6.68745747e-01 7.43318526e-01 1.60216613e-02 -3.15866641e+02] [ 2.38755989e-02 -6.77889949e-05 9.99714935e-01 1.10855380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4827550959999 meters 0.014684429679374918 Centerline is valid? [True, True] Translation: X:491.75, Y:-315.90, Z:11.09 [[ 7.41041334e-01 6.71236691e-01 -1.72929544e-02 4.91747492e+02] [-6.71054233e-01 7.41243081e-01 1.56496452e-02 -3.15903815e+02] [ 2.33228988e-02 7.47630078e-06 9.99727984e-01 1.10878530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.542755096 meters 0.014900747280339618 Centerline is valid? [True, True] Translation: X:491.79, Y:-315.94, Z:11.09 [[ 7.41090840e-01 6.71163696e-01 -1.79905803e-02 4.91790148e+02] [-6.70966283e-01 7.41309175e-01 1.62774179e-02 -3.15942452e+02] [ 2.42613942e-02 8.02752209e-06 9.99705649e-01 1.10881676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6027550959999 meters 0.015273430953064746 Centerline is valid? [True, True] Translation: X:491.83, Y:-315.98, Z:11.09 [[ 7.42201840e-01 6.69922817e-01 -1.84349915e-02 4.91832648e+02] [-6.69715315e-01 7.42430750e-01 1.66726627e-02 -3.15980471e+02] [ 2.48561018e-02 -2.82848027e-05 9.99691039e-01 1.10884341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.662755096 meters 0.015712869649078712 Centerline is valid? [True, True] Translation: X:491.88, Y:-316.02, Z:11.09 [[ 7.44348172e-01 6.67512562e-01 -1.93074827e-02 4.91876612e+02] [-6.67284296e-01 7.44598528e-01 1.74556701e-02 -3.16019578e+02] [ 2.60282023e-02 -1.09516125e-04 9.99661203e-01 1.10892464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7227550959999 meters 0.01742399212126617 Centerline is valid? [True, True] Translation: X:491.92, Y:-316.06, Z:11.09 [[ 7.49335059e-01 6.61898496e-01 -1.96812130e-02 4.91918626e+02] [-6.61659408e-01 7.49593413e-01 1.77916518e-02 -3.16063443e+02] [ 2.65291752e-02 -3.09648693e-04 9.99647992e-01 1.10909426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.782755096 meters 0.02089144465785772 Centerline is valid? [True, True] Translation: X:491.96, Y:-316.11, Z:11.09 [[ 7.54891009e-01 6.55488524e-01 -2.17797675e-02 4.91960040e+02] [-6.55193017e-01 7.55204901e-01 1.96892969e-02 -3.16108933e+02] [ 2.93542954e-02 -5.93321627e-04 9.99568894e-01 1.10904005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8427550959999 meters 0.022253444227549175 Centerline is valid? [True, True] Translation: X:492.00, Y:-316.15, Z:11.09 [[ 7.57789053e-01 6.52097241e-01 -2.29115510e-02 4.92004501e+02] [-6.51768495e-01 7.58134949e-01 2.07178236e-02 -3.16151433e+02] [ 3.08800832e-02 -7.66712806e-04 9.99522802e-01 1.10918156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.902755096 meters 0.024905383802244312 Centerline is valid? [True, True] Translation: X:492.05, Y:-316.19, Z:11.09 [[ 7.59846351e-01 6.49641027e-01 -2.44960810e-02 4.92047729e+02] [-6.49263694e-01 7.60240532e-01 2.21582681e-02 -3.16193908e+02] [ 3.30178337e-02 -9.32463124e-04 9.99454328e-01 1.10908638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9627550959999 meters 0.027288772045311802 Centerline is valid? [True, True] Translation: X:492.09, Y:-316.24, Z:11.09 [[ 7.61487333e-01 6.47688818e-01 -2.52237577e-02 4.92089991e+02] [-6.47287621e-01 7.61904257e-01 2.28175004e-02 -3.16235953e+02] [ 3.39967283e-02 -1.04821138e-03 9.99421394e-01 1.10921644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.022755096 meters 0.025787719127280333 Centerline is valid? [True, True] Translation: X:492.14, Y:-316.28, Z:11.09 [[ 7.60582302e-01 6.48686706e-01 -2.68350460e-02 4.92138570e+02] [-6.48232946e-01 7.61054798e-01 2.42825568e-02 -3.16276638e+02] [ 3.61747123e-02 -1.07352203e-03 9.99344904e-01 1.10949270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0827550959999 meters 0.024042073848908354 Centerline is valid? [True, True] Translation: X:492.19, Y:-316.32, Z:11.10 [[ 7.59050122e-01 6.50446227e-01 -2.76155306e-02 4.92186832e+02] [-6.49966276e-01 7.59551608e-01 2.50038919e-02 -3.16316192e+02] [ 3.72391078e-02 -1.03004358e-03 9.99305853e-01 1.10971163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.142755096 meters 0.02318352650277926 Centerline is valid? [True, True] Translation: X:492.23, Y:-316.36, Z:11.10 [[ 7.56647391e-01 6.53195839e-01 -2.86342747e-02 4.92234547e+02] [-6.52681195e-01 7.57188427e-01 2.59411568e-02 -3.16355825e+02] [ 3.86261971e-02 -9.39255983e-04 9.99253289e-01 1.10995503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2027550959999 meters 0.023272820693200906 Centerline is valid? [True, True] Translation: X:492.28, Y:-316.40, Z:11.10 [[ 7.55917452e-01 6.54023232e-01 -2.90244248e-02 4.92281193e+02] [-6.53494445e-01 7.56473901e-01 2.63105763e-02 -3.16398126e+02] [ 3.91639480e-02 -9.21323458e-04 9.99232374e-01 1.11032366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.262755096 meters 0.025767442341148975 Centerline is valid? [True, True] Translation: X:492.32, Y:-316.44, Z:11.11 [[ 7.56983502e-01 6.52804556e-01 -2.86738335e-02 4.92322810e+02] [-6.52287026e-01 7.57525738e-01 2.60075341e-02 -3.16443584e+02] [ 3.86990037e-02 -9.83704649e-04 9.99250429e-01 1.11061305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3227550959999 meters 0.02468054789940541 Centerline is valid? [True, True] Translation: X:492.37, Y:-316.48, Z:11.11 [[ 7.57528607e-01 6.52158272e-01 -2.89827120e-02 4.92370292e+02] [-6.51628500e-01 7.58082126e-01 2.63018716e-02 -3.16483817e+02] [ 3.91242591e-02 -1.03845903e-03 9.99233813e-01 1.11125373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.382755096 meters 0.02559450036237813 Centerline is valid? [True, True] Translation: X:492.42, Y:-316.53, Z:11.11 [[ 7.57731814e-01 6.51877733e-01 -2.99652853e-02 4.92415017e+02] [-6.51310574e-01 7.58323288e-01 2.72089486e-02 -3.16526853e+02] [ 4.04602814e-02 -1.10037884e-03 9.99180542e-01 1.11148141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4427550959999 meters 0.026845806697048752 Centerline is valid? [True, True] Translation: X:492.46, Y:-316.57, Z:11.12 [[ 7.57745417e-01 6.51841185e-01 -3.04130234e-02 4.92460829e+02] [-6.51256275e-01 7.58354660e-01 2.76310179e-02 -3.16568660e+02] [ 4.10748935e-02 -1.13060485e-03 9.99155431e-01 1.11165218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.502755096 meters 0.027577594913013124 Centerline is valid? [True, True] Translation: X:492.50, Y:-316.61, Z:11.12 [[ 7.57930750e-01 6.51628427e-01 -3.03541065e-02 4.92504626e+02] [-6.51045009e-01 7.58537454e-01 2.75921727e-02 -3.16611277e+02] [ 4.10045707e-02 -1.15106665e-03 9.99158296e-01 1.11186635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5627550959999 meters 0.025613819586527826 Centerline is valid? [True, True] Translation: X:492.55, Y:-316.65, Z:11.12 [[ 7.56652613e-01 6.53056780e-01 -3.15224569e-02 4.92552867e+02] [-6.52428079e-01 7.57308107e-01 2.86711053e-02 -3.16651835e+02] [ 4.25960719e-02 -1.12793074e-03 9.99091739e-01 1.11227127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.622755096 meters 0.02492619993981838 Centerline is valid? [True, True] Translation: X:492.60, Y:-316.69, Z:11.12 [[ 7.54123982e-01 6.55926553e-01 -3.25173287e-02 4.92599955e+02] [-6.55259879e-01 7.54824055e-01 2.95827165e-02 -3.16689181e+02] [ 4.39489512e-02 -1.00173507e-03 9.99033276e-01 1.11228072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6827550959999 meters 0.02614331364709238 Centerline is valid? [True, True] Translation: X:492.65, Y:-316.73, Z:11.12 [[ 7.52200598e-01 6.58131295e-01 -3.25186054e-02 4.92645211e+02] [-6.57466780e-01 7.52902677e-01 2.95802616e-02 -3.16727278e+02] [ 4.39510410e-02 -8.70387649e-04 9.99033307e-01 1.11219869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.742755096 meters 0.021287828267886926 Centerline is valid? [True, True] Translation: X:492.69, Y:-316.76, Z:11.13 [[ 7.47371280e-01 6.63687766e-01 -3.08985190e-02 4.92692960e+02] [-6.63092659e-01 7.48009547e-01 2.81041315e-02 -3.16763735e+02] [ 4.17647555e-02 -5.15639541e-04 9.99127339e-01 1.11299985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8027550959999 meters 0.020629161272220867 Centerline is valid? [True, True] Translation: X:492.74, Y:-316.80, Z:11.13 [[ 7.45066328e-01 6.66298336e-01 -3.03758784e-02 4.92738660e+02] [-6.65725456e-01 7.45685186e-01 2.76264565e-02 -3.16801706e+02] [ 4.10583046e-02 -3.61547004e-04 9.99156687e-01 1.11318356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.862755096 meters 0.021262833359474587 Centerline is valid? [True, True] Translation: X:492.78, Y:-316.84, Z:11.13 [[ 7.41068004e-01 6.70766022e-01 -2.98522612e-02 4.92784412e+02] [-6.70216488e-01 7.41669017e-01 2.71464252e-02 -3.16838325e+02] [ 4.03493969e-02 -1.09869462e-04 9.99185625e-01 1.11322111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.922755096 meters 0.019904242307110454 Centerline is valid? [True, True] Translation: X:492.83, Y:-316.88, Z:11.13 [[ 7.39517591e-01 6.72469901e-01 -2.99660659e-02 4.92827372e+02] [-6.71917785e-01 7.40124471e-01 2.72443957e-02 -3.16877501e+02] [ 4.04996547e-02 -1.29772206e-05 9.99179552e-01 1.11346264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9827550959999 meters 0.02037634417905169 Centerline is valid? [True, True] Translation: X:492.87, Y:-316.92, Z:11.14 [[ 7.40666586e-01 6.71210730e-01 -2.98188567e-02 4.92868394e+02] [-6.70663264e-01 7.41266585e-01 2.71041796e-02 -3.16918484e+02] [ 4.02963382e-02 -7.67484210e-05 9.99187770e-01 1.11353495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.042755096 meters 0.02120293126580858 Centerline is valid? [True, True] Translation: X:492.90, Y:-316.96, Z:11.14 [[ 7.45741309e-01 6.65563581e-01 -2.99168719e-02 4.92904575e+02] [-6.65008191e-01 7.46341059e-01 2.71869378e-02 -3.16964968e+02] [ 4.04228255e-02 -3.79457746e-04 9.99182592e-01 1.11362699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1027550959999 meters 0.022437096669979152 Centerline is valid? [True, True] Translation: X:492.94, Y:-317.01, Z:11.14 [[ 7.49074878e-01 6.61827147e-01 -2.95237977e-02 4.92943945e+02] [-6.61283570e-01 7.49656256e-01 2.68241914e-02 -3.17008455e+02] [ 3.98856778e-02 -5.69725545e-04 9.99204087e-01 1.11377219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.162755096 meters 0.025058784565639387 Centerline is valid? [True, True] Translation: X:492.98, Y:-317.05, Z:11.14 [[ 7.53391346e-01 6.56912266e-01 -2.94576681e-02 4.92981783e+02] [-6.56367525e-01 7.53966573e-01 2.67596562e-02 -3.17053195e+02] [ 3.97888434e-02 -8.25436688e-04 9.99207769e-01 1.11381676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2227550959999 meters 0.028055099055941665 Centerline is valid? [True, True] Translation: X:493.02, Y:-317.10, Z:11.14 [[ 7.57021713e-01 6.52762940e-01 -2.86124085e-02 4.93021264e+02] [-6.52246195e-01 7.57561563e-01 2.59880584e-02 -3.17096215e+02] [ 3.86397023e-02 -1.01118989e-03 9.99252696e-01 1.11394216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.282755096 meters 0.029720268184558175 Centerline is valid? [True, True] Translation: X:493.07, Y:-317.14, Z:11.14 [[ 7.58754366e-01 6.50775579e-01 -2.79814011e-02 4.93066758e+02] [-6.50279834e-01 7.59269355e-01 2.54201328e-02 -3.17138428e+02] [ 3.77882220e-02 -1.09189583e-03 9.99285174e-01 1.11402167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3427550959999 meters 0.025464457112916984 Centerline is valid? [True, True] Translation: X:493.12, Y:-317.18, Z:11.14 [[ 7.58277038e-01 6.51310332e-01 -2.84742899e-02 4.93116554e+02] [-6.50796745e-01 7.58810682e-01 2.58833218e-02 -3.17176347e+02] [ 3.84646703e-02 -1.09575337e-03 9.99259360e-01 1.11449383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.402755096 meters 0.024704129886607303 Centerline is valid? [True, True] Translation: X:493.17, Y:-317.21, Z:11.14 [[ 7.56692811e-01 6.53170108e-01 -2.80142639e-02 4.93165844e+02] [-6.52673681e-01 7.57210550e-01 2.54803671e-02 -3.17214061e+02] [ 3.78557103e-02 -9.96637846e-04 9.99282719e-01 1.11448133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4627550959999 meters 0.023548155904708774 Centerline is valid? [True, True] Translation: X:493.21, Y:-317.25, Z:11.15 [[ 7.55354906e-01 6.54790786e-01 -2.62296225e-02 4.93214126e+02] [-6.54356308e-01 7.55809686e-01 2.38650367e-02 -3.17252795e+02] [ 3.54512089e-02 -8.63053575e-04 9.99371036e-01 1.11475074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.522755096 meters 0.0244335056487651 Centerline is valid? [True, True] Translation: X:493.26, Y:-317.29, Z:11.15 [[ 7.54363958e-01 6.56026011e-01 -2.37674552e-02 4.93261305e+02] [-6.55669771e-01 7.54737926e-01 2.16290455e-02 -3.17294070e+02] [ 3.21274163e-02 -7.32570493e-04 9.99483513e-01 1.11486614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5827550959999 meters 0.022306029012706695 Centerline is valid? [True, True] Translation: X:493.31, Y:-317.33, Z:11.15 [[ 7.53355523e-01 6.57270266e-01 -2.12427202e-02 4.93307992e+02] [-6.56986102e-01 7.53654712e-01 1.93348633e-02 -3.17332732e+02] [ 2.87179069e-02 -6.09854103e-04 9.99587370e-01 1.11531665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.642755096 meters 0.021644466579629432 Centerline is valid? [True, True] Translation: X:493.35, Y:-317.37, Z:11.16 [[ 7.52474111e-01 6.58344161e-01 -1.91227008e-02 4.93352263e+02] [-6.58114261e-01 7.52716882e-01 1.74044696e-02 -3.17371062e+02] [ 2.58521107e-02 -5.11490737e-04 9.99665647e-01 1.11562633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7027550959999 meters 0.023886428515871062 Centerline is valid? [True, True] Translation: X:493.40, Y:-317.41, Z:11.16 [[ 7.51813746e-01 6.59141567e-01 -1.75637517e-02 4.93396502e+02] [-6.58947901e-01 7.52018749e-01 1.59832978e-02 -3.17410493e+02] [ 2.37435266e-02 -4.42865708e-04 9.99717985e-01 1.11554341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.762755096 meters 0.020648449819527643 Centerline is valid? [True, True] Translation: X:493.44, Y:-317.45, Z:11.16 [[ 7.50982038e-01 6.60092396e-01 -1.74357774e-02 4.93441928e+02] [-6.59901854e-01 7.51184306e-01 1.58644457e-02 -3.17448371e+02] [ 2.35694823e-02 -4.08011873e-04 9.99722118e-01 1.11588626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8227550959999 meters 0.022942084168375638 Centerline is valid? [True, True] Translation: X:493.49, Y:-317.49, Z:11.16 [[ 7.50064023e-01 6.61152649e-01 -1.67670901e-02 4.93486219e+02] [-6.60976759e-01 7.50251322e-01 1.52537958e-02 -3.17487048e+02] [ 2.26646190e-02 -3.58666551e-04 9.99743060e-01 1.11564371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.882755096 meters 0.02251516183526954 Centerline is valid? [True, True] Translation: X:493.53, Y:-317.52, Z:11.16 [[ 7.49382468e-01 6.61941966e-01 -1.60857003e-02 4.93530815e+02] [-6.61780312e-01 7.49555022e-01 1.46317273e-02 -3.17523998e+02] [ 2.17424718e-02 -3.19560152e-04 9.99763553e-01 1.11561293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9427550959999 meters 0.020606801698806593 Centerline is valid? [True, True] Translation: X:493.57, Y:-317.56, Z:11.16 [[ 7.49585988e-01 6.61709477e-01 -1.61682948e-02 4.93574331e+02] [-6.61546183e-01 7.49760270e-01 1.47032344e-02 -3.17561753e+02] [ 2.18516146e-02 -3.25264821e-04 9.99761172e-01 1.11576425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.002755096 meters 0.02277954332578405 Centerline is valid? [True, True] Translation: X:493.62, Y:-317.60, Z:11.16 [[ 7.51149838e-01 6.59938984e-01 -1.59517895e-02 4.93617000e+02] [-6.59779792e-01 7.51319109e-01 1.44990359e-02 -3.17602119e+02] [ 2.15533633e-02 -3.66280122e-04 9.99767632e-01 1.11563878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0627550959999 meters 0.021485822091167145 Centerline is valid? [True, True] Translation: X:493.66, Y:-317.64, Z:11.16 [[ 7.51875754e-01 6.59133846e-01 -1.50141136e-02 4.93657513e+02] [-6.58992702e-01 7.52025558e-01 1.36447647e-02 -3.17642774e+02] [ 2.02847234e-02 -3.64976401e-04 9.99794177e-01 1.11594924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.122755096 meters 0.01947923017789521 Centerline is valid? [True, True] Translation: X:493.71, Y:-317.68, Z:11.16 [[ 7.52134684e-01 6.58841991e-01 -1.48542099e-02 4.93706693e+02] [-6.58703821e-01 7.52281261e-01 1.34974311e-02 -3.17681616e+02] [ 2.00672181e-02 -3.67361243e-04 9.99798566e-01 1.11604007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1827550959999 meters 0.018902929836223763 Centerline is valid? [True, True] Translation: X:493.75, Y:-317.72, Z:11.16 [[ 7.51430707e-01 6.59676808e-01 -1.33567309e-02 4.93753197e+02] [-6.59565115e-01 7.51549340e-01 1.21428512e-02 -3.17720664e+02] [ 1.80485996e-02 -3.14877457e-04 9.99837061e-01 1.11613343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.242755096 meters 0.01791792536983214 Centerline is valid? [True, True] Translation: X:493.80, Y:-317.76, Z:11.16 [[ 7.49403920e-01 6.61999561e-01 -1.22615939e-02 4.93798906e+02] [-6.61905739e-01 7.49504186e-01 1.11475283e-02 -3.17758497e+02] [ 1.65697748e-02 -2.37982030e-04 9.99862684e-01 1.11632727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3027550959999 meters 0.01740819272798321 Centerline is valid? [True, True] Translation: X:493.84, Y:-317.79, Z:11.17 [[ 7.45878725e-01 6.65985389e-01 -1.13308961e-02 4.93843896e+02] [-6.65905764e-01 7.45964774e-01 1.02990559e-02 -3.17794489e+02] [ 1.53114701e-02 -1.36537706e-04 9.99882763e-01 1.11659701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.362755096 meters 0.015889960204130714 Centerline is valid? [True, True] Translation: X:493.89, Y:-317.83, Z:11.17 [[ 7.43348751e-01 6.68820628e-01 -1.05642116e-02 4.93892979e+02] [-6.68751725e-01 7.43423811e-01 9.60042310e-03 -3.17827574e+02] [ 1.42746474e-02 -7.16278266e-05 9.99898109e-01 1.11659561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.422755096 meters 0.015702537213148765 Centerline is valid? [True, True] Translation: X:493.94, Y:-317.86, Z:11.17 [[ 7.41102636e-01 6.71323900e-01 -9.54484006e-03 4.93938551e+02] [-6.71267876e-01 7.41164098e-01 8.67285724e-03 -3.17864174e+02] [ 1.28965891e-02 -2.03328546e-05 9.99916835e-01 1.11667541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4827550959999 meters 0.015766947363062084 Centerline is valid? [True, True] Translation: X:493.98, Y:-317.90, Z:11.17 [[ 7.41653803e-01 6.70736160e-01 -7.91455947e-03 4.93982073e+02] [-6.70697614e-01 7.41696032e-01 7.19073582e-03 -3.17903780e+02] [ 1.06932839e-02 -2.47604176e-05 9.99942825e-01 1.11682112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.542755096 meters 0.016052975964100477 Centerline is valid? [True, True] Translation: X:494.02, Y:-317.95, Z:11.17 [[ 7.44221456e-01 6.67883298e-01 -8.14401656e-03 4.94021237e+02] [-6.67842325e-01 7.44266012e-01 7.39816032e-03 -3.17946557e+02] [ 1.10024224e-02 -6.69506853e-05 9.99939469e-01 1.11680045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6027550959999 meters 0.017193335659910155 Centerline is valid? [True, True] Translation: X:494.06, Y:-317.99, Z:11.17 [[ 7.47563130e-01 6.64141021e-01 -8.12845032e-03 4.94060572e+02] [-6.64099998e-01 7.47607310e-01 7.38256724e-03 -3.17989794e+02] [ 1.09799546e-02 -1.20831229e-04 9.99939711e-01 1.11672111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.662755096 meters 0.018031797002301952 Centerline is valid? [True, True] Translation: X:494.10, Y:-318.03, Z:11.17 [[ 7.49790449e-01 6.61615133e-01 -8.92743947e-03 4.94100324e+02] [-6.61565493e-01 7.49843575e-01 8.10631411e-03 -3.18033055e+02] [ 1.20574432e-02 -1.71951000e-04 9.99927292e-01 1.11670308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7227550959999 meters 0.022282913704362733 Centerline is valid? [True, True] Translation: X:494.14, Y:-318.08, Z:11.17 [[ 7.53765130e-01 6.57071677e-01 -9.74368756e-03 4.94137520e+02] [-6.57012183e-01 7.53828058e-01 8.84595901e-03 -3.18078707e+02] [ 1.31574942e-02 -2.66054014e-04 9.99913401e-01 1.11652272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.782755096 meters 0.02276347574526864 Centerline is valid? [True, True] Translation: X:494.18, Y:-318.12, Z:11.17 [[ 7.55777340e-01 6.54748381e-01 -1.02552359e-02 4.94176719e+02] [-6.54682281e-01 7.55846846e-01 9.30898728e-03 -3.18121631e+02] [ 1.38464321e-02 -3.21600415e-04 9.99904082e-01 1.11659051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8427550959999 meters 0.02155454886025961 Centerline is valid? [True, True] Translation: X:494.22, Y:-318.16, Z:11.16 [[ 7.55790158e-01 6.54720671e-01 -1.10490233e-02 4.94220256e+02] [-6.54643972e-01 7.55870838e-01 1.00272894e-02 -3.18162764e+02] [ 1.49167082e-02 -3.45350187e-04 9.99888680e-01 1.11649187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.902755096 meters 0.020447445097898913 Centerline is valid? [True, True] Translation: X:494.27, Y:-318.20, Z:11.17 [[ 7.54583994e-01 6.56092827e-01 -1.20498204e-02 4.94265592e+02] [-6.56001807e-01 7.54680119e-01 1.09337627e-02 -3.18204641e+02] [ 1.62673232e-02 -3.45738395e-04 9.99867619e-01 1.11655893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9627550959999 meters 0.018322482749793426 Centerline is valid? [True, True] Translation: X:494.31, Y:-318.25, Z:11.16 [[ 7.51384681e-01 6.59708314e-01 -1.43527768e-02 4.94311457e+02] [-6.59579673e-01 7.51521680e-01 1.30314762e-02 -3.18245973e+02] [ 1.93833961e-02 -3.24851732e-04 9.99812072e-01 1.11638145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.022755096 meters 0.016658456168776817 Centerline is valid? [True, True] Translation: X:494.36, Y:-318.29, Z:11.16 [[ 7.47053283e-01 6.64589456e-01 -1.52396938e-02 4.94357559e+02] [-6.64445395e-01 7.47208679e-01 1.38386099e-02 -3.18288422e+02] [ 2.05842257e-02 -2.12234645e-04 9.99788100e-01 1.11647727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0827550959999 meters 0.01569216411856734 Centerline is valid? [True, True] Translation: X:494.40, Y:-318.33, Z:11.17 [[ 7.42506634e-01 6.69670751e-01 -1.49994519e-02 4.94401693e+02] [-6.69532172e-01 7.42658118e-01 1.36231625e-02 -3.18329761e+02] [ 2.02624981e-02 -7.26729331e-05 9.99794692e-01 1.11678710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.142755096 meters 0.015878077882255683 Centerline is valid? [True, True] Translation: X:494.45, Y:-318.37, Z:11.17 [[ 7.38407348e-01 6.74208341e-01 -1.40606470e-02 4.94446365e+02] [-6.74087339e-01 7.38541204e-01 1.27729511e-02 -3.18368552e+02] [ 1.89959974e-02 4.64632295e-05 9.99819559e-01 1.11718137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2027550959999 meters 0.016430304669984838 Centerline is valid? [True, True] Translation: X:494.49, Y:-318.41, Z:11.17 [[ 7.35854795e-01 6.77004268e-01 -1.35255997e-02 4.94491843e+02] [-6.76892805e-01 7.35979081e-01 1.22850634e-02 -3.18406425e+02] [ 1.82715987e-02 1.15358299e-04 9.99833054e-01 1.11741505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.262755096 meters 0.017381914565336897 Centerline is valid? [True, True] Translation: X:494.54, Y:-318.44, Z:11.18 [[ 7.33661875e-01 6.79380120e-01 -1.35242740e-02 4.94537049e+02] [-6.79269115e-01 7.33786496e-01 1.22819612e-02 -3.18442074e+02] [ 1.82680499e-02 1.75814907e-04 9.99833110e-01 1.11755367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3227550959999 meters 0.01710017901296918 Centerline is valid? [True, True] Translation: X:494.58, Y:-318.48, Z:11.17 [[ 7.34244234e-01 6.78726090e-01 -1.47070945e-02 4.94580516e+02] [-6.78594741e-01 7.34391492e-01 1.33534186e-02 -3.18481706e+02] [ 1.98640787e-02 1.75486387e-04 9.99802674e-01 1.11747940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.382755096 meters 0.01622708431061396 Centerline is valid? [True, True] Translation: X:494.62, Y:-318.52, Z:11.17 [[ 7.36969337e-01 6.75745971e-01 -1.56070161e-02 4.94622907e+02] [-6.75597432e-01 7.37134568e-01 1.41681882e-02 -3.18522954e+02] [ 2.10785672e-02 1.02539715e-04 9.99777817e-01 1.11747567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4427550959999 meters 0.01573626107171327 Centerline is valid? [True, True] Translation: X:494.66, Y:-318.56, Z:11.17 [[ 7.40493277e-01 6.71868360e-01 -1.62053510e-02 4.94664509e+02] [-6.71707332e-01 7.40670579e-01 1.47089444e-02 -3.18563372e+02] [ 2.18853010e-02 -6.62129934e-06 9.99760488e-01 1.11748507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.502755096 meters 0.01640794295989636 Centerline is valid? [True, True] Translation: X:494.70, Y:-318.61, Z:11.18 [[ 7.45064082e-01 6.66770694e-01 -1.72149883e-02 4.94703972e+02] [-6.66587673e-01 7.45262917e-01 1.56223808e-02 -3.18607507e+02] [ 2.32462381e-02 -1.64375790e-04 9.99729756e-01 1.11750815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5627550959999 meters 0.017819222017650366 Centerline is valid? [True, True] Translation: X:494.75, Y:-318.65, Z:11.18 [[ 7.48407163e-01 6.63019215e-01 -1.70950045e-02 4.94745843e+02] [-6.62837808e-01 7.48602327e-01 1.55111779e-02 -3.18649542e+02] [ 2.30815691e-02 -2.77461367e-04 9.99733547e-01 1.11765151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.622755096 meters 0.021340373713504286 Centerline is valid? [True, True] Translation: X:494.79, Y:-318.69, Z:11.18 [[ 7.53745172e-01 6.56936459e-01 -1.73984080e-02 4.94786900e+02] [-6.56746974e-01 7.53945798e-01 1.57843549e-02 -3.18692904e+02] [ 2.34867749e-02 -4.71029492e-04 9.99724037e-01 1.11761032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6827550959999 meters 0.024608392083792317 Centerline is valid? [True, True] Translation: X:494.83, Y:-318.74, Z:11.18 [[ 7.57452309e-01 6.52652314e-01 -1.76339659e-02 4.94828102e+02] [-6.52456525e-01 7.57657299e-01 1.59968826e-02 -3.18736735e+02] [ 2.38009055e-02 -6.11479526e-04 9.99716531e-01 1.11765403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.742755096 meters 0.024939110064089963 Centerline is valid? [True, True] Translation: X:494.87, Y:-318.78, Z:11.18 [[ 7.60633195e-01 6.48922563e-01 -1.83480129e-02 4.94872258e+02] [-6.48709525e-01 7.60854082e-01 1.66438817e-02 -3.18778914e+02] [ 2.47607509e-02 -7.57358199e-04 9.99693119e-01 1.11784230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8027550959999 meters 0.02471677891896807 Centerline is valid? [True, True] Translation: X:494.92, Y:-318.82, Z:11.18 [[ 7.61464113e-01 6.47935091e-01 -1.87756129e-02 4.94919077e+02] [-6.47711626e-01 7.61695124e-01 1.70348795e-02 -3.18819739e+02] [ 2.53387890e-02 -8.10266623e-04 9.99678593e-01 1.11807113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.862755096 meters 0.02403096365703013 Centerline is valid? [True, True] Translation: X:494.97, Y:-318.86, Z:11.18 [[ 7.57885835e-01 6.52130720e-01 -1.82916711e-02 4.94967873e+02] [-6.51919669e-01 7.58106253e-01 1.66028456e-02 -3.18856472e+02] [ 2.46942559e-02 -6.58361342e-04 9.99694834e-01 1.11818201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.922755096 meters 0.019134348863166742 Centerline is valid? [True, True] Translation: X:495.02, Y:-318.89, Z:11.18 [[ 7.52649485e-01 6.58183288e-01 -1.77063090e-02 4.95020623e+02] [-6.57987169e-01 7.52857597e-01 1.60724696e-02 -3.18888162e+02] [ 2.39089602e-02 -4.46411810e-04 9.99714040e-01 1.11845116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9827550959999 meters 0.01677892122597695 Centerline is valid? [True, True] Translation: X:495.07, Y:-318.92, Z:11.19 [[ 7.47118417e-01 6.64452614e-01 -1.77987180e-02 4.95070721e+02] [-6.64256201e-01 7.47330357e-01 1.61566658e-02 -3.18924051e+02] [ 2.40368611e-02 -2.48033766e-04 9.99711042e-01 1.11867771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.042755096 meters 0.01607543566741241 Centerline is valid? [True, True] Translation: X:495.12, Y:-318.96, Z:11.19 [[ 7.43942302e-01 6.68005859e-01 -1.78332184e-02 4.95118483e+02] [-6.67809623e-01 7.44156001e-01 1.61911639e-02 -3.18963111e+02] [ 2.40864888e-02 -1.36096908e-04 9.99709869e-01 1.11883171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1027550959999 meters 0.015710163108320394 Centerline is valid? [True, True] Translation: X:495.16, Y:-319.00, Z:11.19 [[ 7.40354429e-01 6.71999974e-01 -1.70691241e-02 4.95164531e+02] [-6.71821110e-01 7.40551170e-01 1.55035553e-02 -3.18999895e+02] [ 2.30589486e-02 -1.07278778e-05 9.99734107e-01 1.11909038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.162755096 meters 0.016250273811618605 Centerline is valid? [True, True] Translation: X:495.21, Y:-319.04, Z:11.19 [[ 7.38747252e-01 6.73761452e-01 -1.72627454e-02 4.95209225e+02] [-6.73578990e-01 7.38948918e-01 1.56793282e-02 -3.19042844e+02] [ 2.33204139e-02 4.47619398e-05 9.99728041e-01 1.11920599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2227550959999 meters 0.015942224561782677 Centerline is valid? [True, True] Translation: X:495.25, Y:-319.09, Z:11.19 [[ 7.40416371e-01 6.71921471e-01 -1.74680767e-02 4.95249260e+02] [-6.71733958e-01 7.40622398e-01 1.58730552e-02 -3.19087977e+02] [ 2.36026955e-02 -1.87696444e-05 9.99721417e-01 1.11935054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.282755096 meters 0.016072617444491167 Centerline is valid? [True, True] Translation: X:495.29, Y:-319.13, Z:11.19 [[ 7.42506028e-01 6.69596077e-01 -1.80525060e-02 4.95288498e+02] [-6.69395118e-01 7.42725444e-01 1.64040008e-02 -3.19132079e+02] [ 2.43921101e-02 -9.58100698e-05 9.99702464e-01 1.11941027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3427550959999 meters 0.018545246916826488 Centerline is valid? [True, True] Translation: X:495.33, Y:-319.17, Z:11.19 [[ 7.42587033e-01 6.69511365e-01 -1.78614191e-02 4.95332483e+02] [-6.69314674e-01 7.42801806e-01 1.62278770e-02 -3.19170817e+02] [ 2.41322424e-02 -9.57011191e-05 9.99708770e-01 1.11929810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.402755096 meters 0.0173971164685614 Centerline is valid? [True, True] Translation: X:495.38, Y:-319.21, Z:11.19 [[ 7.39756843e-01 6.72592952e-01 -1.94559624e-02 4.95379404e+02] [-6.72360711e-01 7.40012649e-01 1.76735108e-02 -3.19205640e+02] [ 2.62847371e-02 7.32412607e-06 9.99654497e-01 1.11936946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4627550959999 meters 0.01629142761325544 Centerline is valid? [True, True] Translation: X:495.42, Y:-319.24, Z:11.19 [[ 7.39308297e-01 6.73062999e-01 -2.02346850e-02 4.95423720e+02] [-6.72812064e-01 7.39585154e-01 1.83773432e-02 -3.19242927e+02] [ 2.73343824e-02 2.76178878e-05 9.99626346e-01 1.11949145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.522755096 meters 0.0172758730796041 Centerline is valid? [True, True] Translation: X:495.46, Y:-319.29, Z:11.19 [[ 7.42826231e-01 6.69115792e-01 -2.22091636e-02 4.95463498e+02] [-6.68811831e-01 7.43158153e-01 2.01666491e-02 -3.19285809e+02] [ 2.99987444e-02 -1.26564538e-04 9.99549928e-01 1.11923538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5827550959999 meters 0.018198482322847452 Centerline is valid? [True, True] Translation: X:495.51, Y:-319.33, Z:11.20 [[ 7.48543608e-01 6.62734587e-01 -2.15716281e-02 4.95505209e+02] [-6.62445107e-01 7.48854277e-01 1.95895985e-02 -3.19331701e+02] [ 2.91367104e-02 -3.73649271e-04 9.99575366e-01 1.11983011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.642755096 meters 0.022607686877986952 Centerline is valid? [True, True] Translation: X:495.55, Y:-319.38, Z:11.20 [[ 7.54035344e-01 6.56514024e-01 -2.04947726e-02 4.95546331e+02] [-6.56250210e-01 7.54313587e-01 1.86191921e-02 -3.19378664e+02] [ 2.76832461e-02 -5.89830104e-04 9.99616571e-01 1.11999413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7027550959999 meters 0.022960929800227094 Centerline is valid? [True, True] Translation: X:495.59, Y:-319.43, Z:11.21 [[ 7.56943694e-01 6.53211225e-01 -1.87440751e-02 4.95588276e+02] [-6.52989484e-01 7.57175456e-01 1.70312310e-02 -3.19425017e+02] [ 2.53175448e-02 -6.51998950e-04 9.99679247e-01 1.12072690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.762755096 meters 0.023577740659801748 Centerline is valid? [True, True] Translation: X:495.63, Y:-319.47, Z:11.21 [[ 7.57537254e-01 6.52564226e-01 -1.72406661e-02 4.95633715e+02] [-6.52376381e-01 7.57733162e-01 1.56688522e-02 -3.19467611e+02] [ 2.32887568e-02 -6.22335914e-04 9.99728586e-01 1.12097710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8227550959999 meters 0.02204581613363174 Centerline is valid? [True, True] Translation: X:495.68, Y:-319.51, Z:11.21 [[ 7.55366635e-01 6.55127245e-01 -1.51505674e-02 4.95681506e+02] [-6.54982563e-01 7.55518405e-01 1.37761694e-02 -3.19507669e+02] [ 2.04716764e-02 -4.82701230e-04 9.99790317e-01 1.12141781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.882755096 meters 0.0200561033276199 Centerline is valid? [True, True] Translation: X:495.73, Y:-319.55, Z:11.22 [[ 7.51349956e-01 6.59767216e-01 -1.34336813e-02 4.95729949e+02] [-6.59654097e-01 7.51469971e-01 1.22210405e-02 -3.19545857e+02] [ 1.81580500e-02 -3.20695303e-04 9.99835078e-01 1.12175131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9427550959999 meters 0.020290782252178258 Centerline is valid? [True, True] Translation: X:495.78, Y:-319.59, Z:11.22 [[ 7.48305440e-01 6.63229941e-01 -1.28457582e-02 4.95776106e+02] [-6.63126987e-01 7.48415656e-01 1.16878571e-02 -3.19586844e+02] [ 1.73657033e-02 -2.27718136e-04 9.99849179e-01 1.12175544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.002755096 meters 0.021358655663286073 Centerline is valid? [True, True] Translation: X:495.82, Y:-319.63, Z:11.22 [[ 7.46799206e-01 6.64928199e-01 -1.27057491e-02 4.95820477e+02] [-6.64827610e-01 7.46907259e-01 1.15669631e-02 -3.19627776e+02] [ 1.71812162e-02 -1.91066103e-04 9.99852374e-01 1.12167327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0627550959999 meters 0.018776235676364075 Centerline is valid? [True, True] Translation: X:495.86, Y:-319.67, Z:11.22 [[ 7.46554371e-01 6.65209468e-01 -1.23666992e-02 4.95864694e+02] [-6.65114173e-01 7.46656769e-01 1.12608011e-02 -3.19667043e+02] [ 1.67244712e-02 -1.81533310e-04 9.99860120e-01 1.12205362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.122755096 meters 0.020658400302956514 Centerline is valid? [True, True] Translation: X:495.90, Y:-319.71, Z:11.22 [[ 7.49125949e-01 6.62316706e-01 -1.21199892e-02 4.95903643e+02] [-6.62224821e-01 7.49223948e-01 1.10345992e-02 -3.19710667e+02] [ 1.63889856e-02 -2.40146915e-04 9.99865663e-01 1.12200476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1827550959999 meters 0.021781572146689854 Centerline is valid? [True, True] Translation: X:495.95, Y:-319.76, Z:11.22 [[ 7.52889395e-01 6.58044499e-01 -1.16187987e-02 4.95946088e+02] [-6.57959595e-01 7.52978975e-01 1.05752007e-02 -3.19755579e+02] [ 1.57076638e-02 -3.17256372e-04 9.99876577e-01 1.12208703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.242755096 meters 0.02290655478878881 Centerline is valid? [True, True] Translation: X:495.99, Y:-319.80, Z:11.22 [[ 7.55781038e-01 6.54719378e-01 -1.17285206e-02 4.95989156e+02] [-6.54632361e-01 7.55871934e-01 1.06813458e-02 -3.19800562e+02] [ 1.58585436e-02 -3.94889487e-04 9.99874167e-01 1.12220681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3027550959999 meters 0.02392924470593978 Centerline is valid? [True, True] Translation: X:496.03, Y:-319.84, Z:11.22 [[ 7.56762093e-01 6.53576783e-01 -1.21870358e-02 4.96033376e+02] [-6.53482653e-01 7.56860091e-01 1.11006170e-02 -3.19843682e+02] [ 1.64789866e-02 -4.36509690e-04 9.99864117e-01 1.12207255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.362755096 meters 0.02436834918436903 Centerline is valid? [True, True] Translation: X:496.08, Y:-319.89, Z:11.22 [[ 7.57199546e-01 6.53047328e-01 -1.33429955e-02 4.96078506e+02] [-6.52934341e-01 7.57316937e-01 1.21574329e-02 -3.19886923e+02] [ 1.80442555e-02 -4.93502729e-04 9.99837067e-01 1.12201220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.422755096 meters 0.02363092721108694 Centerline is valid? [True, True] Translation: X:496.13, Y:-319.93, Z:11.22 [[ 7.55621624e-01 6.54851051e-01 -1.43548434e-02 4.96126786e+02] [-6.54720450e-01 7.55757805e-01 1.30871027e-02 -3.19926362e+02] [ 1.94188879e-02 -4.90488222e-04 9.99811315e-01 1.12192338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4827550959999 meters 0.021030860992861018 Centerline is valid? [True, True] Translation: X:496.18, Y:-319.96, Z:11.22 [[ 7.52061320e-01 6.58878605e-01 -1.68153379e-02 4.96177529e+02] [-6.58700203e-01 7.52249143e-01 1.53384867e-02 -3.19962117e+02] [ 2.27555242e-02 -4.59216052e-04 9.99740954e-01 1.12176384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.542755096 meters 0.019964268188536576 Centerline is valid? [True, True] Translation: X:496.23, Y:-320.00, Z:11.22 [[ 7.48768028e-01 6.62585809e-01 -1.80689074e-02 4.96227777e+02] [-6.62380828e-01 7.48985918e-01 1.64843167e-02 -3.19999916e+02] [ 2.44556315e-02 -3.74431511e-04 9.99700846e-01 1.12174021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6027550959999 meters 0.02139046674890116 Centerline is valid? [True, True] Translation: X:496.27, Y:-320.04, Z:11.22 [[ 7.47884007e-01 6.63573361e-01 -1.84365452e-02 4.96274768e+02] [-6.63360093e-01 7.48111134e-01 1.68260966e-02 -3.20040312e+02] [ 2.49579342e-02 -3.53900255e-04 9.99688440e-01 1.12157016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.662755096 meters 0.018977149578615057 Centerline is valid? [True, True] Translation: X:496.32, Y:-320.08, Z:11.22 [[ 7.45095549e-01 6.66706000e-01 -1.83230137e-02 4.96323627e+02] [-6.66496089e-01 7.45320767e-01 1.67307562e-02 -3.20077090e+02] [ 2.48110182e-02 -2.53795044e-04 9.99692127e-01 1.12198883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7227550959999 meters 0.019469969754154912 Centerline is valid? [True, True] Translation: X:496.37, Y:-320.12, Z:11.22 [[ 7.43842269e-01 6.68092368e-01 -1.87421255e-02 4.96371798e+02] [-6.67873013e-01 7.44078316e-01 1.71200907e-02 -3.20116166e+02] [ 2.53834111e-02 -2.17287252e-04 9.99677766e-01 1.12196038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.782755096 meters 0.01947490558067029 Centerline is valid? [True, True] Translation: X:496.42, Y:-320.15, Z:11.22 [[ 7.43311101e-01 6.68658675e-01 -1.96005948e-02 4.96415286e+02] [-6.68418797e-01 7.43569453e-01 1.79103725e-02 -3.20153724e+02] [ 2.65503295e-02 -2.11572729e-04 9.99647455e-01 1.12199646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8427550959999 meters 0.019073213138948632 Centerline is valid? [True, True] Translation: X:496.46, Y:-320.19, Z:11.22 [[ 7.42983702e-01 6.69005985e-01 -2.01546816e-02 4.96460110e+02] [-6.68752570e-01 7.43256989e-01 1.84132651e-02 -3.20191223e+02] [ 2.72986925e-02 -2.02260766e-04 9.99627301e-01 1.12213432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.902755096 meters 0.018718472919326712 Centerline is valid? [True, True] Translation: X:496.50, Y:-320.23, Z:11.22 [[ 7.43555464e-01 6.68362903e-01 -2.04034691e-02 4.96503349e+02] [-6.68103031e-01 7.43835317e-01 1.86376420e-02 -3.20230789e+02] [ 2.76335294e-02 -2.26500994e-04 9.99618095e-01 1.12228035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9627550959999 meters 0.019237198025304127 Centerline is valid? [True, True] Translation: X:496.54, Y:-320.27, Z:11.22 [[ 7.44520290e-01 6.67276125e-01 -2.07872693e-02 4.96543628e+02] [-6.67006050e-01 7.44810378e-01 1.89849927e-02 -3.20272272e+02] [ 2.81508062e-02 -2.69477894e-04 9.99603651e-01 1.12240250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.022755096 meters 0.02113528702254919 Centerline is valid? [True, True] Translation: X:496.59, Y:-320.31, Z:11.22 [[ 7.44738188e-01 6.66992486e-01 -2.20466476e-02 4.96586563e+02] [-6.66688656e-01 7.45064384e-01 2.01320587e-02 -3.20313268e+02] [ 2.98541038e-02 -2.94863034e-04 9.99554223e-01 1.12225791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0827550959999 meters 0.018835945465122156 Centerline is valid? [True, True] Translation: X:496.63, Y:-320.35, Z:11.23 [[ 7.44578812e-01 6.67178282e-01 -2.18067351e-02 4.96630819e+02] [-6.66881155e-01 7.44898020e-01 1.99114319e-02 -3.20353719e+02] [ 2.95282687e-02 -2.83129596e-04 9.99563906e-01 1.12266068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.142755096 meters 0.020992195175304654 Centerline is valid? [True, True] Translation: X:496.67, Y:-320.40, Z:11.23 [[ 7.45392714e-01 6.66262410e-01 -2.20023433e-02 4.96672924e+02] [-6.65959557e-01 7.45717304e-01 2.00890593e-02 -3.20398045e+02] [ 2.97921132e-02 -3.21567647e-04 9.99556065e-01 1.12257206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2027550959999 meters 0.019294284675435324 Centerline is valid? [True, True] Translation: X:496.72, Y:-320.44, Z:11.23 [[ 7.46506424e-01 6.65037007e-01 -2.13058184e-02 4.96715681e+02] [-6.64752399e-01 7.46810316e-01 1.94576267e-02 -3.20444432e+02] [ 2.88514468e-02 -3.62149458e-04 9.99583645e-01 1.12306033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.262755096 meters 0.02040257576310484 Centerline is valid? [True, True] Translation: X:496.76, Y:-320.49, Z:11.23 [[ 7.49015809e-01 6.62222282e-01 -2.09037508e-02 4.96756354e+02] [-6.61946893e-01 7.49307299e-01 1.91019155e-02 -3.20491946e+02] [ 2.83130471e-02 -4.70463849e-04 9.99598995e-01 1.12337803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3227550959999 meters 0.02115958205966354 Centerline is valid? [True, True] Translation: X:496.80, Y:-320.54, Z:11.24 [[ 7.50896729e-01 6.60111308e-01 -2.01783035e-02 4.96798265e+02] [-6.59853668e-01 7.51167605e-01 1.84489938e-02 -3.20537928e+02] [ 2.73356773e-02 -5.38561471e-04 9.99626165e-01 1.12373098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.382755096 meters 0.021547032489072256 Centerline is valid? [True, True] Translation: X:496.84, Y:-320.58, Z:11.24 [[ 7.51284325e-01 6.59676170e-01 -1.99803446e-02 4.96842364e+02] [-6.59423135e-01 7.51549759e-01 1.82780804e-02 -3.20582263e+02] [ 2.70738372e-02 -5.56533790e-04 9.99633282e-01 1.12398176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4427550959999 meters 0.021810812520461638 Centerline is valid? [True, True] Translation: X:496.89, Y:-320.63, Z:11.24 [[ 7.51635385e-01 6.59304588e-01 -1.90186326e-02 4.96887398e+02] [-6.59074962e-01 7.51875760e-01 1.74079299e-02 -3.20626630e+02] [ 2.57767769e-02 -5.49711529e-04 9.99667573e-01 1.12422308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.502755096 meters 0.02209171264384292 Centerline is valid? [True, True] Translation: X:496.93, Y:-320.67, Z:11.24 [[ 7.51206718e-01 6.59781814e-01 -1.94016874e-02 4.96931564e+02] [-6.59542741e-01 7.51457021e-01 1.77684775e-02 -3.20670198e+02] [ 2.63028525e-02 -5.51557553e-04 9.99653868e-01 1.12440691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5627550959999 meters 0.021807681366023696 Centerline is valid? [True, True] Translation: X:496.98, Y:-320.71, Z:11.24 [[ 7.50075945e-01 6.61039474e-01 -2.03197049e-02 4.96977098e+02] [-6.60777478e-01 7.50350934e-01 1.86172112e-02 -3.20711567e+02] [ 2.75536210e-02 -5.37518956e-04 9.99620182e-01 1.12431344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.622755096 meters 0.021332354427714712 Centerline is valid? [True, True] Translation: X:497.02, Y:-320.75, Z:11.24 [[ 7.49106359e-01 6.62125966e-01 -2.07091163e-02 4.97021794e+02] [-6.61854098e-01 7.49392383e-01 1.89791621e-02 -3.20749597e+02] [ 2.80858500e-02 -5.10997565e-04 9.99605384e-01 1.12425273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6827550959999 meters 0.020364280106670928 Centerline is valid? [True, True] Translation: X:497.07, Y:-320.79, Z:11.25 [[ 7.47461475e-01 6.64005390e-01 -1.99545764e-02 4.97066588e+02] [-6.63753714e-01 7.47727667e-01 1.82850518e-02 -3.20788302e+02] [ 2.70619618e-02 -4.22447651e-04 9.99633669e-01 1.12450121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.742755096 meters 0.02167868783382405 Centerline is valid? [True, True] Translation: X:497.11, Y:-320.83, Z:11.25 [[ 7.46922312e-01 6.64624416e-01 -1.95306471e-02 4.97110279e+02] [-6.64383601e-01 7.47177512e-01 1.78940429e-02 -3.20827324e+02] [ 2.64856781e-02 -3.89618242e-04 9.99649117e-01 1.12458035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8027550959999 meters 0.020869235296136938 Centerline is valid? [True, True] Translation: X:497.16, Y:-320.86, Z:11.25 [[ 7.44619928e-01 6.67210454e-01 -1.92710314e-02 4.97155578e+02] [-6.66976934e-01 7.44869200e-01 1.76534733e-02 -3.20863294e+02] [ 2.61329797e-02 -2.91794571e-04 9.99658433e-01 1.12459439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.862755096 meters 0.01750576770349311 Centerline is valid? [True, True] Translation: X:497.64, Y:-320.34, Z:12.35 [[ 7.83511454e-01 -6.21327958e-01 7.83397998e-03 4.97642600e+02] [-6.21278659e-01 -7.83549442e-01 -7.94348760e-03 -3.20344458e+02] [ 1.10738216e-02 1.35672893e-03 -9.99937763e-01 1.23530770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.922755096 meters 0.016686299032574535 Centerline is valid? [True, True] Translation: X:497.68, Y:-320.35, Z:12.35 [[ 8.30498168e-01 -5.56965293e-01 7.90285352e-03 4.97679483e+02] [-5.56923625e-01 -8.30534638e-01 -6.94909334e-03 -3.20354061e+02] [ 1.04339974e-02 1.36992346e-03 -9.99944626e-01 1.23548109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9827550959999 meters 0.016867275147767754 Centerline is valid? [True, True] Translation: X:497.72, Y:-320.36, Z:12.36 [[ 8.71196199e-01 -4.90882448e-01 7.18370381e-03 4.97717822e+02] [-4.90852209e-01 -8.71224742e-01 -5.61767086e-03 -3.20356706e+02] [ 9.01623652e-03 1.36795662e-03 -9.99958417e-01 1.23590097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.042755096 meters 0.01760900680855708 Centerline is valid? [True, True] Translation: X:497.76, Y:-320.36, Z:12.36 [[ 9.05936756e-01 -4.23339493e-01 7.89102241e-03 4.97757736e+02] [-4.23310089e-01 -9.05970131e-01 -5.16632647e-03 -3.20356623e+02] [ 9.33614064e-03 1.34001565e-03 -9.99955519e-01 1.23603052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1027550959999 meters 0.020422130445486113 Centerline is valid? [True, True] Translation: X:497.80, Y:-320.35, Z:12.36 [[ 9.34484988e-01 -3.55897393e-01 8.65181669e-03 4.97797562e+02] [-3.55869094e-01 -9.34524157e-01 -4.66778916e-03 -3.20354166e+02] [ 9.74658569e-03 1.28306473e-03 -9.99951678e-01 1.23621559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.162755096 meters 0.019474835960199697 Centerline is valid? [True, True] Translation: X:497.84, Y:-320.35, Z:12.36 [[ 9.58272970e-01 -2.85678800e-01 1.00268801e-02 4.97837302e+02] [-2.85649609e-01 -9.58324650e-01 -4.26217091e-03 -3.20346379e+02] [ 1.08266183e-02 1.22014879e-03 -9.99940646e-01 1.23612224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2227550959999 meters 0.02075748782668415 Centerline is valid? [True, True] Translation: X:497.88, Y:-320.34, Z:12.36 [[ 9.77141823e-01 -2.12361327e-01 9.82463218e-03 4.97875408e+02] [-2.12338098e-01 -9.77190477e-01 -3.36198365e-03 -3.20336687e+02] [ 1.03144923e-02 1.19899112e-03 -9.99946085e-01 1.23637763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.282755096 meters 0.024135024544858406 Centerline is valid? [True, True] Translation: X:497.91, Y:-320.32, Z:12.37 [[ 9.90458787e-01 -1.37645046e-01 6.72546866e-03 4.97908671e+02] [-1.37633217e-01 -9.90480836e-01 -2.19335957e-03 -3.20321109e+02] [ 6.96335290e-03 1.24678437e-03 -9.99974978e-01 1.23705249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3427550959999 meters 0.023060966246501242 Centerline is valid? [True, True] Translation: X:497.94, Y:-320.31, Z:12.37 [[ 9.98279057e-01 -5.82364762e-02 6.88742800e-03 4.97941495e+02] [-5.82263919e-02 -9.98302031e-01 -1.65588485e-03 -3.20310258e+02] [ 6.97216626e-03 1.25200508e-03 -9.99974910e-01 1.23711236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.402755096 meters 0.02048846971114893 Centerline is valid? [True, True] Translation: X:497.97, Y:-320.29, Z:12.37 [[ 9.99659614e-01 2.48018863e-02 8.09460821e-03 4.97971853e+02] [ 2.48112784e-02 -9.99691589e-01 -1.06191775e-03 -3.20294698e+02] [ 8.06577418e-03 1.26239386e-03 -9.99966674e-01 1.23707272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4627550959999 meters 0.01836467147877947 Centerline is valid? [True, True] Translation: X:498.00, Y:-320.28, Z:12.37 [[ 9.94176858e-01 1.07480960e-01 7.76003298e-03 4.98002942e+02] [ 1.07487793e-01 -9.94206294e-01 -4.67737500e-04 -3.20283531e+02] [ 7.66480076e-03 1.29912262e-03 -9.99969781e-01 1.23704052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.522755096 meters 0.01717726500108855 Centerline is valid? [True, True] Translation: X:498.03, Y:-320.26, Z:12.37 [[ 9.82396021e-01 1.86637001e-01 8.04288450e-03 4.98032113e+02] [ 1.86641447e-01 -9.82428079e-01 2.00805663e-04 -3.20263617e+02] [ 7.93903333e-03 1.30386492e-03 -9.99967635e-01 1.23707396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5827550959999 meters 0.017689785076303637 Centerline is valid? [True, True] Translation: X:498.06, Y:-320.24, Z:12.37 [[ 9.63702813e-01 2.66831281e-01 8.82922832e-03 4.98060416e+02] [ 2.66832430e-01 -9.63742347e-01 1.06931728e-03 -3.20242222e+02] [ 8.79442852e-03 1.32542038e-03 -9.99960450e-01 1.23714124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.642755096 meters 0.015469193481715165 Centerline is valid? [True, True] Translation: X:498.09, Y:-320.22, Z:12.37 [[ 9.38721336e-01 3.44517593e-01 1.04823994e-02 4.98087936e+02] [ 3.44511737e-01 -9.38778901e-01 2.41629509e-03 -3.20219896e+02] [ 1.06731115e-02 1.34308186e-03 -9.99942139e-01 1.23686902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7027550959999 meters 0.017349192306368645 Centerline is valid? [True, True] Translation: X:498.11, Y:-320.19, Z:12.37 [[ 9.08715385e-01 4.17274222e-01 1.08891264e-02 4.98112493e+02] [ 4.17261480e-01 -9.08779637e-01 3.52547902e-03 -3.20193515e+02] [ 1.13669079e-02 1.33995598e-03 -9.99934497e-01 1.23688170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.762755096 meters 0.017051352667742478 Centerline is valid? [True, True] Translation: X:498.13, Y:-320.16, Z:12.37 [[ 8.73759552e-01 4.86250234e-01 1.02447977e-02 4.98134497e+02] [ 4.86234045e-01 -8.73818603e-01 4.18355992e-03 -3.20164172e+02] [ 1.09863518e-02 1.32594400e-03 -9.99938769e-01 1.23697000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8227550959999 meters 0.015949937394232075 Centerline is valid? [True, True] Translation: X:498.15, Y:-320.13, Z:12.37 [[ 8.35337738e-01 5.49648857e-01 9.84876610e-03 4.98151337e+02] [ 5.49628011e-01 -8.35394822e-01 4.95387650e-03 -3.20129996e+02] [ 1.09505008e-02 1.27499773e-03 -9.99939229e-01 1.23698732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.882755096 meters 0.01730118384877295 Centerline is valid? [True, True] Translation: X:498.16, Y:-320.09, Z:12.37 [[ 7.93348628e-01 6.08695691e-01 9.35472220e-03 4.98164894e+02] [ 6.08670623e-01 -7.93402859e-01 5.65471514e-03 -3.20094660e+02] [ 1.08640641e-02 1.20778409e-03 -9.99940255e-01 1.23707054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9427550959999 meters 0.021292745548740787 Centerline is valid? [True, True] Translation: X:498.17, Y:-320.06, Z:12.37 [[ 7.46717928e-01 6.65083468e-01 8.73601114e-03 4.98173673e+02] [ 6.65055194e-01 -7.46768141e-01 6.23951312e-03 -3.20057578e+02] [ 1.06735718e-02 1.15077328e-03 -9.99942374e-01 1.23738479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.002755096 meters 0.020070790288593002 Centerline is valid? [True, True] Translation: X:498.18, Y:-320.02, Z:12.37 [[ 6.93723862e-01 7.20190237e-01 8.55723837e-03 4.98183646e+02] [ 7.20154357e-01 -6.93775740e-01 7.27486920e-03 -3.20023930e+02] [ 1.11760942e-02 1.11578215e-03 -9.99936923e-01 1.23725345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0627550959999 meters 0.021422426343036264 Centerline is valid? [True, True] Translation: X:498.74, Y:-320.43, Z:11.27 [[ 6.61079160e-01 -7.50152010e-01 -1.56941271e-02 4.98737257e+02] [ 7.49959193e-01 6.61265219e-01 -1.70152545e-02 -3.20431435e+02] [ 2.31420077e-02 -5.21524710e-04 9.99732052e-01 1.12664732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.122755096 meters 0.02254735240287077 Centerline is valid? [True, True] Translation: X:498.77, Y:-320.39, Z:11.26 [[ 6.63131394e-01 -7.48319482e-01 -1.65743051e-02 4.98774038e+02] [ 7.48103566e-01 6.63338320e-01 -1.79813083e-02 -3.20385536e+02] [ 2.44501351e-02 -4.75326727e-04 9.99700938e-01 1.12625517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1827550959999 meters 0.020190222277142112 Centerline is valid? [True, True] Translation: X:498.81, Y:-320.34, Z:11.26 [[ 6.65836147e-01 -7.45926070e-01 -1.60163441e-02 4.98811590e+02] [ 7.45723574e-01 6.66028649e-01 -1.73835978e-02 -3.20341367e+02] [ 2.36342228e-02 -3.69137617e-04 9.99720605e-01 1.12646639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.242755096 meters 0.017276812621176623 Centerline is valid? [True, True] Translation: X:498.85, Y:-320.29, Z:11.27 [[ 6.70052893e-01 -7.42157270e-01 -1.52219043e-02 4.98846436e+02] [ 7.41973289e-01 6.70225736e-01 -1.65257580e-02 -3.20293533e+02] [ 2.24668235e-02 -2.21114462e-04 9.99747565e-01 1.12678052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3027550959999 meters 0.0183128855563867 Centerline is valid? [True, True] Translation: X:498.88, Y:-320.25, Z:11.27 [[ 6.73470683e-01 -7.39084643e-01 -1.38249524e-02 4.98884692e+02] [ 7.38932096e-01 6.73612559e-01 -1.50159211e-02 -3.20249573e+02] [ 2.04106982e-02 -1.02918389e-04 9.99791675e-01 1.12689466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.362755096 meters 0.018344565805922336 Centerline is valid? [True, True] Translation: X:498.92, Y:-320.21, Z:11.27 [[ 6.74479203e-01 -7.38205079e-01 -1.14483974e-02 4.98924022e+02] [ 7.38100316e-01 6.74576354e-01 -1.24365093e-02 -3.20207030e+02] [ 1.69035125e-02 -6.18988018e-05 9.99857124e-01 1.12738128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.422755096 meters 0.01702628606762285 Centerline is valid? [True, True] Translation: X:498.96, Y:-320.17, Z:11.28 [[ 6.73281570e-01 -7.39311116e-01 -1.05357074e-02 4.98964887e+02] [ 7.39222435e-01 6.73363994e-01 -1.14509104e-02 -3.20165391e+02] [ 1.55601513e-02 -7.85443243e-05 9.99878930e-01 1.12777921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4827550959999 meters 0.01861826461465998 Centerline is valid? [True, True] Translation: X:499.01, Y:-320.13, Z:11.28 [[ 6.70007611e-01 -7.42296339e-01 -9.27073076e-03 4.99010963e+02] [ 7.42227876e-01 6.70071735e-01 -1.00821873e-02 -3.20129145e+02] [ 1.36960254e-02 -1.25852544e-04 9.99906197e-01 1.12816768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.542755096 meters 0.02179519263666547 Centerline is valid? [True, True] Translation: X:499.05, Y:-320.09, Z:11.28 [[ 6.68167176e-01 -7.43964839e-01 -8.30317104e-03 4.99051245e+02] [ 7.43910032e-01 6.68218750e-01 -9.03136878e-03 -3.20086289e+02] [ 1.22673554e-02 -1.42348057e-04 9.99924743e-01 1.12792382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6027550959999 meters 0.020862227726542032 Centerline is valid? [True, True] Translation: X:499.09, Y:-320.04, Z:11.28 [[ 6.67180982e-01 -7.44845132e-01 -8.67561591e-03 4.99089705e+02] [ 7.44785302e-01 6.67237367e-01 -9.44192615e-03 -3.20043672e+02] [ 1.28214678e-02 -1.61997654e-04 9.99917788e-01 1.12800745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.662755096 meters 0.02170195984350126 Centerline is valid? [True, True] Translation: X:499.13, Y:-320.00, Z:11.28 [[ 6.65185726e-01 -7.46609785e-01 -1.00885493e-02 4.99130913e+02] [ 7.46528971e-01 6.65262189e-01 -1.09870549e-02 -3.20001979e+02] [ 1.49145731e-02 -2.22962228e-04 9.99888747e-01 1.12790602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7227550959999 meters 0.022575770548036247 Centerline is valid? [True, True] Translation: X:499.17, Y:-319.96, Z:11.28 [[ 6.63502656e-01 -7.48099805e-01 -1.05312823e-02 4.99169722e+02] [ 7.48011822e-01 6.63586176e-01 -1.14761192e-02 -3.19959526e+02] [ 1.55736959e-02 -2.63088065e-04 9.99878688e-01 1.12794390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.782755096 meters 0.02161856339958451 Centerline is valid? [True, True] Translation: X:499.21, Y:-319.92, Z:11.28 [[ 6.61833020e-01 -7.49569053e-01 -1.11035121e-02 4.99208807e+02] [ 7.49471395e-01 6.61926081e-01 -1.21033387e-02 -3.19916121e+02] [ 1.64219924e-02 -3.11375462e-04 9.99865102e-01 1.12812949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8427550959999 meters 0.025366099760779026 Centerline is valid? [True, True] Translation: X:499.25, Y:-319.87, Z:11.28 [[ 6.58081013e-01 -7.52859544e-01 -1.14842218e-02 4.99248971e+02] [ 7.52755446e-01 6.58181089e-01 -1.25257010e-02 -3.19873549e+02] [ 1.69887911e-02 -4.01884513e-04 9.99855599e-01 1.12787144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.902755096 meters 0.02512589875603147 Centerline is valid? [True, True] Translation: X:499.29, Y:-319.83, Z:11.28 [[ 6.55430948e-01 -7.55163014e-01 -1.17938651e-02 4.99288696e+02] [ 7.55053473e-01 6.55536881e-01 -1.28705093e-02 -3.19830182e+02] [ 1.74506462e-02 -4.69268715e-04 9.99847616e-01 1.12807986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9627550959999 meters 0.026419292294372617 Centerline is valid? [True, True] Translation: X:499.33, Y:-319.79, Z:11.28 [[ 6.54638948e-01 -7.55853433e-01 -1.15514478e-02 4.99328331e+02] [ 7.55748338e-01 6.54740684e-01 -1.26129262e-02 -3.19788351e+02] [ 1.70967264e-02 -4.73074752e-04 9.99853728e-01 1.12815865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.022755096 meters 0.02442844079081059 Centerline is valid? [True, True] Translation: X:499.37, Y:-319.74, Z:11.29 [[ 6.56116175e-01 -7.54587863e-01 -1.04270136e-02 4.99365860e+02] [ 7.54502034e-01 6.56198904e-01 -1.13877191e-02 -3.19743254e+02] [ 1.54352295e-02 -3.95536327e-04 9.99880792e-01 1.12852893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0827550959999 meters 0.024064786155564545 Centerline is valid? [True, True] Translation: X:499.40, Y:-319.70, Z:11.28 [[ 6.59005391e-01 -7.52056516e-01 -1.10856943e-02 4.99402552e+02] [ 7.51959016e-01 6.59098531e-01 -1.21146553e-02 -3.19697117e+02] [ 1.64174703e-02 -3.52364633e-04 9.99865162e-01 1.12840894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.142755096 meters 0.02039488597919915 Centerline is valid? [True, True] Translation: X:499.44, Y:-319.65, Z:11.29 [[ 6.62546195e-01 -7.48946180e-01 -1.05904713e-02 4.99438514e+02] [ 7.48856696e-01 6.62630781e-01 -1.15800189e-02 -3.19650183e+02] [ 1.56903832e-02 -2.58447898e-04 9.99876865e-01 1.12870386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2027550959999 meters 0.01997605658461627 Centerline is valid? [True, True] Translation: X:499.48, Y:-319.61, Z:11.29 [[ 6.63754249e-01 -7.47874364e-01 -1.06879221e-02 4.99477062e+02] [ 7.47782976e-01 6.63840253e-01 -1.16935106e-02 -3.19605747e+02] [ 1.58403498e-02 -2.30628876e-04 9.99874507e-01 1.12883415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.262755096 meters 0.01971671630525751 Centerline is valid? [True, True] Translation: X:499.52, Y:-319.56, Z:11.29 [[ 6.63998748e-01 -7.47648669e-01 -1.12752009e-02 4.99516669e+02] [ 7.47546804e-01 6.64094431e-01 -1.23434902e-02 -3.19562935e+02] [ 1.67163922e-02 -2.32678391e-04 9.99860244e-01 1.12896481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3227550959999 meters 0.022002482528688472 Centerline is valid? [True, True] Translation: X:499.56, Y:-319.52, Z:11.29 [[ 6.62017824e-01 -7.49385306e-01 -1.24122469e-02 4.99558485e+02] [ 7.49261994e-01 6.62134106e-01 -1.35974492e-02 -3.19521397e+02] [ 1.84083006e-02 -2.98271138e-04 9.99830508e-01 1.12878875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.382755096 meters 0.022431691383575533 Centerline is valid? [True, True] Translation: X:499.60, Y:-319.48, Z:11.29 [[ 6.61023153e-01 -7.50254411e-01 -1.29115822e-02 4.99598715e+02] [ 7.50120991e-01 6.61149158e-01 -1.41524013e-02 -3.19479169e+02] [ 1.91543832e-02 -3.30183884e-04 9.99816483e-01 1.12882138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4427550959999 meters 0.02385105353730517 Centerline is valid? [True, True] Translation: X:499.64, Y:-319.44, Z:11.29 [[ 6.57886434e-01 -7.52968847e-01 -1.49450702e-02 4.99641124e+02] [ 7.52790544e-01 6.58055999e-01 -1.63920398e-02 -3.19438846e+02] [ 2.21773884e-02 -4.66406892e-04 9.99753943e-01 1.12866934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.502755096 meters 0.02195512758941495 Centerline is valid? [True, True] Translation: X:499.68, Y:-319.39, Z:11.29 [[ 6.57807662e-01 -7.53006112e-01 -1.64582907e-02 4.99676563e+02] [ 7.52789605e-01 6.58013326e-01 -1.80630063e-02 -3.19392628e+02] [ 2.44313287e-02 -5.07646236e-04 9.99701382e-01 1.12860632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5627550959999 meters 0.024232272910893464 Centerline is valid? [True, True] Translation: X:499.72, Y:-319.35, Z:11.28 [[ 6.57996531e-01 -7.52774673e-01 -1.92576457e-02 4.99716536e+02] [ 7.52477738e-01 6.58278028e-01 -2.11492905e-02 -3.19350716e+02] [ 2.85975352e-02 -5.74789888e-04 9.99590842e-01 1.12813952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.622755096 meters 0.022504266724231607 Centerline is valid? [True, True] Translation: X:499.75, Y:-319.31, Z:11.28 [[ 6.56987104e-01 -7.53640897e-01 -1.98328852e-02 4.99754604e+02] [ 7.53325987e-01 6.57286095e-01 -2.17932836e-02 -3.19305481e+02] [ 2.94601895e-02 -6.22721513e-04 9.99565760e-01 1.12841129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6827550959999 meters 0.024035602963434516 Centerline is valid? [True, True] Translation: X:499.79, Y:-319.26, Z:11.29 [[ 6.55079167e-01 -7.55306184e-01 -1.95921772e-02 4.99793663e+02] [ 7.54999268e-01 6.55371730e-01 -2.15406861e-02 -3.19261579e+02] [ 2.91099725e-02 -6.81224714e-04 9.99575983e-01 1.12856812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.742755096 meters 0.023058260111173668 Centerline is valid? [True, True] Translation: X:499.83, Y:-319.22, Z:11.29 [[ 6.54489497e-01 -7.55837039e-01 -1.88114000e-02 4.99832989e+02] [ 7.55553987e-01 6.54759439e-01 -2.06942226e-02 -3.19219525e+02] [ 2.79584016e-02 -6.68876889e-04 9.99608864e-01 1.12898579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8027550959999 meters 0.022881566173377214 Centerline is valid? [True, True] Translation: X:499.87, Y:-319.18, Z:11.29 [[ 6.55391973e-01 -7.55084633e-01 -1.75658526e-02 4.99872459e+02] [ 7.54837304e-01 6.55627067e-01 -1.93337326e-02 -3.19177655e+02] [ 2.61152528e-02 -5.88187723e-04 9.99658766e-01 1.12943121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.862755096 meters 0.02068841475529994 Centerline is valid? [True, True] Translation: X:499.91, Y:-319.13, Z:11.30 [[ 6.58535021e-01 -7.52350312e-01 -1.73388288e-02 4.99907705e+02] [ 7.52108183e-01 6.58763075e-01 -1.90916643e-02 -3.19130199e+02] [ 2.57857997e-02 -4.68145509e-04 9.99667381e-01 1.12969467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.922755096 meters 0.019763801630038387 Centerline is valid? [True, True] Translation: X:499.95, Y:-319.08, Z:11.30 [[ 6.61168154e-01 -7.50018848e-01 -1.81217816e-02 4.99945106e+02] [ 7.49753164e-01 6.61416342e-01 -1.99653489e-02 -3.19083995e+02] [ 2.69604305e-02 -3.86410235e-04 9.99636427e-01 1.12970203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9827550959999 meters 0.01865297922391245 Centerline is valid? [True, True] Translation: X:499.98, Y:-319.04, Z:11.30 [[ 6.65329354e-01 -7.46305090e-01 -1.91197020e-02 4.99981409e+02] [ 7.46007549e-01 6.65603976e-01 -2.10733143e-02 -3.19038755e+02] [ 2.84532714e-02 -2.42747464e-04 9.99595094e-01 1.12971080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.042755096 meters 0.01792453187582793 Centerline is valid? [True, True] Translation: X:500.02, Y:-318.99, Z:11.30 [[ 6.68229098e-01 -7.43696070e-01 -1.96475840e-02 5.00018717e+02] [ 7.43380511e-01 6.68517867e-01 -2.16627972e-02 -3.18993328e+02] [ 2.92452981e-02 -1.29919569e-04 9.99572256e-01 1.12981353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1027550959999 meters 0.020106748093231663 Centerline is valid? [True, True] Translation: X:500.06, Y:-318.95, Z:11.30 [[ 6.68478483e-01 -7.43449540e-01 -2.04767766e-02 5.00057355e+02] [ 7.43106309e-01 6.68792021e-01 -2.25886166e-02 -3.18951232e+02] [ 3.04882015e-02 -1.16417724e-04 9.99535120e-01 1.12961454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.162755096 meters 0.01988224956795818 Centerline is valid? [True, True] Translation: X:500.10, Y:-318.91, Z:11.30 [[ 6.67530750e-01 -7.44302572e-01 -2.04053667e-02 5.00097680e+02] [ 7.43961798e-01 6.67842541e-01 -2.25207527e-02 -3.18909976e+02] [ 3.03898261e-02 -1.47518357e-04 9.99538112e-01 1.12972368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2227550959999 meters 0.019664129381448132 Centerline is valid? [True, True] Translation: X:500.14, Y:-318.87, Z:11.30 [[ 6.65421390e-01 -7.46185812e-01 -2.05209081e-02 5.00139226e+02] [ 7.45841645e-01 6.65737698e-01 -2.26618095e-02 -3.18868402e+02] [ 3.05714629e-02 -2.25695097e-04 9.99532558e-01 1.12987313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.282755096 meters 0.01809411385778648 Centerline is valid? [True, True] Translation: X:500.18, Y:-318.83, Z:11.30 [[ 6.64783787e-01 -7.46751460e-01 -2.06100080e-02 5.00178745e+02] [ 7.46404143e-01 6.65103148e-01 -2.27740790e-02 -3.18825294e+02] [ 3.07143580e-02 -2.43556882e-04 9.99528173e-01 1.13014622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3427550959999 meters 0.01838216025777125 Centerline is valid? [True, True] Translation: X:500.22, Y:-318.79, Z:11.30 [[ 6.64051237e-01 -7.47393082e-01 -2.09651161e-02 5.00219538e+02] [ 7.47033569e-01 6.64382051e-01 -2.31805400e-02 -3.18785411e+02] [ 3.12538220e-02 -2.68579243e-04 9.99511444e-01 1.13030716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.402755096 meters 0.018635671802650258 Centerline is valid? [True, True] Translation: X:500.26, Y:-318.74, Z:11.31 [[ 6.64899705e-01 -7.46649135e-01 -2.05779302e-02 5.00258013e+02] [ 7.46302025e-01 6.65218025e-01 -2.27654594e-02 -3.18741306e+02] [ 3.06866207e-02 -2.20603755e-04 9.99529030e-01 1.13057261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4627550959999 meters 0.017590357174176237 Centerline is valid? [True, True] Translation: X:500.30, Y:-318.70, Z:11.31 [[ 6.65819806e-01 -7.45841212e-01 -2.01214255e-02 5.00295535e+02] [ 7.45508585e-01 6.66123755e-01 -2.22731355e-02 -3.18696100e+02] [ 3.00155819e-02 -1.70800707e-04 9.99549416e-01 1.13073278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.522755096 meters 0.01803801861759519 Centerline is valid? [True, True] Translation: X:500.33, Y:-318.65, Z:11.31 [[ 6.66262615e-01 -7.45455486e-01 -1.97546708e-02 5.00333209e+02] [ 7.45134335e-01 6.66555398e-01 -2.18797742e-02 -3.18653288e+02] [ 2.94779802e-02 -1.42207903e-04 9.99565420e-01 1.13081207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5827550959999 meters 0.01721709214221541 Centerline is valid? [True, True] Translation: X:500.37, Y:-318.61, Z:11.31 [[ 6.65724124e-01 -7.45955074e-01 -1.90372756e-02 5.00372961e+02] [ 7.45656676e-01 6.65996250e-01 -2.10977853e-02 -3.18610724e+02] [ 2.84167541e-02 -1.49966991e-04 9.99596151e-01 1.13111502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.642755096 meters 0.01755852822107929 Centerline is valid? [True, True] Translation: X:500.41, Y:-318.57, Z:11.31 [[ 6.63550468e-01 -7.47917925e-01 -1.78760734e-02 5.00413117e+02] [ 7.47655237e-01 6.63791181e-01 -1.98220519e-02 -3.18569315e+02] [ 2.66912479e-02 -2.12208101e-04 9.99643703e-01 1.13139580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7027550959999 meters 0.017984687869038736 Centerline is valid? [True, True] Translation: X:500.45, Y:-318.53, Z:11.32 [[ 6.60887362e-01 -7.50290216e-01 -1.71022417e-02 5.00453426e+02] [ 7.50050304e-01 6.61108546e-01 -1.89745169e-02 -3.18527794e+02] [ 2.55428325e-02 -2.87523115e-04 9.99673687e-01 1.13171427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.762755096 meters 0.018834127234521006 Centerline is valid? [True, True] Translation: X:500.49, Y:-318.49, Z:11.32 [[ 6.59173101e-01 -7.51802070e-01 -1.68662710e-02 5.00494110e+02] [ 7.51568966e-01 6.59388759e-01 -1.87230541e-02 -3.18485755e+02] [ 2.51974604e-02 -3.34432268e-04 9.99682438e-01 1.13182151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8227550959999 meters 0.019993077413047726 Centerline is valid? [True, True] Translation: X:500.53, Y:-318.44, Z:11.32 [[ 6.56738036e-01 -7.53950883e-01 -1.59128227e-02 5.00533670e+02] [ 7.53743793e-01 6.56930678e-01 -1.76742309e-02 -3.18444593e+02] [ 2.37791234e-02 -3.86851658e-04 9.99717162e-01 1.13199638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.882755096 meters 0.020382479812959688 Centerline is valid? [True, True] Translation: X:500.57, Y:-318.40, Z:11.32 [[ 6.54885609e-01 -7.55559740e-01 -1.59473387e-02 5.00572894e+02] [ 7.55351994e-01 6.55079602e-01 -1.77223003e-02 -3.18401586e+02] [ 2.38370329e-02 -4.39774701e-04 9.99715761e-01 1.13218957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9427550959999 meters 0.022550195311142985 Centerline is valid? [True, True] Translation: X:500.61, Y:-318.36, Z:11.32 [[ 6.54493978e-01 -7.55903998e-01 -1.57091827e-02 5.00611733e+02] [ 7.55702272e-01 6.54682330e-01 -1.74677875e-02 -3.18357725e+02] [ 2.34884947e-02 -4.38903332e-04 9.99724011e-01 1.13213153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.002755096 meters 0.020346784035140283 Centerline is valid? [True, True] Translation: X:500.65, Y:-318.31, Z:11.32 [[ 6.55457391e-01 -7.55071893e-01 -1.55578179e-02 5.00648676e+02] [ 7.54873568e-01 6.55641883e-01 -1.73094896e-02 -3.18314536e+02] [ 2.32702661e-02 -3.98552583e-04 9.99729131e-01 1.13239810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0627550959999 meters 0.019092834156539295 Centerline is valid? [True, True] Translation: X:500.69, Y:-318.27, Z:11.33 [[ 6.56104421e-01 -7.54516137e-01 -1.52442541e-02 5.00685428e+02] [ 7.54325386e-01 6.56281392e-01 -1.69690103e-02 -3.18269308e+02] [ 2.28079124e-02 -3.65685115e-04 9.99739799e-01 1.13258921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.122755096 meters 0.018269594548299836 Centerline is valid? [True, True] Translation: X:500.72, Y:-318.22, Z:11.33 [[ 6.57022954e-01 -7.53708166e-01 -1.56473399e-02 5.00722992e+02] [ 7.53506708e-01 6.57209165e-01 -1.74285604e-02 -3.18224630e+02] [ 2.34196235e-02 -3.39411289e-04 9.99725665e-01 1.13271061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1827550959999 meters 0.01769681495551513 Centerline is valid? [True, True] Translation: X:500.76, Y:-318.18, Z:11.33 [[ 6.59329573e-01 -7.51703866e-01 -1.50270238e-02 5.00760320e+02] [ 7.51517324e-01 6.59500747e-01 -1.67474394e-02 -3.18179595e+02] [ 2.24994483e-02 -2.50986628e-04 9.99746824e-01 1.13279982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.242755096 meters 0.017090716416551986 Centerline is valid? [True, True] Translation: X:500.80, Y:-318.13, Z:11.33 [[ 6.60740799e-01 -7.50490207e-01 -1.36398145e-02 5.00798102e+02] [ 7.50336102e-01 6.60881543e-01 -1.52091960e-02 -3.18134984e+02] [ 2.04286543e-02 -1.85108959e-04 9.99791296e-01 1.13311707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3027550959999 meters 0.018125012661876366 Centerline is valid? [True, True] Translation: X:500.84, Y:-318.09, Z:11.33 [[ 6.60190725e-01 -7.50976579e-01 -1.35050201e-02 5.00836148e+02] [ 7.50825423e-01 6.60328813e-01 -1.50679394e-02 -3.18091643e+02] [ 2.02334235e-02 -1.92198614e-04 9.99795265e-01 1.13315010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.362755096 meters 0.01873999375459783 Centerline is valid? [True, True] Translation: X:500.88, Y:-318.05, Z:11.33 [[ 6.58920765e-01 -7.52082674e-01 -1.39669846e-02 5.00875735e+02] [ 7.51921044e-01 6.59068736e-01 -1.55930994e-02 -3.18050003e+02] [ 2.09325027e-02 -2.27452661e-04 9.99780865e-01 1.13316634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.422755096 meters 0.020930323014613134 Centerline is valid? [True, True] Translation: X:500.92, Y:-318.01, Z:11.33 [[ 6.57056687e-01 -7.53718479e-01 -1.36001552e-02 5.00916393e+02] [ 7.53565447e-01 6.57197369e-01 -1.51899306e-02 -3.18008769e+02] [ 2.03869176e-02 -2.67961538e-04 9.99792129e-01 1.13317367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4827550959999 meters 0.019048400750279536 Centerline is valid? [True, True] Translation: X:500.96, Y:-317.97, Z:11.34 [[ 6.54133972e-01 -7.56266374e-01 -1.30352960e-02 5.00955158e+02] [ 7.56126149e-01 6.54263758e-01 -1.45664656e-02 -3.17965188e+02] [ 1.95446499e-02 -3.27908161e-04 9.99808931e-01 1.13352833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.542755096 meters 0.02031534497635854 Centerline is valid? [True, True] Translation: X:501.00, Y:-317.92, Z:11.34 [[ 6.51344718e-01 -7.58665234e-01 -1.33086633e-02 5.00995915e+02] [ 7.58519444e-01 6.51480544e-01 -1.48779759e-02 -3.17922606e+02] [ 1.99577383e-02 -4.04188876e-04 9.99800743e-01 1.13358278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6027550959999 meters 0.021212647247794772 Centerline is valid? [True, True] Translation: X:501.03, Y:-317.88, Z:11.34 [[ 6.50021973e-01 -7.59810656e-01 -1.26175340e-02 5.01034073e+02] [ 7.59679693e-01 6.50144290e-01 -1.41126099e-02 -3.17878641e+02] [ 1.89261290e-02 -4.11777827e-04 9.99820800e-01 1.13372136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.662755096 meters 0.021178093923756802 Centerline is valid? [True, True] Translation: X:501.07, Y:-317.83, Z:11.34 [[ 6.48903267e-01 -7.60755710e-01 -1.32400803e-02 5.01071722e+02] [ 7.60611596e-01 6.49038166e-01 -1.48141437e-02 -3.17833825e+02] [ 1.98632618e-02 -4.57612367e-04 9.99802601e-01 1.13385456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7227550959999 meters 0.02135841630022844 Centerline is valid? [True, True] Translation: X:501.11, Y:-317.79, Z:11.34 [[ 6.48419365e-01 -7.61166891e-01 -1.33151177e-02 5.01109690e+02] [ 7.61021052e-01 6.48555893e-01 -1.49067749e-02 -3.17789702e+02] [ 1.99821416e-02 -4.67243418e-04 9.99800228e-01 1.13403149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.782755096 meters 0.020817929604220343 Centerline is valid? [True, True] Translation: X:501.15, Y:-317.74, Z:11.34 [[ 6.49186707e-01 -7.60528619e-01 -1.23628278e-02 5.01145569e+02] [ 7.60402626e-01 6.49304283e-01 -1.38489924e-02 -3.17743313e+02] [ 1.85597921e-02 -4.10144940e-04 9.99827668e-01 1.13435274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8427550959999 meters 0.022069733874815516 Centerline is valid? [True, True] Translation: X:501.18, Y:-317.70, Z:11.34 [[ 6.50531549e-01 -7.59367673e-01 -1.30169461e-02 5.01181318e+02] [ 7.59227576e-01 6.50661651e-01 -1.45912272e-02 -3.17696360e+02] [ 1.95497339e-02 -3.90770767e-04 9.99808809e-01 1.13426519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.902755096 meters 0.019022212327058485 Centerline is valid? [True, True] Translation: X:501.22, Y:-317.65, Z:11.35 [[ 6.53519320e-01 -7.56795006e-01 -1.31840100e-02 5.01215734e+02] [ 7.56650595e-01 6.53652218e-01 -1.47869684e-02 -3.17648645e+02] [ 1.98084613e-02 -3.12119471e-04 9.99803744e-01 1.13467087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9627550959999 meters 0.018373462662468122 Centerline is valid? [True, True] Translation: X:501.25, Y:-317.60, Z:11.35 [[ 6.55262398e-01 -7.55296835e-01 -1.25650630e-02 5.01251094e+02] [ 7.55165248e-01 6.55382811e-01 -1.41003218e-02 -3.17601207e+02] [ 1.88848547e-02 -2.49288198e-04 9.99821634e-01 1.13482838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.022755096 meters 0.017847506816227588 Centerline is valid? [True, True] Translation: X:501.29, Y:-317.55, Z:11.35 [[ 6.57166194e-01 -7.53630392e-01 -1.31843188e-02 5.01285570e+02] [ 7.53485005e-01 6.57298403e-01 -1.48039555e-02 -3.17553663e+02] [ 1.98227425e-02 -2.05527429e-04 9.99803489e-01 1.13494075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0827550959999 meters 0.018182132577647624 Centerline is valid? [True, True] Translation: X:501.32, Y:-317.51, Z:11.35 [[ 6.57484483e-01 -7.53351453e-01 -1.32568173e-02 5.01321597e+02] [ 7.53204219e-01 6.57618090e-01 -1.48947365e-02 -3.17507540e+02] [ 1.99388943e-02 -1.92032573e-04 9.99801182e-01 1.13490226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.142755096 meters 0.017042934945930566 Centerline is valid? [True, True] Translation: X:501.36, Y:-317.46, Z:11.35 [[ 6.57272780e-01 -7.53540564e-01 -1.30042710e-02 5.01357564e+02] [ 7.53398745e-01 6.57401386e-01 -1.46201528e-02 -3.17461572e+02] [ 1.95659040e-02 -1.87972967e-04 9.99808552e-01 1.13510004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2027550959999 meters 0.019663513400348963 Centerline is valid? [True, True] Translation: X:501.39, Y:-317.42, Z:11.35 [[ 6.57526494e-01 -7.53317505e-01 -1.31013614e-02 5.01394924e+02] [ 7.53173327e-01 6.57656982e-01 -1.47388847e-02 -3.17418098e+02] [ 1.97192616e-02 -1.76388778e-04 9.99805541e-01 1.13489423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.262755096 meters 0.01733876053382958 Centerline is valid? [True, True] Translation: X:501.43, Y:-317.37, Z:11.35 [[ 6.59634525e-01 -7.51477237e-01 -1.28161961e-02 5.01430566e+02] [ 7.51338761e-01 6.59759008e-01 -1.44262630e-02 -3.17371267e+02] [ 1.92966091e-02 -1.13243710e-04 9.99813797e-01 1.13511511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3227550959999 meters 0.01623990611254615 Centerline is valid? [True, True] Translation: X:501.47, Y:-317.33, Z:11.35 [[ 6.61463345e-01 -7.49856033e-01 -1.34971604e-02 5.01468035e+02] [ 7.49701921e-01 6.61601032e-01 -1.52020742e-02 -3.17326406e+02] [ 2.03291023e-02 -6.32322401e-05 9.99793340e-01 1.13521328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.382755096 meters 0.017410474558923913 Centerline is valid? [True, True] Translation: X:501.51, Y:-317.28, Z:11.35 [[ 6.62508748e-01 -7.48921234e-01 -1.41118717e-02 5.01506234e+02] [ 7.48752336e-01 6.62659026e-01 -1.59045664e-02 -3.17283305e+02] [ 2.12626267e-02 -2.93825441e-05 9.99773924e-01 1.13506065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4427550959999 meters 0.016268971488498953 Centerline is valid? [True, True] Translation: X:501.54, Y:-317.24, Z:11.35 [[ 6.63697106e-01 -7.47870644e-01 -1.39875432e-02 5.01544475e+02] [ 7.47704288e-01 6.63844484e-01 -1.57733450e-02 -3.17238985e+02] [ 2.10819751e-02 1.01774209e-05 9.99777750e-01 1.13521175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.502755096 meters 0.01631298580600872 Centerline is valid? [True, True] Translation: X:501.58, Y:-317.20, Z:11.35 [[ 6.63604707e-01 -7.47956824e-01 -1.37616211e-02 5.01583746e+02] [ 7.47795626e-01 6.63747383e-01 -1.55278322e-02 -3.17197139e+02] [ 2.07483880e-02 1.34624410e-05 9.99784729e-01 1.13525395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5627550959999 meters 0.01651798717781445 Centerline is valid? [True, True] Translation: X:501.63, Y:-317.16, Z:11.35 [[ 6.61739238e-01 -7.49597888e-01 -1.42894057e-02 5.01627621e+02] [ 7.49424268e-01 6.61893500e-01 -1.61326182e-02 -3.17158588e+02] [ 2.15510413e-02 -3.32409239e-05 9.99767749e-01 1.13530434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.622755096 meters 0.021136747003832824 Centerline is valid? [True, True] Translation: X:501.67, Y:-317.12, Z:11.35 [[ 6.57526790e-01 -7.53289459e-01 -1.46120172e-02 5.01674046e+02] [ 7.53108597e-01 6.57689112e-01 -1.65067723e-02 -3.17121797e+02] [ 2.20445422e-02 -1.50790750e-04 9.99756978e-01 1.13490769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6827550959999 meters 0.020023501806220007 Centerline is valid? [True, True] Translation: X:501.72, Y:-317.08, Z:11.35 [[ 6.54648335e-01 -7.55801820e-01 -1.41126013e-02 5.01717927e+02] [ 7.55633516e-01 6.54800397e-01 -1.59508778e-02 -3.17084639e+02] [ 2.12966394e-02 -2.21738939e-04 9.99773176e-01 1.13517065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.742755096 meters 0.018377604611604585 Centerline is valid? [True, True] Translation: X:501.76, Y:-317.04, Z:11.36 [[ 6.52955012e-01 -7.57284532e-01 -1.30341903e-02 5.01757293e+02] [ 7.57141142e-01 6.53085046e-01 -1.47381426e-02 -3.17041879e+02] [ 1.96734022e-02 -2.45377664e-04 9.99806430e-01 1.13566427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8027550959999 meters 0.021223223389826677 Centerline is valid? [True, True] Translation: X:501.80, Y:-317.00, Z:11.36 [[ 6.50533894e-01 -7.59379196e-01 -1.22020357e-02 5.01799802e+02] [ 7.59253750e-01 6.50648259e-01 -1.38052940e-02 -3.17001233e+02] [ 1.84226863e-02 -2.83629766e-04 9.99830248e-01 1.13561878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.862755096 meters 0.020023097537712906 Centerline is valid? [True, True] Translation: X:501.84, Y:-316.96, Z:11.36 [[ 6.48473104e-01 -7.61154843e-01 -1.12221985e-02 5.01839863e+02] [ 7.61048889e-01 6.48570129e-01 -1.27033526e-02 -3.16958630e+02] [ 1.69476011e-02 -3.02859206e-04 9.99856333e-01 1.13600398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.922755096 meters 0.021891185239014736 Centerline is valid? [True, True] Translation: X:501.88, Y:-316.92, Z:11.36 [[ 6.47139361e-01 -7.62294453e-01 -1.08542397e-02 5.01879320e+02] [ 7.62195379e-01 6.47230304e-01 -1.22937969e-02 -3.16915599e+02] [ 1.63966861e-02 -3.17251468e-04 9.99865515e-01 1.13599157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9827550959999 meters 0.022012554004180514 Centerline is valid? [True, True] Translation: X:501.92, Y:-316.87, Z:11.36 [[ 6.45924148e-01 -7.63319856e-01 -1.11710482e-02 5.01917658e+02] [ 7.63215000e-01 6.46020645e-01 -1.26566150e-02 -3.16872887e+02] [ 1.68777733e-02 -3.50698354e-04 9.99857499e-01 1.13612336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.042755096 meters 0.022201713728922354 Centerline is valid? [True, True] Translation: X:501.95, Y:-316.83, Z:11.36 [[ 6.45676005e-01 -7.63521893e-01 -1.16968120e-02 5.01954223e+02] [ 7.63406870e-01 6.45781838e-01 -1.32577788e-02 -3.16828334e+02] [ 1.76761931e-02 -3.69196972e-04 9.99843696e-01 1.13611345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1027550959999 meters 0.02317009016547603 Centerline is valid? [True, True] Translation: X:501.99, Y:-316.78, Z:11.36 [[ 6.46585930e-01 -7.62757359e-01 -1.13069356e-02 5.01990733e+02] [ 7.62649624e-01 6.46684700e-01 -1.28237746e-02 -3.16784240e+02] [ 1.70934507e-02 -3.31557923e-04 9.99853841e-01 1.13621462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.162755096 meters 0.021350225372452607 Centerline is valid? [True, True] Translation: X:502.03, Y:-316.74, Z:11.36 [[ 6.47825011e-01 -7.61712284e-01 -1.08236749e-02 5.02025647e+02] [ 7.61613325e-01 6.47915360e-01 -1.22812645e-02 -3.16736071e+02] [ 1.63676153e-02 -2.87344720e-04 9.99866000e-01 1.13641721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2227550959999 meters 0.02148652568566875 Centerline is valid? [True, True] Translation: X:502.06, Y:-316.69, Z:11.36 [[ 6.48960368e-01 -7.60742905e-01 -1.09850939e-02 5.02061070e+02] [ 7.60640718e-01 6.49053282e-01 -1.24713474e-02 -3.16689852e+02] [ 1.66174004e-02 -2.62299515e-04 9.99861887e-01 1.13642864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.282755096 meters 0.020552836965146044 Centerline is valid? [True, True] Translation: X:502.10, Y:-316.64, Z:11.37 [[ 6.50365315e-01 -7.59536649e-01 -1.13593986e-02 5.02095556e+02] [ 7.59427055e-01 6.50464468e-01 -1.29044265e-02 -3.16644462e+02] [ 1.71902700e-02 -2.34043189e-04 9.99852209e-01 1.13650061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3427550959999 meters 0.019660583920824773 Centerline is valid? [True, True] Translation: X:502.13, Y:-316.60, Z:11.37 [[ 6.52919357e-01 -7.57352499e-01 -1.06538795e-02 5.02128357e+02] [ 7.57255722e-01 6.53006252e-01 -1.21080987e-02 -3.16596228e+02] [ 1.61271487e-02 -1.62099180e-04 9.99869936e-01 1.13666242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.402755096 meters 0.01950716342966487 Centerline is valid? [True, True] Translation: X:502.16, Y:-316.55, Z:11.37 [[ 6.53822045e-01 -7.56577836e-01 -1.03301382e-02 5.02163629e+02] [ 7.56486650e-01 6.53903632e-01 -1.17468018e-02 -3.16549534e+02] [ 1.56422848e-02 -1.34293646e-04 9.99877643e-01 1.13684831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4627550959999 meters 0.020792788806108787 Centerline is valid? [True, True] Translation: X:502.20, Y:-316.50, Z:11.37 [[ 6.53564023e-01 -7.56796072e-01 -1.06664943e-02 5.02200196e+02] [ 7.56698758e-01 6.53651044e-01 -1.21368141e-02 -3.16504856e+02] [ 1.61572584e-02 -1.39137958e-04 9.99869453e-01 1.13683691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.522755096 meters 0.021390149873798957 Centerline is valid? [True, True] Translation: X:502.24, Y:-316.46, Z:11.37 [[ 6.51596776e-01 -7.58487496e-01 -1.08793328e-02 5.02237625e+02] [ 7.58386371e-01 6.51687568e-01 -1.23865005e-02 -3.16461281e+02] [ 1.64849317e-02 -1.79733944e-04 9.99864098e-01 1.13687867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5827550959999 meters 0.02137660149588117 Centerline is valid? [True, True] Translation: X:502.28, Y:-316.42, Z:11.37 [[ 6.49915602e-01 -7.59934352e-01 -1.04637949e-02 5.02276246e+02] [ 7.59840899e-01 6.49999799e-01 -1.19193090e-02 -3.16417842e+02] [ 1.58593570e-02 -2.04274424e-04 9.99874212e-01 1.13704022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.642755096 meters 0.02392027959546197 Centerline is valid? [True, True] Translation: X:502.32, Y:-316.38, Z:11.37 [[ 6.46396430e-01 -7.62922818e-01 -1.09740438e-02 5.02317496e+02] [ 7.62820336e-01 6.46489514e-01 -1.25077053e-02 -3.16377556e+02] [ 1.66370180e-02 -2.86287729e-04 9.99861554e-01 1.13703792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7027550959999 meters 0.025337142444208573 Centerline is valid? [True, True] Translation: X:502.36, Y:-316.34, Z:11.37 [[ 6.43404685e-01 -7.65448655e-01 -1.08980768e-02 5.02359128e+02] [ 7.65347836e-01 6.43496883e-01 -1.24278966e-02 -3.16336474e+02] [ 1.65257952e-02 -3.44652545e-04 9.99863380e-01 1.13726869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.762755096 meters 0.02862016731930794 Centerline is valid? [True, True] Translation: X:502.40, Y:-316.30, Z:11.37 [[ 6.41533028e-01 -7.67010338e-01 -1.14243482e-02 5.02399315e+02] [ 7.66899669e-01 6.41634618e-01 -1.30351173e-02 -3.16295481e+02] [ 1.73283270e-02 -3.98870560e-04 9.99849774e-01 1.13719578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8227550959999 meters 0.02948274768880161 Centerline is valid? [True, True] Translation: X:502.44, Y:-316.25, Z:11.37 [[ 6.40668520e-01 -7.67728866e-01 -1.16720024e-02 5.02438422e+02] [ 7.67613326e-01 6.40774696e-01 -1.33255654e-02 -3.16252436e+02] [ 1.77095450e-02 -4.22314304e-04 9.99843085e-01 1.13727713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.882755096 meters 0.031432845934005235 Centerline is valid? [True, True] Translation: X:502.48, Y:-316.21, Z:11.37 [[ 6.39431229e-01 -7.68750461e-01 -1.22650458e-02 5.02477675e+02] [ 7.68622922e-01 6.39548676e-01 -1.40105328e-02 -3.16210915e+02] [ 1.86146974e-02 -4.68423100e-04 9.99826622e-01 1.13716913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9427550959999 meters 0.02412582020295383 Centerline is valid? [True, True] Translation: X:502.51, Y:-316.16, Z:11.38 [[ 6.38992262e-01 -7.69122218e-01 -1.18280321e-02 5.02508548e+02] [ 7.69003537e-01 6.39101560e-01 -1.35187043e-02 -3.16161436e+02] [ 1.79568496e-02 -4.57451143e-04 9.99838658e-01 1.13750109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.002755096 meters 0.02987048173879594 Centerline is valid? [True, True] Translation: X:502.55, Y:-316.12, Z:11.37 [[ 6.37190988e-01 -7.70610313e-01 -1.21404578e-02 5.02550880e+02] [ 7.70485384e-01 6.37306433e-01 -1.38846942e-02 -3.16121572e+02] [ 1.84368804e-02 -5.06843262e-04 9.99829898e-01 1.13729041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0627550959999 meters 0.025377436357564516 Centerline is valid? [True, True] Translation: X:502.59, Y:-316.08, Z:11.38 [[ 6.37118279e-01 -7.70688137e-01 -1.09587298e-02 5.02587343e+02] [ 7.70586300e-01 6.37212355e-01 -1.25367009e-02 -3.16075851e+02] [ 1.66449246e-02 -4.57285761e-04 9.99861359e-01 1.13779595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.122755096 meters 0.025794138157748395 Centerline is valid? [True, True] Translation: X:502.63, Y:-316.03, Z:11.38 [[ 6.37302448e-01 -7.70537972e-01 -1.08084936e-02 5.02626396e+02] [ 7.70438758e-01 6.37393943e-01 -1.23726245e-02 -3.16034267e+02] [ 1.64228453e-02 -4.42178511e-04 9.99865038e-01 1.13793119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1827550959999 meters 0.02855886298737476 Centerline is valid? [True, True] Translation: X:502.67, Y:-315.99, Z:11.38 [[ 6.36710796e-01 -7.71012417e-01 -1.17989147e-02 5.02666234e+02] [ 7.70894126e-01 6.36819921e-01 -1.35142701e-02 -3.15993000e+02] [ 1.79334540e-02 -4.91032332e-04 9.99839062e-01 1.13771154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.242755096 meters 0.02662689940766007 Centerline is valid? [True, True] Translation: X:502.71, Y:-315.95, Z:11.38 [[ 6.37180173e-01 -7.70632739e-01 -1.12520916e-02 5.02705354e+02] [ 7.70524963e-01 6.37279355e-01 -1.28958970e-02 -3.15949621e+02] [ 1.71087261e-02 -4.53007603e-04 9.99853532e-01 1.13813431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3027550959999 meters 0.026886054834071468 Centerline is valid? [True, True] Translation: X:502.74, Y:-315.91, Z:11.38 [[ 6.38033054e-01 -7.69918591e-01 -1.17977303e-02 5.02744202e+02] [ 7.69799835e-01 6.38141961e-01 -1.35296596e-02 -3.15905708e+02] [ 1.79453632e-02 -4.49520779e-04 9.99838868e-01 1.13811450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.362755096 meters 0.028245012262731378 Centerline is valid? [True, True] Translation: X:502.78, Y:-315.86, Z:11.38 [[ 6.38389743e-01 -7.69617046e-01 -1.21712095e-02 5.02782244e+02] [ 7.69490447e-01 6.38505599e-01 -1.39660860e-02 -3.15862329e+02] [ 1.85199232e-02 -4.49823403e-04 9.99828390e-01 1.13807147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.422755096 meters 0.02389090500393568 Centerline is valid? [True, True] Translation: X:502.82, Y:-315.82, Z:11.38 [[ 6.41851818e-01 -7.66745887e-01 -1.12688991e-02 5.02816738e+02] [ 7.66636796e-01 6.41950647e-01 -1.29379487e-02 -3.15815276e+02] [ 1.71541960e-02 -3.34906804e-04 9.99852800e-01 1.13831586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4827550959999 meters 0.021172286085678792 Centerline is valid? [True, True] Translation: X:502.85, Y:-315.77, Z:11.38 [[ 6.45847031e-01 -7.63362585e-01 -1.26164760e-02 5.02853167e+02] [ 7.63225005e-01 6.45970194e-01 -1.44948317e-02 -3.15769664e+02] [ 1.92146797e-02 -2.67765959e-04 9.99815345e-01 1.13833535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.542755096 meters 0.02083001347164698 Centerline is valid? [True, True] Translation: X:502.89, Y:-315.73, Z:11.38 [[ 6.47594217e-01 -7.61876018e-01 -1.29098110e-02 5.02891533e+02] [ 7.61731501e-01 6.47722844e-01 -1.48403903e-02 -3.15727593e+02] [ 1.96685170e-02 -2.23258716e-04 9.99806531e-01 1.13833688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6027550959999 meters 0.021731305433813054 Centerline is valid? [True, True] Translation: X:502.93, Y:-315.68, Z:11.38 [[ 6.48710635e-01 -7.60912490e-01 -1.36636220e-02 5.02930495e+02] [ 7.60750217e-01 6.48854485e-01 -1.57151037e-02 -3.15684726e+02] [ 2.08235211e-02 -2.00048528e-04 9.99783147e-01 1.13832082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.662755096 meters 0.01985285268860282 Centerline is valid? [True, True] Translation: X:502.97, Y:-315.64, Z:11.38 [[ 6.49273548e-01 -7.60424185e-01 -1.41038627e-02 5.02970301e+02] [ 7.60250959e-01 6.49426690e-01 -1.62312565e-02 -3.15644038e+02] [ 2.15020648e-02 -1.83949680e-04 9.99768787e-01 1.13846975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7227550959999 meters 0.020861553627065994 Centerline is valid? [True, True] Translation: X:503.01, Y:-315.60, Z:11.38 [[ 6.48118097e-01 -7.61407652e-01 -1.41887097e-02 5.03012146e+02] [ 7.61232406e-01 6.48273354e-01 -1.63365184e-02 -3.15602919e+02] [ 2.16369125e-02 -2.12912474e-04 9.99765872e-01 1.13841595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.782755096 meters 0.023663934792573692 Centerline is valid? [True, True] Translation: X:503.06, Y:-315.56, Z:11.38 [[ 6.45325994e-01 -7.63773053e-01 -1.43208060e-02 5.03055744e+02] [ 7.63594891e-01 6.45484810e-01 -1.64985436e-02 -3.15563011e+02] [ 2.18450058e-02 -2.88355283e-04 9.99761328e-01 1.13842529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8427550959999 meters 0.023667941327857194 Centerline is valid? [True, True] Translation: X:503.10, Y:-315.52, Z:11.39 [[ 6.43061014e-01 -7.65685076e-01 -1.41030678e-02 5.03097343e+02] [ 7.65512568e-01 6.43215553e-01 -1.62561000e-02 -3.15523475e+02] [ 2.15183657e-02 -3.42411540e-04 9.99768395e-01 1.13852744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.902755096 meters 0.0244945491027155 Centerline is valid? [True, True] Translation: X:503.14, Y:-315.48, Z:11.39 [[ 6.39870446e-01 -7.68353150e-01 -1.41155949e-02 5.03139874e+02] [ 7.68180832e-01 6.40025979e-01 -1.62774434e-02 -3.15482537e+02] [ 2.15411724e-02 -4.27874446e-04 9.99767870e-01 1.13864729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9627550959999 meters 0.022672691003336735 Centerline is valid? [True, True] Translation: X:503.18, Y:-315.44, Z:11.39 [[ 6.39191474e-01 -7.68920342e-01 -1.39916912e-02 5.03180975e+02] [ 7.68750975e-01 6.39344443e-01 -1.61437833e-02 -3.15440745e+02] [ 2.13587934e-02 -4.37157631e-04 9.99771779e-01 1.13892086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.022755096 meters 0.02352790268953084 Centerline is valid? [True, True] Translation: X:503.22, Y:-315.40, Z:11.39 [[ 6.40237374e-01 -7.68044025e-01 -1.42996814e-02 5.03219839e+02] [ 7.67866673e-01 6.40396914e-01 -1.65095695e-02 -3.15397819e+02] [ 2.18375480e-02 -4.10205409e-04 9.99761448e-01 1.13877559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0827550959999 meters 0.021915637652927002 Centerline is valid? [True, True] Translation: X:503.26, Y:-315.36, Z:11.39 [[ 6.41093571e-01 -7.67336979e-01 -1.38922421e-02 5.03259194e+02] [ 7.67169220e-01 6.41243967e-01 -1.60487796e-02 -3.15356271e+02] [ 2.12231385e-02 -3.68931106e-04 9.99774696e-01 1.13897404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.142755096 meters 0.023717006858409672 Centerline is valid? [True, True] Translation: X:503.30, Y:-315.31, Z:11.39 [[ 6.40761587e-01 -7.67611699e-01 -1.40309582e-02 5.03298532e+02] [ 7.67440418e-01 6.40915079e-01 -1.62193104e-02 -3.15313995e+02] [ 2.14427850e-02 -3.75213355e-04 9.99770007e-01 1.13891437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2027550959999 meters 0.021616160166458682 Centerline is valid? [True, True] Translation: X:503.34, Y:-315.27, Z:11.39 [[ 6.40410988e-01 -7.67910823e-01 -1.36650400e-02 5.03336890e+02] [ 7.67748230e-01 6.40556657e-01 -1.58058183e-02 -3.15270555e+02] [ 2.08906913e-02 -3.69090561e-04 9.99781698e-01 1.13918609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.262755096 meters 0.020929907674485545 Centerline is valid? [True, True] Translation: X:503.37, Y:-315.22, Z:11.39 [[ 6.41636650e-01 -7.66904202e-01 -1.26631105e-02 5.03373391e+02] [ 7.66764217e-01 6.41761522e-01 -1.46555228e-02 -3.15223730e+02] [ 1.93660791e-02 -3.06099492e-04 9.99812413e-01 1.13939154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3227550959999 meters 0.021141828409545226 Centerline is valid? [True, True] Translation: X:503.41, Y:-315.18, Z:11.40 [[ 6.43802306e-01 -7.65092576e-01 -1.23264555e-02 5.03410812e+02] [ 7.64959454e-01 6.43920254e-01 -1.42737690e-02 -3.15178893e+02] [ 1.88580091e-02 -2.39753313e-04 9.99822143e-01 1.13959094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.382755096 meters 0.02063083781866775 Centerline is valid? [True, True] Translation: X:503.45, Y:-315.14, Z:11.40 [[ 6.43305450e-01 -7.65520700e-01 -1.16686086e-02 5.03449265e+02] [ 7.65401352e-01 6.43411224e-01 -1.35191560e-02 -3.15135433e+02] [ 1.78569075e-02 -2.34222000e-04 9.99840525e-01 1.13976971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4427550959999 meters 0.02149462691877966 Centerline is valid? [True, True] Translation: X:503.49, Y:-315.09, Z:11.40 [[ 6.41243969e-01 -7.67251024e-01 -1.14907728e-02 5.03487332e+02] [ 7.67135420e-01 6.41346857e-01 -1.33212793e-02 -3.15092323e+02] [ 1.75903362e-02 -2.72788841e-04 9.99845241e-01 1.13974865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.502755096 meters 0.02490438466525563 Centerline is valid? [True, True] Translation: X:503.53, Y:-315.05, Z:11.40 [[ 6.38658733e-01 -7.69394695e-01 -1.21171589e-02 5.03527972e+02] [ 7.69266418e-01 6.38773577e-01 -1.40532989e-02 -3.15050197e+02] [ 1.85526546e-02 -3.46061356e-04 9.99827825e-01 1.13954842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5627550959999 meters 0.023135797624022743 Centerline is valid? [True, True] Translation: X:503.57, Y:-315.01, Z:11.40 [[ 6.38363268e-01 -7.69648288e-01 -1.15693933e-02 5.03566575e+02] [ 7.69531260e-01 6.38468012e-01 -1.34252944e-02 -3.15006709e+02] [ 1.77194424e-02 -3.32795034e-04 9.99842943e-01 1.13987804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.622755096 meters 0.025709464031399006 Centerline is valid? [True, True] Translation: X:503.61, Y:-314.96, Z:11.40 [[ 6.37731861e-01 -7.70177147e-01 -1.11908334e-02 5.03605647e+02] [ 7.70067606e-01 6.37829955e-01 -1.29934954e-02 -3.14964621e+02] [ 1.71451420e-02 -3.31332295e-04 9.99852956e-01 1.13996089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6827550959999 meters 0.025166713492693855 Centerline is valid? [True, True] Translation: X:503.64, Y:-314.92, Z:11.40 [[ 6.38185324e-01 -7.69801634e-01 -1.11774903e-02 5.03641004e+02] [ 7.69692158e-01 6.38283122e-01 -1.29860871e-02 -3.14918468e+02] [ 1.71311144e-02 -3.15696418e-04 9.99853202e-01 1.13994367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.742755096 meters 0.024258364154311377 Centerline is valid? [True, True] Translation: X:503.68, Y:-314.88, Z:11.40 [[ 6.37937981e-01 -7.70012126e-01 -1.07915718e-02 5.03679759e+02] [ 7.69909987e-01 6.38029179e-01 -1.25450998e-02 -3.14875841e+02] [ 1.65452167e-02 -3.05543210e-04 9.99863072e-01 1.14012524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8027550959999 meters 0.025345091272513755 Centerline is valid? [True, True] Translation: X:503.72, Y:-314.84, Z:11.40 [[ 6.36862341e-01 -7.70901088e-01 -1.08568305e-02 5.03720408e+02] [ 7.70797711e-01 6.36954792e-01 -1.26286299e-02 -3.14835704e+02] [ 1.66507347e-02 -3.25721265e-04 9.99861314e-01 1.14025934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.862755096 meters 0.022725403613163987 Centerline is valid? [True, True] Translation: X:503.76, Y:-314.79, Z:11.40 [[ 6.37088550e-01 -7.70722441e-01 -1.02517295e-02 5.03758124e+02] [ 7.70630153e-01 6.37170957e-01 -1.19305988e-02 -3.14790936e+02] [ 1.57272845e-02 -2.99444030e-04 9.99876274e-01 1.14043485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.922755096 meters 0.023790857986515954 Centerline is valid? [True, True] Translation: X:503.80, Y:-314.75, Z:11.40 [[ 6.37220818e-01 -7.70599770e-01 -1.12081406e-02 5.03796204e+02] [ 7.70489288e-01 6.37319302e-01 -1.30524129e-02 -3.14747769e+02] [ 1.72013507e-02 -3.18483032e-04 9.99851995e-01 1.14038396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9827550959999 meters 0.02509244730647501 Centerline is valid? [True, True] Translation: X:503.83, Y:-314.71, Z:11.40 [[ 6.37427895e-01 -7.70423247e-01 -1.15628584e-02 5.03834328e+02] [ 7.70305473e-01 6.37532681e-01 -1.34743647e-02 -3.14705532e+02] [ 1.77526639e-02 -3.17997235e-04 9.99842358e-01 1.14040611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.042755096 meters 0.021839228102788384 Centerline is valid? [True, True] Translation: X:503.87, Y:-314.66, Z:11.41 [[ 6.38353673e-01 -7.69666122e-01 -1.08926482e-02 5.03868853e+02] [ 7.69561371e-01 6.38446541e-01 -1.27008150e-02 -3.14658771e+02] [ 1.67297605e-02 -2.74949386e-04 9.99860010e-01 1.14075682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1027550959999 meters 0.02540845833477003 Centerline is valid? [True, True] Translation: X:503.91, Y:-314.61, Z:11.41 [[ 6.37310613e-01 -7.70525565e-01 -1.12043283e-02 5.03906189e+02] [ 7.70414723e-01 6.37409024e-01 -1.30725300e-02 -3.14614496e+02] [ 1.72144585e-02 -3.00717405e-04 9.99851775e-01 1.14066756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.162755096 meters 0.021494468019080303 Centerline is valid? [True, True] Translation: X:503.94, Y:-314.57, Z:11.41 [[ 6.37939409e-01 -7.70017398e-01 -1.03207029e-02 5.03939706e+02] [ 7.69923178e-01 6.38022835e-01 -1.20482719e-02 -3.14566849e+02] [ 1.58622231e-02 -2.60080921e-04 9.99874153e-01 1.14102130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2227550959999 meters 0.024006345033292326 Centerline is valid? [True, True] Translation: X:503.98, Y:-314.52, Z:11.41 [[ 6.35891390e-01 -7.71708483e-01 -1.03998942e-02 5.03977486e+02] [ 7.71612910e-01 6.35976358e-01 -1.21486139e-02 -3.14524224e+02] [ 1.59892752e-02 -2.99493591e-04 9.99872119e-01 1.14094199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.282755096 meters 0.024278554561563824 Centerline is valid? [True, True] Translation: X:504.02, Y:-314.48, Z:11.41 [[ 6.34152100e-01 -7.73139985e-01 -1.02799603e-02 5.04016150e+02] [ 7.73046747e-01 6.34235330e-01 -1.20113711e-02 -3.14480846e+02] [ 1.58063852e-02 -3.29853654e-04 9.99875017e-01 1.14107167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3427550959999 meters 0.025536964234165217 Centerline is valid? [True, True] Translation: X:504.05, Y:-314.44, Z:11.41 [[ 6.32303083e-01 -7.74656740e-01 -9.98732958e-03 5.04054685e+02] [ 7.74568823e-01 6.32381855e-01 -1.16759493e-02 -3.14438412e+02] [ 1.53606588e-02 -3.53135404e-04 9.99881956e-01 1.14121491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.402755096 meters 0.023996308547379646 Centerline is valid? [True, True] Translation: X:504.09, Y:-314.39, Z:11.41 [[ 6.31548308e-01 -7.75272388e-01 -9.97291458e-03 5.04089145e+02] [ 7.75184703e-01 6.31626941e-01 -1.16654844e-02 -3.14390539e+02] [ 1.53430895e-02 -3.63533887e-04 9.99882222e-01 1.14121750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4627550959999 meters 0.02760573329475945 Centerline is valid? [True, True] Translation: X:504.13, Y:-314.35, Z:11.41 [[ 6.30291855e-01 -7.76293586e-01 -1.00222653e-02 5.04130375e+02] [ 7.76205049e-01 6.30371414e-01 -1.17304042e-02 -3.14350653e+02] [ 1.54239871e-02 -3.85754742e-04 9.99880969e-01 1.14136145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.522755096 meters 0.026144171455174156 Centerline is valid? [True, True] Translation: X:504.17, Y:-314.30, Z:11.41 [[ 6.29782501e-01 -7.76705909e-01 -1.00961587e-02 5.04165184e+02] [ 7.76616012e-01 6.29863299e-01 -1.18234844e-02 -3.14304463e+02] [ 1.55425700e-02 -3.94614899e-04 9.99879129e-01 1.14135625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5827550959999 meters 0.025302160575028265 Centerline is valid? [True, True] Translation: X:504.20, Y:-314.26, Z:11.41 [[ 6.29581768e-01 -7.76865894e-01 -1.03043843e-02 5.04200072e+02] [ 7.76772157e-01 6.29665960e-01 -1.20745323e-02 -3.14257793e+02] [ 1.58686124e-02 -4.02253464e-04 9.99874005e-01 1.14136289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.642755096 meters 0.02620285578385453 Centerline is valid? [True, True] Translation: X:504.24, Y:-314.21, Z:11.41 [[ 6.28367925e-01 -7.77854784e-01 -9.78188972e-03 5.04236570e+02] [ 7.77770333e-01 6.28443931e-01 -1.14688859e-02 -3.14211026e+02] [ 1.50684970e-02 -4.01383611e-04 9.99886383e-01 1.14136648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7027550959999 meters 0.02410738791354106 Centerline is valid? [True, True] Translation: X:504.27, Y:-314.17, Z:11.42 [[ 6.29254409e-01 -7.77133292e-01 -1.01357906e-02 5.04273607e+02] [ 7.77042419e-01 6.29335913e-01 -1.18907063e-02 -3.14165772e+02] [ 1.56194808e-02 -3.93659846e-04 9.99877931e-01 1.14164324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.762755096 meters 0.023330589507971823 Centerline is valid? [True, True] Translation: X:504.31, Y:-314.12, Z:11.42 [[ 6.29952949e-01 -7.76567408e-01 -1.01164869e-02 5.04308551e+02] [ 7.76476694e-01 6.30034063e-01 -1.18752660e-02 -3.14119581e+02] [ 1.55956759e-02 -3.74357463e-04 9.99878310e-01 1.14178984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8227550959999 meters 0.02231898855232744 Centerline is valid? [True, True] Translation: X:504.34, Y:-314.07, Z:11.42 [[ 6.31685571e-01 -7.75148767e-01 -1.08502260e-02 5.04343263e+02] [ 7.75044065e-01 6.31778648e-01 -1.27451102e-02 -3.14071577e+02] [ 1.67342976e-02 -3.58500991e-04 9.99859908e-01 1.14173434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.882755096 meters 0.021518210030837006 Centerline is valid? [True, True] Translation: X:504.38, Y:-314.02, Z:11.42 [[ 6.34057920e-01 -7.73201211e-01 -1.14211456e-02 5.04379103e+02] [ 7.73084741e-01 6.34160695e-01 -1.34237421e-02 -3.14024671e+02] [ 1.76220953e-02 -3.18083377e-04 9.99844668e-01 1.14180513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9427550959999 meters 0.021072876316290658 Centerline is valid? [True, True] Translation: X:504.42, Y:-313.98, Z:11.42 [[ 6.35098521e-01 -7.72340676e-01 -1.18215093e-02 5.04415307e+02] [ 7.72215598e-01 6.35208462e-01 -1.39025277e-02 -3.13978656e+02] [ 1.82466103e-02 -2.99279112e-04 9.99833472e-01 1.14181974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.002755096 meters 0.020807638286175555 Centerline is valid? [True, True] Translation: X:504.45, Y:-313.93, Z:11.42 [[ 6.35007123e-01 -7.72415186e-01 -1.18631124e-02 5.04452074e+02] [ 7.72289080e-01 6.35117856e-01 -1.39601209e-02 -3.13933567e+02] [ 1.83174839e-02 -2.96975925e-04 9.99832177e-01 1.14195803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0627550959999 meters 0.02184388588308209 Centerline is valid? [True, True] Translation: X:504.49, Y:-313.89, Z:11.42 [[ 6.34296037e-01 -7.72999358e-01 -1.18545209e-02 5.04491130e+02] [ 7.72873373e-01 6.34406729e-01 -1.39589566e-02 -3.13891941e+02] [ 1.83108524e-02 -3.07932711e-04 9.99832295e-01 1.14211136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.122755096 meters 0.0225435843412523 Centerline is valid? [True, True] Translation: X:504.53, Y:-313.85, Z:11.42 [[ 6.32711174e-01 -7.74305479e-01 -1.12958050e-02 5.04529178e+02] [ 7.74191170e-01 6.32811914e-01 -1.33083857e-02 -3.13847010e+02] [ 1.74528760e-02 -3.24748179e-04 9.99847634e-01 1.14219448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1827550959999 meters 0.022257383519492618 Centerline is valid? [True, True] Translation: X:504.57, Y:-313.80, Z:11.42 [[ 6.31428151e-01 -7.75356539e-01 -1.09876259e-02 5.04567102e+02] [ 7.75248415e-01 6.31523652e-01 -1.29527277e-02 -3.13803969e+02] [ 1.69819278e-02 -3.39422710e-04 9.99855739e-01 1.14236081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.242755096 meters 0.02315612025228917 Centerline is valid? [True, True] Translation: X:504.61, Y:-313.76, Z:11.42 [[ 6.29411649e-01 -7.77004473e-01 -1.02481773e-02 5.04606332e+02] [ 7.76910534e-01 6.29494975e-01 -1.20871721e-02 -3.13761094e+02] [ 1.58429629e-02 -3.54110023e-04 9.99874430e-01 1.14240832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3027550959999 meters 0.02449693127582374 Centerline is valid? [True, True] Translation: X:504.65, Y:-313.72, Z:11.43 [[ 6.27400966e-01 -7.78635707e-01 -9.71920299e-03 5.04646628e+02] [ 7.78551318e-01 6.27476133e-01 -1.14694027e-02 -3.13719984e+02] [ 1.50290544e-02 -3.70983961e-04 9.99886989e-01 1.14252861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.362755096 meters 0.025965885162885442 Centerline is valid? [True, True] Translation: X:504.69, Y:-313.68, Z:11.43 [[ 6.25777282e-01 -7.79944200e-01 -9.47832102e-03 5.04686201e+02] [ 7.79864001e-01 6.25848939e-01 -1.11913188e-02 -3.13678149e+02] [ 1.46606013e-02 -3.88528295e-04 9.99892452e-01 1.14257156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.422755096 meters 0.025001498936566873 Centerline is valid? [True, True] Translation: X:504.72, Y:-313.63, Z:11.43 [[ 6.24402646e-01 -7.81047654e-01 -9.26805678e-03 5.04722837e+02] [ 7.80971013e-01 6.24471297e-01 -1.09487966e-02 -3.13632236e+02] [ 1.43391674e-02 -4.01626107e-04 9.99897108e-01 1.14254725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4827550959999 meters 0.025479938955702972 Centerline is valid? [True, True] Translation: X:504.76, Y:-313.59, Z:11.42 [[ 6.24356781e-01 -7.81076710e-01 -9.88851165e-03 5.04760274e+02] [ 7.80989356e-01 6.24434938e-01 -1.16890112e-02 -3.13589696e+02] [ 1.53047466e-02 -4.24708936e-04 9.99882785e-01 1.14246406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.542755096 meters 0.025317503850124226 Centerline is valid? [True, True] Translation: X:504.80, Y:-313.54, Z:11.42 [[ 6.24216569e-01 -7.81183041e-01 -1.03310672e-02 5.04797344e+02] [ 7.81087575e-01 6.24301899e-01 -1.22204295e-02 -3.13544911e+02] [ 1.59960971e-02 -4.41273643e-04 9.99871957e-01 1.14243276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6027550959999 meters 0.025168163229725614 Centerline is valid? [True, True] Translation: X:504.83, Y:-313.50, Z:11.42 [[ 6.24149893e-01 -7.81238792e-01 -1.01419901e-02 5.04834066e+02] [ 7.81146684e-01 6.24232140e-01 -1.20038818e-02 -3.13499995e+02] [ 1.57088543e-02 -4.30160392e-04 9.99876516e-01 1.14241943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.662755096 meters 0.024909882414671233 Centerline is valid? [True, True] Translation: X:504.87, Y:-313.46, Z:11.43 [[ 6.23720621e-01 -7.81585574e-01 -9.82737572e-03 5.04870969e+02] [ 7.81499033e-01 6.23797894e-01 -1.16382684e-02 -3.13455104e+02] [ 1.52265990e-02 -4.21056616e-04 9.99883980e-01 1.14251989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7227550959999 meters 0.024641808717933266 Centerline is valid? [True, True] Translation: X:504.91, Y:-313.41, Z:11.43 [[ 6.23329490e-01 -7.81905577e-01 -9.16598882e-03 5.04907903e+02] [ 7.81830236e-01 6.23396753e-01 -1.08614412e-02 -3.13410998e+02] [ 1.42066691e-02 -3.95990593e-04 9.99899002e-01 1.14273687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.782755096 meters 0.02463908535455368 Centerline is valid? [True, True] Translation: X:504.94, Y:-313.37, Z:11.43 [[ 6.23746914e-01 -7.81577694e-01 -8.72329366e-03 5.04942421e+02] [ 7.81509363e-01 6.23807802e-01 -1.03412545e-02 -3.13366033e+02] [ 1.35241525e-02 -3.67010078e-04 9.99908477e-01 1.14271933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8427550959999 meters 0.02340295743825267 Centerline is valid? [True, True] Translation: X:504.98, Y:-313.32, Z:11.43 [[ 6.25085860e-01 -7.80510084e-01 -8.46617044e-03 5.04977945e+02] [ 7.80445565e-01 6.25143102e-01 -1.00410198e-02 -3.13318939e+02] [ 1.31296853e-02 -3.30885667e-04 9.99913747e-01 1.14278022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.902755096 meters 0.02345958858621787 Centerline is valid? [True, True] Translation: X:505.01, Y:-313.27, Z:11.43 [[ 6.25620458e-01 -7.80085496e-01 -8.10316588e-03 5.05014455e+02] [ 7.80026326e-01 6.25672858e-01 -9.61278390e-03 -3.13274365e+02] [ 1.25687242e-02 -3.06728443e-04 9.99920963e-01 1.14282389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9627550959999 meters 0.02200550423166513 Centerline is valid? [True, True] Translation: X:505.05, Y:-313.23, Z:11.43 [[ 6.25997599e-01 -7.79786558e-01 -7.74149606e-03 5.05049551e+02] [ 7.79732469e-01 6.26045401e-01 -9.18875799e-03 -3.13228415e+02] [ 1.20117980e-02 -2.84155400e-04 9.99927815e-01 1.14291054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.022755096 meters 0.02081313814366811 Centerline is valid? [True, True] Translation: X:505.08, Y:-313.18, Z:11.43 [[ 6.27921873e-01 -7.78240654e-01 -7.45685806e-03 5.05084690e+02] [ 7.78190299e-01 6.27966102e-01 -8.85621490e-03 -3.13181815e+02] [ 1.15749206e-02 -2.41843558e-04 9.99932979e-01 1.14301073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0827550959999 meters 0.018961991438010497 Centerline is valid? [True, True] Translation: X:505.12, Y:-313.14, Z:11.43 [[ 6.31498592e-01 -7.75332840e-01 -8.27734719e-03 5.05117808e+02] [ 7.75270447e-01 6.31552805e-01 -9.83814888e-03 -3.13135140e+02] [ 1.28554217e-02 -2.04405487e-04 9.99917345e-01 1.14287873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.142755096 meters 0.018137079696130008 Centerline is valid? [True, True] Translation: X:505.15, Y:-313.09, Z:11.43 [[ 6.33137809e-01 -7.74000712e-01 -7.70789638e-03 5.05153841e+02] [ 7.73946486e-01 6.33184705e-01 -9.16335203e-03 -3.13090160e+02] [ 1.19729631e-02 -1.63834689e-04 9.99928308e-01 1.14300627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2027550959999 meters 0.017637038117985202 Centerline is valid? [True, True] Translation: X:505.19, Y:-313.05, Z:11.43 [[ 6.34034198e-01 -7.73267335e-01 -7.63311067e-03 5.05190915e+02] [ 7.73214038e-01 6.34080127e-01 -9.07986628e-03 -3.13045056e+02] [ 1.18611678e-02 -1.45082581e-04 9.99929643e-01 1.14309511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.262755096 meters 0.01712505589213899 Centerline is valid? [True, True] Translation: X:505.23, Y:-313.00, Z:11.43 [[ 6.34891899e-01 -7.72561446e-01 -7.81593487e-03 5.05227852e+02] [ 7.72505443e-01 6.34939993e-01 -9.30298347e-03 -3.13001176e+02] [ 1.21497760e-02 -1.31463386e-04 9.99926180e-01 1.14323338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3227550959999 meters 0.016474167465727267 Centerline is valid? [True, True] Translation: X:505.26, Y:-312.96, Z:11.43 [[ 6.36073998e-01 -7.71581709e-01 -8.45786644e-03 5.05264266e+02] [ 7.71515945e-01 6.36130216e-01 -1.00744119e-02 -3.12956799e+02] [ 1.31535364e-02 -1.17307369e-04 9.99913482e-01 1.14323212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.382755096 meters 0.016241331430700796 Centerline is valid? [True, True] Translation: X:505.30, Y:-312.91, Z:11.43 [[ 6.36483318e-01 -7.71240703e-01 -8.76156222e-03 5.05301302e+02] [ 7.71170042e-01 6.36543609e-01 -1.04403398e-02 -3.12912532e+02] [ 1.36291314e-02 -1.11552219e-04 9.99907113e-01 1.14328678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4427550959999 meters 0.016277361315522768 Centerline is valid? [True, True] Translation: X:505.34, Y:-312.87, Z:11.43 [[ 6.36416507e-01 -7.71291570e-01 -9.12927127e-03 5.05338532e+02] [ 7.71214767e-01 6.36481973e-01 -1.08849306e-02 -3.12869206e+02] [ 1.42060718e-02 -1.13279322e-04 9.99899082e-01 1.14334911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.502755096 meters 0.01612964162011095 Centerline is valid? [True, True] Translation: X:505.38, Y:-312.83, Z:11.43 [[ 6.34595824e-01 -7.72791213e-01 -9.04876232e-03 5.05376616e+02] [ 7.72715815e-01 6.34660319e-01 -1.07957421e-02 -3.12825603e+02] [ 1.40857450e-02 -1.41188901e-04 9.99900781e-01 1.14340699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5627550959999 meters 0.017270087533914846 Centerline is valid? [True, True] Translation: X:505.42, Y:-312.78, Z:11.43 [[ 6.31317116e-01 -7.75467460e-01 -9.42959841e-03 5.05418166e+02] [ 7.75385812e-01 6.31387501e-01 -1.12546190e-02 -3.12783204e+02] [ 1.46813214e-02 -2.06343222e-04 9.99892202e-01 1.14344343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.622755096 meters 0.01802656636700076 Centerline is valid? [True, True] Translation: X:505.46, Y:-312.74, Z:11.43 [[ 6.29275664e-01 -7.77115017e-01 -1.02170901e-02 5.05458382e+02] [ 7.77019258e-01 6.29358549e-01 -1.22020141e-02 -3.12739648e+02] [ 1.59125813e-02 -2.60445247e-04 9.99873353e-01 1.14345885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6827550959999 meters 0.019578936689052903 Centerline is valid? [True, True] Translation: X:505.50, Y:-312.70, Z:11.44 [[ 6.26428281e-01 -7.79417398e-01 -9.80452543e-03 5.05498936e+02] [ 7.79329402e-01 6.26504932e-01 -1.17155551e-02 -3.12697185e+02] [ 1.52738910e-02 -3.01999892e-04 9.99883302e-01 1.14357057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.742755096 meters 0.02101194274174829 Centerline is valid? [True, True] Translation: X:505.54, Y:-312.65, Z:11.44 [[ 6.24167223e-01 -7.81220829e-01 -1.04544040e-02 5.05538905e+02] [ 7.81120902e-01 6.24254663e-01 -1.25000818e-02 -3.12654061e+02] [ 1.62915347e-02 -3.64012101e-04 9.99867218e-01 1.14362680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8027550959999 meters 0.020696998152958022 Centerline is valid? [True, True] Translation: X:505.58, Y:-312.61, Z:11.44 [[ 6.23437141e-01 -7.81790236e-01 -1.14087265e-02 5.05576808e+02] [ 7.81671171e-01 6.23541387e-01 -1.36498726e-02 -3.12609784e+02] [ 1.77851503e-02 -4.08035014e-04 9.99841748e-01 1.14369779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.862755096 meters 0.020242131328007566 Centerline is valid? [True, True] Translation: X:505.61, Y:-312.56, Z:11.44 [[ 6.24157491e-01 -7.81197085e-01 -1.25913215e-02 5.05613083e+02] [ 7.81051733e-01 6.24284338e-01 -1.50750177e-02 -3.12563858e+02] [ 1.96371247e-02 -4.25288252e-04 9.99807083e-01 1.14374684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.922755096 meters 0.020706017495177028 Centerline is valid? [True, True] Translation: X:505.65, Y:-312.52, Z:11.44 [[ 6.25025801e-01 -7.80503536e-01 -1.25291210e-02 5.05649139e+02] [ 7.80359295e-01 6.25151241e-01 -1.50099172e-02 -3.12519783e+02] [ 1.95478890e-02 -3.95630570e-04 9.99808843e-01 1.14381986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9827550959999 meters 0.017177675776641622 Centerline is valid? [True, True] Translation: X:505.68, Y:-312.47, Z:11.44 [[ 6.30884558e-01 -7.75766895e-01 -1.30536826e-02 5.05678882e+02] [ 7.75609100e-01 6.31019541e-01 -1.56481015e-02 -3.12467885e+02] [ 2.03764079e-02 -2.52409375e-04 9.99792348e-01 1.14401910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.042755096 meters 0.01686328421673978 Centerline is valid? [True, True] Translation: X:505.71, Y:-312.42, Z:11.44 [[ 6.33796983e-01 -7.73382436e-01 -1.34533482e-02 5.05714315e+02] [ 7.73214176e-01 6.33939726e-01 -1.61326219e-02 -3.12421764e+02] [ 2.10052983e-02 -1.77512482e-04 9.99779349e-01 1.14407304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1027550959999 meters 0.016110795440728364 Centerline is valid? [True, True] Translation: X:505.75, Y:-312.37, Z:11.44 [[ 6.36730015e-01 -7.70946383e-01 -1.47160571e-02 5.05746164e+02] [ 7.70744266e-01 6.36900043e-01 -1.76525320e-02 -3.12372759e+02] [ 2.29818131e-02 -1.02419663e-04 9.99735878e-01 1.14418926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.162755096 meters 0.016132881053338235 Centerline is valid? [True, True] Translation: X:505.78, Y:-312.33, Z:11.44 [[ 6.38420456e-01 -7.69522717e-01 -1.59408279e-02 5.05780241e+02] [ 7.69284791e-01 6.38619438e-01 -1.91343566e-02 -3.12326770e+02] [ 2.49044446e-02 -4.72718611e-05 9.99689835e-01 1.14415294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2227550959999 meters 0.01628666989161509 Centerline is valid? [True, True] Translation: X:505.82, Y:-312.28, Z:11.44 [[ 6.37456195e-01 -7.70300910e-01 -1.69147104e-02 5.05819489e+02] [ 7.70032961e-01 6.37680564e-01 -2.03159397e-02 -3.12283953e+02] [ 2.64355689e-02 -7.43629220e-05 9.99650517e-01 1.14437265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.282755096 meters 0.016587471269784465 Centerline is valid? [True, True] Translation: X:505.86, Y:-312.24, Z:11.44 [[ 6.35508344e-01 -7.71899799e-01 -1.73160197e-02 5.05858252e+02] [ 7.71619231e-01 6.35744195e-01 -2.08106174e-02 -3.12242028e+02] [ 2.70722704e-02 -1.36052745e-04 9.99633470e-01 1.14445326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3427550959999 meters 0.017507428683596 Centerline is valid? [True, True] Translation: X:505.90, Y:-312.20, Z:11.45 [[ 6.33321278e-01 -7.73675157e-01 -1.81909302e-02 5.05897758e+02] [ 7.73365954e-01 6.33582437e-01 -2.18722696e-02 -3.12200852e+02] [ 2.84474855e-02 -2.16072354e-04 9.99595265e-01 1.14451382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.402755096 meters 0.01795882142446498 Centerline is valid? [True, True] Translation: X:505.94, Y:-312.16, Z:11.45 [[ 6.31328719e-01 -7.75281634e-01 -1.90377484e-02 5.05937185e+02] [ 7.74943413e-01 6.31615627e-01 -2.28999356e-02 -3.12157799e+02] [ 2.97784389e-02 -2.95790664e-04 9.99556480e-01 1.14479002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4627550959999 meters 0.017951273599246247 Centerline is valid? [True, True] Translation: X:505.97, Y:-312.11, Z:11.45 [[ 6.31217716e-01 -7.75351123e-01 -1.98703487e-02 5.05974722e+02] [ 7.74982236e-01 6.31530319e-01 -2.39163099e-02 -3.12113238e+02] [ 3.10922654e-02 -3.02768822e-04 9.99516473e-01 1.14495777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.522755096 meters 0.017802412773760743 Centerline is valid? [True, True] Translation: X:506.01, Y:-312.07, Z:11.45 [[ 6.32513725e-01 -7.74274983e-01 -2.06067535e-02 5.06010811e+02] [ 7.73877156e-01 6.32849263e-01 -2.48185067e-02 -3.12067596e+02] [ 3.22573176e-02 -2.49049707e-04 9.99479566e-01 1.14517808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5827550959999 meters 0.017678514340426613 Centerline is valid? [True, True] Translation: X:506.04, Y:-312.02, Z:11.45 [[ 6.34781881e-01 -7.72363784e-01 -2.24977362e-02 5.06044990e+02] [ 7.71887745e-01 6.35180416e-01 -2.71136352e-02 -3.12019450e+02] [ 3.52317113e-02 -1.54482519e-04 9.99379159e-01 1.14516352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.642755096 meters 0.01862433969841984 Centerline is valid? [True, True] Translation: X:506.08, Y:-311.97, Z:11.45 [[ 6.34487910e-01 -7.72543547e-01 -2.45267302e-02 5.06081122e+02] [ 7.71977287e-01 6.34961763e-01 -2.95741123e-02 -3.11974555e+02] [ 3.84208254e-02 -1.69661957e-04 9.99261633e-01 1.14510253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7027550959999 meters 0.019232862905804362 Centerline is valid? [True, True] Translation: X:506.12, Y:-311.93, Z:11.45 [[ 6.33164504e-01 -7.73588115e-01 -2.57709232e-02 5.06118927e+02] [ 7.72963151e-01 6.33688704e-01 -3.10900943e-02 -3.11930520e+02] [ 4.03816703e-02 -2.34829881e-04 9.99184300e-01 1.14517074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.762755096 meters 0.019446082243667468 Centerline is valid? [True, True] Translation: X:506.16, Y:-311.89, Z:11.46 [[ 6.29988688e-01 -7.76151989e-01 -2.65017602e-02 5.06156867e+02] [ 7.75492681e-01 6.30545740e-01 -3.19870598e-02 -3.11886102e+02] [ 4.15373921e-02 -4.00435189e-04 9.99136870e-01 1.14565181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8227550959999 meters 0.021417470699898543 Centerline is valid? [True, True] Translation: X:506.20, Y:-311.84, Z:11.46 [[ 6.24065690e-01 -7.80948883e-01 -2.57071352e-02 5.06196975e+02] [ 7.80331925e-01 6.24594565e-01 -3.10437689e-02 -3.11843586e+02] [ 4.03001336e-02 -6.86747208e-04 9.99187384e-01 1.14589273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.882755096 meters 0.0224980233865464 Centerline is valid? [True, True] Translation: X:506.24, Y:-311.80, Z:11.46 [[ 6.19914331e-01 -7.84276051e-01 -2.48454845e-02 5.06236416e+02] [ 7.83701827e-01 6.20411422e-01 -3.00185643e-02 -3.11800487e+02] [ 3.89572635e-02 -8.62513417e-04 9.99240505e-01 1.14627407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9427550959999 meters 0.025162945149239405 Centerline is valid? [True, True] Translation: X:506.28, Y:-311.76, Z:11.47 [[ 6.14808183e-01 -7.88339428e-01 -2.30617421e-02 5.06277007e+02] [ 7.87847030e-01 6.15239698e-01 -2.78777875e-02 -3.11758141e+02] [ 3.61656584e-02 -1.02963316e-03 9.99345278e-01 1.14657507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.002755096 meters 0.027124293002043245 Centerline is valid? [True, True] Translation: X:506.32, Y:-311.71, Z:11.47 [[ 6.11679744e-01 -7.90810377e-01 -2.16064295e-02 5.06315068e+02] [ 7.90379186e-01 6.12060255e-01 -2.61340061e-02 -3.11714327e+02] [ 3.38914799e-02 -1.09162998e-03 9.99424923e-01 1.14681712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0627550959999 meters 0.026802208636772244 Centerline is valid? [True, True] Translation: X:506.35, Y:-311.67, Z:11.47 [[ 6.10814363e-01 -7.91483078e-01 -2.14558001e-02 5.06351699e+02] [ 7.91057753e-01 6.11190071e-01 -2.59678337e-02 -3.11669104e+02] [ 3.36666729e-02 -1.11125124e-03 9.99432499e-01 1.14698478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.122755096 meters 0.02810720775698345 Centerline is valid? [True, True] Translation: X:506.39, Y:-311.63, Z:11.47 [[ 6.12412441e-01 -7.90238024e-01 -2.17914536e-02 5.06389150e+02] [ 7.89798030e-01 6.12799120e-01 -2.63876998e-02 -3.11625548e+02] [ 3.42063474e-02 -1.05069150e-03 9.99414239e-01 1.14675249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1827550959999 meters 0.026616055558955597 Centerline is valid? [True, True] Translation: X:506.42, Y:-311.58, Z:11.47 [[ 6.14266222e-01 -7.88797381e-01 -2.18105697e-02 5.06422309e+02] [ 7.88355244e-01 6.14652557e-01 -2.64243217e-02 -3.11577181e+02] [ 3.42493581e-02 -9.62908752e-04 9.99412855e-01 1.14691813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.242755096 meters 0.02320086556537357 Centerline is valid? [True, True] Translation: X:506.46, Y:-311.53, Z:11.47 [[ 6.16697453e-01 -7.86949394e-01 -1.98721627e-02 5.06455988e+02] [ 7.86580955e-01 6.17017060e-01 -2.40904471e-02 -3.11529548e+02] [ 3.12194261e-02 -7.74547279e-04 9.99512255e-01 1.14722697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3027550959999 meters 0.022604282322630256 Centerline is valid? [True, True] Translation: X:506.49, Y:-311.48, Z:11.47 [[ 6.18594204e-01 -7.85500814e-01 -1.81571655e-02 5.06491654e+02] [ 7.85192224e-01 6.18860301e-01 -2.20249582e-02 -3.11484203e+02] [ 2.85373715e-02 -6.32353690e-04 9.99592526e-01 1.14742617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.362755096 meters 0.022162765769727373 Centerline is valid? [True, True] Translation: X:506.53, Y:-311.44, Z:11.48 [[ 6.18631199e-01 -7.85503722e-01 -1.67135497e-02 5.06528188e+02] [ 7.85241940e-01 6.18856666e-01 -2.02860386e-02 -3.11438667e+02] [ 2.62780505e-02 -5.74603824e-04 9.99654507e-01 1.14774262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.422755096 meters 0.022385647071963985 Centerline is valid? [True, True] Translation: X:506.56, Y:-311.39, Z:11.48 [[ 6.18997170e-01 -7.85244137e-01 -1.53019030e-02 5.06564568e+02] [ 7.85024399e-01 6.19186067e-01 -1.85824721e-02 -3.11394395e+02] [ 2.40665024e-02 -5.09869610e-04 9.99710230e-01 1.14798211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4827550959999 meters 0.02185597589221438 Centerline is valid? [True, True] Translation: X:506.60, Y:-311.35, Z:11.48 [[ 6.19267672e-01 -7.85043252e-01 -1.46507159e-02 5.06600064e+02] [ 7.84841578e-01 6.19440769e-01 -1.77997551e-02 -3.11348480e+02] [ 2.30488283e-02 -4.75678073e-04 9.99734227e-01 1.14802709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.542755096 meters 0.021507401229489905 Centerline is valid? [True, True] Translation: X:506.64, Y:-311.30, Z:11.48 [[ 6.20291400e-01 -7.84228286e-01 -1.49858232e-02 5.06635324e+02] [ 7.84016766e-01 6.20472235e-01 -1.82185393e-02 -3.11302311e+02] [ 2.35857811e-02 -4.48333410e-04 9.99721716e-01 1.14803835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6027550959999 meters 0.020297195180818697 Centerline is valid? [True, True] Translation: X:506.67, Y:-311.25, Z:11.48 [[ 6.23061012e-01 -7.82033532e-01 -1.47827409e-02 5.06668589e+02] [ 7.81826836e-01 6.23236255e-01 -1.79824776e-02 -3.11253452e+02] [ 2.32760405e-02 -3.53362909e-04 9.99729014e-01 1.14801969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.662755096 meters 0.019564629777343853 Centerline is valid? [True, True] Translation: X:506.70, Y:-311.21, Z:11.48 [[ 6.24864515e-01 -7.80595541e-01 -1.46607911e-02 5.06703453e+02] [ 7.80391611e-01 6.25036412e-01 -1.78442605e-02 -3.11206328e+02] [ 2.30926785e-02 -2.90913221e-04 9.99733286e-01 1.14805056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7227550959999 meters 0.01969045668047475 Centerline is valid? [True, True] Translation: X:506.74, Y:-311.16, Z:11.48 [[ 6.24704147e-01 -7.80740106e-01 -1.37701059e-02 5.06740039e+02] [ 7.80560035e-01 6.24855834e-01 -1.67695844e-02 -3.11161497e+02] [ 2.16970181e-02 -2.72365477e-04 9.99764555e-01 1.14821997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.782755096 meters 0.021772393958857644 Centerline is valid? [True, True] Translation: X:506.78, Y:-311.12, Z:11.48 [[ 6.21601555e-01 -7.83231666e-01 -1.26358237e-02 5.06779616e+02] [ 7.83080371e-01 6.21729887e-01 -1.53974205e-02 -3.11118082e+02] [ 1.99158166e-02 -3.23805032e-04 9.99801608e-01 1.14832341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8427550959999 meters 0.023582597197644203 Centerline is valid? [True, True] Translation: X:506.82, Y:-311.07, Z:11.48 [[ 6.20032830e-01 -7.84482474e-01 -1.21052566e-02 5.06817654e+02] [ 7.84343708e-01 6.20150892e-01 -1.47586757e-02 -3.11073830e+02] [ 1.90850081e-02 -3.43818390e-04 9.99817806e-01 1.14841690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.902755096 meters 0.02433881644222277 Centerline is valid? [True, True] Translation: X:506.86, Y:-311.03, Z:11.49 [[ 6.16595853e-01 -7.87203583e-01 -1.09577689e-02 5.06857278e+02] [ 7.87090242e-01 6.16693092e-01 -1.33634324e-02 -3.11030479e+02] [ 1.72773222e-02 -3.84915931e-04 9.99850662e-01 1.14859110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9627550959999 meters 0.02385047831275816 Centerline is valid? [True, True] Translation: X:506.89, Y:-310.99, Z:11.49 [[ 6.15161650e-01 -7.88338269e-01 -9.94574266e-03 5.06894961e+02] [ 7.88244944e-01 6.15241931e-01 -1.21356782e-02 -3.10986550e+02] [ 1.56860575e-02 -3.74277514e-04 9.99876896e-01 1.14885981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.022755096 meters 0.023820227893557536 Centerline is valid? [True, True] Translation: X:506.93, Y:-310.94, Z:11.49 [[ 6.15845836e-01 -7.87808408e-01 -9.58222531e-03 5.06929732e+02] [ 7.87721654e-01 6.15920282e-01 -1.16962462e-02 -3.10940211e+02] [ 1.51162880e-02 -3.45041857e-04 9.99885683e-01 1.14890599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0827550959999 meters 0.021104188744841955 Centerline is valid? [True, True] Translation: X:506.96, Y:-310.89, Z:11.49 [[ 6.19853654e-01 -7.84653759e-01 -9.99626093e-03 5.06961376e+02] [ 7.84558808e-01 6.19934192e-01 -1.22095844e-02 -3.10890580e+02] [ 1.57773203e-02 -2.74499034e-04 9.99875493e-01 1.14891101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.142755096 meters 0.021960328791060104 Centerline is valid? [True, True] Translation: X:506.99, Y:-310.84, Z:11.49 [[ 6.23297307e-01 -7.81934124e-01 -8.91585878e-03 5.06994669e+02] [ 7.81858225e-01 6.23361045e-01 -1.08960365e-02 -3.10843931e+02] [ 1.40777818e-02 -1.79467321e-04 9.99900887e-01 1.14906084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2027550959999 meters 0.018894029835173902 Centerline is valid? [True, True] Translation: X:507.03, Y:-310.80, Z:11.49 [[ 6.25755700e-01 -7.79972794e-01 -8.49965975e-03 5.07028292e+02] [ 7.79903592e-01 6.25813410e-01 -1.03905321e-02 -3.10796616e+02] [ 1.34235334e-02 -1.26980513e-04 9.99909892e-01 1.14938397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.262755096 meters 0.017931476992669365 Centerline is valid? [True, True] Translation: X:507.06, Y:-310.75, Z:11.49 [[ 6.29216538e-01 -7.77190116e-01 -7.87857917e-03 5.07059893e+02] [ 7.77130378e-01 6.29265858e-01 -9.63619788e-03 -3.10746937e+02] [ 1.24468786e-02 -5.94281399e-05 9.99922533e-01 1.14948485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3227550959999 meters 0.017639318079496438 Centerline is valid? [True, True] Translation: X:507.09, Y:-310.70, Z:11.50 [[ 6.32812082e-01 -7.74263555e-01 -8.05093006e-03 5.07091327e+02] [ 7.74200844e-01 6.32863293e-01 -9.85419908e-03 -3.10698917e+02] [ 1.27248853e-02 2.81938613e-06 9.99919035e-01 1.14956943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.382755096 meters 0.017754271570243688 Centerline is valid? [True, True] Translation: X:507.13, Y:-310.65, Z:11.50 [[ 6.35494570e-01 -7.72069965e-01 -7.39062334e-03 5.07125326e+02] [ 7.72016940e-01 6.35537542e-01 -9.04857597e-03 -3.10651126e+02] [ 1.16831523e-02 4.46344801e-05 9.99931749e-01 1.14968374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4427550959999 meters 0.017807766290248574 Centerline is valid? [True, True] Translation: X:507.16, Y:-310.60, Z:11.50 [[ 6.36310699e-01 -7.71395417e-01 -7.60297405e-03 5.07158876e+02] [ 7.71339176e-01 6.36356117e-01 -9.31499989e-03 -3.10604665e+02] [ 1.20237473e-02 6.27623510e-05 9.99927710e-01 1.14973171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.502755096 meters 0.017663548285985247 Centerline is valid? [True, True] Translation: X:507.20, Y:-310.56, Z:11.50 [[ 6.35438354e-01 -7.72112762e-01 -7.74475763e-03 5.07195528e+02] [ 7.72054388e-01 6.35485547e-01 -9.49429937e-03 -3.10559336e+02] [ 1.22523512e-02 5.36678468e-05 9.99924936e-01 1.14978315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5627550959999 meters 0.017218668560316275 Centerline is valid? [True, True] Translation: X:507.23, Y:-310.52, Z:11.50 [[ 6.32009875e-01 -7.74924804e-01 -7.42073001e-03 5.07233903e+02] [ 7.74871341e-01 6.32053438e-01 -9.10255680e-03 -3.10516216e+02] [ 1.17440950e-02 2.79476785e-06 9.99931036e-01 1.14994429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.622755096 meters 0.01736903780736398 Centerline is valid? [True, True] Translation: X:507.27, Y:-310.47, Z:11.50 [[ 6.28038986e-01 -7.78145239e-01 -7.55107136e-03 5.07272603e+02] [ 7.78090035e-01 6.28084377e-01 -9.26890381e-03 -3.10474403e+02] [ 1.19552633e-02 -5.41804267e-05 9.99928532e-01 1.15008737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6827550959999 meters 0.0179090049987737 Centerline is valid? [True, True] Translation: X:507.31, Y:-310.43, Z:11.50 [[ 6.25308962e-01 -7.80338728e-01 -7.75704729e-03 5.07310360e+02] [ 7.80280554e-01 6.25357067e-01 -9.52871279e-03 -3.10431816e+02] [ 1.22865480e-02 -9.42836529e-05 9.99924513e-01 1.15016273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.742755096 meters 0.018759685179431752 Centerline is valid? [True, True] Translation: X:507.35, Y:-310.39, Z:11.50 [[ 6.21601464e-01 -7.83283573e-01 -8.85796263e-03 5.07348037e+02] [ 7.83207972e-01 6.21664551e-01 -1.08838590e-02 -3.10387199e+02] [ 1.40318293e-02 -1.72204252e-04 9.99901534e-01 1.15012365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8027550959999 meters 0.01975348242302923 Centerline is valid? [True, True] Translation: X:507.38, Y:-310.34, Z:11.50 [[ 6.20741766e-01 -7.83966278e-01 -8.74848325e-03 5.07383901e+02] [ 7.83892516e-01 6.20803385e-01 -1.07555305e-02 -3.10341822e+02] [ 1.38630612e-02 -1.81463556e-04 9.99903887e-01 1.15016287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.862755096 meters 0.019228499225738833 Centerline is valid? [True, True] Translation: X:507.42, Y:-310.30, Z:11.50 [[ 6.20103120e-01 -7.84465428e-01 -9.27967867e-03 5.07418726e+02] [ 7.84382375e-01 6.20172518e-01 -1.14165266e-02 -3.10296356e+02] [ 1.47108721e-02 -1.99392660e-04 9.99891769e-01 1.15038241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.922755096 meters 0.0200562432207084 Centerline is valid? [True, True] Translation: X:507.45, Y:-310.25, Z:11.50 [[ 6.18207682e-01 -7.85957345e-01 -9.50335678e-03 5.07454934e+02] [ 7.85870335e-01 6.18280677e-01 -1.16969959e-02 -3.10250984e+02] [ 1.50690817e-02 -2.37233479e-04 9.99886427e-01 1.15040999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9827550959999 meters 0.021888384967807345 Centerline is valid? [True, True] Translation: X:507.49, Y:-310.21, Z:11.50 [[ 6.16068390e-01 -7.87631552e-01 -9.81213755e-03 5.07491864e+02] [ 7.87538895e-01 6.16146459e-01 -1.20842771e-02 -3.10205322e+02] [ 1.55636718e-02 -2.82698817e-04 9.99878839e-01 1.15026629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.042755096 meters 0.0213376558448499 Centerline is valid? [True, True] Translation: X:507.53, Y:-310.16, Z:11.50 [[ 6.13040512e-01 -7.89988763e-01 -9.95412627e-03 5.07526378e+02] [ 7.89893603e-01 6.13121225e-01 -1.22662073e-02 -3.10158114e+02] [ 1.57932520e-02 -3.43018680e-04 9.99875220e-01 1.15039890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1027550959999 meters 0.0243727717022343 Centerline is valid? [True, True] Translation: X:507.56, Y:-310.11, Z:11.50 [[ 6.10104909e-01 -7.92250359e-01 -1.05531558e-02 5.07563323e+02] [ 7.92143595e-01 6.10196028e-01 -1.30127798e-02 -3.10114500e+02] [ 1.67488732e-02 -4.20453913e-04 9.99859639e-01 1.15039954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.162755096 meters 0.025426135951923393 Centerline is valid? [True, True] Translation: X:507.60, Y:-310.07, Z:11.50 [[ 6.07962851e-01 -7.93884167e-01 -1.13622559e-02 5.07595519e+02] [ 7.93760610e-01 6.08068813e-01 -1.40147381e-02 -3.10065684e+02] [ 1.80351121e-02 -4.98471042e-04 9.99837230e-01 1.15006571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2227550959999 meters 0.023274571785704926 Centerline is valid? [True, True] Translation: X:507.63, Y:-310.02, Z:11.50 [[ 6.07712040e-01 -7.94071598e-01 -1.16779249e-02 5.07628683e+02] [ 7.93940950e-01 6.07824016e-01 -1.44129862e-02 -3.10017950e+02] [ 1.85430662e-02 -5.12637526e-04 9.99827931e-01 1.15030578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.282755096 meters 0.024770585895572052 Centerline is valid? [True, True] Translation: X:507.66, Y:-309.97, Z:11.50 [[ 6.08233775e-01 -7.93660415e-01 -1.24427052e-02 5.07661544e+02] [ 7.93511800e-01 6.08360805e-01 -1.53673199e-02 -3.09970145e+02] [ 1.97660876e-02 -5.26510395e-04 9.99804493e-01 1.15001119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3427550959999 meters 0.022185096319046697 Centerline is valid? [True, True] Translation: X:507.69, Y:-309.92, Z:11.50 [[ 6.10461019e-01 -7.91950581e-01 -1.23134515e-02 5.07693353e+02] [ 7.91804516e-01 6.10585018e-01 -1.52165656e-02 -3.09922483e+02] [ 1.95691770e-02 -4.60726376e-04 9.99808399e-01 1.15032098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.402755096 meters 0.020583676077345823 Centerline is valid? [True, True] Translation: X:507.72, Y:-309.87, Z:11.50 [[ 6.13616833e-01 -7.89510111e-01 -1.21723879e-02 5.07724582e+02] [ 7.89366785e-01 6.13737439e-01 -1.50477620e-02 -3.09874328e+02] [ 1.93510104e-02 -3.74918703e-04 9.99812681e-01 1.15038404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4627550959999 meters 0.020336246622738936 Centerline is valid? [True, True] Translation: X:507.76, Y:-309.83, Z:11.50 [[ 6.15139527e-01 -7.88331500e-01 -1.16965563e-02 5.07758196e+02] [ 7.88198848e-01 6.15250635e-01 -1.44648744e-02 -3.09827032e+02] [ 1.85994298e-02 -3.21296207e-04 9.99826964e-01 1.15041816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.522755096 meters 0.01894390012541737 Centerline is valid? [True, True] Translation: X:507.79, Y:-309.78, Z:11.51 [[ 6.16757249e-01 -7.87067873e-01 -1.16042543e-02 5.07792956e+02] [ 7.86936932e-01 6.16866345e-01 -1.43589002e-02 -3.09781529e+02] [ 1.84597029e-02 -2.75860508e-04 9.99829567e-01 1.15058083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5827550959999 meters 0.018025516769977275 Centerline is valid? [True, True] Translation: X:507.83, Y:-309.73, Z:11.51 [[ 6.16766297e-01 -7.87056761e-01 -1.18739441e-02 5.07827912e+02] [ 7.86919534e-01 6.16880522e-01 -1.46992953e-02 -3.09734648e+02] [ 1.88939846e-02 -2.77808571e-04 9.99821454e-01 1.15061501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.642755096 meters 0.01823901705529752 Centerline is valid? [True, True] Translation: X:507.86, Y:-309.69, Z:11.51 [[ 6.16010634e-01 -7.87648071e-01 -1.18918017e-02 5.07864749e+02] [ 7.87510365e-01 6.16125337e-01 -1.47307101e-02 -3.09690140e+02] [ 1.89294557e-02 -2.90643084e-04 9.99820780e-01 1.15062499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7027550959999 meters 0.019116430889789943 Centerline is valid? [True, True] Translation: X:507.90, Y:-309.65, Z:11.51 [[ 6.14160021e-01 -7.89093490e-01 -1.17869551e-02 5.07904680e+02] [ 7.88958299e-01 6.14273031e-01 -1.46097708e-02 -3.09647622e+02] [ 1.87688837e-02 -3.26678965e-04 9.99823796e-01 1.15066450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.762755096 meters 0.02097801083483802 Centerline is valid? [True, True] Translation: X:507.94, Y:-309.61, Z:11.51 [[ 6.13304433e-01 -7.89760100e-01 -1.16900264e-02 5.07944071e+02] [ 7.89627087e-01 6.13415739e-01 -1.44980921e-02 -3.09605943e+02] [ 1.86208608e-02 -3.39017365e-04 9.99826559e-01 1.15074653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8227550959999 meters 0.019679084472758325 Centerline is valid? [True, True] Translation: X:507.98, Y:-309.56, Z:11.51 [[ 6.11678029e-01 -7.91028365e-01 -1.11407222e-02 5.07980733e+02] [ 7.90907617e-01 6.11779373e-01 -1.38253389e-02 -3.09560789e+02] [ 1.77518993e-02 -3.54626016e-04 9.99842360e-01 1.15086104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.882755096 meters 0.019518530542825128 Centerline is valid? [True, True] Translation: X:508.02, Y:-309.52, Z:11.51 [[ 6.12188549e-01 -7.90639942e-01 -1.06612677e-02 5.08018417e+02] [ 7.90529178e-01 6.12281290e-01 -1.32378831e-02 -3.09518292e+02] [ 1.69940939e-02 -3.23962747e-04 9.99855537e-01 1.15089588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9427550959999 meters 0.01762143000907682 Centerline is valid? [True, True] Translation: X:508.05, Y:-309.47, Z:11.51 [[ 6.14597375e-01 -7.88772295e-01 -1.04083068e-02 5.08054495e+02] [ 7.88666322e-01 6.14685446e-01 -1.29319470e-02 -3.09471987e+02] [ 1.65981963e-02 -2.60740383e-04 9.99862206e-01 1.15093235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.002755096 meters 0.01648195236174707 Centerline is valid? [True, True] Translation: X:508.09, Y:-309.43, Z:11.51 [[ 6.16888843e-01 -7.86987439e-01 -9.94623831e-03 5.08090524e+02] [ 7.86890317e-01 6.16968988e-01 -1.23651372e-02 -3.09425709e+02] [ 1.58677282e-02 -1.98683468e-04 9.99874080e-01 1.15105339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0627550959999 meters 0.015550421029050833 Centerline is valid? [True, True] Translation: X:508.13, Y:-309.38, Z:11.51 [[ 6.19731366e-01 -7.84765047e-01 -8.76669392e-03 5.08127186e+02] [ 7.84689293e-01 6.19793358e-01 -1.09044215e-02 -3.09382085e+02] [ 1.39909475e-02 -1.21318801e-04 9.99902115e-01 1.15135486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.122755096 meters 0.015226503505366945 Centerline is valid? [True, True] Translation: X:508.17, Y:-309.34, Z:11.51 [[ 6.20206628e-01 -7.84391853e-01 -8.55335705e-03 5.08165984e+02] [ 7.84319658e-01 6.20265596e-01 -1.06426295e-02 -3.09338678e+02] [ 1.36533450e-02 -1.07936732e-04 9.99906783e-01 1.15146750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1827550959999 meters 0.015492521079873518 Centerline is valid? [True, True] Translation: X:508.21, Y:-309.30, Z:11.51 [[ 6.18360542e-01 -7.85840000e-01 -9.25926402e-03 5.08206054e+02] [ 7.85755432e-01 6.18429845e-01 -1.15294393e-02 -3.09298010e+02] [ 1.47864998e-02 -1.46166665e-04 9.99890663e-01 1.15138228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.242755096 meters 0.015995608657443646 Centerline is valid? [True, True] Translation: X:508.25, Y:-309.25, Z:11.51 [[ 6.16681950e-01 -7.87154520e-01 -9.54643911e-03 5.08245864e+02] [ 7.87064673e-01 6.16755811e-01 -1.18941464e-02 -3.09254818e+02] [ 1.52503529e-02 -1.78759592e-04 9.99883691e-01 1.15135636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3027550959999 meters 0.016761958415966203 Centerline is valid? [True, True] Translation: X:508.29, Y:-309.21, Z:11.51 [[ 6.15010049e-01 -7.88457275e-01 -9.88760009e-03 5.08286259e+02] [ 7.88360934e-01 6.15089489e-01 -1.23271738e-02 -3.09214137e+02] [ 1.58012088e-02 -2.13661868e-04 9.99875130e-01 1.15138520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.362755096 meters 0.01659305008394921 Centerline is valid? [True, True] Translation: X:508.33, Y:-309.17, Z:11.51 [[ 6.14430575e-01 -7.88904305e-01 -1.02501367e-02 5.08325927e+02] [ 7.88800709e-01 6.14516025e-01 -1.27866120e-02 -3.09171752e+02] [ 1.63862866e-02 -2.28829715e-04 9.99865710e-01 1.15132932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.422755096 meters 0.01658276476013771 Centerline is valid? [True, True] Translation: X:508.37, Y:-309.13, Z:11.51 [[ 6.14078150e-01 -7.89176809e-01 -1.03917694e-02 5.08365080e+02] [ 7.89070230e-01 6.14166027e-01 -1.29716622e-02 -3.09129005e+02] [ 1.66192067e-02 -2.34221518e-04 9.99861864e-01 1.15134733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4827550959999 meters 0.016724925591970127 Centerline is valid? [True, True] Translation: X:508.41, Y:-309.09, Z:11.51 [[ 6.13395526e-01 -7.89707106e-01 -1.04218924e-02 5.08406073e+02] [ 7.89599846e-01 6.13484007e-01 -1.30175396e-02 -3.09087965e+02] [ 1.66737078e-02 -2.44224083e-04 9.99860954e-01 1.15143562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.542755096 meters 0.0165647678443378 Centerline is valid? [True, True] Translation: X:508.45, Y:-309.05, Z:11.51 [[ 6.14155877e-01 -7.89106730e-01 -1.10962700e-02 5.08445204e+02] [ 7.88984874e-01 6.14256064e-01 -1.38692361e-02 -3.09046404e+02] [ 1.77602586e-02 -2.36916338e-04 9.99842246e-01 1.15142831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6027550959999 meters 0.015296664500965349 Centerline is valid? [True, True] Translation: X:508.48, Y:-309.00, Z:11.52 [[ 6.15717932e-01 -7.87889234e-01 -1.10445833e-02 5.08483569e+02] [ 7.87768157e-01 6.15816950e-01 -1.38135767e-02 -3.09002819e+02] [ 1.76850100e-02 -1.95304126e-04 9.99843589e-01 1.15153262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.662755096 meters 0.014277260372668145 Centerline is valid? [True, True] Translation: X:508.52, Y:-308.96, Z:11.52 [[ 6.19984117e-01 -7.84549654e-01 -1.00764638e-02 5.08516250e+02] [ 7.84448309e-01 6.20065991e-01 -1.26102006e-02 -3.08955707e+02] [ 1.61414010e-02 -8.63409148e-05 9.99869715e-01 1.15178519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7227550959999 meters 0.013962223490500815 Centerline is valid? [True, True] Translation: X:508.55, Y:-308.91, Z:11.52 [[ 6.24300617e-01 -7.81114874e-01 -1.04064287e-02 5.08547384e+02] [ 7.81006203e-01 6.24387343e-01 -1.30291122e-02 -3.08906283e+02] [ 1.66748757e-02 6.59745147e-06 9.99860965e-01 1.15178564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.782755096 meters 0.013989690222176492 Centerline is valid? [True, True] Translation: X:508.58, Y:-308.86, Z:11.52 [[ 6.25125906e-01 -7.80452036e-01 -1.05934570e-02 5.08582119e+02] [ 7.80339183e-01 6.25215658e-01 -1.32717652e-02 -3.08859299e+02] [ 1.69811714e-02 3.00346332e-05 9.99855809e-01 1.15185246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8427550959999 meters 0.014035171252020879 Centerline is valid? [True, True] Translation: X:508.62, Y:-308.81, Z:11.52 [[ 6.23576819e-01 -7.81695456e-01 -1.02061267e-02 5.08616299e+02] [ 7.81590735e-01 6.23660336e-01 -1.27948675e-02 -3.08813291e+02] [ 1.63668462e-02 1.56870304e-06 9.99866054e-01 1.15194917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.902755096 meters 0.014616766409171719 Centerline is valid? [True, True] Translation: X:508.66, Y:-308.77, Z:11.52 [[ 6.17669595e-01 -7.86367322e-01 -1.05217255e-02 5.08655387e+02] [ 7.86256558e-01 6.17759193e-01 -1.31986785e-02 -3.08769667e+02] [ 1.68789021e-02 -1.20353275e-04 9.99857534e-01 1.15196570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9627550959999 meters 0.01592713282031301 Centerline is valid? [True, True] Translation: X:508.70, Y:-308.73, Z:11.52 [[ 6.12979547e-01 -7.90029466e-01 -1.04651098e-02 5.08695363e+02] [ 7.89920295e-01 6.13068836e-01 -1.31350991e-02 -3.08726406e+02] [ 1.67929480e-02 -2.15055511e-04 9.99858965e-01 1.15206439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.022755096 meters 0.019156915468952117 Centerline is valid? [True, True] Translation: X:508.74, Y:-308.69, Z:11.52 [[ 6.06932363e-01 -7.94690268e-01 -1.00241621e-02 5.08735077e+02] [ 7.94590618e-01 6.07015051e-01 -1.25887683e-02 -3.08685154e+02] [ 1.60889890e-02 -3.24574250e-04 9.99870511e-01 1.15219946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0827550959999 meters 0.019843402839140323 Centerline is valid? [True, True] Translation: X:508.77, Y:-308.64, Z:11.52 [[ 6.03756438e-01 -7.97101732e-01 -1.03436918e-02 5.08770341e+02] [ 7.96995904e-01 6.03844906e-01 -1.29945786e-02 -3.08638093e+02] [ 1.66039867e-02 -3.98319537e-04 9.99862065e-01 1.15218969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.142755096 meters 0.020652932635158692 Centerline is valid? [True, True] Translation: X:508.81, Y:-308.59, Z:11.52 [[ 6.02938062e-01 -7.97719959e-01 -1.04192687e-02 5.08807605e+02] [ 7.97612542e-01 6.03027940e-01 -1.30971750e-02 -3.08594631e+02] [ 1.67309880e-02 -4.13754058e-04 9.99859942e-01 1.15233549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2027550959999 meters 0.02041522417070907 Centerline is valid? [True, True] Translation: X:508.84, Y:-308.55, Z:11.52 [[ 6.03852319e-01 -7.97026478e-01 -1.05437075e-02 5.08843158e+02] [ 7.96916242e-01 6.03944233e-01 -1.32614238e-02 -3.08548603e+02] [ 1.69375172e-02 -3.94510227e-04 9.99856472e-01 1.15241408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.262755096 meters 0.018539655161050415 Centerline is valid? [True, True] Translation: X:508.88, Y:-308.50, Z:11.53 [[ 6.07787197e-01 -7.94033435e-01 -1.02775373e-02 5.08876282e+02] [ 7.93928136e-01 6.07874013e-01 -1.29344200e-02 -3.08500525e+02] [ 1.65178098e-02 -2.98251098e-04 9.99863527e-01 1.15262141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3227550959999 meters 0.016783160870083105 Centerline is valid? [True, True] Translation: X:508.91, Y:-308.45, Z:11.53 [[ 6.11895636e-01 -7.90874005e-01 -1.01014354e-02 5.08908711e+02] [ 7.90771723e-01 6.11978975e-01 -1.27206823e-02 -3.08451888e+02] [ 1.62423231e-02 -2.04199506e-04 9.99868064e-01 1.15275146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.382755096 meters 0.01630878229876798 Centerline is valid? [True, True] Translation: X:508.94, Y:-308.41, Z:11.53 [[ 6.13653650e-01 -7.89506251e-01 -1.04439953e-02 5.08943888e+02] [ 7.89396577e-01 6.13742495e-01 -1.31603314e-02 -3.08407136e+02] [ 1.68000876e-02 -1.68568684e-04 9.99858854e-01 1.15287615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4427550959999 meters 0.016641359379088557 Centerline is valid? [True, True] Translation: X:508.98, Y:-308.36, Z:11.53 [[ 6.13003197e-01 -7.90011390e-01 -1.04443664e-02 5.08981409e+02] [ 7.89901642e-01 6.13092140e-01 -1.31690457e-02 -3.08363396e+02] [ 1.68070551e-02 -1.77355070e-04 9.99858736e-01 1.15304505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.502755096 meters 0.017422513018119135 Centerline is valid? [True, True] Translation: X:509.02, Y:-308.32, Z:11.53 [[ 6.09238582e-01 -7.92907561e-01 -1.12227498e-02 5.09021025e+02] [ 7.92781168e-01 6.09341880e-01 -1.41595827e-02 -3.08320099e+02] [ 1.80657317e-02 -2.70620590e-04 9.99836765e-01 1.15303897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5627550959999 meters 0.018615816148104744 Centerline is valid? [True, True] Translation: X:509.06, Y:-308.28, Z:11.53 [[ 6.06538484e-01 -7.94968427e-01 -1.16733358e-02 5.09060280e+02] [ 7.94831894e-01 6.06650710e-01 -1.47369169e-02 -3.08276490e+02] [ 1.87970211e-02 -3.39832404e-04 9.99823263e-01 1.15312186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.622755096 meters 0.019365010146325384 Centerline is valid? [True, True] Translation: X:509.10, Y:-308.23, Z:11.53 [[ 6.05319639e-01 -7.95893928e-01 -1.18738736e-02 5.09097823e+02] [ 7.95752661e-01 6.05435974e-01 -1.49994778e-02 -3.08232215e+02] [ 1.91268635e-02 -3.69188075e-04 9.99816997e-01 1.15318328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6827550959999 meters 0.019954702730434478 Centerline is valid? [True, True] Translation: X:509.14, Y:-308.19, Z:11.53 [[ 6.03032199e-01 -7.97622123e-01 -1.22929061e-02 5.09136609e+02] [ 7.97470872e-01 6.03157327e-01 -1.55385961e-02 -3.08187634e+02] [ 1.98084844e-02 -4.32960753e-04 9.99803699e-01 1.15333757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.742755096 meters 0.021223146208805315 Centerline is valid? [True, True] Translation: X:509.17, Y:-308.14, Z:11.53 [[ 6.01766555e-01 -7.98577149e-01 -1.23105882e-02 5.09174467e+02] [ 7.98425482e-01 6.01892287e-01 -1.55699989e-02 -3.08144238e+02] [ 1.98434935e-02 -4.59582737e-04 9.99802993e-01 1.15346288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8027550959999 meters 0.020946254382642627 Centerline is valid? [True, True] Translation: X:509.21, Y:-308.10, Z:11.54 [[ 6.01301337e-01 -7.98921169e-01 -1.27148851e-02 5.09210733e+02] [ 7.98759249e-01 6.01435562e-01 -1.60912208e-02 -3.08099406e+02] [ 2.05028010e-02 -4.80459513e-04 9.99789680e-01 1.15362703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.862755096 meters 0.020494188255260115 Centerline is valid? [True, True] Translation: X:509.25, Y:-308.05, Z:11.54 [[ 6.01997577e-01 -7.98379048e-01 -1.37772553e-02 5.09245714e+02] [ 7.98188524e-01 6.02155007e-01 -1.74478791e-02 -3.08052617e+02] [ 2.22260644e-02 -4.93266152e-04 9.99752849e-01 1.15362437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.922755096 meters 0.019552948194921194 Centerline is valid? [True, True] Translation: X:509.28, Y:-308.01, Z:11.54 [[ 6.04718159e-01 -7.96302930e-01 -1.47510094e-02 5.09279141e+02] [ 7.96083599e-01 6.04897885e-01 -1.86936383e-02 -3.08005255e+02] [ 2.38086533e-02 -4.38654051e-04 9.99716438e-01 1.15363254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9827550959999 meters 0.018273772682999408 Centerline is valid? [True, True] Translation: X:509.31, Y:-307.96, Z:11.54 [[ 6.07672799e-01 -7.94044820e-01 -1.50529856e-02 5.09311469e+02] [ 7.93815434e-01 6.07859113e-01 -1.90881102e-02 -3.07955781e+02] [ 2.43069095e-02 -3.49966921e-04 9.99704482e-01 1.15377410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.042755096 meters 0.017482910996589784 Centerline is valid? [True, True] Translation: X:509.34, Y:-307.91, Z:11.54 [[ 6.08845489e-01 -7.93154678e-01 -1.45886259e-02 5.09344894e+02] [ 7.92938717e-01 6.09020171e-01 -1.85100656e-02 -3.07908373e+02] [ 2.35661126e-02 -2.98116357e-04 9.99722236e-01 1.15403303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1027550959999 meters 0.01784716336834658 Centerline is valid? [True, True] Translation: X:509.38, Y:-307.86, Z:11.54 [[ 6.08075798e-01 -7.93745291e-01 -1.45683779e-02 5.09381849e+02] [ 7.93529816e-01 6.08250208e-01 -1.84963875e-02 -3.07863274e+02] [ 2.35426393e-02 -3.13236652e-04 9.99722785e-01 1.15415606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.162755096 meters 0.018705133217366623 Centerline is valid? [True, True] Translation: X:509.42, Y:-307.82, Z:11.54 [[ 6.05526191e-01 -7.95704346e-01 -1.38789741e-02 5.09420108e+02] [ 7.95509049e-01 6.05685117e-01 -1.76321044e-02 -3.07819427e+02] [ 2.24362301e-02 -3.64148500e-04 9.99748210e-01 1.15434879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2227550959999 meters 0.019955013939479644 Centerline is valid? [True, True] Translation: X:509.46, Y:-307.77, Z:11.54 [[ 6.02819992e-01 -7.97751199e-01 -1.41803519e-02 5.09457446e+02] [ 7.97547631e-01 6.02986591e-01 -1.80262920e-02 -3.07774362e+02] [ 2.29310581e-02 -4.42896843e-04 9.99736951e-01 1.15437352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.282755096 meters 0.021160351913947703 Centerline is valid? [True, True] Translation: X:509.50, Y:-307.73, Z:11.54 [[ 6.00833515e-01 -7.99244929e-01 -1.43746443e-02 5.09495110e+02] [ 7.99035908e-01 6.01005236e-01 -1.82845449e-02 -3.07729220e+02] [ 2.32530663e-02 -4.99889605e-04 9.99729486e-01 1.15441386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3427550959999 meters 0.022033514580844585 Centerline is valid? [True, True] Translation: X:509.53, Y:-307.68, Z:11.55 [[ 5.98986085e-01 -8.00633364e-01 -1.42086955e-02 5.09532439e+02] [ 8.00429280e-01 5.99154341e-01 -1.80843257e-02 -3.07683850e+02] [ 2.29921161e-02 -5.40796428e-04 9.99735500e-01 1.15454065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.402755096 meters 0.023077306317600892 Centerline is valid? [True, True] Translation: X:509.57, Y:-307.64, Z:11.55 [[ 5.98195335e-01 -8.01219258e-01 -1.44928284e-02 5.09568443e+02] [ 8.01006839e-01 5.98370603e-01 -1.84571412e-02 -3.07639235e+02] [ 2.34602994e-02 -5.67878906e-04 9.99724608e-01 1.15459748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4627550959999 meters 0.022533988694448472 Centerline is valid? [True, True] Translation: X:509.60, Y:-307.59, Z:11.55 [[ 5.98490701e-01 -8.00988395e-01 -1.50489782e-02 5.09601648e+02] [ 8.00759002e-01 5.98679599e-01 -1.91770322e-02 -3.07591468e+02] [ 2.43700965e-02 -5.73329337e-04 9.99702841e-01 1.15462646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.522755096 meters 0.021477614886547487 Centerline is valid? [True, True] Translation: X:509.63, Y:-307.54, Z:11.55 [[ 6.00271627e-01 -7.99649058e-01 -1.53414159e-02 5.09634161e+02] [ 7.99409907e-01 6.00467412e-01 -1.95623916e-02 -3.07543180e+02] [ 2.48550684e-02 -5.21331226e-04 9.99690929e-01 1.15465671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5827550959999 meters 0.020925393356937126 Centerline is valid? [True, True] Translation: X:509.67, Y:-307.50, Z:11.55 [[ 6.01418518e-01 -7.98783818e-01 -1.54977207e-02 5.09668451e+02] [ 7.98539167e-01 6.01617968e-01 -1.97742208e-02 -3.07496141e+02] [ 2.51190348e-02 -4.82954417e-04 9.99684351e-01 1.15471394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.642755096 meters 0.019759393483636742 Centerline is valid? [True, True] Translation: X:509.70, Y:-307.45, Z:11.55 [[ 6.04183199e-01 -7.96710510e-01 -1.46637369e-02 5.09701464e+02] [ 7.96490605e-01 6.04361007e-01 -1.87213393e-02 -3.07447816e+02] [ 2.37776786e-02 -3.68409956e-04 9.99717203e-01 1.15497017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7027550959999 meters 0.018413366298985975 Centerline is valid? [True, True] Translation: X:509.73, Y:-307.40, Z:11.55 [[ 6.07860900e-01 -7.93927229e-01 -1.35897503e-02 5.09731459e+02] [ 7.93737437e-01 6.08012747e-01 -1.73603058e-02 -3.07397235e+02] [ 2.20455609e-02 -2.34042495e-04 9.99756940e-01 1.15515637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.762755096 meters 0.01896398815238147 Centerline is valid? [True, True] Translation: X:509.76, Y:-307.35, Z:11.55 [[ 6.10125318e-01 -7.92201975e-01 -1.27721266e-02 5.09764534e+02] [ 7.92033755e-01 6.10258967e-01 -1.63255522e-02 -3.07348685e+02] [ 2.07274395e-02 -1.55322702e-04 9.99785151e-01 1.15524150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8227550959999 meters 0.017906417565064132 Centerline is valid? [True, True] Translation: X:509.80, Y:-307.30, Z:11.56 [[ 6.10771502e-01 -7.91716052e-01 -1.19943801e-02 5.09798813e+02] [ 7.91567427e-01 6.10889251e-01 -1.53405007e-02 -3.07303300e+02] [ 1.94725585e-02 -1.24819894e-04 9.99810384e-01 1.15552007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.882755096 meters 0.018290972888088536 Centerline is valid? [True, True] Translation: X:509.83, Y:-307.26, Z:11.56 [[ 6.09300080e-01 -7.92862704e-01 -1.10519737e-02 5.09833511e+02] [ 7.92736573e-01 6.09400289e-01 -1.41425924e-02 -3.07257208e+02] [ 1.79482100e-02 -1.44221082e-04 9.99838908e-01 1.15566836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9427550959999 meters 0.019374305449146506 Centerline is valid? [True, True] Translation: X:509.87, Y:-307.21, Z:11.56 [[ 6.05734421e-01 -7.95601601e-01 -1.01933433e-02 5.09871698e+02] [ 7.95494567e-01 6.05820148e-01 -1.30515011e-02 -3.07214695e+02] [ 1.65591279e-02 -2.03005730e-04 9.99862868e-01 1.15580885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.002755096 meters 0.021465806100419458 Centerline is valid? [True, True] Translation: X:509.91, Y:-307.17, Z:11.56 [[ 6.01510607e-01 -7.98796977e-01 -1.04104905e-02 5.09910926e+02] [ 7.98685706e-01 6.01600617e-01 -1.33356449e-02 -3.07173080e+02] [ 1.69154304e-02 -2.93178119e-04 9.99856881e-01 1.15584401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0627550959999 meters 0.023098778986889293 Centerline is valid? [True, True] Translation: X:509.95, Y:-307.13, Z:11.56 [[ 5.98641511e-01 -8.00941020e-01 -1.10373295e-02 5.09950051e+02] [ 8.00816234e-01 5.98743136e-01 -1.41427026e-02 -3.07128998e+02] [ 1.79359959e-02 -3.72463802e-04 9.99839068e-01 1.15576229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.122755096 meters 0.023407616264993696 Centerline is valid? [True, True] Translation: X:509.99, Y:-307.08, Z:11.56 [[ 5.94323277e-01 -8.04136413e-01 -1.20196087e-02 5.09986760e+02] [ 8.03988890e-01 5.94444593e-01 -1.54107422e-02 -3.07083112e+02] [ 1.95373303e-02 -5.04669033e-04 9.99809001e-01 1.15564915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1827550959999 meters 0.026786508450636435 Centerline is valid? [True, True] Translation: X:510.03, Y:-307.04, Z:11.56 [[ 5.93960667e-01 -8.04404220e-01 -1.20240265e-02 5.10025492e+02] [ 8.04256462e-01 5.94082143e-01 -1.54256577e-02 -3.07041438e+02] [ 1.95517236e-02 -5.08167080e-04 9.99808718e-01 1.15562611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.242755096 meters 0.023113202910430636 Centerline is valid? [True, True] Translation: X:510.06, Y:-306.99, Z:11.56 [[ 5.94948776e-01 -8.03675536e-01 -1.18990209e-02 5.10055996e+02] [ 8.03530545e-01 5.95067566e-01 -1.52726963e-02 -3.06991131e+02] [ 1.93550138e-02 -4.74754776e-04 9.99812561e-01 1.15583573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3027550959999 meters 0.02329526321927431 Centerline is valid? [True, True] Translation: X:510.09, Y:-306.95, Z:11.56 [[ 5.95086280e-01 -8.03573419e-01 -1.19197216e-02 5.10091050e+02] [ 8.03427716e-01 5.95205463e-01 -1.53088929e-02 -3.06945419e+02] [ 1.93965028e-02 -4.66522628e-04 9.99811761e-01 1.15590008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.362755096 meters 0.023701358102009695 Centerline is valid? [True, True] Translation: X:510.13, Y:-306.90, Z:11.56 [[ 5.95596183e-01 -8.03199768e-01 -1.16327233e-02 5.10125294e+02] [ 8.03060748e-01 5.95709612e-01 -1.49496997e-02 -3.06900235e+02] [ 1.89373204e-02 -4.37799418e-04 9.99820577e-01 1.15602182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.422755096 meters 0.024242256047414187 Centerline is valid? [True, True] Translation: X:510.16, Y:-306.85, Z:11.56 [[ 5.95918314e-01 -8.02970716e-01 -1.09266994e-02 5.10160093e+02] [ 8.02847869e-01 5.96018348e-01 -1.40509261e-02 -3.06854771e+02] [ 1.77949955e-02 -3.99273091e-04 9.99841577e-01 1.15621707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4827550959999 meters 0.02246416663474931 Centerline is valid? [True, True] Translation: X:510.19, Y:-306.81, Z:11.56 [[ 5.95355071e-01 -8.03392439e-01 -1.06267152e-02 5.10193125e+02] [ 8.03276210e-01 5.95449772e-01 -1.36711552e-02 -3.06806400e+02] [ 1.73109779e-02 -3.96995930e-04 9.99850075e-01 1.15640237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.542755096 meters 0.02235766858397077 Centerline is valid? [True, True] Translation: X:510.23, Y:-306.76, Z:11.56 [[ 5.94887159e-01 -8.03738773e-01 -1.06420494e-02 5.10228587e+02] [ 8.03622107e-01 5.94982204e-01 -1.36998524e-02 -3.06760363e+02] [ 1.73429325e-02 -4.02319886e-04 9.99849519e-01 1.15649281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6027550959999 meters 0.022691144222025752 Centerline is valid? [True, True] Translation: X:510.27, Y:-306.72, Z:11.57 [[ 5.94255562e-01 -8.04203136e-01 -1.08463444e-02 5.10265149e+02] [ 8.04081859e-01 5.94354390e-01 -1.39722512e-02 -3.06715683e+02] [ 1.76831007e-02 -4.18260787e-04 9.99843554e-01 1.15658568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.662755096 meters 0.023405903137360334 Centerline is valid? [True, True] Translation: X:510.30, Y:-306.67, Z:11.57 [[ 5.93700879e-01 -8.04601993e-01 -1.16146050e-02 5.10300936e+02] [ 8.04462806e-01 5.93814303e-01 -1.49722216e-02 -3.06671625e+02] [ 1.89435979e-02 -4.54496599e-04 9.99820451e-01 1.15663994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7227550959999 meters 0.02385989913936031 Centerline is valid? [True, True] Translation: X:510.34, Y:-306.63, Z:11.57 [[ 5.93186731e-01 -8.04979116e-01 -1.17526656e-02 5.10336929e+02] [ 8.04836475e-01 5.93302963e-01 -1.51605692e-02 -3.06625794e+02] [ 1.91768330e-02 -4.65925476e-04 9.99815999e-01 1.15670294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.782755096 meters 0.026389066819858052 Centerline is valid? [True, True] Translation: X:510.38, Y:-306.58, Z:11.57 [[ 5.92927119e-01 -8.05165739e-01 -1.20650385e-02 5.10375608e+02] [ 8.05015252e-01 5.93049664e-01 -1.55736929e-02 -3.06582995e+02] [ 1.96945710e-02 -4.78475166e-04 9.99805929e-01 1.15672661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8427550959999 meters 0.022936932073704733 Centerline is valid? [True, True] Translation: X:510.41, Y:-306.53, Z:11.57 [[ 5.92646359e-01 -8.05362040e-01 -1.27388641e-02 5.10405592e+02] [ 8.05194081e-01 5.92783038e-01 -1.64548702e-02 -3.06532707e+02] [ 2.08035104e-02 -5.05339089e-04 9.99783456e-01 1.15682120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.902755096 meters 0.02327286476196165 Centerline is valid? [True, True] Translation: X:510.44, Y:-306.49, Z:11.57 [[ 5.92678740e-01 -8.05331288e-01 -1.31692237e-02 5.10441352e+02] [ 8.05151528e-01 5.92824807e-01 -1.70224884e-02 -3.06488604e+02] [ 2.15157850e-02 -5.14353589e-04 9.99768376e-01 1.15698674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9627550959999 meters 0.022290902111726178 Centerline is valid? [True, True] Translation: X:510.47, Y:-306.44, Z:11.57 [[ 5.93852202e-01 -8.04468599e-01 -1.30320965e-02 5.10474524e+02] [ 8.04292112e-01 5.93994992e-01 -1.68566830e-02 -3.06441048e+02] [ 2.13016723e-02 -4.71234126e-04 9.99772983e-01 1.15711839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.022755096 meters 0.02100960268583287 Centerline is valid? [True, True] Translation: X:510.51, Y:-306.39, Z:11.57 [[ 5.97508880e-01 -8.01732936e-01 -1.44026945e-02 5.10507333e+02] [ 8.01516268e-01 5.97682303e-01 -1.86423497e-02 -3.06393564e+02] [ 2.35544214e-02 -4.05024489e-04 9.99722474e-01 1.15711497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0827550959999 meters 0.021140118976003233 Centerline is valid? [True, True] Translation: X:510.54, Y:-306.35, Z:11.57 [[ 6.01844120e-01 -7.98457053e-01 -1.58110697e-02 5.10540560e+02] [ 7.98194438e-01 6.02051699e-01 -2.04790469e-02 -3.06345901e+02] [ 2.58707207e-02 -2.95113903e-04 9.99665253e-01 1.15696754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.142755096 meters 0.019025795827630827 Centerline is valid? [True, True] Translation: X:510.57, Y:-306.30, Z:11.57 [[ 6.04759617e-01 -7.96256185e-01 -1.55529618e-02 5.10574223e+02] [ 7.96001031e-01 6.04959546e-01 -2.01570445e-02 -3.06298811e+02] [ 2.54590841e-02 -1.90007131e-04 9.99675847e-01 1.15724235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2027550959999 meters 0.01859660891661173 Centerline is valid? [True, True] Translation: X:510.61, Y:-306.25, Z:11.58 [[ 6.07895874e-01 -7.93871440e-01 -1.51902643e-02 5.10608113e+02] [ 7.93627001e-01 6.08085628e-01 -1.96990261e-02 -3.06251583e+02] [ 2.48754756e-02 -8.04472375e-05 9.99690554e-01 1.15757472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.262755096 meters 0.01869186328134076 Centerline is valid? [True, True] Translation: X:510.64, Y:-306.21, Z:11.58 [[ 6.09437364e-01 -7.92700857e-01 -1.45413831e-02 5.10643694e+02] [ 7.92476244e-01 6.09610820e-01 -1.88693048e-02 -3.06205889e+02] [ 2.38222986e-02 -2.40413070e-05 9.99716208e-01 1.15774686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3227550959999 meters 0.01886299966704823 Centerline is valid? [True, True] Translation: X:510.68, Y:-306.16, Z:11.58 [[ 6.08474703e-01 -7.93444172e-01 -1.43137004e-02 5.10681641e+02] [ 7.93226461e-01 6.08643035e-01 -1.85859427e-02 -3.06162325e+02] [ 2.34588420e-02 -4.49299801e-05 9.99724802e-01 1.15785171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.382755096 meters 0.019221108134759666 Centerline is valid? [True, True] Translation: X:510.72, Y:-306.12, Z:11.58 [[ 6.05099347e-01 -7.96021041e-01 -1.43276734e-02 5.10721653e+02] [ 7.95803340e-01 6.05268934e-01 -1.86161484e-02 -3.06120188e+02] [ 2.34909415e-02 -1.37391098e-04 9.99724040e-01 1.15796530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4427550959999 meters 0.019712715358644967 Centerline is valid? [True, True] Translation: X:510.76, Y:-306.08, Z:11.58 [[ 6.01928212e-01 -7.98428666e-01 -1.39317019e-02 5.10760739e+02] [ 7.98223217e-01 6.02089376e-01 -1.81129365e-02 -3.06076318e+02] [ 2.28500175e-02 -2.17920434e-04 9.99738881e-01 1.15808331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.502755096 meters 0.020717193490405156 Centerline is valid? [True, True] Translation: X:510.80, Y:-306.03, Z:11.58 [[ 5.97676525e-01 -8.01616441e-01 -1.39230788e-02 5.10801375e+02] [ 8.01411849e-01 5.97838582e-01 -1.81129103e-02 -3.06033223e+02] [ 2.28433603e-02 -3.32459057e-04 9.99739001e-01 1.15820034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5627550959999 meters 0.023034509414480046 Centerline is valid? [True, True] Translation: X:510.84, Y:-305.99, Z:11.58 [[ 5.94469318e-01 -8.03995163e-01 -1.40715332e-02 5.10841827e+02] [ 8.03786592e-01 5.94635687e-01 -1.83170463e-02 -3.05991628e+02] [ 2.30942524e-02 -4.21587666e-04 9.99733203e-01 1.15818159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.622755096 meters 0.02209269455663578 Centerline is valid? [True, True] Translation: X:510.87, Y:-305.94, Z:11.58 [[ 5.94269614e-01 -8.04149574e-01 -1.36780320e-02 5.10873608e+02] [ 8.03952301e-01 5.94426863e-01 -1.78157819e-02 -3.05943379e+02] [ 2.24571431e-02 -4.09107468e-04 9.99747723e-01 1.15834563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6827550959999 meters 0.022067875670158492 Centerline is valid? [True, True] Translation: X:510.91, Y:-305.90, Z:11.58 [[ 5.93827773e-01 -8.04466754e-01 -1.42062522e-02 5.10908813e+02] [ 8.04253753e-01 5.93997523e-01 -1.85160571e-02 -3.05897371e+02] [ 2.33340310e-02 -4.30082693e-04 9.99727632e-01 1.15840072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.742755096 meters 0.0224440183219398 Centerline is valid? [True, True] Translation: X:510.94, Y:-305.85, Z:11.58 [[ 5.94145464e-01 -8.04215232e-01 -1.51336863e-02 5.10943389e+02] [ 8.03973092e-01 5.94338007e-01 -1.97382888e-02 -3.05851021e+02] [ 2.48683575e-02 -4.39661800e-04 9.99690638e-01 1.15831124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8027550959999 meters 0.021136771048308148 Centerline is valid? [True, True] Translation: X:510.98, Y:-305.80, Z:11.58 [[ 5.95781820e-01 -8.03000350e-01 -1.53121059e-02 5.10976570e+02] [ 8.02751737e-01 5.95978430e-01 -1.99839937e-02 -3.05802543e+02] [ 2.51728388e-02 -3.85719432e-04 9.99683039e-01 1.15849841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.862755096 meters 0.020346542002465495 Centerline is valid? [True, True] Translation: X:511.01, Y:-305.76, Z:11.59 [[ 5.98485140e-01 -8.00983145e-01 -1.55415300e-02 5.11010001e+02] [ 8.00726013e-01 5.98686824e-01 -2.02962559e-02 -3.05755139e+02] [ 2.55614681e-02 -2.97499791e-04 9.99673208e-01 1.15860436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.922755096 meters 0.020009004899274683 Centerline is valid? [True, True] Translation: X:511.04, Y:-305.71, Z:11.59 [[ 6.01140641e-01 -7.98986199e-01 -1.58424867e-02 5.11043801e+02] [ 7.98717970e-01 6.01349325e-01 -2.07024949e-02 -3.05707861e+02] [ 2.60678764e-02 -2.08567804e-04 9.99660153e-01 1.15868324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9827550959999 meters 0.019308870036374312 Centerline is valid? [True, True] Translation: X:511.08, Y:-305.66, Z:11.59 [[ 6.02275967e-01 -7.98136741e-01 -1.55371055e-02 5.11078169e+02] [ 7.97878140e-01 6.02476320e-01 -2.03164230e-02 -3.05660824e+02] [ 2.55760217e-02 -1.60623511e-04 9.99672867e-01 1.15889606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.042755096 meters 0.020219068233220304 Centerline is valid? [True, True] Translation: X:511.11, Y:-305.62, Z:11.59 [[ 6.03223998e-01 -7.97423282e-01 -1.53921308e-02 5.11113662e+02] [ 7.97168920e-01 6.03420331e-01 -2.01399510e-02 -3.05615469e+02] [ 2.53479904e-02 -1.21226538e-04 9.99678681e-01 1.15889716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1027550959999 meters 0.01907731089686153 Centerline is valid? [True, True] Translation: X:511.15, Y:-305.57, Z:11.59 [[ 6.02578711e-01 -7.97918957e-01 -1.49744849e-02 5.11149338e+02] [ 7.97678055e-01 6.02764731e-01 -1.96061036e-02 -3.05570151e+02] [ 2.46701731e-02 -1.30597346e-04 9.99695636e-01 1.15925930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.162755096 meters 0.01907363557816876 Centerline is valid? [True, True] Translation: X:511.19, Y:-305.52, Z:11.60 [[ 6.02197165e-01 -7.98219402e-01 -1.42955008e-02 5.11185213e+02] [ 7.97999656e-01 6.02366807e-01 -1.87291152e-02 -3.05524995e+02] [ 2.35610783e-02 -1.29184615e-04 9.99722391e-01 1.15950063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2227550959999 meters 0.019600538451116967 Centerline is valid? [True, True] Translation: X:511.22, Y:-305.48, Z:11.60 [[ 6.02806257e-01 -7.97755857e-01 -1.44986048e-02 5.11218741e+02] [ 7.97529383e-01 6.02980582e-01 -1.90079208e-02 -3.05477594e+02] [ 2.39060573e-02 -1.04969782e-04 9.99714204e-01 1.15953630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.282755096 meters 0.0190186800514555 Centerline is valid? [True, True] Translation: X:511.25, Y:-305.43, Z:11.60 [[ 6.02848106e-01 -7.97728129e-01 -1.42826024e-02 5.11253137e+02] [ 7.97508061e-01 6.03017266e-01 -1.87368732e-02 -3.05431480e+02] [ 2.35595866e-02 -9.50020018e-05 9.99722430e-01 1.15955232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3427550959999 meters 0.021645978028148997 Centerline is valid? [True, True] Translation: X:511.29, Y:-305.39, Z:11.60 [[ 6.01197434e-01 -7.98968050e-01 -1.45499572e-02 5.11290445e+02] [ 7.98739740e-01 6.01373458e-01 -1.90994959e-02 -3.05386371e+02] [ 2.40098451e-02 -1.39061060e-04 9.99711712e-01 1.15952206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.402755096 meters 0.01974074524506574 Centerline is valid? [True, True] Translation: X:511.33, Y:-305.34, Z:11.60 [[ 5.97493321e-01 -8.01756727e-01 -1.37070167e-02 5.11328650e+02] [ 8.01554589e-01 5.97650481e-01 -1.80039706e-02 -3.05341781e+02] [ 2.26268097e-02 -2.29669988e-04 9.99743955e-01 1.16005359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4627550959999 meters 0.020184940768309276 Centerline is valid? [True, True] Translation: X:511.36, Y:-305.30, Z:11.60 [[ 5.96217083e-01 -8.02711058e-01 -1.34218574e-02 5.11364074e+02] [ 8.02517258e-01 5.96368084e-01 -1.76397033e-02 -3.05297279e+02] [ 2.21639523e-02 -2.54179721e-04 9.99754317e-01 1.16015190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.522755096 meters 0.021996956789642363 Centerline is valid? [True, True] Translation: X:511.40, Y:-305.25, Z:11.60 [[ 5.93522867e-01 -8.04713742e-01 -1.28996081e-02 5.11400790e+02] [ 8.04534990e-01 5.93662949e-01 -1.69632862e-02 -3.05251487e+02] [ 2.13086089e-02 -3.10087846e-04 9.99772898e-01 1.16031830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5827550959999 meters 0.02397370528369938 Centerline is valid? [True, True] Translation: X:511.44, Y:-305.21, Z:11.60 [[ 5.91638689e-01 -8.06097776e-01 -1.30398550e-02 5.11436901e+02] [ 8.05915217e-01 5.91782264e-01 -1.71585091e-02 -3.05205990e+02] [ 2.15481910e-02 -3.57379744e-04 9.99767747e-01 1.16039634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.642755096 meters 0.023084324372499482 Centerline is valid? [True, True] Translation: X:511.47, Y:-305.16, Z:11.61 [[ 5.90322405e-01 -8.07062398e-01 -1.30285891e-02 5.11473080e+02] [ 8.06880182e-01 5.90466033e-01 -1.71532796e-02 -3.05162001e+02] [ 2.15367063e-02 -3.86545052e-04 9.99767984e-01 1.16058869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7027550959999 meters 0.023525968255059745 Centerline is valid? [True, True] Translation: X:511.51, Y:-305.12, Z:11.61 [[ 5.88922310e-01 -8.08079104e-01 -1.33668799e-02 5.11508678e+02] [ 8.07887423e-01 5.89073828e-01 -1.76050211e-02 -3.05115254e+02] [ 2.21003288e-02 -4.30944442e-04 9.99755665e-01 1.16064281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.762755096 meters 0.024107328491073648 Centerline is valid? [True, True] Translation: X:511.54, Y:-305.07, Z:11.61 [[ 5.87901322e-01 -8.08827423e-01 -1.30474607e-02 5.11544537e+02] [ 8.08644759e-01 5.88045920e-01 -1.71944346e-02 -3.05069770e+02] [ 2.15798363e-02 -4.42129888e-04 9.99767030e-01 1.16076264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8227550959999 meters 0.025020469823984016 Centerline is valid? [True, True] Translation: X:511.58, Y:-305.02, Z:11.61 [[ 5.87203063e-01 -8.09330810e-01 -1.32741140e-02 5.11579511e+02] [ 8.09141630e-01 5.87352897e-01 -1.75041997e-02 -3.05023723e+02] [ 2.19632775e-02 -4.62118582e-04 9.99758671e-01 1.16083283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.882755096 meters 0.02585459609432452 Centerline is valid? [True, True] Translation: X:511.61, Y:-304.98, Z:11.61 [[ 5.87454387e-01 -8.09146549e-01 -1.33867683e-02 5.11613814e+02] [ 8.08953848e-01 5.87606720e-01 -1.76639509e-02 -3.04976817e+02] [ 2.21588799e-02 -4.52512308e-04 9.99754359e-01 1.16088855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9427550959999 meters 0.023555353418562335 Centerline is valid? [True, True] Translation: X:511.65, Y:-304.93, Z:11.61 [[ 5.87445618e-01 -8.09158136e-01 -1.30674132e-02 5.11645677e+02] [ 8.08974290e-01 5.87590777e-01 -1.72532953e-02 -3.04927709e+02] [ 2.16389358e-02 -4.35828586e-04 9.99765756e-01 1.16116308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.002755096 meters 0.025286536276649733 Centerline is valid? [True, True] Translation: X:511.68, Y:-304.88, Z:11.61 [[ 5.87159341e-01 -8.09357974e-01 -1.35491272e-02 5.11680140e+02] [ 8.09160096e-01 5.87315474e-01 -1.79017607e-02 -3.04881832e+02] [ 2.24465449e-02 -4.52227047e-04 9.99747942e-01 1.16112253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0627550959999 meters 0.02489631503875158 Centerline is valid? [True, True] Translation: X:511.71, Y:-304.83, Z:11.61 [[ 5.86711399e-01 -8.09667188e-01 -1.44491779e-02 5.11713671e+02] [ 8.09441908e-01 5.86889093e-01 -1.91047081e-02 -3.04834877e+02] [ 2.39485202e-02 -4.86820113e-04 9.99713075e-01 1.16101169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.122755096 meters 0.02445397138249313 Centerline is valid? [True, True] Translation: X:511.75, Y:-304.79, Z:11.61 [[ 5.87279178e-01 -8.09234815e-01 -1.55621709e-02 5.11745764e+02] [ 8.08972965e-01 5.87485120e-01 -2.05906678e-02 -3.04787561e+02] [ 2.58052291e-02 -4.96905052e-04 9.99666866e-01 1.16080766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1827550959999 meters 0.022924867304537588 Centerline is valid? [True, True] Translation: X:511.78, Y:-304.74, Z:11.61 [[ 5.89167198e-01 -8.07840155e-01 -1.66221760e-02 5.11776422e+02] [ 8.07540431e-01 5.89401455e-01 -2.20085531e-02 -3.04737530e+02] [ 2.75765277e-02 -4.56361573e-04 9.99619591e-01 1.16064367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.242755096 meters 0.024145003150949654 Centerline is valid? [True, True] Translation: X:511.81, Y:-304.69, Z:11.60 [[ 5.91912202e-01 -8.05806147e-01 -1.77875876e-02 5.11808520e+02] [ 8.05461524e-01 5.92179290e-01 -2.35674090e-02 -3.04689286e+02] [ 2.95242041e-02 -3.77380424e-04 9.99563994e-01 1.16045369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3027550959999 meters 0.024260712814644095 Centerline is valid? [True, True] Translation: X:511.84, Y:-304.64, Z:11.61 [[ 5.95475338e-01 -8.03164656e-01 -1.83209616e-02 5.11839689e+02] [ 8.02797317e-01 5.95757061e-01 -2.42897640e-02 -3.04639654e+02] [ 3.04235222e-02 -2.44063364e-04 9.99537068e-01 1.16050350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.362755096 meters 0.021740993706500778 Centerline is valid? [True, True] Translation: X:511.87, Y:-304.59, Z:11.61 [[ 5.97407438e-01 -8.01742820e-01 -1.76862651e-02 5.11871296e+02] [ 8.01399441e-01 5.97669162e-01 -2.34629471e-02 -3.04592567e+02] [ 2.93817846e-02 -1.56823857e-04 9.99568250e-01 1.16057017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.422755096 meters 0.020400426414418703 Centerline is valid? [True, True] Translation: X:511.90, Y:-304.54, Z:11.61 [[ 5.99781684e-01 -7.99989044e-01 -1.67170632e-02 5.11903711e+02] [ 7.99681202e-01 6.00014605e-01 -2.21912076e-02 -3.04544531e+02] [ 2.77832050e-02 -5.84413775e-05 9.99613971e-01 1.16103842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4827550959999 meters 0.020455585288421525 Centerline is valid? [True, True] Translation: X:511.94, Y:-304.50, Z:11.61 [[ 6.01541554e-01 -7.98674071e-01 -1.63550400e-02 5.11939967e+02] [ 7.98378551e-01 6.01763847e-01 -2.17246875e-02 -3.04498620e+02] [ 2.71928164e-02 1.07891281e-05 9.99630207e-01 1.16133741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.542755096 meters 0.02052277687873298 Centerline is valid? [True, True] Translation: X:511.98, Y:-304.45, Z:11.62 [[ 6.02300228e-01 -7.98116263e-01 -1.56482063e-02 5.11975954e+02] [ 7.97845206e-01 6.02503468e-01 -2.07990001e-02 -3.04453364e+02] [ 2.60281188e-02 4.23961127e-05 9.99661210e-01 1.16160617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6027550959999 meters 0.022415910285940574 Centerline is valid? [True, True] Translation: X:512.01, Y:-304.41, Z:11.62 [[ 6.02236954e-01 -7.98166623e-01 -1.55142552e-02 5.12013797e+02] [ 7.97899861e-01 6.02436751e-01 -2.06342806e-02 -3.04409557e+02] [ 2.58159516e-02 4.79042612e-05 9.99666712e-01 1.16173755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.662755096 meters 0.021811433421409517 Centerline is valid? [True, True] Translation: X:512.05, Y:-304.37, Z:11.62 [[ 6.00507673e-01 -7.99484039e-01 -1.46903664e-02 5.12051026e+02] [ 7.99244951e-01 6.00687333e-01 -1.95508582e-02 -3.04366390e+02] [ 2.44549160e-02 -7.60796382e-07 9.99700934e-01 1.16192192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7227550959999 meters 0.021712048582851733 Centerline is valid? [True, True] Translation: X:512.09, Y:-304.32, Z:11.62 [[ 5.97316488e-01 -8.01875618e-01 -1.44397776e-02 5.12091798e+02] [ 8.01645012e-01 5.97490992e-01 -1.92299163e-02 -3.04324475e+02] [ 2.40476381e-02 -8.92296046e-05 9.99710810e-01 1.16221792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.782755096 meters 0.021835941961022287 Centerline is valid? [True, True] Translation: X:512.13, Y:-304.28, Z:11.63 [[ 5.96091860e-01 -8.02800527e-01 -1.36311959e-02 5.12126580e+02] [ 8.02595015e-01 5.96247685e-01 -1.81642338e-02 -3.04278295e+02] [ 2.27098254e-02 -1.12777989e-04 9.99742092e-01 1.16252014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8427550959999 meters 0.020922331739099517 Centerline is valid? [True, True] Translation: X:512.16, Y:-304.23, Z:11.63 [[ 5.95378410e-01 -8.03337438e-01 -1.31723319e-02 5.12160756e+02] [ 8.03145413e-01 5.95524094e-01 -1.75641763e-02 -3.04232993e+02] [ 2.19544014e-02 -1.21966559e-04 9.99758966e-01 1.16269074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.902755096 meters 0.023580321660323356 Centerline is valid? [True, True] Translation: X:512.20, Y:-304.19, Z:11.63 [[ 5.92222619e-01 -8.05668559e-01 -1.30592014e-02 5.12199285e+02] [ 8.05480129e-01 5.92366553e-01 -1.74249224e-02 -3.04189393e+02] [ 2.17745463e-02 -1.99494011e-04 9.99762887e-01 1.16276604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9627550959999 meters 0.024250228099702342 Centerline is valid? [True, True] Translation: X:512.24, Y:-304.14, Z:11.63 [[ 5.87498117e-01 -8.09139003e-01 -1.18336745e-02 5.12236266e+02] [ 8.08984818e-01 5.87617212e-01 -1.57979949e-02 -3.04144712e+02] [ 1.97364447e-02 -2.91970737e-04 9.99805175e-01 1.16324787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.022755096 meters 0.0251572223897234 Centerline is valid? [True, True] Translation: X:512.27, Y:-304.10, Z:11.63 [[ 5.83150330e-01 -8.12285854e-01 -1.12864665e-02 5.12273106e+02] [ 8.12146066e-01 5.83259419e-01 -1.50737149e-02 -3.04099524e+02] [ 1.88271033e-02 -3.76017557e-04 9.99822684e-01 1.16345022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0827550959999 meters 0.024801144447999413 Centerline is valid? [True, True] Translation: X:512.31, Y:-304.06, Z:11.64 [[ 5.79674736e-01 -8.14786510e-01 -1.00071664e-02 5.12310443e+02] [ 8.14676866e-01 5.79760969e-01 -1.33724611e-02 -3.04055678e+02] [ 1.66974654e-02 -4.00929096e-04 9.99860507e-01 1.16395303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.142755096 meters 0.025017172733226255 Centerline is valid? [True, True] Translation: X:512.35, Y:-304.01, Z:11.64 [[ 5.78122176e-01 -8.15890584e-01 -9.86425116e-03 5.12346367e+02] [ 8.15784070e-01 5.78206171e-01 -1.31899613e-02 -3.04009757e+02] [ 1.64651361e-02 -4.21689836e-04 9.99864352e-01 1.16406976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2027550959999 meters 0.026053767209476133 Centerline is valid? [True, True] Translation: X:512.38, Y:-303.97, Z:11.64 [[ 5.77423881e-01 -8.16393698e-01 -9.10999919e-03 5.12381909e+02] [ 8.16302805e-01 5.77495603e-01 -1.21884823e-02 -3.03965743e+02] [ 1.52115846e-02 -3.98597131e-04 9.99884218e-01 1.16424154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.262755096 meters 0.025398407775960443 Centerline is valid? [True, True] Translation: X:512.42, Y:-303.92, Z:11.64 [[ 5.77691530e-01 -8.16207357e-01 -8.83441361e-03 5.12415730e+02] [ 8.16121774e-01 5.77758952e-01 -1.18255486e-02 -3.03918376e+02] [ 1.47562614e-02 -3.78438024e-04 9.99891049e-01 1.16443364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3227550959999 meters 0.023959682662244405 Centerline is valid? [True, True] Translation: X:512.45, Y:-303.87, Z:11.65 [[ 5.79631159e-01 -8.14828519e-01 -9.06663606e-03 5.12448742e+02] [ 8.14738085e-01 5.79701961e-01 -1.21445387e-02 -3.03869732e+02] [ 1.51516632e-02 -3.47580668e-04 9.99885147e-01 1.16457152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.382755096 meters 0.02319639399494541 Centerline is valid? [True, True] Translation: X:512.48, Y:-303.82, Z:11.65 [[ 5.81483479e-01 -8.13504482e-01 -9.34995771e-03 5.12482643e+02] [ 8.13408017e-01 5.81558558e-01 -1.25315900e-02 -3.03822180e+02] [ 1.56320526e-02 -3.18417994e-04 9.99877761e-01 1.16470042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4427550959999 meters 0.022386704142220694 Centerline is valid? [True, True] Translation: X:512.51, Y:-303.77, Z:11.65 [[ 5.83739839e-01 -8.11883968e-01 -9.60324947e-03 5.12514613e+02] [ 8.11781854e-01 5.83818760e-01 -1.28793404e-02 -3.03773944e+02] [ 1.60630872e-02 -2.77559539e-04 9.99870942e-01 1.16467917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.502755096 meters 0.022377376207398787 Centerline is valid? [True, True] Translation: X:512.55, Y:-303.73, Z:11.65 [[ 5.84101262e-01 -8.11622138e-01 -9.75816726e-03 5.12548700e+02] [ 8.11516532e-01 5.84182705e-01 -1.30952288e-02 -3.03728352e+02] [ 1.63289302e-02 -2.69974381e-04 9.99866638e-01 1.16474531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5627550959999 meters 0.02266835980492805 Centerline is valid? [True, True] Translation: X:512.58, Y:-303.68, Z:11.65 [[ 5.83455315e-01 -8.12076400e-01 -1.05743397e-02 5.12583677e+02] [ 8.11952284e-01 5.83551052e-01 -1.42006519e-02 -3.03682413e+02] [ 1.77026813e-02 -3.00413401e-04 9.99843250e-01 1.16461075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.622755096 meters 0.023017129046111744 Centerline is valid? [True, True] Translation: X:512.62, Y:-303.64, Z:11.65 [[ 5.81027063e-01 -8.13807325e-01 -1.11887981e-02 5.12618876e+02] [ 8.13668499e-01 5.81134668e-01 -1.50356771e-02 -3.03635559e+02] [ 1.87383427e-02 -3.67837269e-04 9.99824354e-01 1.16453077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6827550959999 meters 0.025204308677508187 Centerline is valid? [True, True] Translation: X:512.66, Y:-303.59, Z:11.64 [[ 5.77332475e-01 -8.16410807e-01 -1.26730975e-02 5.12655683e+02] [ 8.16233076e-01 5.77471331e-01 -1.70419183e-02 -3.03590254e+02] [ 2.12315568e-02 -5.05348516e-04 9.99774457e-01 1.16430858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.742755096 meters 0.026696803419025684 Centerline is valid? [True, True] Translation: X:512.69, Y:-303.54, Z:11.64 [[ 5.74527096e-01 -8.18361479e-01 -1.42514960e-02 5.12691031e+02] [ 8.18137000e-01 5.74703469e-01 -1.91773753e-02 -3.03543646e+02] [ 2.38844094e-02 -6.41754431e-04 9.99714521e-01 1.16412629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8027550959999 meters 0.02660649871490771 Centerline is valid? [True, True] Translation: X:512.73, Y:-303.50, Z:11.64 [[ 5.73456783e-01 -8.19097039e-01 -1.50784328e-02 5.12726101e+02] [ 8.18845674e-01 5.73654552e-01 -2.03031321e-02 -3.03497443e+02] [ 2.52800470e-02 -7.03940653e-04 9.99680161e-01 1.16416425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.862755096 meters 0.028870762561493967 Centerline is valid? [True, True] Translation: X:512.76, Y:-303.45, Z:11.64 [[ 5.73395967e-01 -8.19128782e-01 -1.56557563e-02 5.12762298e+02] [ 8.18857452e-01 5.73609199e-01 -2.10940946e-02 -3.03453110e+02] [ 2.62590658e-02 -7.24563941e-04 9.99654909e-01 1.16408676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.922755096 meters 0.02563289465767677 Centerline is valid? [True, True] Translation: X:512.79, Y:-303.40, Z:11.64 [[ 5.75391527e-01 -8.17731523e-01 -1.54837512e-02 5.12791455e+02] [ 8.17465255e-01 5.75599461e-01 -2.08762441e-02 -3.03401999e+02] [ 2.59836017e-02 -6.45414692e-04 9.99662161e-01 1.16441901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9827550959999 meters 0.024312615034685108 Centerline is valid? [True, True] Translation: X:512.82, Y:-303.35, Z:11.65 [[ 5.78792026e-01 -8.15329461e-01 -1.54162256e-02 5.12821116e+02] [ 8.15064307e-01 5.78997057e-01 -2.07986460e-02 -3.03351632e+02] [ 2.58836981e-02 -5.27124814e-04 9.99664822e-01 1.16460048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.042755096 meters 0.0209773638730414 Centerline is valid? [True, True] Translation: X:512.85, Y:-303.30, Z:11.65 [[ 5.83151128e-01 -8.12225195e-01 -1.49998005e-02 5.12850903e+02] [ 8.11972812e-01 5.83343891e-01 -2.02498678e-02 -3.03300904e+02] [ 2.51974948e-02 -3.70696973e-04 9.99682424e-01 1.16484462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1027550959999 meters 0.020092878618540224 Centerline is valid? [True, True] Translation: X:512.88, Y:-303.25, Z:11.65 [[ 5.86866257e-01 -8.09535907e-01 -1.54793929e-02 5.12880883e+02] [ 8.09265870e-01 5.87070310e-01 -2.09093820e-02 -3.03251698e+02] [ 2.60143875e-02 -2.55933614e-04 9.99661536e-01 1.16479233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.162755096 meters 0.01937314428038551 Centerline is valid? [True, True] Translation: X:512.91, Y:-303.20, Z:11.65 [[ 5.88871056e-01 -8.08069994e-01 -1.59299756e-02 5.12911094e+02] [ 8.07783162e-01 5.89086453e-01 -2.15293658e-02 -3.03202019e+02] [ 2.67813673e-02 -1.89945721e-04 9.99641297e-01 1.16483973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2227550959999 meters 0.018804036298717096 Centerline is valid? [True, True] Translation: X:512.94, Y:-303.15, Z:11.65 [[ 5.92591553e-01 -8.05348690e-01 -1.57714587e-02 5.12939556e+02] [ 8.05066199e-01 5.92801387e-01 -2.13290979e-02 -3.03151821e+02] [ 2.65267036e-02 -5.76250232e-05 9.99648103e-01 1.16505504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.282755096 meters 0.018759969614958686 Centerline is valid? [True, True] Translation: X:512.97, Y:-303.10, Z:11.65 [[ 5.94024144e-01 -8.04298478e-01 -1.54684917e-02 5.12971033e+02] [ 8.04026030e-01 5.94225511e-01 -2.09328691e-02 -3.03102842e+02] [ 2.60280471e-02 -2.44029017e-06 9.99661213e-01 1.16518313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3427550959999 meters 0.0201192090708663 Centerline is valid? [True, True] Translation: X:513.00, Y:-303.05, Z:11.65 [[ 5.94945389e-01 -8.03613872e-01 -1.56438156e-02 5.13002455e+02] [ 8.03334619e-01 5.95151026e-01 -2.11836446e-02 -3.03053331e+02] [ 2.63339035e-02 3.58930211e-05 9.99653202e-01 1.16517737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.402755096 meters 0.019392221398001955 Centerline is valid? [True, True] Translation: X:513.04, Y:-303.01, Z:11.65 [[ 5.94105794e-01 -8.04239010e-01 -1.54247019e-02 5.13037293e+02] [ 8.03967388e-01 5.94305994e-01 -2.09003291e-02 -3.03007002e+02] [ 2.59758528e-02 1.60493490e-05 9.99662570e-01 1.16540188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4627550959999 meters 0.01873773442273772 Centerline is valid? [True, True] Translation: X:513.07, Y:-302.96, Z:11.66 [[ 5.91843861e-01 -8.05897013e-01 -1.58382126e-02 5.13072645e+02] [ 8.05610831e-01 5.92055742e-01 -2.14752697e-02 -3.02962472e+02] [ 2.66839605e-02 -4.94291205e-05 9.99643919e-01 1.16553920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.522755096 meters 0.018998792138370378 Centerline is valid? [True, True] Translation: X:513.11, Y:-302.92, Z:11.66 [[ 5.89872182e-01 -8.07327721e-01 -1.65154284e-02 5.13108206e+02] [ 8.07016717e-01 5.90103328e-01 -2.24071473e-02 -3.02916843e+02] [ 2.78357204e-02 -1.10873985e-04 9.99612505e-01 1.16567961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5827550959999 meters 0.018703891195839505 Centerline is valid? [True, True] Translation: X:513.14, Y:-302.87, Z:11.66 [[ 5.88408072e-01 -8.08400841e-01 -1.62487119e-02 5.13144848e+02] [ 8.08099903e-01 5.88632361e-01 -2.20565329e-02 -3.02871325e+02] [ 2.73950374e-02 -1.52340475e-04 9.99624674e-01 1.16589755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.642755096 meters 0.018568436238804706 Centerline is valid? [True, True] Translation: X:513.18, Y:-302.83, Z:11.66 [[ 5.87014082e-01 -8.09417127e-01 -1.60742354e-02 5.13180882e+02] [ 8.09122608e-01 5.87234092e-01 -2.18340779e-02 -3.02825371e+02] [ 2.71122156e-02 -1.89116109e-04 9.99632378e-01 1.16611131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7027550959999 meters 0.018586409137708794 Centerline is valid? [True, True] Translation: X:513.22, Y:-302.78, Z:11.66 [[ 5.85129872e-01 -8.10792368e-01 -1.54521658e-02 5.13218429e+02] [ 8.10520327e-01 5.85333820e-01 -2.10028243e-02 -3.02781120e+02] [ 2.60736049e-02 -2.34914551e-04 9.99659998e-01 1.16649435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.762755096 meters 0.019648316051556657 Centerline is valid? [True, True] Translation: X:513.26, Y:-302.74, Z:11.67 [[ 5.83612375e-01 -8.11884914e-01 -1.54752085e-02 5.13255864e+02] [ 8.11612078e-01 5.83817446e-01 -2.10481581e-02 -3.02736724e+02] [ 2.61233788e-02 -2.75900554e-04 9.99658688e-01 1.16659400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8227550959999 meters 0.020108141880003174 Centerline is valid? [True, True] Translation: X:513.29, Y:-302.69, Z:11.67 [[ 5.82610490e-01 -8.12600611e-01 -1.56609235e-02 5.13293267e+02] [ 8.12321074e-01 5.82820860e-01 -2.13147310e-02 -3.02692354e+02] [ 2.64478764e-02 -3.03512287e-04 9.99650148e-01 1.16675896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.882755096 meters 0.019156027358544808 Centerline is valid? [True, True] Translation: X:513.33, Y:-302.65, Z:11.67 [[ 5.82723870e-01 -8.12520575e-01 -1.55951022e-02 5.13328520e+02] [ 8.12242979e-01 5.82932441e-01 -2.12394103e-02 -3.02647269e+02] [ 2.63483489e-02 -2.90300961e-04 9.99652780e-01 1.16682788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9427550959999 meters 0.018820536035875912 Centerline is valid? [True, True] Translation: X:513.37, Y:-302.60, Z:11.67 [[ 5.82649188e-01 -8.12568893e-01 -1.58656099e-02 5.13365223e+02] [ 8.12281193e-01 5.82865088e-01 -2.16229653e-02 -3.02602630e+02] [ 2.68176591e-02 -2.88733310e-04 9.99640300e-01 1.16694806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.002755096 meters 0.019465447691376994 Centerline is valid? [True, True] Translation: X:513.40, Y:-302.56, Z:11.67 [[ 5.81728349e-01 -8.13237340e-01 -1.53998784e-02 5.13404419e+02] [ 8.12966159e-01 5.81932073e-01 -2.10020635e-02 -3.02559328e+02] [ 2.60413454e-02 -3.02084281e-04 9.99660821e-01 1.16707258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0627550959999 meters 0.02055294763831146 Centerline is valid? [True, True] Translation: X:513.44, Y:-302.52, Z:11.67 [[ 5.80624617e-01 -8.14025789e-01 -1.53970384e-02 5.13441237e+02] [ 8.13754611e-01 5.80828637e-01 -2.10125361e-02 -3.02515744e+02] [ 2.60477872e-02 -3.29015261e-04 9.99660645e-01 1.16705308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.122755096 meters 0.01922430669644457 Centerline is valid? [True, True] Translation: X:513.48, Y:-302.47, Z:11.67 [[ 5.78380586e-01 -8.15636011e-01 -1.46217043e-02 5.13480231e+02] [ 8.15391647e-01 5.78565258e-01 -1.99676030e-02 -3.02471621e+02] [ 2.47459062e-02 -3.73541644e-04 9.99693703e-01 1.16736963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1827550959999 meters 0.019697426901251588 Centerline is valid? [True, True] Translation: X:513.52, Y:-302.43, Z:11.68 [[ 5.76950044e-01 -8.16658114e-01 -1.40773513e-02 5.13517085e+02] [ 8.16431621e-01 5.77121624e-01 -1.92364102e-02 -3.02426476e+02] [ 2.38339143e-02 -3.94747045e-04 9.99715854e-01 1.16753232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.242755096 meters 0.019728470107009472 Centerline is valid? [True, True] Translation: X:513.55, Y:-302.38, Z:11.68 [[ 5.76284655e-01 -8.17126143e-01 -1.41726139e-02 5.13552709e+02] [ 8.16896401e-01 5.76458757e-01 -1.93796546e-02 -3.02380457e+02] [ 2.40055498e-02 -4.09359710e-04 9.99711741e-01 1.16759319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3027550959999 meters 0.0199083895538545 Centerline is valid? [True, True] Translation: X:513.59, Y:-302.33, Z:11.68 [[ 5.75767243e-01 -8.17490355e-01 -1.41986628e-02 5.13587592e+02] [ 8.17259565e-01 5.75942137e-01 -1.94283095e-02 -3.02334472e+02] [ 2.40600638e-02 -4.17808828e-04 9.99710427e-01 1.16765493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.362755096 meters 0.02059938181186138 Centerline is valid? [True, True] Translation: X:513.62, Y:-302.29, Z:11.68 [[ 5.75974172e-01 -8.17335390e-01 -1.47177873e-02 5.13622383e+02] [ 8.17087018e-01 5.76162030e-01 -2.01524090e-02 -3.02287730e+02] [ 2.49511073e-02 -4.18445821e-04 9.99688585e-01 1.16767049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.422755096 meters 0.019318933423470346 Centerline is valid? [True, True] Translation: X:513.66, Y:-302.24, Z:11.68 [[ 5.76707522e-01 -8.16811912e-01 -1.50576672e-02 5.13656520e+02] [ 8.16551399e-01 5.76903928e-01 -2.06317868e-02 -3.02240452e+02] [ 2.55391165e-02 -3.96852552e-04 9.99673745e-01 1.16786772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4827550959999 meters 0.02129131324901407 Centerline is valid? [True, True] Translation: X:513.69, Y:-302.19, Z:11.68 [[ 5.76926392e-01 -8.16649526e-01 -1.54754996e-02 5.13690522e+02] [ 8.16373920e-01 5.77133779e-01 -2.12185069e-02 -3.02192835e+02] [ 2.62595172e-02 -3.92277634e-04 9.99655082e-01 1.16773678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.542755096 meters 0.019754565777901252 Centerline is valid? [True, True] Translation: X:513.72, Y:-302.15, Z:11.68 [[ 5.77511994e-01 -8.16247516e-01 -1.48286759e-02 5.13724035e+02] [ 8.15994012e-01 5.77702233e-01 -2.03446114e-02 -3.02145073e+02] [ 2.51727978e-02 -3.50853632e-04 9.99683053e-01 1.16809891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6027550959999 meters 0.01826702869275359 Centerline is valid? [True, True] Translation: X:513.76, Y:-302.10, Z:11.69 [[ 5.78337010e-01 -8.15684342e-01 -1.36145824e-02 5.13757607e+02] [ 8.15470231e-01 5.78497163e-01 -1.86904899e-02 -3.02097287e+02] [ 2.31215373e-02 -2.92884584e-04 9.99732619e-01 1.16851508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.662755096 meters 0.01787734370732314 Centerline is valid? [True, True] Translation: X:513.79, Y:-302.05, Z:11.69 [[ 5.79361810e-01 -8.14971701e-01 -1.26893519e-02 5.13790732e+02] [ 8.14785302e-01 5.79500706e-01 -1.74310830e-02 -3.02049384e+02] [ 2.15593277e-02 -2.40193586e-04 9.99767542e-01 1.16874387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7227550959999 meters 0.017549991243724423 Centerline is valid? [True, True] Translation: X:513.82, Y:-302.00, Z:11.69 [[ 5.79493120e-01 -8.14882734e-01 -1.24037611e-02 5.13822956e+02] [ 8.14704382e-01 5.79625809e-01 -1.70496660e-02 -3.02001457e+02] [ 2.10830185e-02 -2.25234433e-04 9.99777703e-01 1.16883358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.782755096 meters 0.017805746093448312 Centerline is valid? [True, True] Translation: X:513.86, Y:-301.95, Z:11.69 [[ 5.78772534e-01 -8.15387795e-01 -1.28490361e-02 5.13857212e+02] [ 8.15196268e-01 5.78915092e-01 -1.76737293e-02 -3.01954283e+02] [ 2.18494441e-02 -2.45417217e-04 9.99761242e-01 1.16876207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8427550959999 meters 0.01821714491357179 Centerline is valid? [True, True] Translation: X:513.89, Y:-301.91, Z:11.69 [[ 5.76953427e-01 -8.16676761e-01 -1.27989118e-02 5.13892032e+02] [ 8.16486792e-01 5.77095301e-01 -1.76162248e-02 -3.01907810e+02] [ 2.17729532e-02 -2.86401202e-04 9.99762900e-01 1.16879483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.902755096 meters 0.01955743044329892 Centerline is valid? [True, True] Translation: X:513.93, Y:-301.86, Z:11.69 [[ 5.73311754e-01 -8.19237495e-01 -1.27890225e-02 5.13929167e+02] [ 8.19048213e-01 5.73454256e-01 -1.76136644e-02 -3.01862011e+02] [ 2.17636937e-02 -3.76705192e-04 9.99763072e-01 1.16877766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9627550959999 meters 0.022658377590908524 Centerline is valid? [True, True] Translation: X:513.97, Y:-301.82, Z:11.69 [[ 5.69513938e-01 -8.21886953e-01 -1.24783792e-02 5.13966554e+02] [ 8.21707165e-01 5.69650441e-01 -1.71962249e-02 -3.01816876e+02] [ 2.12416671e-02 -4.60083848e-04 9.99774264e-01 1.16878870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.022755096 meters 0.022173099603437663 Centerline is valid? [True, True] Translation: X:514.00, Y:-301.77, Z:11.69 [[ 5.67311723e-01 -8.23411621e-01 -1.22764786e-02 5.14002708e+02] [ 8.23237743e-01 5.67444314e-01 -1.69283288e-02 -3.01771162e+02] [ 2.09052006e-02 -5.02821172e-04 9.99781336e-01 1.16899752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0827550959999 meters 0.02149345510761429 Centerline is valid? [True, True] Translation: X:514.04, Y:-301.72, Z:11.69 [[ 5.66869799e-01 -8.23710907e-01 -1.26084573e-02 5.14036563e+02] [ 8.23527332e-01 5.67009762e-01 -1.73972318e-02 -3.01723410e+02] [ 2.14794079e-02 -5.21443902e-04 9.99769155e-01 1.16906611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.142755096 meters 0.02320062320048999 Centerline is valid? [True, True] Translation: X:514.07, Y:-301.68, Z:11.69 [[ 5.67478075e-01 -8.23284350e-01 -1.30962864e-02 5.14070773e+02] [ 8.23085900e-01 5.67628937e-01 -1.80829041e-02 -3.01676772e+02] [ 2.23212031e-02 -5.17717075e-04 9.99750717e-01 1.16897527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2027550959999 meters 0.02032483197077463 Centerline is valid? [True, True] Translation: X:514.10, Y:-301.63, Z:11.69 [[ 5.69788940e-01 -8.21691858e-01 -1.27692495e-02 5.14103393e+02] [ 8.21502546e-01 5.69931837e-01 -1.76427959e-02 -3.01628330e+02] [ 2.17745436e-02 -4.37300968e-04 9.99762811e-01 1.16924035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.262755096 meters 0.01923249217713428 Centerline is valid? [True, True] Translation: X:514.14, Y:-301.58, Z:11.69 [[ 5.73301255e-01 -8.19246026e-01 -1.27130233e-02 5.14136321e+02] [ 8.19057551e-01 5.73442095e-01 -1.75753268e-02 -3.01581468e+02] [ 2.16886994e-02 -3.36740847e-04 9.99764716e-01 1.16937221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3227550959999 meters 0.020564148646131656 Centerline is valid? [True, True] Translation: X:514.17, Y:-301.53, Z:11.69 [[ 5.75744557e-01 -8.17535028e-01 -1.24371735e-02 5.14169880e+02] [ 8.17354087e-01 5.75878815e-01 -1.72013420e-02 -3.01533453e+02] [ 2.12250043e-02 -2.61995565e-04 9.99774690e-01 1.16948157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.382755096 meters 0.019742031424014653 Centerline is valid? [True, True] Translation: X:514.20, Y:-301.49, Z:11.70 [[ 5.77296472e-01 -8.16442600e-01 -1.22582208e-02 5.14203595e+02] [ 8.16266358e-01 5.77426563e-01 -1.69645941e-02 -3.01486687e+02] [ 2.09288396e-02 -2.12372896e-04 9.99780945e-01 1.16959153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4427550959999 meters 0.017441248908963102 Centerline is valid? [True, True] Translation: X:514.24, Y:-301.44, Z:11.70 [[ 5.77590871e-01 -8.16241974e-01 -1.17398968e-02 5.14237910e+02] [ 8.16080074e-01 5.77710138e-01 -1.62575728e-02 -3.01439567e+02] [ 2.00523707e-02 -1.90470230e-04 9.99798913e-01 1.16984508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.502755096 meters 0.01752199117625655 Centerline is valid? [True, True] Translation: X:514.27, Y:-301.39, Z:11.70 [[ 5.77641323e-01 -8.16223157e-01 -1.05004909e-02 5.14270573e+02] [ 8.16093480e-01 5.77736731e-01 -1.45499412e-02 -3.01391688e+02] [ 1.79425182e-02 -1.64734948e-04 9.99839006e-01 1.17004424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5627550959999 meters 0.017616927816205365 Centerline is valid? [True, True] Translation: X:514.30, Y:-301.34, Z:11.70 [[ 5.77462152e-01 -8.16344959e-01 -1.08798450e-02 5.14302911e+02] [ 8.16205571e-01 5.77564611e-01 -1.50859469e-02 -3.01343073e+02] [ 1.85991501e-02 -1.68626728e-04 9.99827007e-01 1.16993955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.622755096 meters 0.018135692122283435 Centerline is valid? [True, True] Translation: X:514.34, Y:-301.30, Z:11.70 [[ 5.76643806e-01 -8.16922961e-01 -1.08993953e-02 5.14336373e+02] [ 8.16782984e-01 5.76746776e-01 -1.51232804e-02 -3.01296848e+02] [ 1.86407460e-02 -1.81694636e-04 9.99826230e-01 1.16986856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6827550959999 meters 0.02103792851677318 Centerline is valid? [True, True] Translation: X:514.37, Y:-301.25, Z:11.70 [[ 5.74788561e-01 -8.18223355e-01 -1.13425204e-02 5.14370495e+02] [ 8.18071798e-01 5.74900418e-01 -1.57493650e-02 -3.01250483e+02] [ 1.94073180e-02 -2.26441180e-04 9.99811635e-01 1.16964205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.742755096 meters 0.01889662570887271 Centerline is valid? [True, True] Translation: X:514.40, Y:-301.20, Z:11.70 [[ 5.73672572e-01 -8.19008369e-01 -1.11835796e-02 5.14402291e+02] [ 8.18861008e-01 5.73781520e-01 -1.55375911e-02 -3.01202187e+02] [ 1.91423484e-02 -2.44307384e-04 9.99816739e-01 1.16980482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8027550959999 meters 0.01936028203570984 Centerline is valid? [True, True] Translation: X:514.43, Y:-301.15, Z:11.70 [[ 5.72151903e-01 -8.20078473e-01 -1.06535015e-02 5.14434938e+02] [ 8.19944764e-01 5.72251019e-01 -1.48106444e-02 -3.01154170e+02] [ 1.82423678e-02 -2.61344367e-04 9.99833560e-01 1.16993036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.862755096 meters 0.021067782912719508 Centerline is valid? [True, True] Translation: X:514.47, Y:-301.11, Z:11.70 [[ 5.70988109e-01 -8.20888213e-01 -1.07294496e-02 5.14468745e+02] [ 8.20752547e-01 5.71088839e-01 -1.49263343e-02 -3.01106556e+02] [ 1.83803208e-02 -2.83463685e-04 9.99831027e-01 1.16989609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.922755096 meters 0.020548577511001014 Centerline is valid? [True, True] Translation: X:514.50, Y:-301.06, Z:11.70 [[ 5.69273996e-01 -8.22085115e-01 -1.01578732e-02 5.14501482e+02] [ 8.21963554e-01 5.69364536e-01 -1.41400884e-02 -3.01059939e+02] [ 1.74078890e-02 -2.99816935e-04 9.99848426e-01 1.17008287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9827550959999 meters 0.021423830493326322 Centerline is valid? [True, True] Translation: X:514.54, Y:-301.01, Z:11.70 [[ 5.67734990e-01 -8.23157555e-01 -9.41380458e-03 5.14535642e+02] [ 8.23053247e-01 5.67812949e-01 -1.31075407e-02 -3.01013777e+02] [ 1.61348513e-02 -3.06452931e-04 9.99869778e-01 1.17033194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.042755096 meters 0.020881775359391258 Centerline is valid? [True, True] Translation: X:514.57, Y:-300.97, Z:11.71 [[ 5.68705284e-01 -8.22493663e-01 -8.85856267e-03 5.14567872e+02] [ 8.22401117e-01 5.68774211e-01 -1.23409774e-02 -3.00965400e+02] [ 1.51888977e-02 -2.66912769e-04 9.99884606e-01 1.17057715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1027550959999 meters 0.02037533309967893 Centerline is valid? [True, True] Translation: X:514.60, Y:-300.92, Z:11.71 [[ 5.70148596e-01 -8.21501769e-01 -8.08833129e-03 5.14598895e+02] [ 8.21424427e-01 5.70205925e-01 -1.12745289e-02 -3.00916328e+02] [ 1.38740598e-02 -2.15796075e-04 9.99903727e-01 1.17069225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.162755096 meters 0.02064377949577873 Centerline is valid? [True, True] Translation: X:514.63, Y:-300.87, Z:11.71 [[ 5.70527499e-01 -8.21237242e-01 -8.23192423e-03 5.14632924e+02] [ 8.21156993e-01 5.70586846e-01 -1.14823467e-02 -3.00869860e+02] [ 1.41267584e-02 -2.08707605e-04 9.99900191e-01 1.17079030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2227550959999 meters 0.019938019347802913 Centerline is valid? [True, True] Translation: X:514.67, Y:-300.82, Z:11.71 [[ 5.71918791e-01 -8.20269395e-01 -8.18631745e-03 5.14666196e+02] [ 8.20189832e-01 5.71977348e-01 -1.14259975e-02 -3.00822769e+02] [ 1.40547842e-02 -1.79591666e-04 9.99901211e-01 1.17089333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.282755096 meters 0.01924081982198079 Centerline is valid? [True, True] Translation: X:514.70, Y:-300.77, Z:11.71 [[ 5.74413947e-01 -8.18528272e-01 -7.75152985e-03 5.14695428e+02] [ 8.18456692e-01 5.74466233e-01 -1.08254945e-02 -3.00772611e+02] [ 1.33139655e-02 -1.25976429e-04 9.99911357e-01 1.17096683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3427550959999 meters 0.01969481901768154 Centerline is valid? [True, True] Translation: X:514.73, Y:-300.73, Z:11.71 [[ 5.73136162e-01 -8.19415083e-01 -8.59429569e-03 5.14729871e+02] [ 8.19327058e-01 5.73200574e-01 -1.20114124e-02 -3.00727228e+02] [ 1.47685877e-02 -1.57364220e-04 9.99890926e-01 1.17081997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.402755096 meters 0.02129886804268318 Centerline is valid? [True, True] Translation: X:514.77, Y:-300.68, Z:11.71 [[ 5.68466517e-01 -8.22666937e-01 -8.05790052e-03 5.14768278e+02] [ 8.22589778e-01 5.68523580e-01 -1.12692153e-02 -3.00682703e+02] [ 1.38519172e-02 -2.22175066e-04 9.99904033e-01 1.17100858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4627550959999 meters 0.026186020385857375 Centerline is valid? [True, True] Translation: X:514.81, Y:-300.64, Z:11.71 [[ 5.61789609e-01 -8.27246989e-01 -7.40644477e-03 5.14805136e+02] [ 8.27182117e-01 5.61838346e-01 -1.03642438e-02 -3.00638824e+02] [ 1.27350141e-02 -3.03954215e-04 9.99918860e-01 1.17103902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.522755096 meters 0.028300915560806297 Centerline is valid? [True, True] Translation: X:514.84, Y:-300.59, Z:11.71 [[ 5.55690841e-01 -8.31356953e-01 -7.30110622e-03 5.14842960e+02] [ 8.31294212e-01 5.55738666e-01 -1.02209510e-02 -3.00594758e+02] [ 1.25547657e-02 -3.89678504e-04 9.99921110e-01 1.17117265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5827550959999 meters 0.030637603135193224 Centerline is valid? [True, True] Translation: X:514.88, Y:-300.55, Z:11.71 [[ 5.52374251e-01 -8.33559862e-01 -7.78740208e-03 5.14879477e+02] [ 8.33488598e-01 5.52428946e-01 -1.09094190e-02 -3.00549332e+02] [ 1.33956401e-02 -4.64628709e-04 9.99910166e-01 1.17120991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.642755096 meters 0.0287430434916032 Centerline is valid? [True, True] Translation: X:514.91, Y:-300.50, Z:11.71 [[ 5.52024415e-01 -8.33787811e-01 -8.18112314e-03 5.14909531e+02] [ 8.33709078e-01 5.52084817e-01 -1.14685479e-02 -3.00499234e+02] [ 1.40790093e-02 -4.89758194e-04 9.99900766e-01 1.17115126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7027550959999 meters 0.027900216980531595 Centerline is valid? [True, True] Translation: X:514.94, Y:-300.45, Z:11.71 [[ 5.54568149e-01 -8.32098636e-01 -8.12577362e-03 5.14938522e+02] [ 8.32020671e-01 5.54627503e-01 -1.13989456e-02 -3.00449492e+02] [ 1.39918246e-02 -4.39319454e-04 9.99902013e-01 1.17115337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.762755096 meters 0.02730901227944273 Centerline is valid? [True, True] Translation: X:514.97, Y:-300.40, Z:11.71 [[ 5.55844349e-01 -8.31252616e-01 -7.49321165e-03 5.14970631e+02] [ 8.31186194e-01 5.55894722e-01 -1.05152043e-02 -3.00400601e+02] [ 1.29062279e-02 -3.83437157e-04 9.99916638e-01 1.17144793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8227550959999 meters 0.02773246237916172 Centerline is valid? [True, True] Translation: X:515.00, Y:-300.35, Z:11.71 [[ 5.55820470e-01 -8.31262281e-01 -8.16244208e-03 5.15004991e+02] [ 8.31183356e-01 5.55880248e-01 -1.14620322e-02 -3.00354419e+02] [ 1.40652953e-02 -4.13653906e-04 9.99900993e-01 1.17149112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.882755096 meters 0.029007541095692507 Centerline is valid? [True, True] Translation: X:515.04, Y:-300.31, Z:11.71 [[ 5.55056520e-01 -8.31768580e-01 -8.56086848e-03 5.15038652e+02] [ 8.31681698e-01 5.55122359e-01 -1.20299474e-02 -3.00308305e+02] [ 1.47584618e-02 -4.42616867e-04 9.99890990e-01 1.17145789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9427550959999 meters 0.03010900143332689 Centerline is valid? [True, True] Translation: X:515.07, Y:-300.26, Z:11.72 [[ 5.53309876e-01 -8.32935447e-01 -8.16842294e-03 5.15073552e+02] [ 8.32856373e-01 5.53369986e-01 -1.14857218e-02 -3.00261547e+02] [ 1.40870249e-02 -4.47959773e-04 9.99900673e-01 1.17156138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.002755096 meters 0.0325287812520483 Centerline is valid? [True, True] Translation: X:515.11, Y:-300.22, Z:11.72 [[ 5.50237830e-01 -8.34969232e-01 -8.04433458e-03 5.15111156e+02] [ 8.34892659e-01 5.50296413e-01 -1.13183699e-02 -3.00218741e+02] [ 1.38772591e-02 -4.88360609e-04 9.99903587e-01 1.17175263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0627550959999 meters 0.03501712748000984 Centerline is valid? [True, True] Translation: X:515.15, Y:-300.17, Z:11.72 [[ 5.48721220e-01 -8.35955896e-01 -9.09743717e-03 5.15147899e+02] [ 8.35857983e-01 5.48796327e-01 -1.28072092e-02 -3.00173983e+02] [ 1.56989021e-02 -5.76578022e-04 9.99876598e-01 1.17155718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.122755096 meters 0.029777214759981133 Centerline is valid? [True, True] Translation: X:515.17, Y:-300.12, Z:11.72 [[ 5.50093361e-01 -8.35045975e-01 -9.77308433e-03 5.15174448e+02] [ 8.34932686e-01 5.50179857e-01 -1.37671372e-02 -3.00120875e+02] [ 1.68731466e-02 -5.86656792e-04 9.99857466e-01 1.17156421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1827550959999 meters 0.02679473704199789 Centerline is valid? [True, True] Translation: X:515.20, Y:-300.07, Z:11.72 [[ 5.51185782e-01 -8.34313243e-01 -1.07539139e-02 5.15204831e+02] [ 8.34175740e-01 5.51290336e-01 -1.51591770e-02 -3.00070345e+02] [ 1.85760309e-02 -6.15131219e-04 9.99827261e-01 1.17152150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.242755096 meters 0.027765280605173394 Centerline is valid? [True, True] Translation: X:515.24, Y:-300.02, Z:11.72 [[ 5.50481065e-01 -8.34782850e-01 -1.04014897e-02 5.15239450e+02] [ 8.34654137e-01 5.50578993e-01 -1.46711864e-02 -3.00024641e+02] [ 1.79740965e-02 -6.05436119e-04 9.99838270e-01 1.17168934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3027550959999 meters 0.028526310196213173 Centerline is valid? [True, True] Translation: X:515.27, Y:-299.98, Z:11.72 [[ 5.50205568e-01 -8.34971722e-01 -9.80084890e-03 5.15273203e+02] [ 8.34857317e-01 5.50292556e-01 -1.38333814e-02 -2.99978743e+02] [ 1.69438165e-02 -5.71106959e-04 9.99856280e-01 1.17191367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.362755096 meters 0.02866163922199655 Centerline is valid? [True, True] Translation: X:515.30, Y:-299.93, Z:11.72 [[ 5.49657455e-01 -8.35327825e-01 -1.02033085e-02 5.15304995e+02] [ 8.35203763e-01 5.49751819e-01 -1.44087459e-02 -2.99930178e+02] [ 1.76453138e-02 -6.01967054e-04 9.99844128e-01 1.17196689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.422755096 meters 0.027553558287111778 Centerline is valid? [True, True] Translation: X:515.34, Y:-299.88, Z:11.72 [[ 5.50265570e-01 -8.34931180e-01 -9.88567497e-03 5.15337412e+02] [ 8.34814503e-01 5.50354072e-01 -1.39692879e-02 -2.99881671e+02] [ 1.71040155e-02 -5.65886646e-04 9.99853555e-01 1.17215218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4827550959999 meters 0.02790068112606422 Centerline is valid? [True, True] Translation: X:515.37, Y:-299.83, Z:11.72 [[ 5.51357770e-01 -8.34210808e-01 -9.84570514e-03 5.15368409e+02] [ 8.34094807e-01 5.51445410e-01 -1.39216804e-02 -2.99831530e+02] [ 1.70429852e-02 -5.36424860e-04 9.99854614e-01 1.17227925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.542755096 meters 0.0254780957426146 Centerline is valid? [True, True] Translation: X:515.40, Y:-299.78, Z:11.72 [[ 5.53665067e-01 -8.32677858e-01 -1.01281367e-02 5.15397716e+02] [ 8.32554695e-01 5.53757471e-01 -1.43297622e-02 -2.99780417e+02] [ 1.75406071e-02 -4.98339070e-04 9.99846028e-01 1.17234327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6027550959999 meters 0.023786933282975795 Centerline is valid? [True, True] Translation: X:515.43, Y:-299.73, Z:11.72 [[ 5.56839628e-01 -8.30551104e-01 -1.07000993e-02 5.15428869e+02] [ 8.30413067e-01 5.56942242e-01 -1.51485054e-02 -2.99730502e+02] [ 1.85409452e-02 -4.50214208e-04 9.99828001e-01 1.17235929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.662755096 meters 0.02244374707085905 Centerline is valid? [True, True] Translation: X:515.46, Y:-299.68, Z:11.72 [[ 5.59719681e-01 -8.28609015e-01 -1.09990670e-02 5.15458891e+02] [ 8.28462651e-01 5.59827604e-01 -1.55785029e-02 -2.99680733e+02] [ 1.90660693e-02 -3.92721525e-04 9.99818149e-01 1.17235566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7227550959999 meters 0.021541525927909106 Centerline is valid? [True, True] Translation: X:515.49, Y:-299.63, Z:11.72 [[ 5.60333142e-01 -8.28198583e-01 -1.06713464e-02 5.15491248e+02] [ 8.28060563e-01 5.60434632e-01 -1.51237298e-02 -2.99631902e+02] [ 1.85060436e-02 -3.62194075e-04 9.99828683e-01 1.17247389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.782755096 meters 0.022069617236214274 Centerline is valid? [True, True] Translation: X:515.53, Y:-299.59, Z:11.73 [[ 5.60243571e-01 -8.28266098e-01 -1.01199241e-02 5.15527598e+02] [ 8.28141834e-01 5.60334860e-01 -1.43508572e-02 -2.99587196e+02] [ 1.75568747e-02 -3.40757024e-04 9.99845808e-01 1.17275216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8427550959999 meters 0.022789501545121868 Centerline is valid? [True, True] Translation: X:515.56, Y:-299.54, Z:11.73 [[ 5.59643737e-01 -8.28670752e-01 -1.01819839e-02 5.15562467e+02] [ 8.28544846e-01 5.59736244e-01 -1.44490822e-02 -2.99541541e+02] [ 1.76727572e-02 -3.49891875e-04 9.99843763e-01 1.17282084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.902755096 meters 0.021838319615026212 Centerline is valid? [True, True] Translation: X:515.59, Y:-299.49, Z:11.73 [[ 5.58480626e-01 -8.29452421e-01 -1.03957717e-02 5.15594398e+02] [ 8.29321125e-01 5.58577246e-01 -1.47625212e-02 -2.99492952e+02] [ 1.80516504e-02 -3.76851034e-04 9.99836985e-01 1.17283838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9627550959999 meters 0.02321510934307358 Centerline is valid? [True, True] Translation: X:515.63, Y:-299.45, Z:11.73 [[ 5.55796964e-01 -8.31246916e-01 -1.08765581e-02 5.15630674e+02] [ 8.31103342e-01 5.55903196e-01 -1.54554670e-02 -2.99447427e+02] [ 1.88936226e-02 -4.49442144e-04 9.99821399e-01 1.17280627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.022755096 meters 0.025098561225979765 Centerline is valid? [True, True] Translation: X:515.67, Y:-299.40, Z:11.73 [[ 5.52814767e-01 -8.33239319e-01 -1.03957246e-02 5.15667213e+02] [ 8.33108349e-01 5.52912288e-01 -1.47811163e-02 -2.99402732e+02] [ 1.80641311e-02 -4.89545639e-04 9.99836710e-01 1.17299742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0827550959999 meters 0.027440874474383106 Centerline is valid? [True, True] Translation: X:515.70, Y:-299.36, Z:11.73 [[ 5.51164442e-01 -8.34334579e-01 -1.01768412e-02 5.15702963e+02] [ 8.34209091e-01 5.51258152e-01 -1.44789918e-02 -2.99358417e+02] [ 1.76903902e-02 -5.09308064e-04 9.99843383e-01 1.17313229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.142755096 meters 0.02695715689214053 Centerline is valid? [True, True] Translation: X:515.73, Y:-299.31, Z:11.73 [[ 5.49814443e-01 -8.35224160e-01 -1.02313746e-02 5.15734292e+02] [ 8.35097303e-01 5.49909371e-01 -1.45663490e-02 -2.99309601e+02] [ 1.77924954e-02 -5.35404271e-04 9.99841558e-01 1.17314755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2027550959999 meters 0.027082108823713223 Centerline is valid? [True, True] Translation: X:515.77, Y:-299.26, Z:11.73 [[ 5.50240314e-01 -8.34939486e-01 -1.05665588e-02 5.15767440e+02] [ 8.34803962e-01 5.50341499e-01 -1.50525760e-02 -2.99263467e+02] [ 1.83832058e-02 -5.38471013e-04 9.99830870e-01 1.17317695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.262755096 meters 0.024766176528221922 Centerline is valid? [True, True] Translation: X:515.80, Y:-299.21, Z:11.73 [[ 5.51706698e-01 -8.33966004e-01 -1.09737284e-02 5.15797065e+02] [ 8.33819494e-01 5.51815578e-01 -1.56403263e-02 -2.99212294e+02] [ 1.90989747e-02 -5.21235914e-04 9.99817462e-01 1.17320741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3227550959999 meters 0.02281248186569275 Centerline is valid? [True, True] Translation: X:515.83, Y:-299.16, Z:11.73 [[ 5.55017146e-01 -8.31759127e-01 -1.15205358e-02 5.15825735e+02] [ 8.31596973e-01 5.55136507e-01 -1.64296232e-02 -2.99160712e+02] [ 2.00609591e-02 -4.61720163e-04 9.99798652e-01 1.17320498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.382755096 meters 0.020989032783041484 Centerline is valid? [True, True] Translation: X:515.86, Y:-299.11, Z:11.73 [[ 5.58323158e-01 -8.29544919e-01 -1.14227271e-02 5.15855374e+02] [ 8.29384845e-01 5.58439869e-01 -1.63000147e-02 -2.99110746e+02] [ 1.99005006e-02 -3.73161069e-04 9.99801896e-01 1.17336987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4427550959999 meters 0.01927815796240481 Centerline is valid? [True, True] Translation: X:515.88, Y:-299.06, Z:11.74 [[ 5.61694456e-01 -8.27271491e-01 -1.10098611e-02 5.15884839e+02] [ 8.27122157e-01 5.61802281e-01 -1.57205168e-02 -2.99060136e+02] [ 1.91905005e-02 -2.76372901e-04 9.99815807e-01 1.17360579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.502755096 meters 0.01863999807131775 Centerline is valid? [True, True] Translation: X:515.91, Y:-299.01, Z:11.74 [[ 5.63850728e-01 -8.25807681e-01 -1.06785136e-02 5.15914560e+02] [ 8.25666771e-01 5.63951796e-01 -1.52563086e-02 -2.99011518e+02] [ 1.86209437e-02 -2.14613135e-04 9.99826592e-01 1.17365979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5627550959999 meters 0.018447589810013144 Centerline is valid? [True, True] Translation: X:515.95, Y:-298.96, Z:11.74 [[ 5.63474140e-01 -8.26068108e-01 -1.04102840e-02 5.15946954e+02] [ 8.25934109e-01 5.63570258e-01 -1.48799398e-02 -2.98963382e+02] [ 1.81587702e-02 -2.13747406e-04 9.99835093e-01 1.17374976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.622755096 meters 0.018630614000132776 Centerline is valid? [True, True] Translation: X:515.98, Y:-298.92, Z:11.74 [[ 5.61754193e-01 -8.27241311e-01 -1.02000020e-02 5.15980188e+02] [ 8.27112707e-01 5.61846736e-01 -1.45881978e-02 -2.98915436e+02] [ 1.77987977e-02 -2.41569980e-04 9.99841560e-01 1.17387520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6827550959999 meters 0.019882921696770698 Centerline is valid? [True, True] Translation: X:516.01, Y:-298.87, Z:11.74 [[ 5.58844551e-01 -8.29213592e-01 -9.87861773e-03 5.16014869e+02] [ 8.29093128e-01 5.58931780e-01 -1.41368559e-02 -2.98868787e+02] [ 1.72439464e-02 -2.89989202e-04 9.99851270e-01 1.17403684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.742755096 meters 0.022288571321062257 Centerline is valid? [True, True] Translation: X:516.05, Y:-298.82, Z:11.74 [[ 5.56437293e-01 -8.30837498e-01 -9.30543264e-03 5.16050009e+02] [ 8.30730707e-01 5.56515006e-01 -1.33244454e-02 -2.98823342e+02] [ 1.62490618e-02 -3.16090303e-04 9.99867925e-01 1.17411764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8027550959999 meters 0.02081036593738967 Centerline is valid? [True, True] Translation: X:516.08, Y:-298.77, Z:11.74 [[ 5.54977469e-01 -8.31806834e-01 -9.86913246e-03 5.16080081e+02] [ 8.31686694e-01 5.55065097e-01 -1.41414767e-02 -2.98772661e+02] [ 1.72409879e-02 -3.59825213e-04 9.99851298e-01 1.17399706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.862755096 meters 0.019630890557097432 Centerline is valid? [True, True] Translation: X:516.11, Y:-298.72, Z:11.74 [[ 5.54425276e-01 -8.32169744e-01 -1.03019955e-02 5.16108759e+02] [ 8.32038724e-01 5.54520848e-01 -1.47712823e-02 -2.98722293e+02] [ 1.80048855e-02 -3.82086896e-04 9.99837826e-01 1.17391817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.922755096 meters 0.019736866211556788 Centerline is valid? [True, True] Translation: X:516.14, Y:-298.67, Z:11.74 [[ 5.54585505e-01 -8.32059006e-01 -1.06173669e-02 5.16139804e+02] [ 8.31919618e-01 5.54686996e-01 -1.52343985e-02 -2.98674786e+02] [ 1.85652338e-02 -3.84019243e-04 9.99827577e-01 1.17391408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9827550959999 meters 0.019973728183764958 Centerline is valid? [True, True] Translation: X:516.17, Y:-298.63, Z:11.74 [[ 5.53974871e-01 -8.32466443e-01 -1.05576056e-02 5.16171550e+02] [ 8.32328494e-01 5.54075328e-01 -1.51594728e-02 -2.98626321e+02] [ 1.84694612e-02 -3.89429019e-04 9.99829349e-01 1.17394744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.042755096 meters 0.020687738066008366 Centerline is valid? [True, True] Translation: X:516.20, Y:-298.58, Z:11.74 [[ 5.52178688e-01 -8.33668714e-01 -9.75559151e-03 5.16203215e+02] [ 8.33550967e-01 5.52264720e-01 -1.40165717e-02 -2.98577705e+02] [ 1.70728463e-02 -3.92130598e-04 9.99854171e-01 1.17401738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1027550959999 meters 0.02121111272378663 Centerline is valid? [True, True] Translation: X:516.24, Y:-298.53, Z:11.74 [[ 5.50115582e-01 -8.35040895e-01 -8.91916413e-03 5.16237135e+02] [ 8.34942580e-01 5.50187739e-01 -1.28195245e-02 -2.98530055e+02] [ 1.56120420e-02 -3.94769718e-04 9.99878047e-01 1.17418619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.162755096 meters 0.02135707007872095 Centerline is valid? [True, True] Translation: X:516.27, Y:-298.48, Z:11.74 [[ 5.49605476e-01 -8.35381076e-01 -8.50163893e-03 5.16269685e+02] [ 8.35291682e-01 5.49671094e-01 -1.22267357e-02 -2.98482075e+02] [ 1.48870888e-02 -3.81467362e-04 9.99889108e-01 1.17428677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2227550959999 meters 0.020103122456892355 Centerline is valid? [True, True] Translation: X:516.30, Y:-298.43, Z:11.74 [[ 5.52920730e-01 -8.33196174e-01 -7.92481583e-03 5.16298475e+02] [ 8.33118175e-01 5.52977439e-01 -1.14043355e-02 -2.98431744e+02] [ 1.38842930e-02 -2.96614625e-04 9.99903565e-01 1.17430614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.282755096 meters 0.01866134373787329 Centerline is valid? [True, True] Translation: X:516.33, Y:-298.38, Z:11.74 [[ 5.55465984e-01 -8.31501925e-01 -7.87970146e-03 5.16328547e+02] [ 8.31424536e-01 5.55521815e-01 -1.13469771e-02 -2.98381395e+02] [ 1.38123794e-02 -2.48517334e-04 9.99904574e-01 1.17433208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3427550959999 meters 0.01722815652378114 Centerline is valid? [True, True] Translation: X:516.36, Y:-298.33, Z:11.74 [[ 5.58728652e-01 -8.29315097e-01 -7.66565384e-03 5.16358147e+02] [ 8.29241557e-01 5.58781205e-01 -1.10455673e-02 -2.98331318e+02] [ 1.34436790e-02 -1.85203816e-04 9.99909613e-01 1.17433007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.402755096 meters 0.016976781907195003 Centerline is valid? [True, True] Translation: X:516.39, Y:-298.28, Z:11.74 [[ 5.59592616e-01 -8.28736269e-01 -7.23191684e-03 5.16391005e+02] [ 8.28670693e-01 5.59639322e-01 -1.04264825e-02 -2.98284686e+02] [ 1.26880693e-02 -1.58294908e-04 9.99919491e-01 1.17441643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4627550959999 meters 0.017516577948207535 Centerline is valid? [True, True] Translation: X:516.43, Y:-298.24, Z:11.75 [[ 5.58255211e-01 -8.29642522e-01 -6.66368086e-03 5.16427547e+02] [ 8.29586840e-01 5.58294957e-01 -9.61334016e-03 -2.98238683e+02] [ 1.16959352e-02 -1.61404708e-04 9.99931587e-01 1.17452924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.522755096 meters 0.018354640206942684 Centerline is valid? [True, True] Translation: X:516.46, Y:-298.20, Z:11.75 [[ 5.56852813e-01 -8.30586977e-01 -6.34181013e-03 5.16464407e+02] [ 8.30536550e-01 5.56888899e-01 -9.15388870e-03 -2.98195043e+02] [ 1.11347844e-02 -1.69736436e-04 9.99937992e-01 1.17469358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5827550959999 meters 0.018240707342520496 Centerline is valid? [True, True] Translation: X:516.50, Y:-298.15, Z:11.75 [[ 5.56747540e-01 -8.30654930e-01 -6.67554580e-03 5.16498267e+02] [ 8.30598981e-01 5.56787532e-01 -9.64247888e-03 -2.98149217e+02] [ 1.17264333e-02 -1.76275138e-04 9.99931227e-01 1.17468321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.642755096 meters 0.017833217698354165 Centerline is valid? [True, True] Translation: X:516.53, Y:-298.10, Z:11.75 [[ 5.57331337e-01 -8.30259688e-01 -7.11554015e-03 5.16532907e+02] [ 8.30195991e-01 5.57376730e-01 -1.02858136e-02 -2.98103042e+02] [ 1.25059329e-02 -1.74686676e-04 9.99921783e-01 1.17464924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7027550959999 meters 0.01736590688951748 Centerline is valid? [True, True] Translation: X:516.57, Y:-298.06, Z:11.75 [[ 5.58101694e-01 -8.29737362e-01 -7.64258567e-03 5.16567550e+02] [ 8.29663718e-01 5.58153994e-01 -1.10559141e-02 -2.98058313e+02] [ 1.34392447e-02 -1.70451649e-04 9.99909675e-01 1.17465220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.762755096 meters 0.015882473656349667 Centerline is valid? [True, True] Translation: X:516.60, Y:-298.01, Z:11.75 [[ 5.59010138e-01 -8.29120808e-01 -8.14565133e-03 5.16600878e+02] [ 8.29036952e-01 5.59069459e-01 -1.17928718e-02 -2.98010304e+02] [ 1.43317003e-02 -1.60711048e-04 9.99897283e-01 1.17455553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8227550959999 meters 0.015392751121251684 Centerline is valid? [True, True] Translation: X:516.64, Y:-297.96, Z:11.75 [[ 5.60154674e-01 -8.28342601e-01 -8.67624904e-03 5.16637291e+02] [ 8.28247232e-01 5.60221845e-01 -1.25700851e-02 -2.97964245e+02] [ 1.52729612e-02 -1.44887340e-04 9.99883351e-01 1.17463988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.882755096 meters 0.015373355954969721 Centerline is valid? [True, True] Translation: X:516.67, Y:-297.92, Z:11.75 [[ 5.60471289e-01 -8.28130447e-01 -8.47922846e-03 5.16673513e+02] [ 8.28039228e-01 5.60535410e-01 -1.22919076e-02 -2.97920410e+02] [ 1.49322107e-02 -1.31872512e-04 9.99888500e-01 1.17478396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9427550959999 meters 0.015477376616445633 Centerline is valid? [True, True] Translation: X:516.71, Y:-297.88, Z:11.75 [[ 5.60420768e-01 -8.28158653e-01 -9.04482199e-03 5.16711249e+02] [ 8.28054706e-01 5.60493735e-01 -1.31215919e-02 -2.97875499e+02] [ 1.59363259e-02 -1.35994822e-04 9.99872999e-01 1.17488252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.002755096 meters 0.015135139854587785 Centerline is valid? [True, True] Translation: X:516.74, Y:-297.83, Z:11.75 [[ 5.60866588e-01 -8.27860345e-01 -8.71315985e-03 5.16743782e+02] [ 8.27763730e-01 5.60934252e-01 -1.26480118e-02 -2.97827091e+02] [ 1.53582972e-02 -1.18590492e-04 9.99882047e-01 1.17504403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0627550959999 meters 0.01457556936409766 Centerline is valid? [True, True] Translation: X:516.77, Y:-297.78, Z:11.75 [[ 5.63732452e-01 -8.25913152e-01 -8.55500167e-03 5.16772938e+02] [ 8.25819672e-01 5.63797359e-01 -1.24261129e-02 -2.97776161e+02] [ 1.50861774e-02 -5.98855690e-05 9.99886195e-01 1.17516250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.122755096 meters 0.014343719444687961 Centerline is valid? [True, True] Translation: X:516.80, Y:-297.73, Z:11.75 [[ 5.65420391e-01 -8.24749090e-01 -9.41916717e-03 5.16802011e+02] [ 8.24635443e-01 5.65498841e-01 -1.36911578e-02 -2.97725263e+02] [ 1.66182980e-02 -2.61192936e-05 9.99861906e-01 1.17511393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1827550959999 meters 0.014260605778930504 Centerline is valid? [True, True] Translation: X:516.83, Y:-297.68, Z:11.75 [[ 5.64931630e-01 -8.25076821e-01 -1.00246291e-02 5.16833073e+02] [ 8.24947968e-01 5.65020564e-01 -1.45812250e-02 -2.97676174e+02] [ 1.76947523e-02 -3.24021692e-05 9.99843435e-01 1.17507681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.242755096 meters 0.014495427147577034 Centerline is valid? [True, True] Translation: X:516.87, Y:-297.63, Z:11.75 [[ 5.62662124e-01 -8.26620784e-01 -1.04601134e-02 5.16867639e+02] [ 8.26480559e-01 5.62759339e-01 -1.52253519e-02 -2.97629299e+02] [ 1.84721188e-02 -7.83515126e-05 9.99829373e-01 1.17525019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3027550959999 meters 0.014796676895245737 Centerline is valid? [True, True] Translation: X:516.90, Y:-297.58, Z:11.75 [[ 5.61652007e-01 -8.27295029e-01 -1.13999199e-02 5.16899320e+02] [ 8.27128363e-01 5.61767678e-01 -1.66056211e-02 -2.97580268e+02] [ 2.01418543e-02 -1.02616718e-04 9.99797127e-01 1.17527157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.362755096 meters 0.01549936618739277 Centerline is valid? [True, True] Translation: X:516.93, Y:-297.53, Z:11.75 [[ 5.58501950e-01 -8.29418457e-01 -1.18572493e-02 5.16932951e+02] [ 8.29238367e-01 5.58627775e-01 -1.72841053e-02 -2.97532510e+02] [ 2.09595448e-02 -1.79279518e-04 9.99780309e-01 1.17532020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.422755096 meters 0.017289581762647638 Centerline is valid? [True, True] Translation: X:516.97, Y:-297.49, Z:11.76 [[ 5.52955112e-01 -8.33127850e-01 -1.17741225e-02 5.16970416e+02] [ 8.32950872e-01 5.53080364e-01 -1.71742657e-02 -2.97487230e+02] [ 2.08203950e-02 -3.10667602e-04 9.99783184e-01 1.17554008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4827550959999 meters 0.01940551924546929 Centerline is valid? [True, True] Translation: X:517.01, Y:-297.44, Z:11.76 [[ 5.48811282e-01 -8.35868148e-01 -1.14287656e-02 5.17006656e+02] [ 8.35701788e-01 5.48930125e-01 -1.66804999e-02 -2.97442090e+02] [ 2.02162923e-02 -3.96593342e-04 9.99795551e-01 1.17581945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.542755096 meters 0.02046040727660028 Centerline is valid? [True, True] Translation: X:517.04, Y:-297.39, Z:11.76 [[ 5.46870827e-01 -8.37140414e-01 -1.13236545e-02 5.17040815e+02] [ 8.36977225e-01 5.46987877e-01 -1.65344621e-02 -2.97394766e+02] [ 2.00355682e-02 -4.35425919e-04 9.99799173e-01 1.17595613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6027550959999 meters 0.020252380315567732 Centerline is valid? [True, True] Translation: X:517.07, Y:-297.35, Z:11.76 [[ 5.48184427e-01 -8.36266329e-01 -1.23474692e-02 5.17073292e+02] [ 8.36071801e-01 5.48323298e-01 -1.80417730e-02 -2.97346695e+02] [ 2.18581323e-02 -4.33151779e-04 9.99760989e-01 1.17595247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.662755096 meters 0.01975109635216898 Centerline is valid? [True, True] Translation: X:517.11, Y:-297.30, Z:11.76 [[ 5.49743593e-01 -8.35237853e-01 -1.26376604e-02 5.17105506e+02] [ 8.35033524e-01 5.49888691e-01 -1.84781223e-02 -2.97297816e+02] [ 2.23829338e-02 -3.94640691e-04 9.99749393e-01 1.17608392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7227550959999 meters 0.019269344034920075 Centerline is valid? [True, True] Translation: X:517.14, Y:-297.25, Z:11.76 [[ 5.52715603e-01 -8.33263526e-01 -1.33176083e-02 5.17135129e+02] [ 8.33035762e-01 5.52875927e-01 -1.94840488e-02 -2.97248545e+02] [ 2.35983322e-02 -3.24906210e-04 9.99721468e-01 1.17611836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.782755096 meters 0.01832618993178201 Centerline is valid? [True, True] Translation: X:517.17, Y:-297.20, Z:11.76 [[ 5.53313249e-01 -8.32859370e-01 -1.37738353e-02 5.17165074e+02] [ 8.32615354e-01 5.53484573e-01 -2.01618339e-02 -2.97198994e+02] [ 2.44155776e-02 -3.12496963e-04 9.99701847e-01 1.17631925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8427550959999 meters 0.018770324963510863 Centerline is valid? [True, True] Translation: X:517.20, Y:-297.15, Z:11.76 [[ 5.53232261e-01 -8.32916204e-01 -1.35890564e-02 5.17195640e+02] [ 8.32678381e-01 5.53399047e-01 -1.99049773e-02 -2.97150463e+02] [ 2.40993490e-02 -3.03237867e-04 9.99709523e-01 1.17644859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.902755096 meters 0.019580251880713564 Centerline is valid? [True, True] Translation: X:517.23, Y:-297.10, Z:11.77 [[ 5.50910490e-01 -8.34457079e-01 -1.33796625e-02 5.17228065e+02] [ 8.34226666e-01 5.51072822e-01 -1.96115813e-02 -2.97102485e+02] [ 2.37381913e-02 -3.57445405e-04 9.99718146e-01 1.17666426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9627550959999 meters 0.021037992247202843 Centerline is valid? [True, True] Translation: X:517.26, Y:-297.05, Z:11.77 [[ 5.48223658e-01 -8.36214005e-01 -1.40342069e-02 5.17259975e+02] [ 8.35960735e-01 5.48403080e-01 -2.05842694e-02 -2.97053771e+02] [ 2.49092567e-02 -4.47262446e-04 9.99689616e-01 1.17653159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.022755096 meters 0.02200194994784421 Centerline is valid? [True, True] Translation: X:517.29, Y:-297.01, Z:11.77 [[ 5.46659082e-01 -8.37243602e-01 -1.36747389e-02 5.17292193e+02] [ 8.37003158e-01 5.46829887e-01 -2.00695940e-02 -2.97005064e+02] [ 2.42808952e-02 -4.74573799e-04 9.99705063e-01 1.17666162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0827550959999 meters 0.022403723051815455 Centerline is valid? [True, True] Translation: X:517.32, Y:-296.96, Z:11.77 [[ 5.45640091e-01 -8.37914245e-01 -1.32894258e-02 5.17324243e+02] [ 8.37687065e-01 5.45801690e-01 -1.95165612e-02 -2.96956240e+02] [ 2.36065957e-02 -4.83361864e-04 9.99721209e-01 1.17686246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.142755096 meters 0.02320727803227159 Centerline is valid? [True, True] Translation: X:517.36, Y:-296.91, Z:11.77 [[ 5.45478579e-01 -8.38023375e-01 -1.30362012e-02 5.17355750e+02] [ 8.37804501e-01 5.45634126e-01 -1.91577369e-02 -2.96908814e+02] [ 2.31676276e-02 -4.71652981e-04 9.99731483e-01 1.17683834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2027550959999 meters 0.022974408950281373 Centerline is valid? [True, True] Translation: X:517.39, Y:-296.86, Z:11.77 [[ 5.44769112e-01 -8.38502194e-01 -1.18610622e-02 5.17386072e+02] [ 8.38320878e-01 5.44898041e-01 -1.74422028e-02 -2.96858736e+02] [ 2.10883949e-02 -4.41402774e-04 9.99777518e-01 1.17708971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.262755096 meters 0.023960844326187627 Centerline is valid? [True, True] Translation: X:517.42, Y:-296.81, Z:11.77 [[ 5.43365695e-01 -8.39422583e-01 -1.11107405e-02 5.17420432e+02] [ 8.39263469e-01 5.43479101e-01 -1.63492244e-02 -2.96812925e+02] [ 1.97623634e-02 -4.41230912e-04 9.99804608e-01 1.17735307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3227550959999 meters 0.025128098660105524 Centerline is valid? [True, True] Translation: X:517.46, Y:-296.77, Z:11.78 [[ 5.40759229e-01 -8.41113676e-01 -1.03557271e-02 5.17455930e+02] [ 8.40975602e-01 5.40858179e-01 -1.52468691e-02 -2.96766106e+02] [ 1.84253298e-02 -4.64028620e-04 9.99830132e-01 1.17761736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.382755096 meters 0.02665716737239302 Centerline is valid? [True, True] Translation: X:517.49, Y:-296.72, Z:11.78 [[ 5.38461070e-01 -8.42598382e-01 -9.36174702e-03 5.17491845e+02] [ 8.42485638e-01 5.38542249e-01 -1.37911995e-02 -2.96719986e+02] [ 1.66621387e-02 -4.61113357e-04 9.99861071e-01 1.17783193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4427550959999 meters 0.026939786656529106 Centerline is valid? [True, True] Translation: X:517.53, Y:-296.67, Z:11.78 [[ 5.37225189e-01 -8.43386250e-01 -9.41966801e-03 5.17525634e+02] [ 8.43272081e-01 5.37307546e-01 -1.38851777e-02 -2.96672105e+02] [ 1.67718266e-02 -4.83875858e-04 9.99859226e-01 1.17782515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.502755096 meters 0.027299603240904524 Centerline is valid? [True, True] Translation: X:517.56, Y:-296.63, Z:11.78 [[ 5.36711420e-01 -8.43717703e-01 -9.01608380e-03 5.17560463e+02] [ 8.43613024e-01 5.36786939e-01 -1.32983784e-02 -2.96625000e+02] [ 1.60597933e-02 -4.68694180e-04 9.99870923e-01 1.17801572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5627550959999 meters 0.02664659469686355 Centerline is valid? [True, True] Translation: X:517.59, Y:-296.58, Z:11.78 [[ 5.37835283e-01 -8.43001398e-01 -9.04721765e-03 5.17592119e+02] [ 8.42895748e-01 5.37911188e-01 -1.33533297e-02 -2.96575697e+02] [ 1.61234752e-02 -4.43969449e-04 9.99869910e-01 1.17808579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.622755096 meters 0.025150738533088104 Centerline is valid? [True, True] Translation: X:517.62, Y:-296.53, Z:11.78 [[ 5.40663633e-01 -8.41188076e-01 -9.24427380e-03 5.17622331e+02] [ 8.41077362e-01 5.40742514e-01 -1.36529975e-02 -2.96525937e+02] [ 1.64835105e-02 -3.93470206e-04 9.99864060e-01 1.17813279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6827550959999 meters 0.024009044195116576 Centerline is valid? [True, True] Translation: X:517.65, Y:-296.48, Z:11.78 [[ 5.44828776e-01 -8.38503228e-01 -8.59893952e-03 5.17651546e+02] [ 8.38406975e-01 5.44896554e-01 -1.27078325e-02 -2.96476336e+02] [ 1.53410911e-02 -2.85818065e-04 9.99882278e-01 1.17822578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.742755096 meters 0.023476402990354726 Centerline is valid? [True, True] Translation: X:517.68, Y:-296.43, Z:11.78 [[ 5.46667639e-01 -8.37304686e-01 -8.68072849e-03 5.17680349e+02] [ 8.37206306e-01 5.46736500e-01 -1.28374897e-02 -2.96425949e+02] [ 1.54949614e-02 -2.49720467e-04 9.99879915e-01 1.17825701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8027550959999 meters 0.023200932266383142 Centerline is valid? [True, True] Translation: X:517.71, Y:-296.38, Z:11.78 [[ 5.46762359e-01 -8.37242518e-01 -8.71143993e-03 5.17713588e+02] [ 8.37143306e-01 5.46831699e-01 -1.28910096e-02 -2.96377856e+02] [ 1.55565928e-02 -2.44404823e-04 9.99878959e-01 1.17842633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.862755096 meters 0.023438990526332262 Centerline is valid? [True, True] Translation: X:517.75, Y:-296.33, Z:11.79 [[ 5.46101463e-01 -8.37672686e-01 -8.81266234e-03 5.17746477e+02] [ 8.37571066e-01 5.46172506e-01 -1.30500436e-02 -2.96331617e+02] [ 1.57448989e-02 -2.54583098e-04 9.99876009e-01 1.17855258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.922755096 meters 0.024077413786901175 Centerline is valid? [True, True] Translation: X:517.78, Y:-296.28, Z:11.79 [[ 5.45278434e-01 -8.38209418e-01 -8.74080615e-03 5.17778786e+02] [ 8.38109422e-01 5.45348423e-01 -1.29496846e-02 -2.96283469e+02] [ 1.56213324e-02 -2.64568238e-04 9.99877945e-01 1.17859595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9827550959999 meters 0.025096642440404045 Centerline is valid? [True, True] Translation: X:517.81, Y:-296.23, Z:11.79 [[ 5.43354412e-01 -8.39462435e-01 -8.29474964e-03 5.17811696e+02] [ 8.39372411e-01 5.43417649e-01 -1.22969315e-02 -2.96234784e+02] [ 1.48303254e-02 -2.80792043e-04 9.99889985e-01 1.17865550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.042755096 meters 0.025179424709439374 Centerline is valid? [True, True] Translation: X:517.85, Y:-296.19, Z:11.79 [[ 5.42031345e-01 -8.40320937e-01 -7.92109966e-03 5.17846268e+02] [ 8.40238830e-01 5.42089145e-01 -1.17502479e-02 -2.96188219e+02] [ 1.41679215e-02 -2.86612834e-04 9.99899589e-01 1.17895143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1027550959999 meters 0.024770120719473127 Centerline is valid? [True, True] Translation: X:517.88, Y:-296.14, Z:11.79 [[ 5.40286152e-01 -8.41441820e-01 -8.15710792e-03 5.17882093e+02] [ 8.41354755e-01 5.40347630e-01 -1.21085038e-02 -2.96141803e+02] [ 1.45962754e-02 -3.20964608e-04 9.99893417e-01 1.17922057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.162755096 meters 0.02560962270799496 Centerline is valid? [True, True] Translation: X:517.92, Y:-296.09, Z:11.79 [[ 5.39716043e-01 -8.41806635e-01 -8.25723041e-03 5.17915480e+02] [ 8.41717346e-01 5.39779102e-01 -1.22649692e-02 -2.96094729e+02] [ 1.47818129e-02 -3.30653411e-04 9.99890688e-01 1.17909926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2227550959999 meters 0.024586578312379044 Centerline is valid? [True, True] Translation: X:517.95, Y:-296.05, Z:11.79 [[ 5.40853699e-01 -8.41073039e-01 -8.56851126e-03 5.17947459e+02] [ 8.40976654e-01 5.40921476e-01 -1.27367344e-02 -2.96046776e+02] [ 1.53474156e-02 -3.17208027e-04 9.99882171e-01 1.17922442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.282755096 meters 0.02293530767082708 Centerline is valid? [True, True] Translation: X:517.98, Y:-296.00, Z:11.79 [[ 5.43520631e-01 -8.39352084e-01 -8.56756484e-03 5.17975949e+02] [ 8.39255412e-01 5.43588088e-01 -1.27414173e-02 -2.95995830e+02] [ 1.53517614e-02 -2.65151966e-04 9.99882120e-01 1.17915517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3427550959999 meters 0.021841519017642967 Centerline is valid? [True, True] Translation: X:518.00, Y:-295.94, Z:11.79 [[ 5.47489177e-01 -8.36770897e-01 -8.37059825e-03 5.18004841e+02] [ 8.36678196e-01 5.47553132e-01 -1.24564483e-02 -2.95944841e+02] [ 1.50065407e-02 -1.83726424e-04 9.99887379e-01 1.17928666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.402755096 meters 0.021089572627556796 Centerline is valid? [True, True] Translation: X:518.03, Y:-295.89, Z:11.79 [[ 5.50954504e-01 -8.34494067e-01 -8.29375785e-03 5.18032490e+02] [ 8.34402686e-01 5.51016913e-01 -1.23499171e-02 -2.95892865e+02] [ 1.48759334e-02 -1.16091379e-04 9.99889340e-01 1.17927282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4627550959999 meters 0.02085990682415697 Centerline is valid? [True, True] Translation: X:518.06, Y:-295.84, Z:11.79 [[ 5.52672718e-01 -8.33360152e-01 -7.98275888e-03 5.18061189e+02] [ 8.33275268e-01 5.52730360e-01 -1.18943956e-02 -2.95842123e+02] [ 1.43246285e-02 -7.81276010e-05 9.99897394e-01 1.17930605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.522755096 meters 0.020861986685075655 Centerline is valid? [True, True] Translation: X:518.09, Y:-295.79, Z:11.79 [[ 5.51906157e-01 -8.33872389e-01 -7.51211621e-03 5.18091917e+02] [ 8.33797171e-01 5.51957273e-01 -1.12002712e-02 -2.95793262e+02] [ 1.34859641e-02 -8.20826280e-05 9.99909057e-01 1.17941734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5827550959999 meters 0.021972875449199243 Centerline is valid? [True, True] Translation: X:518.13, Y:-295.75, Z:11.80 [[ 5.48596475e-01 -8.36060809e-01 -6.65058917e-03 5.18128156e+02] [ 8.36001946e-01 5.48636774e-01 -9.92156322e-03 -2.95747627e+02] [ 1.19437880e-02 -1.16970873e-04 9.99928664e-01 1.17954954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.642755096 meters 0.02276431012558899 Centerline is valid? [True, True] Translation: X:518.17, Y:-295.70, Z:11.80 [[ 5.43769850e-01 -8.39209495e-01 -6.46329854e-03 5.18165792e+02] [ 8.39154040e-01 5.43808231e-01 -9.64904730e-03 -2.95704092e+02] [ 1.16123671e-02 -1.76842082e-04 9.99932559e-01 1.17984703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7027550959999 meters 0.023803883638439313 Centerline is valid? [True, True] Translation: X:518.20, Y:-295.66, Z:11.80 [[ 5.41393242e-01 -8.40744332e-01 -6.50583142e-03 5.18200358e+02] [ 8.40688213e-01 5.41432290e-01 -9.71618015e-03 -2.95659199e+02] [ 1.16912906e-02 -2.09101519e-04 9.99931633e-01 1.17986896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.762755096 meters 0.023838435339273996 Centerline is valid? [True, True] Translation: X:518.23, Y:-295.61, Z:11.80 [[ 5.40673625e-01 -8.41205632e-01 -6.71687420e-03 5.18232823e+02] [ 8.41145796e-01 5.40715300e-01 -1.00357018e-02 -2.95611364e+02] [ 1.20740055e-02 -2.23831215e-04 9.99927081e-01 1.17982071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8227550959999 meters 0.022836857774746967 Centerline is valid? [True, True] Translation: X:518.26, Y:-295.56, Z:11.80 [[ 5.40680250e-01 -8.41194774e-01 -7.49799135e-03 5.18264826e+02] [ 8.41120101e-01 5.40732182e-01 -1.12108646e-02 -2.95563195e+02] [ 1.34849260e-02 -2.45218152e-04 9.99909044e-01 1.17974151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.882755096 meters 0.02245289552316949 Centerline is valid? [True, True] Translation: X:518.30, Y:-295.51, Z:11.80 [[ 5.40810679e-01 -8.41107759e-01 -7.84519571e-03 5.18297217e+02] [ 8.41025883e-01 5.40867521e-01 -1.17383859e-02 -2.95514636e+02] [ 1.41164590e-02 -2.49768211e-04 9.99900327e-01 1.17978175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9427550959999 meters 0.023698761212679838 Centerline is valid? [True, True] Translation: X:518.33, Y:-295.47, Z:11.80 [[ 5.41729334e-01 -8.40517907e-01 -7.67962465e-03 5.18329049e+02] [ 8.40439284e-01 5.41783718e-01 -1.14983984e-02 -2.95467674e+02] [ 1.38253053e-02 -2.25238571e-04 9.99904401e-01 1.17991231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.002755096 meters 0.02209446376500552 Centerline is valid? [True, True] Translation: X:518.36, Y:-295.42, Z:11.80 [[ 5.42431930e-01 -8.40067726e-01 -7.33595317e-03 5.18355966e+02] [ 8.39995844e-01 5.42481498e-01 -1.09912584e-02 -2.95415645e+02] [ 1.32130204e-02 -2.00160638e-04 9.99912684e-01 1.17992628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0627550959999 meters 0.022400726056093768 Centerline is valid? [True, True] Translation: X:518.39, Y:-295.37, Z:11.80 [[ 5.41413643e-01 -8.40724464e-01 -7.32411946e-03 5.18389540e+02] [ 8.40652775e-01 5.41463139e-01 -1.09809541e-02 -2.95368034e+02] [ 1.31976975e-02 -2.11802990e-04 9.99912884e-01 1.18009354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.122755096 meters 0.022124913232775663 Centerline is valid? [True, True] Translation: X:518.42, Y:-295.32, Z:11.80 [[ 5.40043790e-01 -8.41606142e-01 -7.19766844e-03 5.18421530e+02] [ 8.41536895e-01 5.40091706e-01 -1.07982795e-02 -2.95319461e+02] [ 1.29752994e-02 -2.25559734e-04 9.99915792e-01 1.18016471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1827550959999 meters 0.021947213617908218 Centerline is valid? [True, True] Translation: X:518.45, Y:-295.27, Z:11.80 [[ 5.40420121e-01 -8.41354684e-01 -8.26977160e-03 5.18452597e+02] [ 8.41263089e-01 5.40483335e-01 -1.24169506e-02 -2.95272083e+02] [ 1.49167332e-02 -2.46683676e-04 9.99888709e-01 1.18012699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.242755096 meters 0.0225014917217194 Centerline is valid? [True, True] Translation: X:518.48, Y:-295.22, Z:11.80 [[ 5.42179894e-01 -8.40208993e-01 -9.47680172e-03 5.18483327e+02] [ 8.40088329e-01 5.42262657e-01 -1.42411118e-02 -2.95222078e+02] [ 1.71044259e-02 -2.40106042e-04 9.99853680e-01 1.17976571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3027550959999 meters 0.02140448675214924 Centerline is valid? [True, True] Translation: X:518.52, Y:-295.18, Z:11.80 [[ 5.42659964e-01 -8.39897201e-01 -9.63619434e-03 5.18516947e+02] [ 8.39772219e-01 5.42745465e-01 -1.44906591e-02 -2.95176221e+02] [ 1.74006648e-02 -2.28707763e-04 9.99848571e-01 1.18013665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.362755096 meters 0.020920570045038778 Centerline is valid? [True, True] Translation: X:518.55, Y:-295.13, Z:11.80 [[ 5.41589181e-01 -8.40591424e-01 -9.33903768e-03 5.18549983e+02] [ 8.40473968e-01 5.41669642e-01 -1.40537633e-02 -2.95128501e+02] [ 1.68721461e-02 -2.37851879e-04 9.99857627e-01 1.18036052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.422755096 meters 0.021202011703481967 Centerline is valid? [True, True] Translation: X:518.58, Y:-295.08, Z:11.81 [[ 5.40559639e-01 -8.41257044e-01 -9.04779601e-03 5.18584052e+02] [ 8.41146746e-01 5.40635298e-01 -1.36244579e-02 -2.95080950e+02] [ 1.63532291e-02 -2.45692114e-04 9.99866247e-01 1.18055157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4827550959999 meters 0.021095577885787573 Centerline is valid? [True, True] Translation: X:518.61, Y:-295.03, Z:11.81 [[ 5.40961769e-01 -8.41003776e-01 -8.54472676e-03 5.18612619e+02] [ 8.40905246e-01 5.41029204e-01 -1.28750595e-02 -2.95030530e+02] [ 1.54509204e-02 -2.20390573e-04 9.99880603e-01 1.18065617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.542755096 meters 0.020309868545673654 Centerline is valid? [True, True] Translation: X:518.64, Y:-294.98, Z:11.81 [[ 5.41335996e-01 -8.40758601e-01 -8.96177493e-03 5.18642428e+02] [ 8.40650032e-01 5.41410128e-01 -1.35128481e-02 -2.94980196e+02] [ 1.62130390e-02 -2.18725272e-04 9.99868536e-01 1.18067805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6027550959999 meters 0.02083933738647699 Centerline is valid? [True, True] Translation: X:518.67, Y:-294.93, Z:11.81 [[ 5.41028580e-01 -8.40955585e-01 -9.04317293e-03 5.18674911e+02] [ 8.40844907e-01 5.41104107e-01 -1.36450910e-02 -2.94932756e+02] [ 1.63682135e-02 -2.21521698e-04 9.99866007e-01 1.18075680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.662755096 meters 0.019859629552987985 Centerline is valid? [True, True] Translation: X:518.70, Y:-294.88, Z:11.81 [[ 5.40611370e-01 -8.41222995e-01 -9.12241259e-03 5.18703240e+02] [ 8.41110241e-01 5.40688285e-01 -1.37746950e-02 -2.94881416e+02] [ 1.65199718e-02 -2.26197898e-04 9.99863510e-01 1.18069169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7227550959999 meters 0.02022851779078618 Centerline is valid? [True, True] Translation: X:518.73, Y:-294.83, Z:11.81 [[ 5.39643735e-01 -8.41839246e-01 -9.55630813e-03 5.18733826e+02] [ 8.41715419e-01 5.39728285e-01 -1.44406562e-02 -2.94833265e+02] [ 1.73145209e-02 -2.50882237e-04 9.99850061e-01 1.18054071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.782755096 meters 0.020382252061374787 Centerline is valid? [True, True] Translation: X:518.77, Y:-294.78, Z:11.81 [[ 5.39202432e-01 -8.42120185e-01 -9.71242218e-03 5.18766229e+02] [ 8.41992130e-01 5.39289835e-01 -1.46876514e-02 -2.94784649e+02] [ 1.76065782e-02 -2.58165711e-04 9.99844959e-01 1.18058072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8427550959999 meters 0.022754914293757603 Centerline is valid? [True, True] Translation: X:518.80, Y:-294.74, Z:11.80 [[ 5.37281027e-01 -8.43345135e-01 -9.90365095e-03 5.18801377e+02] [ 8.43212010e-01 5.37372213e-01 -1.49870421e-02 -2.94739140e+02] [ 1.79611959e-02 -2.98624037e-04 9.99838640e-01 1.18037553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.902755096 meters 0.02043057814126416 Centerline is valid? [True, True] Translation: X:518.83, Y:-294.69, Z:11.81 [[ 5.36244464e-01 -8.44013047e-01 -9.15704896e-03 5.18832592e+02] [ 8.43899211e-01 5.36322562e-01 -1.38647653e-02 -2.94690355e+02] [ 1.66131748e-02 -2.92722740e-04 9.99861949e-01 1.18066146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9627550959999 meters 0.020637837343158796 Centerline is valid? [True, True] Translation: X:518.87, Y:-294.64, Z:11.81 [[ 5.35763045e-01 -8.44317506e-01 -9.26871370e-03 5.18866582e+02] [ 8.44200751e-01 5.35843129e-01 -1.40439518e-02 -2.94642818e+02] [ 1.68241309e-02 -3.00424670e-04 9.99858419e-01 1.18071605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.022755096 meters 0.02044374372881845 Centerline is valid? [True, True] Translation: X:518.90, Y:-294.60, Z:11.81 [[ 5.36109319e-01 -8.44104668e-01 -8.60857284e-03 5.18900360e+02] [ 8.44003794e-01 5.36178364e-01 -1.30521229e-02 -2.94595409e+02] [ 1.56330883e-02 -2.68303428e-04 9.99877760e-01 1.18083670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0827550959999 meters 0.02002781519463042 Centerline is valid? [True, True] Translation: X:518.93, Y:-294.55, Z:11.81 [[ 5.36850995e-01 -8.43645931e-01 -7.24927551e-03 5.18931559e+02] [ 8.43574279e-01 5.36899895e-01 -1.09971753e-02 -2.94546489e+02] [ 1.31698575e-02 -2.11457878e-04 9.99913251e-01 1.18104598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.142755096 meters 0.019336009293589498 Centerline is valid? [True, True] Translation: X:518.96, Y:-294.50, Z:11.81 [[ 5.37805282e-01 -8.43044739e-01 -6.40673836e-03 5.18961027e+02] [ 8.42988668e-01 5.37843415e-01 -9.72452656e-03 -2.94496170e+02] [ 1.16440330e-02 -1.70906090e-04 9.99932191e-01 1.18119499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2027550959999 meters 0.01874659729097102 Centerline is valid? [True, True] Translation: X:518.99, Y:-294.45, Z:11.81 [[ 5.39317275e-01 -8.42080326e-01 -6.13209140e-03 5.18989431e+02] [ 8.42028829e-01 5.39352117e-01 -9.31370086e-03 -2.94445572e+02] [ 1.11502407e-02 -1.40357981e-04 9.99937824e-01 1.18122960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.262755096 meters 0.01850035090210103 Centerline is valid? [True, True] Translation: X:519.02, Y:-294.40, Z:11.81 [[ 5.40169610e-01 -8.41532495e-01 -6.31287762e-03 5.19019097e+02] [ 8.41477800e-01 5.40206482e-01 -9.59521156e-03 -2.94396306e+02] [ 1.14849397e-02 -1.29104683e-04 9.99934038e-01 1.18124268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3227550959999 meters 0.0181157926352165 Centerline is valid? [True, True] Translation: X:519.05, Y:-294.35, Z:11.81 [[ 5.40860932e-01 -8.41085839e-01 -6.63799734e-03 5.19049854e+02] [ 8.41025236e-01 5.40901651e-01 -1.00972934e-02 -2.94346795e+02] [ 1.20831942e-02 -1.21491734e-04 9.99926988e-01 1.18113724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.382755096 meters 0.018132235544687212 Centerline is valid? [True, True] Translation: X:519.08, Y:-294.30, Z:11.81 [[ 5.40416220e-01 -8.41374849e-01 -6.21882172e-03 5.19082895e+02] [ 8.41321610e-01 5.40451987e-01 -9.46559443e-03 -2.94298458e+02] [ 1.13250876e-02 -1.16668346e-04 9.99935862e-01 1.18120866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4427550959999 meters 0.01808490984614515 Centerline is valid? [True, True] Translation: X:519.11, Y:-294.25, Z:11.81 [[ 5.40120129e-01 -8.41568785e-01 -5.67678018e-03 5.19114925e+02] [ 8.41524381e-01 5.40149950e-01 -8.64565462e-03 -2.94250293e+02] [ 1.03422256e-02 -1.07456838e-04 9.99946512e-01 1.18120730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.502755096 meters 0.0186488735076976 Centerline is valid? [True, True] Translation: X:519.15, Y:-294.20, Z:11.81 [[ 5.39061651e-01 -8.42247141e-01 -5.68245589e-03 5.19149459e+02] [ 8.42202624e-01 5.39091588e-01 -8.66023773e-03 -2.94204097e+02] [ 1.03574246e-02 -1.17377217e-04 9.99946354e-01 1.18130972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5627550959999 meters 0.018901928702289003 Centerline is valid? [True, True] Translation: X:519.18, Y:-294.16, Z:11.81 [[ 5.37292905e-01 -8.43377572e-01 -5.53217152e-03 5.19183233e+02] [ 8.43335374e-01 5.37321369e-01 -8.43760199e-03 -2.94156423e+02] [ 1.00886383e-02 -1.32012257e-04 9.99949100e-01 1.18131922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.622755096 meters 0.019270835128786138 Centerline is valid? [True, True] Translation: X:519.22, Y:-294.11, Z:11.81 [[ 5.35283388e-01 -8.44651173e-01 -6.00748399e-03 5.19216825e+02] [ 8.44601419e-01 5.35317072e-01 -9.16929913e-03 -2.94108942e+02] [ 1.09607680e-02 -1.65755994e-04 9.99939915e-01 1.18125804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6827550959999 meters 0.018938081593882303 Centerline is valid? [True, True] Translation: X:519.25, Y:-294.06, Z:11.81 [[ 5.36297312e-01 -8.44007549e-01 -6.03737664e-03 5.19245700e+02] [ 8.43957189e-01 5.36331273e-01 -9.22114302e-03 -2.94057786e+02] [ 1.10207482e-02 -1.50013201e-04 9.99939258e-01 1.18118976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.742755096 meters 0.0190145726567206 Centerline is valid? [True, True] Translation: X:519.28, Y:-294.01, Z:11.81 [[ 5.37268039e-01 -8.43381818e-01 -7.08258004e-03 5.19275687e+02] [ 8.43312346e-01 5.37314698e-01 -1.08260145e-02 -2.94008979e+02] [ 1.29360381e-02 -1.56355606e-04 9.99916314e-01 1.18102910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8027550959999 meters 0.01869846389756711 Centerline is valid? [True, True] Translation: X:519.31, Y:-293.96, Z:11.81 [[ 5.37167034e-01 -8.43439140e-01 -7.87363175e-03 5.19306912e+02] [ 8.43353150e-01 5.37224709e-01 -1.20447838e-02 -2.93959943e+02] [ 1.43889516e-02 -1.70191327e-04 9.99896459e-01 1.18090226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.862755096 meters 0.019046935532308965 Centerline is valid? [True, True] Translation: X:519.34, Y:-293.91, Z:11.81 [[ 5.37835701e-01 -8.43012209e-01 -7.94821557e-03 5.19336629e+02] [ 8.42924415e-01 5.37894405e-01 -1.21671662e-02 -2.93911243e+02] [ 1.45323703e-02 -1.55808616e-04 9.99894387e-01 1.18100241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.922755096 meters 0.018501634662100214 Centerline is valid? [True, True] Translation: X:519.36, Y:-293.86, Z:11.81 [[ 5.37753929e-01 -8.43061615e-01 -8.23561888e-03 5.19364603e+02] [ 8.42967223e-01 5.37816966e-01 -1.26163567e-02 -2.93859647e+02] [ 1.50656216e-02 -1.57861372e-04 9.99886495e-01 1.18093214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9827550959999 meters 0.019454667568700186 Centerline is valid? [True, True] Translation: X:519.40, Y:-293.81, Z:11.81 [[ 5.35560168e-01 -8.44459432e-01 -7.97333550e-03 5.19397892e+02] [ 8.44370991e-01 5.35619485e-01 -1.22227764e-02 -2.93812400e+02] [ 1.45923126e-02 -1.86421028e-04 9.99893509e-01 1.18110673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.042755096 meters 0.021178404086085904 Centerline is valid? [True, True] Translation: X:519.43, Y:-293.77, Z:11.81 [[ 5.31056472e-01 -8.47307666e-01 -6.98159529e-03 5.19431802e+02] [ 8.47240037e-01 5.31102313e-01 -1.07076362e-02 -2.93765302e+02] [ 1.27806036e-02 -2.28727565e-04 9.99918299e-01 1.18140136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1027550959999 meters 0.02224610666289944 Centerline is valid? [True, True] Translation: X:519.46, Y:-293.72, Z:11.82 [[ 5.29179265e-01 -8.48487042e-01 -6.24867476e-03 5.19462523e+02] [ 8.48432887e-01 5.29216108e-01 -9.58890095e-03 -2.93715780e+02] [ 1.14429575e-02 -2.27333611e-04 9.99934501e-01 1.18163375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.162755096 meters 0.02073959726123051 Centerline is valid? [True, True] Translation: X:519.49, Y:-293.66, Z:11.82 [[ 5.30525805e-01 -8.47645570e-01 -6.27357502e-03 5.19489230e+02] [ 8.47590852e-01 5.30562857e-01 -9.63343193e-03 -2.93663770e+02] [ 1.14942618e-02 -2.06640559e-04 9.99933917e-01 1.18167084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2227550959999 meters 0.021595922403252674 Centerline is valid? [True, True] Translation: X:519.52, Y:-293.62, Z:11.82 [[ 5.31230435e-01 -8.47197515e-01 -7.11296571e-03 5.19520140e+02] [ 8.47127023e-01 5.31278008e-01 -1.09309311e-02 -2.93615367e+02] [ 1.30396199e-02 -2.18742179e-04 9.99914957e-01 1.18168672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.282755096 meters 0.022604016148800594 Centerline is valid? [True, True] Translation: X:519.55, Y:-293.57, Z:11.82 [[ 5.29532320e-01 -8.48253077e-01 -7.88918574e-03 5.19551947e+02] [ 8.48166334e-01 5.29591018e-01 -1.21335670e-02 -2.93568005e+02] [ 1.44703774e-02 -2.66225884e-04 9.99895263e-01 1.18161173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3427550959999 meters 0.024663245980667478 Centerline is valid? [True, True] Translation: X:519.59, Y:-293.52, Z:11.82 [[ 5.26306185e-01 -8.50250003e-01 -8.75969387e-03 5.19586382e+02] [ 8.50143169e-01 5.26378960e-01 -1.34826698e-02 -2.93522145e+02] [ 1.60745586e-02 -3.50981388e-04 9.99870734e-01 1.18160152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.402755096 meters 0.02386433842186831 Centerline is valid? [True, True] Translation: X:519.62, Y:-293.47, Z:11.82 [[ 5.21646162e-01 -8.53108125e-01 -9.58169209e-03 5.19619158e+02] [ 8.52980647e-01 5.21733937e-01 -1.47551957e-02 -2.93474136e+02] [ 1.75868713e-02 -4.76006692e-04 9.99845226e-01 1.18171013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4627550959999 meters 0.026294247008508374 Centerline is valid? [True, True] Translation: X:519.66, Y:-293.43, Z:11.82 [[ 5.17087708e-01 -8.55873579e-01 -1.00358954e-02 5.19655414e+02] [ 8.55734032e-01 5.17184752e-01 -1.54660398e-02 -2.93428777e+02] [ 1.84273869e-02 -5.90758177e-04 9.99830027e-01 1.18183623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.522755096 meters 0.028209943155460812 Centerline is valid? [True, True] Translation: X:519.69, Y:-293.38, Z:11.82 [[ 5.14409413e-01 -8.57483113e-01 -1.02794516e-02 5.19689747e+02] [ 8.57336815e-01 5.14511689e-01 -1.58526969e-02 -2.93381308e+02] [ 1.88823179e-02 -6.58175742e-04 9.99821497e-01 1.18198058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5827550959999 meters 0.028308059615014404 Centerline is valid? [True, True] Translation: X:519.72, Y:-293.33, Z:11.82 [[ 5.15017865e-01 -8.57116192e-01 -1.04131368e-02 5.19722071e+02] [ 8.56965791e-01 5.15122718e-01 -1.60691886e-02 -2.93332447e+02] [ 1.91372050e-02 -6.47782802e-04 9.99816657e-01 1.18206187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.642755096 meters 0.026916440061195965 Centerline is valid? [True, True] Translation: X:519.75, Y:-293.28, Z:11.82 [[ 5.18693059e-01 -8.54892014e-01 -1.08238565e-02 5.19751708e+02] [ 8.54728816e-01 5.18805654e-01 -1.67136323e-02 -2.93283993e+02] [ 1.99038288e-02 -5.82216984e-04 9.99801730e-01 1.18226458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7027550959999 meters 0.02623743749996354 Centerline is valid? [True, True] Translation: X:519.78, Y:-293.23, Z:11.82 [[ 5.19634662e-01 -8.54316019e-01 -1.11335868e-02 5.19782288e+02] [ 8.54143022e-01 5.19753608e-01 -1.72013222e-02 -2.93234506e+02] [ 2.04820870e-02 -5.71272263e-04 9.99790057e-01 1.18234642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.762755096 meters 0.02434913839923152 Centerline is valid? [True, True] Translation: X:519.81, Y:-293.18, Z:11.82 [[ 5.24321708e-01 -8.51437761e-01 -1.18526890e-02 5.19809118e+02] [ 8.51240679e-01 5.24455439e-01 -1.83248302e-02 -2.93184567e+02] [ 2.18186596e-02 -4.81384821e-04 9.99761829e-01 1.18231007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8227550959999 meters 0.023483896349068854 Centerline is valid? [True, True] Translation: X:519.84, Y:-293.13, Z:11.82 [[ 5.27096658e-01 -8.49717996e-01 -1.21835985e-02 5.19836805e+02] [ 8.49509030e-01 5.27237285e-01 -1.88481690e-02 -2.93134183e+02] [ 2.24392758e-02 -4.15270088e-04 9.99748122e-01 1.18233749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.882755096 meters 0.023315843873774587 Centerline is valid? [True, True] Translation: X:519.87, Y:-293.08, Z:11.82 [[ 5.26846220e-01 -8.49867670e-01 -1.25699369e-02 5.19865743e+02] [ 8.49644998e-01 5.26995977e-01 -1.94581167e-02 -2.93083547e+02] [ 2.31611305e-02 -4.28548819e-04 9.99731653e-01 1.18248696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9427550959999 meters 0.024698340813138566 Centerline is valid? [True, True] Translation: X:519.90, Y:-293.03, Z:11.83 [[ 5.24098265e-01 -8.51566376e-01 -1.24785835e-02 5.19896900e+02] [ 8.51347120e-01 5.24246567e-01 -1.93291998e-02 -2.93034446e+02] [ 2.30019512e-02 -4.93206034e-04 9.99735298e-01 1.18262740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.002755096 meters 0.02557394754029928 Centerline is valid? [True, True] Translation: X:519.93, Y:-292.98, Z:11.83 [[ 5.19990752e-01 -8.54086368e-01 -1.20869086e-02 5.19926201e+02] [ 8.53881068e-01 5.20130888e-01 -1.87345042e-02 -2.92984327e+02] [ 2.22876592e-02 -5.79013470e-04 9.99751432e-01 1.18279134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0627550959999 meters 0.028176162919734248 Centerline is valid? [True, True] Translation: X:519.96, Y:-292.94, Z:11.83 [[ 5.16030715e-01 -8.56477199e-01 -1.26138526e-02 5.19959396e+02] [ 8.56254016e-01 5.16184377e-01 -1.95639843e-02 -2.92938112e+02] [ 2.32671801e-02 -7.05045098e-04 9.99729034e-01 1.18285761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.122755096 meters 0.029774974028089093 Centerline is valid? [True, True] Translation: X:519.99, Y:-292.89, Z:11.83 [[ 5.14363184e-01 -8.57468032e-01 -1.33824313e-02 5.19991742e+02] [ 8.57216859e-01 5.14536638e-01 -2.07679068e-02 -2.92890586e+02] [ 2.46935674e-02 -7.89399062e-04 9.99694756e-01 1.18277066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1827550959999 meters 0.029738360846761513 Centerline is valid? [True, True] Translation: X:520.02, Y:-292.84, Z:11.83 [[ 5.13642687e-01 -8.57897029e-01 -1.35601714e-02 5.20021167e+02] [ 8.57638924e-01 5.13821007e-01 -2.10582412e-02 -2.92840379e+02] [ 2.50333034e-02 -8.13319251e-04 9.99686287e-01 1.18284358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.242755096 meters 0.030408032627805465 Centerline is valid? [True, True] Translation: X:520.05, Y:-292.79, Z:11.83 [[ 5.14078401e-01 -8.57626000e-01 -1.41789147e-02 5.20049894e+02] [ 8.57343285e-01 5.14273232e-01 -2.20348537e-02 -2.92792141e+02] [ 2.61894998e-02 -8.28554968e-04 9.99656653e-01 1.18285835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3027550959999 meters 0.028182379065766927 Centerline is valid? [True, True] Translation: X:520.08, Y:-292.74, Z:11.83 [[ 5.14928248e-01 -8.57114960e-01 -1.42423386e-02 5.20079490e+02] [ 8.56829090e-01 5.15124556e-01 -2.21495298e-02 -2.92741963e+02] [ 2.63212716e-02 -7.97831433e-04 9.99653217e-01 1.18323495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.362755096 meters 0.030415423893313132 Centerline is valid? [True, True] Translation: X:520.11, Y:-292.70, Z:11.83 [[ 5.14677988e-01 -8.57276973e-01 -1.35189053e-02 5.20113514e+02] [ 8.57019131e-01 5.14854947e-01 -2.10378862e-02 -2.92695626e+02] [ 2.49955707e-02 -7.58223475e-04 9.99687274e-01 1.18345112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.422755096 meters 0.02751798981223566 Centerline is valid? [True, True] Translation: X:520.14, Y:-292.64, Z:11.84 [[ 5.14555274e-01 -8.57342833e-01 -1.40048896e-02 5.20140085e+02] [ 8.57065741e-01 5.14745235e-01 -2.18096155e-02 -2.92643160e+02] [ 2.59072677e-02 -7.80858387e-04 9.99664045e-01 1.18358126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4827550959999 meters 0.027346309969938004 Centerline is valid? [True, True] Translation: X:520.17, Y:-292.59, Z:11.84 [[ 5.13929853e-01 -8.57721551e-01 -1.37785247e-02 5.20170462e+02] [ 8.57453108e-01 5.14113931e-01 -2.14717154e-02 -2.92594176e+02] [ 2.55004846e-02 -7.79483268e-04 9.99674506e-01 1.18387100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.542755096 meters 0.028106162681462883 Centerline is valid? [True, True] Translation: X:520.20, Y:-292.55, Z:11.84 [[ 5.13529412e-01 -8.57970153e-01 -1.32196615e-02 5.20202079e+02] [ 8.57722785e-01 5.13698988e-01 -2.06149013e-02 -2.92546921e+02] [ 2.44778968e-02 -7.52446766e-04 9.99700088e-01 1.18415047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6027550959999 meters 0.027911087791665668 Centerline is valid? [True, True] Translation: X:520.23, Y:-292.50, Z:11.84 [[ 5.14011549e-01 -8.57686446e-01 -1.28875015e-02 5.20232522e+02] [ 8.57450929e-01 5.14172589e-01 -2.01110034e-02 -2.92497418e+02] [ 2.38753350e-02 -7.13112135e-04 9.99714689e-01 1.18440928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.662755096 meters 0.026803407305331973 Centerline is valid? [True, True] Translation: X:520.26, Y:-292.45, Z:11.85 [[ 5.15645120e-01 -8.56709627e-01 -1.25986269e-02 5.20261792e+02] [ 8.56483954e-01 5.15798602e-01 -1.96733302e-02 -2.92447240e+02] [ 2.33526855e-02 -6.46065060e-04 9.99727080e-01 1.18479751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7227550959999 meters 0.025942185652324472 Centerline is valid? [True, True] Translation: X:520.29, Y:-292.40, Z:11.85 [[ 5.17926135e-01 -8.55322546e-01 -1.32612346e-02 5.20291289e+02] [ 8.55071700e-01 5.18095526e-01 -2.07223179e-02 -2.92396479e+02] [ 2.45948520e-02 -6.06676356e-04 9.99697317e-01 1.18496691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.782755096 meters 0.02384368269887477 Centerline is valid? [True, True] Translation: X:520.32, Y:-292.34, Z:11.85 [[ 5.24882713e-01 -8.51058111e-01 -1.40794325e-02 5.20317673e+02] [ 8.50773399e-01 5.25071342e-01 -2.20161049e-02 -2.92344004e+02] [ 2.61296911e-02 -4.22533768e-04 9.99658472e-01 1.18506871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8427550959999 meters 0.02314478855564521 Centerline is valid? [True, True] Translation: X:520.35, Y:-292.29, Z:11.85 [[ 5.27918355e-01 -8.49177273e-01 -1.41481078e-02 5.20347158e+02] [ 8.48888713e-01 5.28107805e-01 -2.21381948e-02 -2.92293474e+02] [ 2.62709780e-02 -3.23009641e-04 9.99654806e-01 1.18529245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.902755096 meters 0.022375184481742354 Centerline is valid? [True, True] Translation: X:520.38, Y:-292.24, Z:11.86 [[ 5.30731794e-01 -8.47430482e-01 -1.36140277e-02 5.20376027e+02] [ 8.47162381e-01 5.30906329e-01 -2.13159494e-02 -2.92242400e+02] [ 2.52915587e-02 -2.20240077e-04 9.99680093e-01 1.18562267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9627550959999 meters 0.022299502765136647 Centerline is valid? [True, True] Translation: X:520.41, Y:-292.19, Z:11.86 [[ 5.31171340e-01 -8.47165182e-01 -1.29677078e-02 5.20406237e+02] [ 8.46921546e-01 5.31329575e-01 -2.03169073e-02 -2.92194450e+02] [ 2.41019031e-02 -1.90872240e-04 9.99709489e-01 1.18590178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.022755096 meters 0.02303918335483824 Centerline is valid? [True, True] Translation: X:520.44, Y:-292.15, Z:11.86 [[ 5.27579566e-01 -8.49411993e-01 -1.26122215e-02 5.20441443e+02] [ 8.49181857e-01 5.27730224e-01 -1.97733336e-02 -2.92149625e+02] [ 2.34515572e-02 -2.78062914e-04 9.99724936e-01 1.18614808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0827550959999 meters 0.022920512088115203 Centerline is valid? [True, True] Translation: X:520.47, Y:-292.10, Z:11.86 [[ 5.25850074e-01 -8.50478538e-01 -1.29597971e-02 5.20473049e+02] [ 8.50235526e-01 5.26009648e-01 -2.03322322e-02 -2.92101168e+02] [ 2.41091054e-02 -3.27174082e-04 9.99709280e-01 1.18625527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.142755096 meters 0.023840325662778626 Centerline is valid? [True, True] Translation: X:520.51, Y:-292.05, Z:11.86 [[ 5.22726655e-01 -8.52381698e-01 -1.42226656e-02 5.20506764e+02] [ 8.52089354e-01 5.22919917e-01 -2.23269588e-02 -2.92053913e+02] [ 2.64684062e-02 -4.48085411e-04 9.99649550e-01 1.18611283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2027550959999 meters 0.024660378556043548 Centerline is valid? [True, True] Translation: X:520.54, Y:-292.01, Z:11.86 [[ 5.19615364e-01 -8.54257676e-01 -1.56107914e-02 5.20540870e+02] [ 8.53905918e-01 5.19849475e-01 -2.45195384e-02 -2.92006601e+02] [ 2.90612656e-02 -5.89418269e-04 9.99577458e-01 1.18603435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.262755096 meters 0.025834340029071506 Centerline is valid? [True, True] Translation: X:520.58, Y:-291.96, Z:11.86 [[ 5.16743845e-01 -8.55988363e-01 -1.61158743e-02 5.20576436e+02] [ 8.55613783e-01 5.16994617e-01 -2.53302333e-02 -2.91960565e+02] [ 3.00142052e-02 -6.99722055e-04 9.99549227e-01 1.18611698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3227550959999 meters 0.026969672800619657 Centerline is valid? [True, True] Translation: X:520.61, Y:-291.91, Z:11.86 [[ 5.13263381e-01 -8.58081730e-01 -1.60139765e-02 5.20609990e+02] [ 8.57712377e-01 5.13512505e-01 -2.51870172e-02 -2.91912180e+02] [ 2.98358965e-02 -8.07812237e-04 9.99554484e-01 1.18622539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.382755096 meters 0.02768362159004094 Centerline is valid? [True, True] Translation: X:520.64, Y:-291.86, Z:11.86 [[ 5.11551743e-01 -8.59099606e-01 -1.62074595e-02 5.20641619e+02] [ 8.58721272e-01 5.11807691e-01 -2.55081363e-02 -2.91863651e+02] [ 3.02091322e-02 -8.68958635e-04 9.99543222e-01 1.18636541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4427550959999 meters 0.027041471992527145 Centerline is valid? [True, True] Translation: X:520.67, Y:-291.81, Z:11.86 [[ 5.13343138e-01 -8.58019845e-01 -1.67561257e-02 5.20671321e+02] [ 8.57614343e-01 5.13615875e-01 -2.63888636e-02 -2.91812869e+02] [ 3.12483808e-02 -8.23751704e-04 9.99511311e-01 1.18637992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.502755096 meters 0.02831662749585215 Centerline is valid? [True, True] Translation: X:520.70, Y:-291.76, Z:11.86 [[ 5.15579782e-01 -8.56648314e-01 -1.81976415e-02 5.20698591e+02] [ 8.56168494e-01 5.15900218e-01 -2.86788220e-02 -2.91762708e+02] [ 3.39558318e-02 -7.94026545e-04 9.99423019e-01 1.18597343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5627550959999 meters 0.025805980244129223 Centerline is valid? [True, True] Translation: X:520.73, Y:-291.71, Z:11.86 [[ 5.17362401e-01 -8.55564715e-01 -1.85785928e-02 5.20726363e+02] [ 8.55063202e-01 5.17695363e-01 -2.92990124e-02 -2.91710923e+02] [ 3.46852526e-02 -7.27663654e-04 9.99398021e-01 1.18611929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.622755096 meters 0.0266711309156276 Centerline is valid? [True, True] Translation: X:520.76, Y:-291.66, Z:11.86 [[ 5.18487293e-01 -8.54863579e-01 -1.94727631e-02 5.20755347e+02] [ 8.54311472e-01 5.18852355e-01 -3.07269080e-02 -2.91662026e+02] [ 3.63708035e-02 -7.04293509e-04 9.99338115e-01 1.18600015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6827550959999 meters 0.02497138143792821 Centerline is valid? [True, True] Translation: X:520.78, Y:-291.61, Z:11.86 [[ 5.19886563e-01 -8.54017820e-01 -1.92749837e-02 5.20781956e+02] [ 8.53475661e-01 5.20243373e-01 -3.04323711e-02 -2.91609576e+02] [ 3.60174698e-02 -6.29348626e-04 9.99350962e-01 1.18629675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.742755096 meters 0.0263712293927899 Centerline is valid? [True, True] Translation: X:520.81, Y:-291.56, Z:11.86 [[ 5.19801621e-01 -8.54086327e-01 -1.85154341e-02 5.20811093e+02] [ 8.53585439e-01 5.20130933e-01 -2.92525314e-02 -2.91559055e+02] [ 3.46146371e-02 -5.98991692e-04 9.99400554e-01 1.18649398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8027550959999 meters 0.02434233000172526 Centerline is valid? [True, True] Translation: X:520.84, Y:-291.51, Z:11.87 [[ 5.20039594e-01 -8.53982509e-01 -1.65134476e-02 5.20840910e+02] [ 8.53583544e-01 5.20301455e-01 -2.61061318e-02 -2.91509407e+02] [ 3.08861508e-02 -5.19384919e-04 9.99522774e-01 1.18684038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.862755096 meters 0.02578968020828471 Centerline is valid? [True, True] Translation: X:520.87, Y:-291.46, Z:11.87 [[ 5.19210827e-01 -8.54490285e-01 -1.63239303e-02 5.20872559e+02] [ 8.54100159e-01 5.19467100e-01 -2.58234597e-02 -2.91461138e+02] [ 3.05456402e-02 -5.34451597e-04 9.99533230e-01 1.18691723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.922755096 meters 0.024419922781554866 Centerline is valid? [True, True] Translation: X:520.90, Y:-291.41, Z:11.87 [[ 5.19344303e-01 -8.54429814e-01 -1.52048854e-02 5.20903353e+02] [ 8.54090890e-01 5.19566605e-01 -2.40685520e-02 -2.91411539e+02] [ 2.84648391e-02 -4.86488707e-04 9.99594676e-01 1.18722644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9827550959999 meters 0.026727860649000422 Centerline is valid? [True, True] Translation: X:520.93, Y:-291.36, Z:11.87 [[ 5.19473256e-01 -8.54341032e-01 -1.57777276e-02 5.20932654e+02] [ 8.53975542e-01 5.19712574e-01 -2.49922886e-02 -2.91361776e+02] [ 2.95518211e-02 -4.90967972e-04 9.99563129e-01 1.18713870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.042755096 meters 0.02348517936784058 Centerline is valid? [True, True] Translation: X:520.96, Y:-291.31, Z:11.88 [[ 5.21275038e-01 -8.53266613e-01 -1.44368352e-02 5.20962890e+02] [ 8.52959819e-01 5.21474772e-01 -2.28825202e-02 -2.91313688e+02] [ 2.70533359e-02 -3.85953792e-04 9.99633917e-01 1.18751439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1027550959999 meters 0.022341096283032665 Centerline is valid? [True, True] Translation: X:520.99, Y:-291.26, Z:11.88 [[ 5.24214456e-01 -8.51468782e-01 -1.41462894e-02 5.20991058e+02] [ 8.51173177e-01 5.24405220e-01 -2.24362982e-02 -2.91263172e+02] [ 2.65221955e-02 -2.79510223e-04 9.99648186e-01 1.18765507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.162755096 meters 0.021954244809916715 Centerline is valid? [True, True] Translation: X:521.02, Y:-291.21, Z:11.88 [[ 5.26109438e-01 -8.50298356e-01 -1.41973886e-02 5.21019150e+02] [ 8.49999778e-01 5.26300922e-01 -2.25325575e-02 -2.91212378e+02] [ 2.66314953e-02 -2.13186058e-04 9.99645296e-01 1.18778603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2227550959999 meters 0.021307602071260315 Centerline is valid? [True, True] Translation: X:521.05, Y:-291.16, Z:11.88 [[ 5.27877286e-01 -8.49195587e-01 -1.45748568e-02 5.21049991e+02] [ 8.48880048e-01 5.28078434e-01 -2.31480455e-02 -2.91162640e+02] [ 2.73538856e-02 -1.52977672e-04 9.99625801e-01 1.18778193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.282755096 meters 0.021040614097230157 Centerline is valid? [True, True] Translation: X:521.08, Y:-291.11, Z:11.88 [[ 5.28433919e-01 -8.48845901e-01 -1.47726130e-02 5.21082477e+02] [ 8.48521144e-01 5.28640351e-01 -2.34786427e-02 -2.91114790e+02] [ 2.77391490e-02 -1.27963313e-04 9.99615188e-01 1.18783448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3427550959999 meters 0.02098772549581637 Centerline is valid? [True, True] Translation: X:521.11, Y:-291.07, Z:11.88 [[ 5.27607141e-01 -8.49360799e-01 -1.47288326e-02 5.21114377e+02] [ 8.49037714e-01 5.27812667e-01 -2.34253871e-02 -2.91066549e+02] [ 2.76706699e-02 -1.45932900e-04 9.99617083e-01 1.18786384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.402755096 meters 0.02130883063972399 Centerline is valid? [True, True] Translation: X:521.15, Y:-291.02, Z:11.88 [[ 5.24243207e-01 -8.51444418e-01 -1.45417675e-02 5.21150105e+02] [ 8.51129856e-01 5.24444796e-01 -2.31435726e-02 -2.91020041e+02] [ 2.73318200e-02 -2.44071779e-04 9.99626386e-01 1.18797191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4627550959999 meters 0.02173959392831197 Centerline is valid? [True, True] Translation: X:521.18, Y:-290.97, Z:11.88 [[ 5.21373142e-01 -8.53218042e-01 -1.37484536e-02 5.21184938e+02] [ 8.52937116e-01 5.21554289e-01 -2.18951918e-02 -2.90973767e+02] [ 2.58519376e-02 -3.11001355e-04 9.99665734e-01 1.18829254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.522755096 meters 0.021782652346834193 Centerline is valid? [True, True] Translation: X:521.22, Y:-290.93, Z:11.88 [[ 5.20224017e-01 -8.53920845e-01 -1.36441555e-02 5.21216874e+02] [ 8.53644023e-01 5.20402804e-01 -2.17440299e-02 -2.90925026e+02] [ 2.56681372e-02 -3.35485182e-04 9.99670463e-01 1.18847091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5827550959999 meters 0.02194055547310744 Centerline is valid? [True, True] Translation: X:521.25, Y:-290.88, Z:11.88 [[ 5.19192449e-01 -8.54542397e-01 -1.40176185e-02 5.21247827e+02] [ 8.54250018e-01 5.19381514e-01 -2.23550977e-02 -2.90876303e+02] [ 2.63838707e-02 -3.67952919e-04 9.99651817e-01 1.18841503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.642755096 meters 0.02484057164170665 Centerline is valid? [True, True] Translation: X:521.28, Y:-290.83, Z:11.88 [[ 5.18508997e-01 -8.54949797e-01 -1.44660081e-02 5.21281531e+02] [ 8.54638113e-01 5.18710604e-01 -2.30868971e-02 -2.90830423e+02] [ 2.72418098e-02 -3.92438000e-04 9.99628796e-01 1.18821016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7027550959999 meters 0.022102685950525638 Centerline is valid? [True, True] Translation: X:521.31, Y:-290.78, Z:11.89 [[ 5.17969001e-01 -8.55287097e-01 -1.38598263e-02 5.21308256e+02] [ 8.55000709e-01 5.18154256e-01 -2.21349037e-02 -2.90778178e+02] [ 2.61132255e-02 -3.84967375e-04 9.99658917e-01 1.18864365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.762755096 meters 0.022305141437332476 Centerline is valid? [True, True] Translation: X:521.34, Y:-290.73, Z:11.89 [[ 5.16589282e-01 -8.56125256e-01 -1.36036822e-02 5.21340526e+02] [ 8.55849265e-01 5.16768204e-01 -2.17407237e-02 -2.90730181e+02] [ 2.56427330e-02 -4.11676538e-04 9.99671086e-01 1.18892728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8227550959999 meters 0.0230078794585248 Centerline is valid? [True, True] Translation: X:521.37, Y:-290.68, Z:11.89 [[ 5.14936115e-01 -8.57117899e-01 -1.37733493e-02 5.21373625e+02] [ 8.56834942e-01 5.15120080e-01 -2.20269108e-02 -2.90682449e+02] [ 2.59745883e-02 -4.59035111e-04 9.99662498e-01 1.18903666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.882755096 meters 0.022734594637969643 Centerline is valid? [True, True] Translation: X:521.41, Y:-290.63, Z:11.89 [[ 5.13340291e-01 -8.58072316e-01 -1.39156657e-02 5.21405620e+02] [ 8.57783444e-01 5.13528621e-01 -2.22692221e-02 -2.90634018e+02] [ 2.62546956e-02 -5.04938669e-04 9.99655159e-01 1.18918881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9427550959999 meters 0.024310121797844662 Centerline is valid? [True, True] Translation: X:521.44, Y:-290.59, Z:11.89 [[ 5.12528461e-01 -8.58561219e-01 -1.36824920e-02 5.21439619e+02] [ 8.58281730e-01 5.12710805e-01 -2.19112343e-02 -2.90587769e+02] [ 2.58272976e-02 -5.13301744e-04 9.99666288e-01 1.18922864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.002755096 meters 0.022815054993650476 Centerline is valid? [True, True] Translation: X:521.47, Y:-290.54, Z:11.90 [[ 5.13122724e-01 -8.58207883e-01 -1.35756932e-02 5.21468900e+02] [ 8.57932212e-01 5.13302051e-01 -2.17559951e-02 -2.90538096e+02] [ 2.56395976e-02 -4.83529023e-04 9.99671135e-01 1.18955846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0627550959999 meters 0.02498386868732783 Centerline is valid? [True, True] Translation: X:521.50, Y:-290.49, Z:11.89 [[ 5.14414952e-01 -8.57424241e-01 -1.41749235e-02 5.21500309e+02] [ 8.57122957e-01 5.14610011e-01 -2.27326592e-02 -2.90490773e+02] [ 2.67860906e-02 -4.55632518e-04 9.99641084e-01 1.18942668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.122755096 meters 0.022374009163685014 Centerline is valid? [True, True] Translation: X:521.53, Y:-290.44, Z:11.90 [[ 5.14503589e-01 -8.57367734e-01 -1.43744595e-02 5.21530708e+02] [ 8.57057443e-01 5.14704153e-01 -2.30689103e-02 -2.90441675e+02] [ 2.71771333e-02 -4.50700372e-04 9.99630532e-01 1.18962856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1827550959999 meters 0.023069808424105574 Centerline is valid? [True, True] Translation: X:521.56, Y:-290.39, Z:11.90 [[ 5.13709355e-01 -8.57842421e-01 -1.44595700e-02 5.21563470e+02] [ 8.57528190e-01 5.13912599e-01 -2.32216280e-02 -2.90394454e+02] [ 2.73514528e-02 -4.70321330e-04 9.99625768e-01 1.18963534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.242755096 meters 0.023521867356500376 Centerline is valid? [True, True] Translation: X:521.60, Y:-290.35, Z:11.90 [[ 5.11482076e-01 -8.59187992e-01 -1.34937284e-02 5.21596027e+02] [ 8.58914442e-01 5.11659795e-01 -2.16849198e-02 -2.90345870e+02] [ 2.55356210e-02 -4.98510409e-04 9.99673789e-01 1.19008713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3027550959999 meters 0.026825242865319007 Centerline is valid? [True, True] Translation: X:521.63, Y:-290.30, Z:11.90 [[ 5.09831365e-01 -8.60170165e-01 -1.33890521e-02 5.21628435e+02] [ 8.59900814e-01 5.10006863e-01 -2.15311560e-02 -2.90298424e+02] [ 2.53489664e-02 -5.35998165e-04 9.99678520e-01 1.19016443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.362755096 meters 0.024104341031850194 Centerline is valid? [True, True] Translation: X:521.66, Y:-290.25, Z:11.90 [[ 5.08091970e-01 -8.61191188e-01 -1.38668272e-02 5.21656853e+02] [ 8.60902282e-01 5.08280806e-01 -2.23133148e-02 -2.90247780e+02] [ 2.62642722e-02 -6.00767111e-04 9.99654854e-01 1.19041878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.422755096 meters 0.025229777903421794 Centerline is valid? [True, True] Translation: X:521.69, Y:-290.20, Z:11.90 [[ 5.07274437e-01 -8.61675925e-01 -1.36837584e-02 5.21685771e+02] [ 8.61394477e-01 5.07458595e-01 -2.20301867e-02 -2.90197485e+02] [ 2.59268223e-02 -6.11763375e-04 9.99663656e-01 1.19044722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4827550959999 meters 0.024050408704963902 Centerline is valid? [True, True] Translation: X:521.72, Y:-290.15, Z:11.91 [[ 5.06666956e-01 -8.62035198e-01 -1.35614652e-02 5.21715584e+02] [ 8.61758485e-01 5.06848042e-01 -2.18489280e-02 -2.90149059e+02] [ 2.57081471e-02 -6.16577858e-04 9.99669301e-01 1.19064530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.542755096 meters 0.02565298330821373 Centerline is valid? [True, True] Translation: X:521.75, Y:-290.10, Z:11.91 [[ 5.06557494e-01 -8.62091116e-01 -1.40859054e-02 5.21745883e+02] [ 8.61792197e-01 5.06752902e-01 -2.27091622e-02 -2.90101122e+02] [ 2.67154404e-02 -6.35627042e-04 9.99642877e-01 1.19055601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6027550959999 meters 0.02294444025272197 Centerline is valid? [True, True] Translation: X:521.77, Y:-290.05, Z:11.91 [[ 5.06591190e-01 -8.62078908e-01 -1.36133319e-02 5.21771204e+02] [ 8.61799389e-01 5.06773705e-01 -2.19596123e-02 -2.90048020e+02] [ 2.58297973e-02 -6.07415011e-04 9.99666171e-01 1.19087578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.662755096 meters 0.023654278429877947 Centerline is valid? [True, True] Translation: X:521.80, Y:-290.00, Z:11.91 [[ 5.06121133e-01 -8.62357633e-01 -1.34429064e-02 5.21801840e+02] [ 8.62084777e-01 5.06299265e-01 -2.17000378e-02 -2.89998383e+02] [ 2.55193269e-02 -6.06077271e-04 9.99674145e-01 1.19106599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7227550959999 meters 0.02486206897792914 Centerline is valid? [True, True] Translation: X:521.83, Y:-289.95, Z:11.91 [[ 5.05910177e-01 -8.62487167e-01 -1.30682799e-02 5.21830519e+02] [ 8.62228987e-01 5.06078593e-01 -2.11100196e-02 -2.89947541e+02] [ 2.48206977e-02 -5.88075948e-04 9.99691746e-01 1.19119382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.782755096 meters 0.022125376393733506 Centerline is valid? [True, True] Translation: X:521.86, Y:-289.90, Z:11.92 [[ 5.06921048e-01 -8.61893319e-01 -1.30750957e-02 5.21858266e+02] [ 8.61634300e-01 5.07089344e-01 -2.11360089e-02 -2.89895976e+02] [ 2.48472265e-02 -5.51663138e-04 9.99691108e-01 1.19151034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8427550959999 meters 0.022520782242098043 Centerline is valid? [True, True] Translation: X:521.89, Y:-289.85, Z:11.92 [[ 5.09378324e-01 -8.60442810e-01 -1.31108114e-02 5.21886886e+02] [ 8.60181561e-01 5.09546803e-01 -2.12069969e-02 -2.89845864e+02] [ 2.49279800e-02 -4.75293721e-04 9.99689137e-01 1.19153270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.902755096 meters 0.021702819797858628 Centerline is valid? [True, True] Translation: X:521.91, Y:-289.79, Z:11.92 [[ 5.10905885e-01 -8.59526281e-01 -1.37749110e-02 5.21914834e+02] [ 8.59237233e-01 5.11091355e-01 -2.22936098e-02 -2.89794453e+02] [ 2.62021814e-02 -4.45979951e-04 9.99656564e-01 1.19156937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9627550959999 meters 0.02243135885935354 Centerline is valid? [True, True] Translation: X:521.95, Y:-289.75, Z:11.92 [[ 5.08390932e-01 -8.61009792e-01 -1.41702943e-02 5.21947819e+02] [ 8.60704044e-01 5.08588102e-01 -2.29497622e-02 -2.89746187e+02] [ 2.69668131e-02 -5.28978597e-04 9.99636189e-01 1.19176443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.022755096 meters 0.022334316939225312 Centerline is valid? [True, True] Translation: X:521.98, Y:-289.70, Z:11.92 [[ 5.05720660e-01 -8.62581384e-01 -1.41410975e-02 5.21978718e+02] [ 8.62277089e-01 5.05917970e-01 -2.29178737e-02 -2.89696670e+02] [ 2.69227666e-02 -6.03502142e-04 9.99637334e-01 1.19201918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0827550959999 meters 0.023768708808803593 Centerline is valid? [True, True] Translation: X:522.01, Y:-289.65, Z:11.92 [[ 5.01466626e-01 -8.65058238e-01 -1.43341696e-02 5.22011943e+02] [ 8.64746141e-01 5.01670909e-01 -2.32467352e-02 -2.89648767e+02] [ 2.73008157e-02 -7.37956033e-04 9.99626991e-01 1.19222518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.142755096 meters 0.026597234611855362 Centerline is valid? [True, True] Translation: X:522.05, Y:-289.60, Z:11.92 [[ 4.97408973e-01 -8.67394547e-01 -1.45263156e-02 5.22045862e+02] [ 8.67074548e-01 4.97620282e-01 -2.35750451e-02 -2.89601806e+02] [ 2.76774548e-02 -8.68959563e-04 9.99616528e-01 1.19231392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2027550959999 meters 0.02723799882553838 Centerline is valid? [True, True] Translation: X:522.08, Y:-289.55, Z:11.92 [[ 4.93952329e-01 -8.69349800e-01 -1.55570460e-02 5.22077242e+02] [ 8.68983170e-01 4.94196162e-01 -2.52666586e-02 -2.89552248e+02] [ 2.96537971e-02 -1.03828631e-03 9.99559690e-01 1.19236042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.262755096 meters 0.027290801736542157 Centerline is valid? [True, True] Translation: X:522.11, Y:-289.50, Z:11.92 [[ 4.93156619e-01 -8.69777186e-01 -1.68581042e-02 5.22107513e+02] [ 8.69346271e-01 4.93443349e-01 -2.73993132e-02 -2.89502066e+02] [ 3.21498169e-02 -1.14337738e-03 9.99482407e-01 1.19231249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3227550959999 meters 0.028326119225759512 Centerline is valid? [True, True] Translation: X:522.14, Y:-289.45, Z:11.92 [[ 4.93142963e-01 -8.69768520e-01 -1.76844486e-02 5.22137850e+02] [ 8.69293705e-01 4.93458515e-01 -2.87601992e-02 -2.89453898e+02] [ 3.37412576e-02 -1.19008994e-03 9.99429893e-01 1.19230822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.382755096 meters 0.02868780017680086 Centerline is valid? [True, True] Translation: X:522.17, Y:-289.40, Z:11.92 [[ 4.93527634e-01 -8.69529886e-01 -1.86615295e-02 5.22166952e+02] [ 8.69000285e-01 4.93878798e-01 -3.03683782e-02 -2.89403277e+02] [ 3.56227462e-02 -1.22924062e-03 9.99364553e-01 1.19222666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4427550959999 meters 0.026908114760292066 Centerline is valid? [True, True] Translation: X:522.19, Y:-289.35, Z:11.92 [[ 4.97395535e-01 -8.67313743e-01 -1.90932788e-02 5.22193077e+02] [ 8.66756921e-01 4.97760682e-01 -3.10925037e-02 -2.89350717e+02] [ 3.64708392e-02 -1.08395906e-03 9.99334130e-01 1.19227066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.502755096 meters 0.02451487953412898 Centerline is valid? [True, True] Translation: X:522.22, Y:-289.30, Z:11.92 [[ 5.00174819e-01 -8.65726111e-01 -1.85324209e-02 5.22221321e+02] [ 8.65199740e-01 5.00517169e-01 -3.01988877e-02 -2.89299627e+02] [ 3.54197605e-02 -9.29522531e-04 9.99372091e-01 1.19248940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5627550959999 meters 0.023197576835987235 Centerline is valid? [True, True] Translation: X:522.25, Y:-289.25, Z:11.93 [[ 5.03307738e-01 -8.63898980e-01 -1.89703242e-02 5.22249165e+02] [ 8.63345367e-01 5.03664469e-01 -3.09334697e-02 -2.89247902e+02] [ 3.62780712e-02 -8.08886836e-04 9.99341407e-01 1.19257871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.622755096 meters 0.022269928898608415 Centerline is valid? [True, True] Translation: X:522.28, Y:-289.20, Z:11.93 [[ 5.05323022e-01 -8.62735253e-01 -1.83446777e-02 5.22279076e+02] [ 8.62216121e-01 5.05655422e-01 -2.99325041e-02 -2.89197371e+02] [ 3.50999122e-02 -6.91493371e-04 9.99383569e-01 1.19275697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6827550959999 meters 0.023547826472486533 Centerline is valid? [True, True] Translation: X:522.31, Y:-289.15, Z:11.93 [[ 5.06060488e-01 -8.62291999e-01 -1.88491610e-02 5.22309686e+02] [ 8.61742841e-01 5.06410962e-01 -3.07768307e-02 -2.89148684e+02] [ 3.60840366e-02 -6.68191572e-04 9.99348536e-01 1.19271580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.742755096 meters 0.02240361067466574 Centerline is valid? [True, True] Translation: X:522.34, Y:-289.10, Z:11.93 [[ 5.06309991e-01 -8.62154194e-01 -1.84482731e-02 5.22339152e+02] [ 8.61627319e-01 5.06645580e-01 -3.01433121e-02 -2.89098568e+02] [ 3.53349189e-02 -6.33675998e-04 9.99375326e-01 1.19291424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8027550959999 meters 0.024148613116559563 Centerline is valid? [True, True] Translation: X:522.37, Y:-289.05, Z:11.93 [[ 5.05287599e-01 -8.62754670e-01 -1.84071110e-02 5.22369751e+02] [ 8.62229778e-01 5.05622329e-01 -3.00976664e-02 -2.89049685e+02] [ 3.52739486e-02 -6.63181611e-04 9.99377461e-01 1.19287393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.862755096 meters 0.025983854373651923 Centerline is valid? [True, True] Translation: X:522.40, Y:-289.00, Z:11.93 [[ 5.03503373e-01 -8.63791229e-01 -1.86832951e-02 5.22401550e+02] [ 8.63250385e-01 5.03849353e-01 -3.05712580e-02 -2.89001122e+02] [ 3.58207507e-02 -7.35630121e-04 9.99357960e-01 1.19295525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.922755096 meters 0.023778924560792034 Centerline is valid? [True, True] Translation: X:522.43, Y:-288.95, Z:11.93 [[ 5.04211438e-01 -8.63406690e-01 -1.73122338e-02 5.22432383e+02] [ 8.62941499e-01 5.04508145e-01 -2.83460974e-02 -2.88952552e+02] [ 3.32083731e-02 -6.47018505e-04 9.99448240e-01 1.19339744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9827550959999 meters 0.022051469071294315 Centerline is valid? [True, True] Translation: X:522.46, Y:-288.90, Z:11.94 [[ 5.06935845e-01 -8.61817000e-01 -1.69560642e-02 5.22457891e+02] [ 8.61369273e-01 5.07219071e-01 -2.77810966e-02 -2.88900564e+02] [ 3.25426605e-02 -5.22198991e-04 9.99470211e-01 1.19362505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.042755096 meters 0.02000881318156029 Centerline is valid? [True, True] Translation: X:522.48, Y:-288.85, Z:11.94 [[ 5.12160106e-01 -8.58738782e-01 -1.61161168e-02 5.22482064e+02] [ 8.58332262e-01 5.12413518e-01 -2.64218682e-02 -2.88848095e+02] [ 3.09475990e-02 -3.00756183e-04 9.99520963e-01 1.19380271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1027550959999 meters 0.019804518986593675 Centerline is valid? [True, True] Translation: X:522.51, Y:-288.80, Z:11.94 [[ 5.16223025e-01 -8.56307587e-01 -1.58463207e-02 5.22507567e+02] [ 8.55912906e-01 5.16466162e-01 -2.59961809e-02 -2.88795958e+02] [ 3.04448154e-02 -1.43243230e-04 9.99536439e-01 1.19401738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.162755096 meters 0.01821794549459092 Centerline is valid? [True, True] Translation: X:522.53, Y:-288.74, Z:11.95 [[ 5.24775887e-01 -8.51120420e-01 -1.42932957e-02 5.22526548e+02] [ 8.50796965e-01 5.24970482e-01 -2.34631028e-02 -2.88741282e+02] [ 2.74734843e-02 1.52177994e-04 9.99622521e-01 1.19455719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2227550959999 meters 0.018459307724539995 Centerline is valid? [True, True] Translation: X:522.55, Y:-288.69, Z:11.95 [[ 5.28557032e-01 -8.48784384e-01 -1.38756188e-02 5.22554569e+02] [ 8.48478328e-01 5.28739060e-01 -2.27932695e-02 -2.88690233e+02] [ 2.66831528e-02 2.74381070e-04 9.99643904e-01 1.19507772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.282755096 meters 0.0196967062371349 Centerline is valid? [True, True] Translation: X:522.58, Y:-288.64, Z:11.95 [[ 5.32021485e-01 -8.46637868e-01 -1.25482940e-02 5.22580153e+02] [ 8.46386671e-01 5.32169331e-01 -2.06253754e-02 -2.88638300e+02] [ 2.41400410e-02 3.52434074e-04 9.99708525e-01 1.19545853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3427550959999 meters 0.01886804252606225 Centerline is valid? [True, True] Translation: X:522.61, Y:-288.59, Z:11.96 [[ 5.30515140e-01 -8.47587032e-01 -1.22437776e-02 5.22611578e+02] [ 8.47347832e-01 5.30656319e-01 -2.01376238e-02 -2.88589569e+02] [ 2.35656268e-02 3.08575873e-04 9.99722244e-01 1.19564362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.402755096 meters 0.01839118603894882 Centerline is valid? [True, True] Translation: X:522.64, Y:-288.54, Z:11.96 [[ 5.29064131e-01 -8.48492879e-01 -1.22874236e-02 5.22641914e+02] [ 8.48251875e-01 5.29206726e-01 -2.02237150e-02 -2.88540290e+02] [ 2.36622654e-02 2.76812073e-04 9.99719971e-01 1.19570254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4627550959999 meters 0.016773087977749374 Centerline is valid? [True, True] Translation: X:522.68, Y:-288.49, Z:11.96 [[ 5.22851805e-01 -8.52338782e-01 -1.20245995e-02 5.22676814e+02] [ 8.52108670e-01 5.22990047e-01 -1.98046878e-02 -2.88492960e+02] [ 2.31690493e-02 1.08651275e-04 9.99731556e-01 1.19575746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.522755096 meters 0.016769752383593354 Centerline is valid? [True, True] Translation: X:522.71, Y:-288.45, Z:11.96 [[ 5.14349224e-01 -8.57495660e-01 -1.20859019e-02 5.22714114e+02] [ 8.57264273e-01 5.14491186e-01 -1.99195058e-02 -2.88448731e+02] [ 2.32989798e-02 -1.15229609e-04 9.99728535e-01 1.19576032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5827550959999 meters 0.019925533444929307 Centerline is valid? [True, True] Translation: X:522.75, Y:-288.40, Z:11.96 [[ 5.04466155e-01 -8.63343193e-01 -1.23462260e-02 5.22750937e+02] [ 8.63103092e-01 5.04617066e-01 -2.03634354e-02 -2.88403454e+02] [ 2.38107497e-02 -3.83401886e-04 9.99716410e-01 1.19575057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.642755096 meters 0.023743396192472635 Centerline is valid? [True, True] Translation: X:522.79, Y:-288.36, Z:11.96 [[ 4.95063220e-01 -8.68761587e-01 -1.28729516e-02 5.22785823e+02] [ 8.68501982e-01 4.95230115e-01 -2.12471213e-02 -2.88356900e+02] [ 2.48337561e-02 -6.61515738e-04 9.99691376e-01 1.19573476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7027550959999 meters 0.027897599315221153 Centerline is valid? [True, True] Translation: X:522.82, Y:-288.31, Z:11.96 [[ 4.89989278e-01 -8.71625954e-01 -1.33679981e-02 5.22820167e+02] [ 8.71346627e-01 4.90170897e-01 -2.20804884e-02 -2.88310995e+02] [ 2.57985304e-02 -8.28957508e-04 9.99666819e-01 1.19561829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.762755096 meters 0.03234468688036167 Centerline is valid? [True, True] Translation: X:522.85, Y:-288.26, Z:11.96 [[ 4.82611926e-01 -8.75726222e-01 -1.37590964e-02 5.22852423e+02] [ 8.75431493e-01 4.82806836e-01 -2.27433483e-02 -2.88263037e+02] [ 2.65599323e-02 -1.06893514e-03 9.99646651e-01 1.19562938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8227550959999 meters 0.02930951310400581 Centerline is valid? [True, True] Translation: X:522.88, Y:-288.21, Z:11.96 [[ 4.80205370e-01 -8.77048825e-01 -1.37171887e-02 5.22878639e+02] [ 8.76756002e-01 4.80399917e-01 -2.26899116e-02 -2.88210518e+02] [ 2.64898966e-02 -1.13081013e-03 9.99648442e-01 1.19592732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.882755096 meters 0.029989063195385825 Centerline is valid? [True, True] Translation: X:522.91, Y:-288.16, Z:11.96 [[ 4.80039225e-01 -8.77126990e-01 -1.45115414e-02 5.22908527e+02] [ 8.76798814e-01 4.80257036e-01 -2.40212135e-02 -2.88160166e+02] [ 2.80389245e-02 -1.19257761e-03 9.99606121e-01 1.19602744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9427550959999 meters 0.033695647697570365 Centerline is valid? [True, True] Translation: X:522.94, Y:-288.11, Z:11.96 [[ 4.83852918e-01 -8.75030889e-01 -1.43978364e-02 5.22939699e+02] [ 8.74706418e-01 4.84065939e-01 -2.38505620e-02 -2.88112379e+02] [ 2.78394806e-02 -1.05371594e-03 9.99611851e-01 1.19599059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.002755096 meters 0.02463145661683576 Centerline is valid? [True, True] Translation: X:522.96, Y:-288.06, Z:11.96 [[ 4.89037030e-01 -8.72153019e-01 -1.38526020e-02 5.22956532e+02] [ 8.71851041e-01 4.89232454e-01 -2.29644983e-02 -2.88055475e+02] [ 2.68056990e-02 -8.46915445e-04 9.99640304e-01 1.19645523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0627550959999 meters 0.0229574149804303 Centerline is valid? [True, True] Translation: X:522.98, Y:-288.01, Z:11.97 [[ 4.93215141e-01 -8.69802241e-01 -1.35235627e-02 5.22983479e+02] [ 8.69513185e-01 4.93400020e-01 -2.24330406e-02 -2.88005057e+02] [ 2.61848351e-02 -6.94600827e-04 9.99656877e-01 1.19670351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.122755096 meters 0.020951251045174 Centerline is valid? [True, True] Translation: X:523.01, Y:-287.95, Z:11.97 [[ 4.96044243e-01 -8.68198796e-01 -1.30751416e-02 5.23009973e+02] [ 8.67927775e-01 4.96216192e-01 -2.16995153e-02 -2.87953514e+02] [ 2.53275900e-02 -5.84358899e-04 9.99679034e-01 1.19694026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1827550959999 meters 0.01983125029112483 Centerline is valid? [True, True] Translation: X:523.04, Y:-287.90, Z:11.97 [[ 4.99005754e-01 -8.66498201e-01 -1.31956775e-02 5.23037125e+02] [ 8.66221216e-01 4.99179950e-01 -2.19130677e-02 -2.87902547e+02] [ 2.55746513e-02 -4.95628967e-04 9.99672792e-01 1.19701802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.242755096 meters 0.01887637390410904 Centerline is valid? [True, True] Translation: X:523.07, Y:-287.85, Z:11.97 [[ 5.00522661e-01 -8.65619510e-01 -1.34137537e-02 5.23065998e+02] [ 8.65332683e-01 5.00702166e-01 -2.22865320e-02 -2.87851868e+02] [ 2.60079525e-02 -4.52445119e-04 9.99661634e-01 1.19707962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3027550959999 meters 0.017761686618789522 Centerline is valid? [True, True] Translation: X:523.09, Y:-287.80, Z:11.97 [[ 5.03271926e-01 -8.64009652e-01 -1.43069888e-02 5.23094499e+02] [ 8.63682230e-01 5.03475096e-01 -2.37872558e-02 -2.87801352e+02] [ 2.77556312e-02 -3.85233914e-04 9.99614664e-01 1.19700713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.362755096 meters 0.017651965370574153 Centerline is valid? [True, True] Translation: X:523.12, Y:-287.75, Z:11.97 [[ 5.05470829e-01 -8.62711322e-01 -1.51134425e-02 5.23122521e+02] [ 8.62344839e-01 5.05696620e-01 -2.51457329e-02 -2.87749957e+02] [ 2.93363252e-02 -3.22564723e-04 9.99569545e-01 1.19696927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.422755096 meters 0.016318948264627927 Centerline is valid? [True, True] Translation: X:523.15, Y:-287.70, Z:11.97 [[ 5.08162396e-01 -8.61130303e-01 -1.50193396e-02 5.23151610e+02] [ 8.60767171e-01 5.08384257e-01 -2.50064971e-02 -2.87700236e+02] [ 2.91694482e-02 -2.20792941e-04 9.99574457e-01 1.19707164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4827550959999 meters 0.018238286307325328 Centerline is valid? [True, True] Translation: X:523.18, Y:-287.65, Z:11.97 [[ 5.10436823e-01 -8.59779253e-01 -1.52933191e-02 5.23181625e+02] [ 8.59401607e-01 5.10665856e-01 -2.54806160e-02 -2.87650527e+02] [ 2.97174809e-02 -1.36858350e-04 9.99558329e-01 1.19722266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.542755096 meters 0.015027485417343512 Centerline is valid? [True, True] Translation: X:523.21, Y:-287.60, Z:11.98 [[ 5.12764727e-01 -8.58403833e-01 -1.46694785e-02 5.23212151e+02] [ 8.58055324e-01 5.12974519e-01 -2.44581976e-02 -2.87600874e+02] [ 2.85200793e-02 -4.59230666e-05 9.99593219e-01 1.19764386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6027550959999 meters 0.01503781825269686 Centerline is valid? [True, True] Translation: X:523.24, Y:-287.55, Z:11.98 [[ 5.16084976e-01 -8.56409437e-01 -1.48045144e-02 5.23243599e+02] [ 8.56053145e-01 5.16297270e-01 -2.47010739e-02 -2.87552384e+02] [ 2.87977632e-02 7.44020010e-05 9.99585256e-01 1.19779418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.662755096 meters 0.016872525528323145 Centerline is valid? [True, True] Translation: X:523.28, Y:-287.51, Z:11.98 [[ 5.18830980e-01 -8.54750984e-01 -1.46686469e-02 5.23275660e+02] [ 8.54400035e-01 5.19038269e-01 -2.44919619e-02 -2.87505330e+02] [ 2.85481176e-02 1.74296196e-04 9.99592404e-01 1.19788431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7227550959999 meters 0.017648579744087955 Centerline is valid? [True, True] Translation: X:523.31, Y:-287.46, Z:11.98 [[ 5.20992359e-01 -8.53442710e-01 -1.42303449e-02 5.23309720e+02] [ 8.53111466e-01 5.21186607e-01 -2.37770466e-02 -2.87457796e+02] [ 2.77090122e-02 2.47589218e-04 9.99616001e-01 1.19807793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.782755096 meters 0.015710347493724998 Centerline is valid? [True, True] Translation: X:523.35, Y:-287.41, Z:11.99 [[ 5.20625691e-01 -8.53676206e-01 -1.36317688e-02 5.23347081e+02] [ 8.53371917e-01 5.20804071e-01 -2.27923246e-02 -2.87412227e+02] [ 2.65567459e-02 2.33301032e-04 9.99647280e-01 1.19857020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8427550959999 meters 0.01550438950733248 Centerline is valid? [True, True] Translation: X:523.38, Y:-287.37, Z:11.99 [[ 5.20112079e-01 -8.53985361e-01 -1.38718172e-02 5.23381978e+02] [ 8.53669926e-01 5.20296982e-01 -2.32100890e-02 -2.87365787e+02] [ 2.70385408e-02 2.29894462e-04 9.99634365e-01 1.19873599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.902755096 meters 0.01492175699012616 Centerline is valid? [True, True] Translation: X:523.42, Y:-287.32, Z:11.99 [[ 5.18899242e-01 -8.54722055e-01 -1.39206912e-02 5.23419317e+02] [ 8.54404196e-01 5.19085897e-01 -2.33088294e-02 -2.87320135e+02] [ 2.71486050e-02 2.01036993e-04 9.99631388e-01 1.19877901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9627550959999 meters 0.018549001399359256 Centerline is valid? [True, True] Translation: X:523.46, Y:-287.28, Z:11.99 [[ 5.17014247e-01 -8.55857804e-01 -1.42718965e-02 5.23457439e+02] [ 8.55523628e-01 5.17211170e-01 -2.39149803e-02 -2.87275413e+02] [ 2.78494068e-02 1.54440835e-04 9.99612118e-01 1.19852226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.022755096 meters 0.014685771724386083 Centerline is valid? [True, True] Translation: X:523.50, Y:-287.23, Z:11.99 [[ 5.15088083e-01 -8.57016446e-01 -1.43902158e-02 5.23495491e+02] [ 8.56676643e-01 5.15289046e-01 -2.41314690e-02 -2.87231167e+02] [ 2.80961863e-02 1.02070303e-04 9.99605219e-01 1.19879185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0827550959999 meters 0.014563248091710118 Centerline is valid? [True, True] Translation: X:523.53, Y:-287.19, Z:11.99 [[ 5.13307901e-01 -8.58077034e-01 -1.47920084e-02 5.23534316e+02] [ 8.57717879e-01 5.13520984e-01 -2.48241410e-02 -2.87186740e+02] [ 2.88970320e-02 5.50576779e-05 9.99582392e-01 1.19879479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.142755096 meters 0.016359207434863316 Centerline is valid? [True, True] Translation: X:523.57, Y:-287.14, Z:11.99 [[ 5.11377127e-01 -8.59217325e-01 -1.54603646e-02 5.23570475e+02] [ 8.58824918e-01 5.11610779e-01 -2.59647940e-02 -2.87140998e+02] [ 3.02190900e-02 5.54252960e-08 9.99543299e-01 1.19872439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2027550959999 meters 0.01719432819599745 Centerline is valid? [True, True] Translation: X:523.61, Y:-287.10, Z:11.99 [[ 5.10087131e-01 -8.59993647e-01 -1.49012112e-02 5.23606055e+02] [ 8.59628932e-01 5.10304738e-01 -2.50434272e-02 -2.87095352e+02] [ 2.91413470e-02 -3.51822831e-05 9.99575300e-01 1.19888388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.262755096 meters 0.01445435085443849 Centerline is valid? [True, True] Translation: X:523.64, Y:-287.05, Z:11.99 [[ 5.13144506e-01 -8.58184715e-01 -1.42025196e-02 5.23635513e+02] [ 8.57852244e-01 5.13341008e-01 -2.38859145e-02 -2.87045357e+02] [ 2.77892624e-02 7.32625076e-05 9.99613801e-01 1.19941206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3227550959999 meters 0.014429550757055713 Centerline is valid? [True, True] Translation: X:523.67, Y:-287.00, Z:12.00 [[ 5.13632362e-01 -8.57896036e-01 -1.40067227e-02 5.23665262e+02] [ 8.57572113e-01 5.13823298e-01 -2.35730629e-02 -2.86995490e+02] [ 2.74202177e-02 9.61132328e-05 9.99623991e-01 1.19960727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.382755096 meters 0.014700631890897336 Centerline is valid? [True, True] Translation: X:523.69, Y:-286.95, Z:12.00 [[ 5.15800996e-01 -8.56604116e-01 -1.33686640e-02 5.23692136e+02] [ 8.56308188e-01 5.15974187e-01 -2.25149947e-02 -2.86945318e+02] [ 2.61843226e-02 1.65560215e-04 9.99657118e-01 1.19979085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4427550959999 meters 0.014859820703184595 Centerline is valid? [True, True] Translation: X:523.72, Y:-286.89, Z:12.00 [[ 5.17025359e-01 -8.55864192e-01 -1.34634368e-02 5.23719739e+02] [ 8.55563361e-01 5.17200580e-01 -2.26912942e-02 -2.86893736e+02] [ 2.63839635e-02 2.13151278e-04 9.99651860e-01 1.19993914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.502755096 meters 0.014826650808700473 Centerline is valid? [True, True] Translation: X:523.75, Y:-286.84, Z:12.00 [[ 5.15696567e-01 -8.56662799e-01 -1.36344915e-02 5.23748087e+02] [ 8.56354105e-01 5.15876744e-01 -2.29963487e-02 -2.86843737e+02] [ 2.67338336e-02 1.83185306e-04 9.99642570e-01 1.19988910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5627550959999 meters 0.014326937247111428 Centerline is valid? [True, True] Translation: X:523.78, Y:-286.80, Z:12.00 [[ 5.12909013e-01 -8.58325901e-01 -1.41771649e-02 5.23779926e+02] [ 8.57992257e-01 5.13104898e-01 -2.39301138e-02 -2.86795769e+02] [ 2.78142092e-02 1.10073316e-04 9.99613104e-01 1.19997635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.622755096 meters 0.014300765869700383 Centerline is valid? [True, True] Translation: X:523.81, Y:-286.75, Z:12.00 [[ 5.10487577e-01 -8.59767210e-01 -1.42399888e-02 5.23811396e+02] [ 8.59430644e-01 5.10686148e-01 -2.40546549e-02 -2.86748004e+02] [ 2.79535686e-02 4.13197952e-05 9.99609222e-01 1.20009217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6827550959999 meters 0.014564192709811106 Centerline is valid? [True, True] Translation: X:523.84, Y:-286.70, Z:12.00 [[ 5.07294126e-01 -8.61645646e-01 -1.48138511e-02 5.23843423e+02] [ 8.61281631e-01 5.07510372e-01 -2.50434687e-02 -2.86700399e+02] [ 2.90967789e-02 -5.44932245e-05 9.99576598e-01 1.20008657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.742755096 meters 0.015559902598638488 Centerline is valid? [True, True] Translation: X:523.88, Y:-286.65, Z:12.00 [[ 5.03100218e-01 -8.64093210e-01 -1.52674572e-02 5.23879144e+02] [ 8.63707110e-01 5.03331787e-01 -2.58290644e-02 -2.86653783e+02] [ 3.00033157e-02 -1.92003433e-04 9.99549781e-01 1.20018808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8027550959999 meters 0.017887683816062264 Centerline is valid? [True, True] Translation: X:523.91, Y:-286.61, Z:12.00 [[ 4.98111714e-01 -8.66976403e-01 -1.53829898e-02 5.23913739e+02] [ 8.66585338e-01 4.98349061e-01 -2.60396993e-02 -2.86607998e+02] [ 3.02419034e-02 -3.59994113e-04 9.99542544e-01 1.20020536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.862755096 meters 0.017886247990308163 Centerline is valid? [True, True] Translation: X:523.95, Y:-286.56, Z:12.01 [[ 4.95036095e-01 -8.68741379e-01 -1.50891106e-02 5.23945685e+02] [ 8.68365501e-01 4.95265801e-01 -2.55566543e-02 -2.86559441e+02] [ 2.96752436e-02 -4.51396726e-04 9.99559491e-01 1.20075778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.922755096 meters 0.01865967219884125 Centerline is valid? [True, True] Translation: X:523.98, Y:-286.51, Z:12.01 [[ 4.92447623e-01 -8.70231854e-01 -1.38512947e-02 5.23978313e+02] [ 8.69915287e-01 4.92642143e-01 -2.34757795e-02 -2.86511006e+02] [ 2.72531027e-02 -4.88861205e-04 9.99628446e-01 1.20118925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9827550959999 meters 0.018730578329937176 Centerline is valid? [True, True] Translation: X:524.01, Y:-286.46, Z:12.01 [[ 4.92946069e-01 -8.69951107e-01 -1.37566503e-02 5.24007008e+02] [ 8.69638321e-01 4.93137768e-01 -2.33309208e-02 -2.86463037e+02] [ 2.70806842e-02 -4.62424553e-04 9.99633144e-01 1.20124036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.042755096 meters 0.017510873776350078 Centerline is valid? [True, True] Translation: X:524.03, Y:-286.41, Z:12.01 [[ 4.96135117e-01 -8.68131897e-01 -1.40340400e-02 5.24033380e+02] [ 8.67805218e-01 4.96333433e-01 -2.38165282e-02 -2.86411936e+02] [ 2.76414511e-02 -3.62597117e-04 9.99617836e-01 1.20122262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1027550959999 meters 0.015912553099164225 Centerline is valid? [True, True] Translation: X:524.06, Y:-286.36, Z:12.01 [[ 5.00645667e-01 -8.65538002e-01 -1.40670689e-02 5.24056825e+02] [ 8.65208312e-01 5.00843211e-01 -2.38883775e-02 -2.86359077e+02] [ 2.77216945e-02 -2.11332218e-04 9.99615658e-01 1.20124853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.162755096 meters 0.014731781959273523 Centerline is valid? [True, True] Translation: X:524.08, Y:-286.31, Z:12.01 [[ 5.03775093e-01 -8.63715498e-01 -1.43594677e-02 5.24082124e+02] [ 8.63370732e-01 5.03979690e-01 -2.44018596e-02 -2.86306278e+02] [ 2.83131444e-02 -1.04495022e-04 9.99599097e-01 1.20147921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2227550959999 meters 0.01476032787738196 Centerline is valid? [True, True] Translation: X:524.11, Y:-286.26, Z:12.02 [[ 5.08400842e-01 -8.61008128e-01 -1.39135637e-02 5.24107397e+02] [ 8.60682945e-01 5.08591192e-01 -2.36615104e-02 -2.86255332e+02] [ 2.74490688e-02 5.43647944e-05 9.99623202e-01 1.20171021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.282755096 meters 0.015038053185404356 Centerline is valid? [True, True] Translation: X:524.13, Y:-286.20, Z:12.02 [[ 5.11595621e-01 -8.59130228e-01 -1.28519248e-02 5.24132517e+02] [ 8.58851793e-01 5.11757001e-01 -2.18716573e-02 -2.86203179e+02] [ 2.53676645e-02 1.51545434e-04 9.99678178e-01 1.20204083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3427550959999 meters 0.015267965906996273 Centerline is valid? [True, True] Translation: X:524.16, Y:-286.15, Z:12.02 [[ 5.12682365e-01 -8.58484943e-01 -1.26647618e-02 5.24161373e+02] [ 8.58213975e-01 5.12838734e-01 -2.15686227e-02 -2.86153169e+02] [ 2.50113182e-02 1.88776913e-04 9.99687150e-01 1.20233182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.402755096 meters 0.01517219628241582 Centerline is valid? [True, True] Translation: X:524.19, Y:-286.10, Z:12.02 [[ 5.12121786e-01 -8.58821000e-01 -1.25605133e-02 5.24191176e+02] [ 8.58554188e-01 5.12275763e-01 -2.14067285e-02 -2.86103347e+02] [ 2.48189945e-02 1.78970724e-04 9.99691945e-01 1.20247675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4627550959999 meters 0.01666241295706416 Centerline is valid? [True, True] Translation: X:524.22, Y:-286.05, Z:12.02 [[ 5.10884352e-01 -8.59557277e-01 -1.25883537e-02 5.24220878e+02] [ 8.59289111e-01 5.11039396e-01 -2.14699474e-02 -2.86053179e+02] [ 2.48877942e-02 1.51624916e-04 9.99690239e-01 1.20225975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.522755096 meters 0.014639146374996723 Centerline is valid? [True, True] Translation: X:524.25, Y:-286.01, Z:12.03 [[ 5.07407690e-01 -8.61613268e-01 -1.26495823e-02 5.24253880e+02] [ 8.61342722e-01 5.07565338e-01 -2.15903177e-02 -2.86005586e+02] [ 2.50229937e-02 5.94675647e-05 9.99686874e-01 1.20268744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5827550959999 meters 0.01526230364613508 Centerline is valid? [True, True] Translation: X:524.29, Y:-285.96, Z:12.03 [[ 5.00626794e-01 -8.65565769e-01 -1.29889350e-02 5.24290724e+02] [ 8.65281429e-01 5.00795249e-01 -2.21848505e-02 -2.85961368e+02] [ 2.57072441e-02 -1.32753618e-04 9.99669505e-01 1.20274654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.642755096 meters 0.016993470302891073 Centerline is valid? [True, True] Translation: X:524.33, Y:-285.92, Z:12.03 [[ 4.93329695e-01 -8.69746956e-01 -1.28858483e-02 5.24328113e+02] [ 8.69468188e-01 4.93497839e-01 -2.20216395e-02 -2.85915061e+02] [ 2.55123922e-02 -3.39906521e-04 9.99674448e-01 1.20298141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7027550959999 meters 0.01812841472807968 Centerline is valid? [True, True] Translation: X:524.36, Y:-285.87, Z:12.03 [[ 4.89507560e-01 -8.71911044e-01 -1.23886741e-02 5.24361165e+02] [ 8.71653714e-01 4.89664117e-01 -2.11861988e-02 -2.85866692e+02] [ 2.45387699e-02 -4.27829344e-04 9.99698788e-01 1.20315192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.762755096 meters 0.01943553747261647 Centerline is valid? [True, True] Translation: X:524.39, Y:-285.82, Z:12.03 [[ 4.86747449e-01 -8.73469003e-01 -1.13499777e-02 5.24392462e+02] [ 8.73253148e-01 4.86879545e-01 -1.94228612e-02 -2.85818682e+02] [ 2.24913392e-02 -4.57375566e-04 9.99746933e-01 1.20344054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8227550959999 meters 0.020194444910893273 Centerline is valid? [True, True] Translation: X:524.42, Y:-285.77, Z:12.03 [[ 4.85865478e-01 -8.73946464e-01 -1.23416085e-02 5.24424709e+02] [ 8.73690976e-01 4.86021928e-01 -2.11367952e-02 -2.85770513e+02] [ 2.44707198e-02 -5.13112939e-04 9.99700415e-01 1.20349072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.882755096 meters 0.021354336062012338 Centerline is valid? [True, True] Translation: X:524.45, Y:-285.72, Z:12.03 [[ 4.87241462e-01 -8.73179304e-01 -1.23959871e-02 5.24451063e+02] [ 8.72920935e-01 4.87398895e-01 -2.12452061e-02 -2.85718352e+02] [ 2.45926647e-02 -4.69171406e-04 9.99697445e-01 1.20312142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9427550959999 meters 0.018389702257341062 Centerline is valid? [True, True] Translation: X:524.48, Y:-285.67, Z:12.03 [[ 4.90272759e-01 -8.71472723e-01 -1.29581819e-02 5.24476700e+02] [ 8.71189363e-01 4.90443818e-01 -2.22250978e-02 -2.85665883e+02] [ 2.57238267e-02 -3.92670259e-04 9.99669011e-01 1.20345089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.002755096 meters 0.01815164218603474 Centerline is valid? [True, True] Translation: X:524.50, Y:-285.61, Z:12.03 [[ 4.96391866e-01 -8.68010315e-01 -1.23777644e-02 5.24498948e+02] [ 8.67750323e-01 4.96546127e-01 -2.12443298e-02 -2.85611256e+02] [ 2.45864283e-02 -1.95296573e-04 9.99697689e-01 1.20337542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0627550959999 meters 0.015800115264386072 Centerline is valid? [True, True] Translation: X:524.52, Y:-285.56, Z:12.04 [[ 4.99472497e-01 -8.66239221e-01 -1.25234543e-02 5.24524692e+02] [ 8.65972118e-01 4.99629465e-01 -2.15102156e-02 -2.85559074e+02] [ 2.48900792e-02 -1.01201101e-04 9.99690189e-01 1.20376088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.122755096 meters 0.015463914817682417 Centerline is valid? [True, True] Translation: X:524.55, Y:-285.51, Z:12.04 [[ 5.01986434e-01 -8.64798398e-01 -1.15477301e-02 5.24550156e+02] [ 8.64570599e-01 5.02119239e-01 -1.98481488e-02 -2.85506379e+02] [ 2.29629847e-02 -2.03264818e-05 9.99736316e-01 1.20399822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1827550959999 meters 0.015628091845914405 Centerline is valid? [True, True] Translation: X:524.58, Y:-285.46, Z:12.04 [[ 5.01975320e-01 -8.64813682e-01 -1.08661553e-02 5.24579563e+02] [ 8.64611701e-01 5.02092915e-01 -1.86898939e-02 -2.85455791e+02] [ 2.16190955e-02 -1.31395376e-05 9.99766280e-01 1.20426454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.242755096 meters 0.01564345996889637 Centerline is valid? [True, True] Translation: X:524.61, Y:-285.41, Z:12.04 [[ 5.01176392e-01 -8.65276410e-01 -1.09068145e-02 5.24609556e+02] [ 8.65072722e-01 5.01295057e-01 -1.87737053e-02 -2.85405477e+02] [ 2.17119765e-02 -2.62498317e-05 9.99764267e-01 1.20441501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3027550959999 meters 0.015938360031906507 Centerline is valid? [True, True] Translation: X:524.64, Y:-285.36, Z:12.05 [[ 4.98627580e-01 -8.66753069e-01 -1.04716148e-02 5.24640209e+02] [ 8.66565371e-01 4.98737518e-01 -1.80373780e-02 -2.85356482e+02] [ 2.08565399e-02 -8.04046593e-05 9.99782475e-01 1.20457466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.362755096 meters 0.01671231783280339 Centerline is valid? [True, True] Translation: X:524.67, Y:-285.31, Z:12.05 [[ 4.94756608e-01 -8.68969409e-01 -1.03954521e-02 5.24672424e+02] [ 8.68784652e-01 4.94865779e-01 -1.79189571e-02 -2.85307203e+02] [ 2.07153790e-02 -1.65886762e-04 9.99785400e-01 1.20473325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.422755096 meters 0.017983808653446797 Centerline is valid? [True, True] Translation: X:524.70, Y:-285.26, Z:12.05 [[ 4.90693182e-01 -8.71267368e-01 -1.06477585e-02 5.24704911e+02] [ 8.71073792e-01 4.90808623e-01 -1.83669353e-02 -2.85259243e+02] [ 2.12285230e-02 -2.62453453e-04 9.99774615e-01 1.20477645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4827550959999 meters 0.020957759618916966 Centerline is valid? [True, True] Translation: X:524.74, Y:-285.21, Z:12.05 [[ 4.83614254e-01 -8.75212513e-01 -1.09686627e-02 5.24739586e+02] [ 8.75007785e-01 4.83738425e-01 -1.89344340e-02 -2.85212502e+02] [ 2.18776172e-02 -4.40703077e-04 9.99760559e-01 1.20488227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.542755096 meters 0.025309039004657027 Centerline is valid? [True, True] Translation: X:524.77, Y:-285.17, Z:12.05 [[ 4.76498860e-01 -8.79107549e-01 -1.08974400e-02 5.24773713e+02] [ 8.78906175e-01 4.76623068e-01 -1.88251844e-02 -2.85167317e+02] [ 2.17433330e-02 -6.07648361e-04 9.99763401e-01 1.20505323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6027550959999 meters 0.02798758945569683 Centerline is valid? [True, True] Translation: X:524.80, Y:-285.12, Z:12.05 [[ 4.72575554e-01 -8.81225952e-01 -1.06380254e-02 5.24804512e+02] [ 8.81034294e-01 4.72694783e-01 -1.83906042e-02 -2.85118861e+02] [ 2.12348168e-02 -6.81515195e-04 9.99774284e-01 1.20524454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.662755096 meters 0.026204158079679057 Centerline is valid? [True, True] Translation: X:524.83, Y:-285.07, Z:12.05 [[ 4.72113932e-01 -8.81474167e-01 -1.05701301e-02 5.24829589e+02] [ 8.81284728e-01 4.72231752e-01 -1.82866333e-02 -2.85066627e+02] [ 2.11107459e-02 -6.81919903e-04 9.99776911e-01 1.20547727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7227550959999 meters 0.026205008567150773 Centerline is valid? [True, True] Translation: X:524.86, Y:-285.01, Z:12.06 [[ 4.73383845e-01 -8.80793735e-01 -1.04943417e-02 5.24856149e+02] [ 8.80606560e-01 4.73499721e-01 -1.81686825e-02 -2.85014795e+02] [ 2.09719296e-02 -6.40625332e-04 9.99779860e-01 1.20563298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.782755096 meters 0.02447296746353477 Centerline is valid? [True, True] Translation: X:524.88, Y:-284.96, Z:12.06 [[ 4.76046249e-01 -8.79369003e-01 -9.49349115e-03 5.24878333e+02] [ 8.79215348e-01 4.76140619e-01 -1.64463282e-02 -2.84960039e+02] [ 1.89826280e-02 -5.17610289e-04 9.99819680e-01 1.20578900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8427550959999 meters 0.024619965505183843 Centerline is valid? [True, True] Translation: X:524.90, Y:-284.91, Z:12.06 [[ 4.76555028e-01 -8.79107726e-01 -8.05675019e-03 5.24903081e+02] [ 8.78996948e-01 4.76622935e-01 -1.39622212e-02 -2.84907185e+02] [ 1.61143284e-02 -4.28092119e-04 9.99870064e-01 1.20598158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.902755096 meters 0.025992978075818966 Centerline is valid? [True, True] Translation: X:524.93, Y:-284.86, Z:12.06 [[ 4.74248092e-01 -8.80367905e-01 -6.41083033e-03 5.24932430e+02] [ 8.80297805e-01 4.74291275e-01 -1.11157860e-02 -2.84857454e+02] [ 1.28265821e-02 -3.71799573e-04 9.99917667e-01 1.20633633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9627550959999 meters 0.029206341281386536 Centerline is valid? [True, True] Translation: X:524.96, Y:-284.81, Z:12.06 [[ 4.69508953e-01 -8.82909124e-01 -5.72902607e-03 5.24961432e+02] [ 8.82853263e-01 4.69543742e-01 -9.93933285e-03 -2.84807432e+02] [ 1.14655560e-02 -3.91283606e-04 9.99934192e-01 1.20611644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.022755096 meters 0.028847905633309575 Centerline is valid? [True, True] Translation: X:524.99, Y:-284.76, Z:12.06 [[ 4.66754159e-01 -8.84372733e-01 -5.04233683e-03 5.24989998e+02] [ 8.84329484e-01 4.66781245e-01 -8.75403211e-03 -2.84756301e+02] [ 1.00954956e-02 -3.73106229e-04 9.99948970e-01 1.20635164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0827550959999 meters 0.03020936590751556 Centerline is valid? [True, True] Translation: X:525.02, Y:-284.71, Z:12.06 [[ 4.62746124e-01 -8.86477127e-01 -4.93244973e-03 5.25020349e+02] [ 8.86435806e-01 4.62772232e-01 -8.56873817e-03 -2.84706543e+02] [ 9.87859115e-03 -4.07149678e-04 9.99951123e-01 1.20639020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.142755096 meters 0.03190619606570114 Centerline is valid? [True, True] Translation: X:525.05, Y:-284.66, Z:12.06 [[ 4.60018622e-01 -8.87894291e-01 -5.15705681e-03 5.25050916e+02] [ 8.87849137e-01 4.60047303e-01 -8.96594951e-03 -2.84656223e+02] [ 1.03333055e-02 -4.54184702e-04 9.99946507e-01 1.20632478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2027550959999 meters 0.03192260972384165 Centerline is valid? [True, True] Translation: X:525.08, Y:-284.61, Z:12.06 [[ 4.58934214e-01 -8.88453857e-01 -5.39723421e-03 5.25079711e+02] [ 8.88404363e-01 4.58965693e-01 -9.39042403e-03 -2.84605481e+02] [ 1.08201038e-02 -4.85339545e-04 9.99941343e-01 1.20629100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.262755096 meters 0.0330289710367223 Centerline is valid? [True, True] Translation: X:525.11, Y:-284.56, Z:12.06 [[ 4.58643248e-01 -8.88604768e-01 -5.28556246e-03 5.25108757e+02] [ 8.88557235e-01 4.58673457e-01 -9.20328935e-03 -2.84555847e+02] [ 1.06024340e-02 -4.75498246e-04 9.99943680e-01 1.20626634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3227550959999 meters 0.032546020329330176 Centerline is valid? [True, True] Translation: X:525.14, Y:-284.50, Z:12.06 [[ 4.59716741e-01 -8.88049709e-01 -5.31341054e-03 5.25135426e+02] [ 8.88001595e-01 4.59747213e-01 -9.25572727e-03 -2.84504337e+02] [ 1.06623716e-02 -4.63304260e-04 9.99943048e-01 1.20621962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.382755096 meters 0.0304559622813657 Centerline is valid? [True, True] Translation: X:525.16, Y:-284.45, Z:12.06 [[ 4.62641220e-01 -8.86530628e-01 -5.15232457e-03 5.25160647e+02] [ 8.86485231e-01 4.62669726e-01 -8.98108329e-03 -2.84452419e+02] [ 1.03458300e-02 -4.12440300e-04 9.99946395e-01 1.20625898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4427550959999 meters 0.027233944475841477 Centerline is valid? [True, True] Translation: X:525.18, Y:-284.40, Z:12.06 [[ 4.66494331e-01 -8.84510603e-01 -4.90239560e-03 5.25183539e+02] [ 8.84469332e-01 4.66519961e-01 -8.55144289e-03 -2.84398528e+02] [ 9.85090731e-03 -3.46818936e-04 9.99951418e-01 1.20634301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.502755096 meters 0.026444614695263293 Centerline is valid? [True, True] Translation: X:525.21, Y:-284.35, Z:12.06 [[ 4.69481499e-01 -8.82929538e-01 -4.74890749e-03 5.25209560e+02] [ 8.82890671e-01 4.69505420e-01 -8.28991050e-03 -2.84347837e+02] [ 9.54904466e-03 -3.00806511e-04 9.99954362e-01 1.20643592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5627550959999 meters 0.024648108095119033 Centerline is valid? [True, True] Translation: X:525.23, Y:-284.30, Z:12.06 [[ 4.73722088e-01 -8.80661301e-01 -4.80178276e-03 5.25233655e+02] [ 8.80621398e-01 4.73746354e-01 -8.38724604e-03 -2.84295271e+02] [ 9.66115008e-03 -2.55328947e-04 9.99953297e-01 1.20649143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.622755096 meters 0.023049953289163448 Centerline is valid? [True, True] Translation: X:525.26, Y:-284.24, Z:12.07 [[ 4.76162833e-01 -8.79342884e-01 -5.00496444e-03 5.25260419e+02] [ 8.79299384e-01 4.76189078e-01 -8.74956252e-03 -2.84243059e+02] [ 1.00771749e-02 -2.34645673e-04 9.99949196e-01 1.20651141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6827550959999 meters 0.022858471953027506 Centerline is valid? [True, True] Translation: X:525.29, Y:-284.19, Z:12.07 [[ 4.76481919e-01 -8.79169555e-01 -5.08673731e-03 5.25288545e+02] [ 8.79124551e-01 4.76509014e-01 -8.89855127e-03 -2.84192566e+02] [ 1.02472115e-02 -2.31876867e-04 9.99947469e-01 1.20652740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.742755096 meters 0.023537456848873928 Centerline is valid? [True, True] Translation: X:525.32, Y:-284.14, Z:12.07 [[ 4.74856042e-01 -8.80049825e-01 -4.90361636e-03 5.25319764e+02] [ 8.80007991e-01 4.74881300e-01 -8.58407901e-03 -2.84143169e+02] [ 9.88305294e-03 -2.39019800e-04 9.99951133e-01 1.20667397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8027550959999 meters 0.02589625669310688 Centerline is valid? [True, True] Translation: X:525.35, Y:-284.10, Z:12.07 [[ 4.71395647e-01 -8.81909975e-01 -4.57597443e-03 5.25353752e+02] [ 8.81873579e-01 4.71417787e-01 -8.01625985e-03 -2.84097481e+02] [ 9.22681526e-03 -2.56600955e-04 9.99957399e-01 1.20692400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.862755096 meters 0.028095317186864036 Centerline is valid? [True, True] Translation: X:525.38, Y:-284.05, Z:12.07 [[ 4.67445121e-01 -8.84010642e-01 -4.49926247e-03 5.25383697e+02] [ 8.83975517e-01 4.67466683e-01 -7.88581169e-03 -2.84047805e+02] [ 9.07439676e-03 -2.91053665e-04 9.99958784e-01 1.20652330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.922755096 meters 0.02917863395388859 Centerline is valid? [True, True] Translation: X:525.42, Y:-284.00, Z:12.07 [[ 4.65949496e-01 -8.84798885e-01 -4.69032609e-03 5.25415786e+02] [ 8.84760693e-01 4.65972995e-01 -8.22698411e-03 -2.84000213e+02] [ 9.46479166e-03 -3.16457056e-04 9.99955158e-01 1.20695360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9827550959999 meters 0.02564900499921251 Centerline is valid? [True, True] Translation: X:525.44, Y:-283.95, Z:12.07 [[ 4.66211072e-01 -8.84655296e-01 -5.67844227e-03 5.25440501e+02] [ 8.84599189e-01 4.66245501e-01 -9.97033051e-03 -2.83947484e+02] [ 1.14678538e-02 -3.74866951e-04 9.99934172e-01 1.20666356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.042755096 meters 0.025151457748996662 Centerline is valid? [True, True] Translation: X:525.47, Y:-283.90, Z:12.07 [[ 4.67081691e-01 -8.84195188e-01 -5.79348150e-03 5.25467905e+02] [ 8.84136663e-01 4.67117475e-01 -1.01797061e-02 -2.83896202e+02] [ 1.17070836e-02 -3.67475064e-04 9.99931402e-01 1.20664891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1027550959999 meters 0.024360976422308597 Centerline is valid? [True, True] Translation: X:525.50, Y:-283.84, Z:12.07 [[ 4.68315826e-01 -8.83540357e-01 -6.06004447e-03 5.25495671e+02] [ 8.83476163e-01 4.68354892e-01 -1.06566474e-02 -2.83844648e+02] [ 1.22538296e-02 -3.63228190e-04 9.99924853e-01 1.20669065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.162755096 meters 0.027668054746650985 Centerline is valid? [True, True] Translation: X:525.53, Y:-283.80, Z:12.07 [[ 4.69809268e-01 -8.82746438e-01 -6.16262231e-03 5.25529099e+02] [ 8.82679880e-01 4.69849559e-01 -1.08453677e-02 -2.83797599e+02] [ 1.24692150e-02 -3.44368475e-04 9.99922197e-01 1.20694605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2227550959999 meters 0.022510748247047112 Centerline is valid? [True, True] Translation: X:525.55, Y:-283.74, Z:12.07 [[ 4.71362439e-01 -8.81919412e-01 -5.96673591e-03 5.25550516e+02] [ 8.81856897e-01 4.71400100e-01 -1.05052009e-02 -2.83742745e+02] [ 1.20774605e-02 -3.10050090e-04 9.99927017e-01 1.20694600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.282755096 meters 0.022117952710379706 Centerline is valid? [True, True] Translation: X:525.58, Y:-283.69, Z:12.07 [[ 4.72902556e-01 -8.81100048e-01 -5.08699639e-03 5.25578285e+02] [ 8.81054513e-01 4.72929853e-01 -8.96103596e-03 -2.83691671e+02] [ 1.03013617e-02 -2.44224312e-04 9.99946910e-01 1.20708916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3427550959999 meters 0.02094742605911806 Centerline is valid? [True, True] Translation: X:525.61, Y:-283.64, Z:12.07 [[ 4.74834583e-01 -8.80061907e-01 -4.81242960e-03 5.25606270e+02] [ 8.80021045e-01 4.74858924e-01 -8.48314820e-03 -2.83640398e+02] [ 9.75092073e-03 -2.06947190e-04 9.99952437e-01 1.20716992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.402755096 meters 0.020009744324499222 Centerline is valid? [True, True] Translation: X:525.63, Y:-283.59, Z:12.07 [[ 4.75993562e-01 -8.79434460e-01 -5.01582367e-03 5.25633669e+02] [ 8.79389969e-01 4.76019947e-01 -8.84833032e-03 -2.83588387e+02] [ 1.01691587e-02 -1.99116750e-04 9.99948273e-01 1.20718788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4627550959999 meters 0.01954721308889959 Centerline is valid? [True, True] Translation: X:525.66, Y:-283.54, Z:12.07 [[ 4.77196116e-01 -8.78782647e-01 -4.99257801e-03 5.25660991e+02] [ 8.78738468e-01 4.77222198e-01 -8.81357202e-03 -2.83536582e+02] [ 1.01277832e-02 -1.81368021e-04 9.99948696e-01 1.20710451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.522755096 meters 0.01918426520615972 Centerline is valid? [True, True] Translation: X:525.69, Y:-283.49, Z:12.07 [[ 4.78039351e-01 -8.78324302e-01 -4.97991230e-03 5.25688147e+02] [ 8.78280255e-01 4.78065260e-01 -8.79780900e-03 -2.83485534e+02] [ 1.01080525e-02 -1.68059738e-04 9.99948898e-01 1.20718127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5827550959999 meters 0.01938251105358499 Centerline is valid? [True, True] Translation: X:525.72, Y:-283.44, Z:12.07 [[ 4.77830551e-01 -8.78433643e-01 -5.68331107e-03 5.25716872e+02] [ 8.78376176e-01 4.77864310e-01 -1.00495598e-02 -2.83435532e+02] [ 1.15437230e-02 -1.90098340e-04 9.99933351e-01 1.20711573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.642755096 meters 0.01985659902739882 Centerline is valid? [True, True] Translation: X:525.75, Y:-283.39, Z:12.07 [[ 4.76387876e-01 -8.79213254e-01 -6.21660131e-03 5.25747068e+02] [ 8.79144450e-01 4.76428383e-01 -1.10014212e-02 -2.83386404e+02] [ 1.26343606e-02 -2.24346857e-04 9.99920158e-01 1.20718228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7027550959999 meters 0.02086127310687253 Centerline is valid? [True, True] Translation: X:525.78, Y:-283.34, Z:12.07 [[ 4.74201682e-01 -8.80391573e-01 -6.59120353e-03 5.25777758e+02] [ 8.80314210e-01 4.74247412e-01 -1.16741060e-02 -2.83338504e+02] [ 1.34036457e-02 -2.66449435e-04 9.99910132e-01 1.20718708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.762755096 meters 0.022497781026382824 Centerline is valid? [True, True] Translation: X:525.81, Y:-283.29, Z:12.07 [[ 4.71048696e-01 -8.82078873e-01 -7.07011992e-03 5.25810214e+02] [ 8.81989897e-01 4.71101635e-01 -1.25328214e-02 -2.83290482e+02] [ 1.43856821e-02 -3.32205139e-04 9.99896466e-01 1.20725716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8227550959999 meters 0.023320308960332402 Centerline is valid? [True, True] Translation: X:525.84, Y:-283.24, Z:12.07 [[ 4.69838930e-01 -8.82723595e-01 -7.10173466e-03 5.25839579e+02] [ 8.82633767e-01 4.69892469e-01 -1.25976833e-02 -2.83241522e+02] [ 1.44573239e-02 -3.49348777e-04 9.99895426e-01 1.20739752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.882755096 meters 0.02367226388779987 Centerline is valid? [True, True] Translation: X:525.87, Y:-283.19, Z:12.08 [[ 4.69790915e-01 -8.82752430e-01 -6.68154226e-03 5.25866686e+02] [ 8.82672814e-01 4.69838314e-01 -1.18601354e-02 -2.83192290e+02] [ 1.36088079e-02 -3.25831823e-04 9.99907343e-01 1.20753662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9427550959999 meters 0.020923816703248017 Centerline is valid? [True, True] Translation: X:525.89, Y:-283.14, Z:12.08 [[ 4.70189903e-01 -8.82539242e-01 -6.77803054e-03 5.25890716e+02] [ 8.82457149e-01 4.70238647e-01 -1.20414282e-02 -2.83138863e+02] [ 1.38143248e-02 -3.19563570e-04 9.99904527e-01 1.20753659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.002755096 meters 0.021538112695664375 Centerline is valid? [True, True] Translation: X:525.92, Y:-283.09, Z:12.08 [[ 4.71114332e-01 -8.82047087e-01 -6.65008278e-03 5.25919337e+02] [ 8.81967896e-01 4.71161172e-01 -1.18228485e-02 -2.83089982e+02] [ 1.35615699e-02 -2.95246134e-04 9.99907994e-01 1.20764216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0627550959999 meters 0.020247400896755807 Centerline is valid? [True, True] Translation: X:525.94, Y:-283.04, Z:12.08 [[ 4.72454348e-01 -8.81330399e-01 -6.60436675e-03 5.25944128e+02] [ 8.81252103e-01 4.72500430e-01 -1.17505176e-02 -2.83037250e+02] [ 1.34766545e-02 -2.68528960e-04 9.99909150e-01 1.20765210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.122755096 meters 0.019648803399226644 Centerline is valid? [True, True] Translation: X:525.97, Y:-282.99, Z:12.08 [[ 4.73604999e-01 -8.80711873e-01 -6.70087858e-03 5.25970590e+02] [ 8.80631087e-01 4.73652335e-01 -1.19312630e-02 -2.82985832e+02] [ 1.36818917e-02 -2.50296205e-04 9.99906367e-01 1.20768244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1827550959999 meters 0.019563747905455117 Centerline is valid? [True, True] Translation: X:526.00, Y:-282.94, Z:12.08 [[ 4.74572251e-01 -8.80188386e-01 -7.04153114e-03 5.25998322e+02] [ 8.80098977e-01 4.74624426e-01 -1.25477193e-02 -2.82935386e+02] [ 1.43864395e-02 -2.42444971e-04 9.99896480e-01 1.20774234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.242755096 meters 0.019145465513346668 Centerline is valid? [True, True] Translation: X:526.02, Y:-282.88, Z:12.08 [[ 4.74736966e-01 -8.80102319e-01 -6.68737640e-03 5.26024685e+02] [ 8.80021561e-01 4.74784012e-01 -1.19244983e-02 -2.82884073e+02] [ 1.36698380e-02 -2.24035270e-04 9.99906538e-01 1.20781480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3027550959999 meters 0.019189381785968632 Centerline is valid? [True, True] Translation: X:526.05, Y:-282.83, Z:12.08 [[ 4.74612135e-01 -8.80173022e-01 -6.22670205e-03 5.26052184e+02] [ 8.80102909e-01 4.74652934e-01 -1.11113122e-02 -2.82833518e+02] [ 1.27353997e-02 -2.06574958e-04 9.99918880e-01 1.20793807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.362755096 meters 0.019377245451309776 Centerline is valid? [True, True] Translation: X:526.08, Y:-282.78, Z:12.08 [[ 4.74424523e-01 -8.80275325e-01 -6.06003293e-03 5.26080819e+02] [ 8.80208818e-01 4.74463183e-01 -1.08223922e-02 -2.82784079e+02] [ 1.24019473e-02 -1.99686180e-04 9.99923073e-01 1.20807082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.422755096 meters 0.01920686176595839 Centerline is valid? [True, True] Translation: X:526.11, Y:-282.73, Z:12.08 [[ 4.75172840e-01 -8.79871487e-01 -6.07768490e-03 5.26106458e+02] [ 8.79804453e-01 4.75211670e-01 -1.08624888e-02 -2.82734162e+02] [ 1.24457809e-02 -1.85614597e-04 9.99922531e-01 1.20807220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4827550959999 meters 0.018875634099655102 Centerline is valid? [True, True] Translation: X:526.13, Y:-282.68, Z:12.08 [[ 4.75748888e-01 -8.79556457e-01 -6.59044104e-03 5.26132688e+02] [ 8.79477455e-01 4.75794497e-01 -1.17899112e-02 -2.82683217e+02] [ 1.35055881e-02 -1.87107149e-04 9.99908778e-01 1.20799222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.542755096 meters 0.01884249236679394 Centerline is valid? [True, True] Translation: X:526.16, Y:-282.63, Z:12.08 [[ 4.74049748e-01 -8.80472698e-01 -6.68319026e-03 5.26161677e+02] [ 8.80391415e-01 4.74096808e-01 -1.19654550e-02 -2.82633274e+02] [ 1.37037357e-02 -2.11602391e-04 9.99906077e-01 1.20793406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6027550959999 meters 0.020524888484986754 Centerline is valid? [True, True] Translation: X:526.19, Y:-282.58, Z:12.08 [[ 4.69904522e-01 -8.82696415e-01 -6.06466646e-03 5.26193569e+02] [ 8.82629579e-01 4.69943591e-01 -1.08649455e-02 -2.82584959e+02] [ 1.24404996e-02 -2.47366981e-04 9.99922583e-01 1.20815667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.662755096 meters 0.02142920623669224 Centerline is valid? [True, True] Translation: X:526.22, Y:-282.53, Z:12.08 [[ 4.67563462e-01 -8.83942436e-01 -5.49347767e-03 5.26222865e+02] [ 8.83887607e-01 4.67595666e-01 -9.84841566e-03 -2.82534698e+02] [ 1.12741589e-02 -2.50857508e-04 9.99936413e-01 1.20827428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7227550959999 meters 0.02187787044723543 Centerline is valid? [True, True] Translation: X:526.25, Y:-282.48, Z:12.08 [[ 4.66298499e-01 -8.84613270e-01 -5.00719316e-03 5.26251374e+02] [ 8.84567700e-01 4.66325320e-01 -8.98224023e-03 -2.82484013e+02] [ 1.02807899e-02 -2.40796201e-04 9.99947122e-01 1.20842433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.782755096 meters 0.02105957290906341 Centerline is valid? [True, True] Translation: X:526.28, Y:-282.43, Z:12.08 [[ 4.67160055e-01 -8.84159270e-01 -4.88546366e-03 5.26275762e+02] [ 8.84115802e-01 4.67185547e-01 -8.76999326e-03 -2.82430950e+02] [ 1.00364889e-02 -2.22325088e-04 9.99949608e-01 1.20836212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8427550959999 meters 0.02074283402150937 Centerline is valid? [True, True] Translation: X:526.30, Y:-282.38, Z:12.08 [[ 4.69250512e-01 -8.83048688e-01 -5.38256871e-03 5.26299317e+02] [ 8.82995755e-01 4.69281333e-01 -9.67098408e-03 -2.82379055e+02] [ 1.10658888e-02 -2.14671082e-04 9.99938748e-01 1.20828333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.902755096 meters 0.018804066172313515 Centerline is valid? [True, True] Translation: X:526.32, Y:-282.32, Z:12.08 [[ 4.72120228e-01 -8.81517188e-01 -5.47151830e-03 5.26321894e+02] [ 8.81462306e-01 4.72151899e-01 -9.83807548e-03 -2.82324934e+02] [ 1.12558204e-02 -1.78182693e-04 9.99936635e-01 1.20825016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9627550959999 meters 0.018219402364851187 Centerline is valid? [True, True] Translation: X:526.35, Y:-282.27, Z:12.08 [[ 4.74259994e-01 -8.80368618e-01 -5.34365439e-03 5.26347333e+02] [ 8.80316123e-01 4.74290075e-01 -9.61496139e-03 -2.82272377e+02] [ 1.09991525e-02 -1.44113594e-04 9.99939497e-01 1.20836529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.022755096 meters 0.017785930232642383 Centerline is valid? [True, True] Translation: X:526.37, Y:-282.22, Z:12.08 [[ 4.75933028e-01 -8.79465689e-01 -5.27767162e-03 5.26371924e+02] [ 8.79414354e-01 4.75962275e-01 -9.50301420e-03 -2.82220216e+02] [ 1.08695475e-02 -1.18461845e-04 9.99940918e-01 1.20845962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0827550959999 meters 0.017681281467551043 Centerline is valid? [True, True] Translation: X:526.40, Y:-282.17, Z:12.09 [[ 4.76261555e-01 -8.79287571e-01 -5.31967831e-03 5.26397410e+02] [ 8.79235331e-01 4.76291250e-01 -9.58529022e-03 -2.82170253e+02] [ 1.09619428e-02 -1.12143895e-04 9.99939910e-01 1.20858372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.142755096 meters 0.01773273945509854 Centerline is valid? [True, True] Translation: X:526.43, Y:-282.12, Z:12.09 [[ 4.74752578e-01 -8.80103586e-01 -5.26008773e-03 5.26425810e+02] [ 8.80052465e-01 4.74781700e-01 -9.48661719e-03 -2.82119297e+02] [ 1.08465992e-02 -1.25357209e-04 9.99941166e-01 1.20863315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2027550959999 meters 0.018490967081500286 Centerline is valid? [True, True] Translation: X:526.46, Y:-282.07, Z:12.09 [[ 4.71658720e-01 -8.81770179e-01 -4.40486778e-03 5.26456155e+02] [ 8.81734365e-01 4.71679269e-01 -7.94833906e-03 -2.82070021e+02] [ 9.08629317e-03 -1.35019874e-04 9.99958710e-01 1.20888491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.262755096 meters 0.019473513027214555 Centerline is valid? [True, True] Translation: X:526.49, Y:-282.02, Z:12.09 [[ 4.69057735e-01 -8.83158182e-01 -4.05787724e-03 5.26485360e+02] [ 8.83127801e-01 4.69075264e-01 -7.32688123e-03 -2.82019832e+02] [ 8.37424494e-03 -1.46893892e-04 9.99964925e-01 1.20897149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3227550959999 meters 0.02023814292517291 Centerline is valid? [True, True] Translation: X:526.51, Y:-281.97, Z:12.09 [[ 4.66973362e-01 -8.84259533e-01 -4.57788092e-03 5.26514635e+02] [ 8.84220851e-01 4.66995764e-01 -8.27306558e-03 -2.81970395e+02] [ 9.45338810e-03 -1.84556512e-04 9.99955299e-01 1.20885924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.382755096 meters 0.020473484269876187 Centerline is valid? [True, True] Translation: X:526.54, Y:-281.92, Z:12.09 [[ 4.66466752e-01 -8.84524648e-01 -4.99168136e-03 5.26542760e+02] [ 8.84478591e-01 4.66493415e-01 -9.02862986e-03 -2.81920806e+02] [ 1.03146321e-02 -2.03479654e-04 9.99946782e-01 1.20876071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4427550959999 meters 0.020540453366959754 Centerline is valid? [True, True] Translation: X:526.57, Y:-281.87, Z:12.09 [[ 4.66545628e-01 -8.84480721e-01 -5.38807412e-03 5.26570308e+02] [ 8.84426947e-01 4.66576691e-01 -9.75537869e-03 -2.81872064e+02] [ 1.11423942e-02 -2.14028666e-04 9.99937899e-01 1.20880479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.502755096 meters 0.01919177272595226 Centerline is valid? [True, True] Translation: X:526.59, Y:-281.82, Z:12.09 [[ 4.69292143e-01 -8.83024311e-01 -5.74033202e-03 5.26593641e+02] [ 8.82963087e-01 4.69327211e-01 -1.03998259e-02 -2.81818513e+02] [ 1.18773931e-02 -1.87944728e-04 9.99929444e-01 1.20877877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5627550959999 meters 0.016540830785988447 Centerline is valid? [True, True] Translation: X:526.61, Y:-281.76, Z:12.09 [[ 4.73720692e-01 -8.80654884e-01 -5.97337646e-03 5.26614276e+02] [ 8.80588289e-01 4.73758334e-01 -1.08308011e-02 -2.81762954e+02] [ 1.23681348e-02 -1.29310748e-04 9.99923503e-01 1.20868479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.622755096 meters 0.016016061634703354 Centerline is valid? [True, True] Translation: X:526.64, Y:-281.71, Z:12.09 [[ 4.76525742e-01 -8.79138858e-01 -6.17135893e-03 5.26639692e+02] [ 8.79067592e-01 4.76565693e-01 -1.11941227e-02 -2.81711601e+02] [ 1.27822462e-02 -9.07539892e-05 9.99918300e-01 1.20881894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6827550959999 meters 0.01571607473955881 Centerline is valid? [True, True] Translation: X:526.67, Y:-281.66, Z:12.09 [[ 4.77566980e-01 -8.78573175e-01 -6.24146800e-03 5.26665261e+02] [ 8.78500120e-01 4.77607759e-01 -1.13299906e-02 -2.81659788e+02] [ 1.29351994e-02 -7.23009754e-05 9.99916334e-01 1.20888796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.742755096 meters 0.015497827716416621 Centerline is valid? [True, True] Translation: X:526.69, Y:-281.61, Z:12.09 [[ 4.78975078e-01 -8.77805145e-01 -6.40333076e-03 5.26688931e+02] [ 8.77728066e-01 4.79017876e-01 -1.16325850e-02 -2.81606079e+02] [ 1.32784529e-02 -4.86648061e-05 9.99911836e-01 1.20893439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8027550959999 meters 0.015409819006651488 Centerline is valid? [True, True] Translation: X:526.71, Y:-281.55, Z:12.09 [[ 4.80367852e-01 -8.77043758e-01 -6.40102743e-03 5.26713847e+02] [ 8.76966549e-01 4.80410498e-01 -1.16372296e-02 -2.81553690e+02] [ 1.32814803e-02 -2.33359682e-05 9.99911797e-01 1.20907438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.862755096 meters 0.015294615011439108 Centerline is valid? [True, True] Translation: X:526.74, Y:-281.50, Z:12.09 [[ 4.80142577e-01 -8.77161441e-01 -7.13532220e-03 5.26741495e+02] [ 8.77065352e-01 4.80195592e-01 -1.29831734e-02 -2.81503860e+02] [ 1.48146893e-02 -2.43695596e-05 9.99890256e-01 1.20914988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.922755096 meters 0.015424609589032719 Centerline is valid? [True, True] Translation: X:526.77, Y:-281.45, Z:12.09 [[ 4.77853853e-01 -8.78400959e-01 -8.21277344e-03 5.26769872e+02] [ 8.78273609e-01 4.77924419e-01 -1.49571905e-02 -2.81452948e+02] [ 1.70634954e-02 -6.57110653e-05 9.99854406e-01 1.20893969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9827550959999 meters 0.015744094396036704 Centerline is valid? [True, True] Translation: X:526.80, Y:-281.40, Z:12.09 [[ 4.75304444e-01 -8.79776000e-01 -8.93730038e-03 5.26800460e+02] [ 8.79625182e-01 4.75388447e-01 -1.62900013e-02 -2.81403368e+02] [ 1.85802416e-02 -1.18764452e-04 9.99827365e-01 1.20891172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.042755096 meters 0.016474392323594184 Centerline is valid? [True, True] Translation: X:526.83, Y:-281.35, Z:12.09 [[ 4.72210439e-01 -8.81434955e-01 -9.47219953e-03 5.26830029e+02] [ 8.81265604e-01 4.72305394e-01 -1.72785734e-02 -2.81353400e+02] [ 1.97037095e-02 -1.88400929e-04 9.99805845e-01 1.20892002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1027550959999 meters 0.017216841347922566 Centerline is valid? [True, True] Translation: X:526.86, Y:-281.30, Z:12.09 [[ 4.69676696e-01 -8.82777493e-01 -1.03778168e-02 5.26857382e+02] [ 8.82574217e-01 4.69791262e-01 -1.89452212e-02 -2.81302143e+02] [ 2.15998225e-02 -2.61064690e-04 9.99766663e-01 1.20889523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.162755096 meters 0.018338247136611103 Centerline is valid? [True, True] Translation: X:526.89, Y:-281.25, Z:12.09 [[ 4.67013822e-01 -8.84194235e-01 -9.93199256e-03 5.26885067e+02] [ 8.84008107e-01 4.67119321e-01 -1.81440691e-02 -2.81251873e+02] [ 2.06823069e-02 -3.06430911e-04 9.99786051e-01 1.20905776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2227550959999 meters 0.018502487190272438 Centerline is valid? [True, True] Translation: X:526.91, Y:-281.20, Z:12.09 [[ 4.65546402e-01 -8.84953977e-01 -1.10907995e-02 5.26912673e+02] [ 8.84721696e-01 4.65678344e-01 -2.02780867e-02 -2.81200669e+02] [ 2.31099186e-02 -3.71880660e-04 9.99732861e-01 1.20904585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.282755096 meters 0.01863041447560755 Centerline is valid? [True, True] Translation: X:526.94, Y:-281.15, Z:12.09 [[ 4.65369295e-01 -8.85037483e-01 -1.18352278e-02 5.26939959e+02] [ 8.84772584e-01 4.65519600e-01 -2.16558738e-02 -2.81148958e+02] [ 2.46757906e-02 -3.93506412e-04 9.99695429e-01 1.20903511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3427550959999 meters 0.01836912950003995 Centerline is valid? [True, True] Translation: X:526.96, Y:-281.10, Z:12.09 [[ 4.66817600e-01 -8.84262736e-01 -1.26784478e-02 5.26963189e+02] [ 8.83957963e-01 4.66989591e-01 -2.32172584e-02 -2.81095796e+02] [ 2.64508596e-02 -3.68990039e-04 9.99650047e-01 1.20895843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.402755096 meters 0.018064581950151256 Centerline is valid? [True, True] Translation: X:526.99, Y:-281.04, Z:12.09 [[ 4.67954983e-01 -8.83647828e-01 -1.35886218e-02 5.26987756e+02] [ 8.83296892e-01 4.68152107e-01 -2.49039095e-02 -2.81042812e+02] [ 2.83678274e-02 -3.48878860e-04 9.99597491e-01 1.20903561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4627550959999 meters 0.01910609765674475 Centerline is valid? [True, True] Translation: X:527.01, Y:-280.99, Z:12.09 [[ 4.67942789e-01 -8.83644513e-01 -1.42098915e-02 5.27013740e+02] [ 8.83260177e-01 4.68158358e-01 -2.60616798e-02 -2.80992507e+02] [ 2.96817398e-02 -3.55656144e-04 9.99559337e-01 1.20889568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.522755096 meters 0.019754234748793148 Centerline is valid? [True, True] Translation: X:527.04, Y:-280.94, Z:12.09 [[ 4.66351001e-01 -8.84480342e-01 -1.45350854e-02 5.27039800e+02] [ 8.84078063e-01 4.66577279e-01 -2.66762241e-02 -2.80939712e+02] [ 3.03763364e-02 -4.09666340e-04 9.99538449e-01 1.20900013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5827550959999 meters 0.02033204963545632 Centerline is valid? [True, True] Translation: X:527.07, Y:-280.89, Z:12.09 [[ 4.62397858e-01 -8.86558019e-01 -1.42513334e-02 5.27068654e+02] [ 8.86171711e-01 4.62617123e-01 -2.61743297e-02 -2.80889160e+02] [ 2.97979727e-02 -5.26174489e-04 9.99555803e-01 1.20913731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.642755096 meters 0.02284955849151214 Centerline is valid? [True, True] Translation: X:527.10, Y:-280.84, Z:12.09 [[ 4.56658741e-01 -8.89529872e-01 -1.41209580e-02 5.27100669e+02] [ 8.89151452e-01 4.56876473e-01 -2.59534783e-02 -2.80839875e+02] [ 2.95379277e-02 -7.03787601e-04 9.99563412e-01 1.20922563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7027550959999 meters 0.025317039166934962 Centerline is valid? [True, True] Translation: X:527.13, Y:-280.79, Z:12.09 [[ 4.52122911e-01 -8.91846725e-01 -1.39388927e-02 5.27131581e+02] [ 8.91478532e-01 4.52336957e-01 -2.56379438e-02 -2.80791799e+02] [ 2.91701925e-02 -8.34721824e-04 9.99574111e-01 1.20935350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.762755096 meters 0.02686146167997119 Centerline is valid? [True, True] Translation: X:527.16, Y:-280.74, Z:12.10 [[ 4.49125294e-01 -8.93365484e-01 -1.35861289e-02 5.27161591e+02] [ 8.93015841e-01 4.49329836e-01 -2.50081480e-02 -2.80741733e+02] [ 2.84460693e-02 -9.00836511e-04 9.99594923e-01 1.20957701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8227550959999 meters 0.02783533468817631 Centerline is valid? [True, True] Translation: X:527.19, Y:-280.69, Z:12.10 [[ 4.48529332e-01 -8.93666413e-01 -1.34826143e-02 5.27189618e+02] [ 8.93321665e-01 4.48731017e-01 -2.48370284e-02 -2.80692407e+02] [ 2.82460853e-02 -9.04175692e-04 9.99600591e-01 1.20969894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.882755096 meters 0.026695279730876462 Centerline is valid? [True, True] Translation: X:527.21, Y:-280.64, Z:12.10 [[ 4.50670437e-01 -8.92595948e-01 -1.29858114e-02 5.27214999e+02] [ 8.92275182e-01 4.50856782e-01 -2.39407937e-02 -2.80640582e+02] [ 2.72241966e-02 -7.97509246e-04 9.99629035e-01 1.20989312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9427550959999 meters 0.024824299066788236 Centerline is valid? [True, True] Translation: X:527.24, Y:-280.59, Z:12.10 [[ 4.51735061e-01 -8.92057878e-01 -1.29683384e-02 5.27239552e+02] [ 8.91737277e-01 4.51920536e-01 -2.39260839e-02 -2.80587627e+02] [ 2.72041101e-02 -7.56099799e-04 9.99629614e-01 1.21004580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.002755096 meters 0.02455001922298645 Centerline is valid? [True, True] Translation: X:527.27, Y:-280.54, Z:12.10 [[ 4.55354330e-01 -8.90213538e-01 -1.31259902e-02 5.27265792e+02] [ 8.89883823e-01 4.55543018e-01 -2.42351129e-02 -2.80536519e+02] [ 2.75538788e-02 -6.45042694e-04 9.99620112e-01 1.20989940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0627550959999 meters 0.02124937887472409 Centerline is valid? [True, True] Translation: X:527.29, Y:-280.48, Z:12.10 [[ 4.57900838e-01 -8.88902635e-01 -1.33763879e-02 5.27287937e+02] [ 8.88559137e-01 4.58095822e-01 -2.47159390e-02 -2.80482379e+02] [ 2.80977307e-02 -5.68262495e-04 9.99605019e-01 1.21012924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.122755096 meters 0.025163433548719343 Centerline is valid? [True, True] Translation: X:527.32, Y:-280.43, Z:12.10 [[ 4.58321153e-01 -8.88680053e-01 -1.37653205e-02 5.27318041e+02] [ 8.88315618e-01 4.58527478e-01 -2.54541802e-02 -2.80433678e+02] [ 2.89323999e-02 -5.61759985e-04 9.99581213e-01 1.20976089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1827550959999 meters 0.02404678435553716 Centerline is valid? [True, True] Translation: X:527.35, Y:-280.38, Z:12.10 [[ 4.56448316e-01 -8.89646367e-01 -1.35748433e-02 5.27345373e+02] [ 8.89291821e-01 4.56649729e-01 -2.51213411e-02 -2.80382296e+02] [ 2.85480584e-02 -6.05403231e-04 9.99592238e-01 1.21007730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.242755096 meters 0.023648108781678216 Centerline is valid? [True, True] Translation: X:527.38, Y:-280.33, Z:12.10 [[ 4.53449431e-01 -8.91183627e-01 -1.32422350e-02 5.27377233e+02] [ 8.90846394e-01 4.53642244e-01 -2.45238111e-02 -2.80333956e+02] [ 2.78624561e-02 -6.76489092e-04 9.99611538e-01 1.21038627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3027550959999 meters 0.024347919931353355 Centerline is valid? [True, True] Translation: X:527.41, Y:-280.28, Z:12.11 [[ 4.51786254e-01 -8.92033042e-01 -1.28931010e-02 5.27405996e+02] [ 8.91713234e-01 4.51969644e-01 -2.38945466e-02 -2.80283160e+02] [ 2.71420153e-02 -7.01721145e-04 9.99631341e-01 1.21059246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.362755096 meters 0.02571541927627938 Centerline is valid? [True, True] Translation: X:527.43, Y:-280.23, Z:12.11 [[ 4.51337747e-01 -8.92268772e-01 -1.22750796e-02 5.27433440e+02] [ 8.91978537e-01 4.51504136e-01 -2.27663187e-02 -2.80233621e+02] [ 2.58559244e-02 -6.73808508e-04 9.99665453e-01 1.21067778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.422755096 meters 0.027274074022171118 Centerline is valid? [True, True] Translation: X:527.46, Y:-280.18, Z:12.11 [[ 4.52186824e-01 -8.91850369e-01 -1.14015631e-02 5.27461801e+02] [ 8.91599452e-01 4.52330149e-01 -2.11625421e-02 -2.80183489e+02] [ 2.40310917e-02 -5.96204706e-04 9.99711034e-01 1.21090275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4827550959999 meters 0.026298040028383526 Centerline is valid? [True, True] Translation: X:527.48, Y:-280.13, Z:12.11 [[ 4.52385327e-01 -8.91755533e-01 -1.09355079e-02 5.27483975e+02] [ 8.91524357e-01 4.52517132e-01 -2.03117432e-02 -2.80130918e+02] [ 2.30616140e-02 -5.60537067e-04 9.99733888e-01 1.21102660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.542755096 meters 0.024591338363869095 Centerline is valid? [True, True] Translation: X:527.51, Y:-280.08, Z:12.11 [[ 4.52462271e-01 -8.91717222e-01 -1.08760370e-02 5.27505051e+02] [ 8.91488185e-01 4.52592636e-01 -2.02168698e-02 -2.80076290e+02] [ 2.29501453e-02 -5.48487636e-04 9.99736460e-01 1.21113977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6027550959999 meters 0.02254894544174566 Centerline is valid? [True, True] Translation: X:527.53, Y:-280.02, Z:12.11 [[ 4.52695074e-01 -8.91594106e-01 -1.12747542e-02 5.27530441e+02] [ 8.91347540e-01 4.52835116e-01 -2.09742880e-02 -2.80024502e+02] [ 2.38061562e-02 -5.54767544e-04 9.99716439e-01 1.21137107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.662755096 meters 0.023349569666216034 Centerline is valid? [True, True] Translation: X:527.56, Y:-279.97, Z:12.12 [[ 4.50741932e-01 -8.92592032e-01 -1.05439500e-02 5.27558525e+02] [ 8.92376352e-01 4.50864890e-01 -1.96289766e-02 -2.79973338e+02] [ 2.22745650e-02 -5.61568802e-04 9.99751733e-01 1.21152663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7227550959999 meters 0.02483674331849922 Centerline is valid? [True, True] Translation: X:527.59, Y:-279.92, Z:12.12 [[ 4.48160713e-01 -8.93901724e-01 -9.57512792e-03 5.27588329e+02] [ 8.93723917e-01 4.48262636e-01 -1.78372973e-02 -2.79924072e+02] [ 2.02369629e-02 -5.63544964e-04 9.99795053e-01 1.21188225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.782755096 meters 0.026045216716346044 Centerline is valid? [True, True] Translation: X:527.62, Y:-279.88, Z:12.12 [[ 4.47105338e-01 -8.94434473e-01 -9.15370729e-03 5.27616830e+02] [ 8.94271910e-01 4.47198683e-01 -1.70613016e-02 -2.79875236e+02] [ 1.93537421e-02 -5.57704308e-04 9.99812543e-01 1.21208234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8427550959999 meters 0.025793023234988745 Centerline is valid? [True, True] Translation: X:527.64, Y:-279.82, Z:12.12 [[ 4.46123464e-01 -8.94929096e-01 -8.70451628e-03 5.27642651e+02] [ 8.94782017e-01 4.46208040e-01 -1.62335249e-02 -2.79824127e+02] [ 1.84118789e-02 -5.46488296e-04 9.99830338e-01 1.21227836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.902755096 meters 0.023884635031337555 Centerline is valid? [True, True] Translation: X:527.67, Y:-279.77, Z:12.12 [[ 4.47300268e-01 -8.94346487e-01 -8.17501159e-03 5.27666324e+02] [ 8.94216457e-01 4.47374703e-01 -1.52579006e-02 -2.79770083e+02] [ 1.73031432e-02 -4.85366885e-04 9.99850172e-01 1.21238263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9627550959999 meters 0.023172090413501528 Centerline is valid? [True, True] Translation: X:527.69, Y:-279.72, Z:12.12 [[ 4.47925097e-01 -8.94034015e-01 -8.14168658e-03 5.27692439e+02] [ 8.93904811e-01 4.47998841e-01 -1.52061385e-02 -2.79718278e+02] [ 1.72422712e-02 -4.66681759e-04 9.99851232e-01 1.21247153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.022755096 meters 0.024375421642590853 Centerline is valid? [True, True] Translation: X:527.72, Y:-279.67, Z:12.12 [[ 4.47046122e-01 -8.94467348e-01 -8.82770787e-03 5.27720003e+02] [ 8.94315278e-01 4.47132972e-01 -1.65011732e-02 -2.79667408e+02] [ 1.87069199e-02 -5.17968515e-04 9.99824876e-01 1.21229943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0827550959999 meters 0.024363942659941854 Centerline is valid? [True, True] Translation: X:527.75, Y:-279.62, Z:12.12 [[ 4.45999509e-01 -8.94990569e-01 -8.73613645e-03 5.27747531e+02] [ 8.94841508e-01 4.46084748e-01 -1.63423632e-02 -2.79616400e+02] [ 1.85233182e-02 -5.28771537e-04 9.99828289e-01 1.21242588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.142755096 meters 0.026579740436825296 Centerline is valid? [True, True] Translation: X:527.77, Y:-279.56, Z:12.13 [[ 4.44848306e-01 -8.95571986e-01 -7.79760613e-03 5.27773654e+02] [ 8.95453161e-01 4.44916373e-01 -1.45965171e-02 -2.79564681e+02] [ 1.65415145e-02 -4.89155134e-04 9.99863060e-01 1.21252082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2027550959999 meters 0.024798405040705046 Centerline is valid? [True, True] Translation: X:527.80, Y:-279.51, Z:12.13 [[ 4.44880824e-01 -8.95558849e-01 -7.44315599e-03 5.27798811e+02] [ 8.95450420e-01 4.44942845e-01 -1.39430883e-02 -2.79512382e+02] [ 1.57986351e-02 -4.61964521e-04 9.99875087e-01 1.21288238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.262755096 meters 0.023925827133710015 Centerline is valid? [True, True] Translation: X:527.82, Y:-279.46, Z:12.13 [[ 4.47308662e-01 -8.94355379e-01 -6.58911553e-03 5.27823102e+02] [ 8.94270153e-01 4.47357039e-01 -1.23520498e-02 -2.79459190e+02] [ 1.39948094e-02 -3.67270475e-04 9.99902000e-01 1.21314030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3227550959999 meters 0.022800001379274435 Centerline is valid? [True, True] Translation: X:527.85, Y:-279.41, Z:12.13 [[ 4.50057264e-01 -8.92974041e-01 -6.76911882e-03 5.27846006e+02] [ 8.92883859e-01 4.50108046e-01 -1.26949425e-02 -2.79405176e+02] [ 1.43830890e-02 -3.30585825e-04 9.99896503e-01 1.21322417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.382755096 meters 0.020877346249577607 Centerline is valid? [True, True] Translation: X:527.87, Y:-279.35, Z:12.13 [[ 4.52345082e-01 -8.91817251e-01 -6.77626812e-03 5.27867742e+02] [ 8.91726625e-01 4.52395741e-01 -1.27169239e-02 -2.79351096e+02] [ 1.44067270e-02 -2.90140704e-04 9.99896176e-01 1.21331417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4427550959999 meters 0.019459087093368764 Centerline is valid? [True, True] Translation: X:527.89, Y:-279.30, Z:12.13 [[ 4.55645235e-01 -8.90134850e-01 -6.88249712e-03 5.27887952e+02] [ 8.90041021e-01 4.55697151e-01 -1.29262229e-02 -2.79296150e+02] [ 1.46424158e-02 -2.35932884e-04 9.99892766e-01 1.21342475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.502755096 meters 0.01879322786044954 Centerline is valid? [True, True] Translation: X:527.91, Y:-279.24, Z:12.13 [[ 4.57294540e-01 -8.89284080e-01 -7.45176186e-03 5.27909831e+02] [ 8.89173791e-01 4.57355197e-01 -1.40069297e-02 -2.79241867e+02] [ 1.58642416e-02 -2.20618872e-04 9.99874131e-01 1.21340681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5627550959999 meters 0.01931050906911729 Centerline is valid? [True, True] Translation: X:527.93, Y:-279.19, Z:12.14 [[ 4.56034728e-01 -8.89933423e-01 -7.12947544e-03 5.27934611e+02] [ 8.89832404e-01 4.56090398e-01 -1.34105261e-02 -2.79188948e+02] [ 1.51861607e-02 -2.28372643e-04 9.99884658e-01 1.21355775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.622755096 meters 0.019833887534553993 Centerline is valid? [True, True] Translation: X:527.96, Y:-279.14, Z:12.14 [[ 4.54499298e-01 -8.90715595e-01 -7.49115851e-03 5.27959078e+02] [ 8.90603993e-01 4.54560953e-01 -1.41020420e-02 -2.79136121e+02] [ 1.59660969e-02 -2.62287479e-04 9.99872499e-01 1.21359732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6827550959999 meters 0.02059455596962679 Centerline is valid? [True, True] Translation: X:527.98, Y:-279.09, Z:12.14 [[ 4.53313001e-01 -8.91317637e-01 -7.75844345e-03 5.27983887e+02] [ 8.91197829e-01 4.53379297e-01 -1.46165168e-02 -2.79085455e+02] [ 1.65454769e-02 -2.88450857e-04 9.99863073e-01 1.21366755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.742755096 meters 0.02152821122351987 Centerline is valid? [True, True] Translation: X:528.01, Y:-279.03, Z:12.14 [[ 4.51873780e-01 -8.92041822e-01 -8.45424101e-03 5.28007417e+02] [ 8.91899413e-01 4.51952734e-01 -1.59424699e-02 -2.79033198e+02] [ 1.80422672e-02 -3.36348482e-04 9.99837168e-01 1.21366018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8027550959999 meters 0.021490541546297735 Centerline is valid? [True, True] Translation: X:528.03, Y:-278.98, Z:12.14 [[ 4.50042212e-01 -8.92962229e-01 -8.97019953e-03 5.28030816e+02] [ 8.92801829e-01 4.50131431e-01 -1.69289500e-02 -2.78980333e+02] [ 1.91546817e-02 -3.89868458e-04 9.99816456e-01 1.21371441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.862755096 meters 0.021629243566950583 Centerline is valid? [True, True] Translation: X:528.06, Y:-278.93, Z:12.14 [[ 4.49129370e-01 -8.93419575e-01 -9.17998502e-03 5.28057145e+02] [ 8.93251420e-01 4.49222988e-01 -1.73380730e-02 -2.78929084e+02] [ 1.96140341e-02 -4.12996846e-04 9.99807541e-01 1.21382987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.922755096 meters 0.02203595215859274 Centerline is valid? [True, True] Translation: X:528.08, Y:-278.88, Z:12.14 [[ 4.46855714e-01 -8.94555774e-01 -9.48361603e-03 5.28081788e+02] [ 8.94376284e-01 4.46956089e-01 -1.79253507e-02 -2.78875840e+02] [ 2.02739859e-02 -4.71875881e-04 9.99794350e-01 1.21401930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9827550959999 meters 0.024345881626028562 Centerline is valid? [True, True] Translation: X:528.11, Y:-278.83, Z:12.14 [[ 4.45350299e-01 -8.95297289e-01 -1.02895883e-02 5.28110262e+02] [ 8.95085849e-01 4.45468822e-01 -1.94641402e-02 -2.78825375e+02] [ 2.20098828e-02 -5.41704186e-04 9.99757606e-01 1.21407526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.042755096 meters 0.022858633083592726 Centerline is valid? [True, True] Translation: X:528.13, Y:-278.77, Z:12.14 [[ 4.45419136e-01 -8.95262219e-01 -1.03610888e-02 5.28131924e+02] [ 8.95047450e-01 4.45539304e-01 -1.96160970e-02 -2.78773293e+02] [ 2.21778229e-02 -5.36281143e-04 9.99753898e-01 1.21415215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1027550959999 meters 0.02294529571813605 Centerline is valid? [True, True] Translation: X:528.16, Y:-278.72, Z:12.14 [[ 4.45305613e-01 -8.95318443e-01 -1.03825278e-02 5.28157318e+02] [ 8.95102383e-01 4.45426316e-01 -1.96753696e-02 -2.78723104e+02] [ 2.22403724e-02 -5.31872840e-04 9.99752511e-01 1.21419824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.162755096 meters 0.02410639546856601 Centerline is valid? [True, True] Translation: X:528.19, Y:-278.67, Z:12.14 [[ 4.46170931e-01 -8.94881275e-01 -1.09089154e-02 5.28185691e+02] [ 8.94642181e-01 4.46303961e-01 -2.06915797e-02 -2.78673708e+02] [ 2.33851994e-02 -5.27594521e-04 9.99726390e-01 1.21407241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2227550959999 meters 0.02023176348833979 Centerline is valid? [True, True] Translation: X:528.21, Y:-278.62, Z:12.14 [[ 4.48202431e-01 -8.93861946e-01 -1.11983410e-02 5.28208585e+02] [ 8.93609244e-01 4.48342049e-01 -2.12585570e-02 -2.78620312e+02] [ 2.40229023e-02 -4.78804132e-04 9.99711294e-01 1.21418818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.282755096 meters 0.019201413392450926 Centerline is valid? [True, True] Translation: X:528.24, Y:-278.57, Z:12.14 [[ 4.51755566e-01 -8.92077029e-01 -1.07462966e-02 5.28235716e+02] [ 8.91843470e-01 4.51883220e-01 -2.04152183e-02 -2.78570136e+02] [ 2.30680184e-02 -3.61325968e-04 9.99733833e-01 1.21426831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3427550959999 meters 0.018635995880822025 Centerline is valid? [True, True] Translation: X:528.26, Y:-278.52, Z:12.14 [[ 4.55219891e-01 -8.90309940e-01 -1.10933234e-02 5.28263241e+02] [ 8.90060247e-01 4.55354955e-01 -2.10860537e-02 -2.78520531e+02] [ 2.38245230e-02 -2.74935130e-04 9.99716118e-01 1.21416594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.402755096 meters 0.01748722279039048 Centerline is valid? [True, True] Translation: X:528.29, Y:-278.47, Z:12.14 [[ 4.56040311e-01 -8.89891361e-01 -1.09818003e-02 5.28290337e+02] [ 8.89646172e-01 4.56172452e-01 -2.08897599e-02 -2.78469545e+02] [ 2.35992116e-02 -2.43343975e-04 9.99721470e-01 1.21444494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4627550959999 meters 0.01743799427236856 Centerline is valid? [True, True] Translation: X:528.32, Y:-278.42, Z:12.14 [[ 4.55282555e-01 -8.90278566e-01 -1.10394289e-02 5.28321455e+02] [ 8.90030512e-01 4.55416302e-01 -2.10161637e-02 -2.78421647e+02] [ 2.37377759e-02 -2.57135828e-04 9.99718186e-01 1.21449067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.522755096 meters 0.018889291060858453 Centerline is valid? [True, True] Translation: X:528.35, Y:-278.37, Z:12.14 [[ 4.53304646e-01 -8.91290706e-01 -1.07598606e-02 5.28354331e+02] [ 8.91054992e-01 4.53432233e-01 -2.04990719e-02 -2.78374917e+02] [ 2.31494999e-02 -2.95302985e-04 9.99731971e-01 1.21449531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5827550959999 meters 0.0183011762824083 Centerline is valid? [True, True] Translation: X:528.39, Y:-278.33, Z:12.15 [[ 4.52493855e-01 -8.91708007e-01 -1.03025011e-02 5.28385231e+02] [ 8.91491754e-01 4.52611027e-01 -1.96395060e-02 -2.78326136e+02] [ 2.21757304e-02 -2.97838956e-04 9.99754044e-01 1.21476908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.642755096 meters 0.017822558891418257 Centerline is valid? [True, True] Translation: X:528.42, Y:-278.28, Z:12.15 [[ 4.52230428e-01 -8.91841461e-01 -1.03174159e-02 5.28417501e+02] [ 8.91624255e-01 4.52348009e-01 -1.96841630e-02 -2.78278045e+02] [ 2.22222152e-02 -2.97480834e-04 9.99753012e-01 1.21485029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7027550959999 meters 0.017952165423660092 Centerline is valid? [True, True] Translation: X:528.45, Y:-278.23, Z:12.15 [[ 4.53030246e-01 -8.91431173e-01 -1.06798950e-02 5.28450603e+02] [ 8.91197946e-01 4.53156028e-01 -2.03920301e-02 -2.78230635e+02] [ 2.30177501e-02 -2.79694093e-04 9.99735017e-01 1.21476418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.762755096 meters 0.016708842242089794 Centerline is valid? [True, True] Translation: X:528.48, Y:-278.18, Z:12.15 [[ 4.55146056e-01 -8.90352153e-01 -1.07290182e-02 5.28479848e+02] [ 8.90116097e-01 4.55272442e-01 -2.05021343e-02 -2.78180189e+02] [ 2.31387457e-02 -2.18606293e-04 9.99732239e-01 1.21485089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8227550959999 meters 0.016228046651972923 Centerline is valid? [True, True] Translation: X:528.51, Y:-278.13, Z:12.15 [[ 4.56925491e-01 -8.89446984e-01 -1.01566942e-02 5.28509227e+02] [ 8.89234905e-01 4.57038334e-01 -1.94228077e-02 -2.78131363e+02] [ 2.19175563e-02 -1.56910996e-04 9.99759769e-01 1.21506306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.882755096 meters 0.01566077755429136 Centerline is valid? [True, True] Translation: X:528.54, Y:-278.08, Z:12.15 [[ 4.58885590e-01 -8.88443050e-01 -9.64168951e-03 5.28539503e+02] [ 8.88251435e-01 4.58986860e-01 -1.84513012e-02 -2.78084231e+02] [ 2.08183391e-02 -9.72083287e-05 9.99783270e-01 1.21518894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9427550959999 meters 0.015344124291352419 Centerline is valid? [True, True] Translation: X:528.57, Y:-278.04, Z:12.15 [[ 4.59971578e-01 -8.87878745e-01 -9.87325314e-03 5.28571048e+02] [ 8.87677403e-01 4.60077525e-01 -1.89076421e-02 -2.78036463e+02] [ 2.13301554e-02 -6.72857452e-05 9.99772484e-01 1.21521359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.002755096 meters 0.015125134997674126 Centerline is valid? [True, True] Translation: X:528.60, Y:-277.99, Z:12.15 [[ 4.61452854e-01 -8.87102575e-01 -1.05016595e-02 5.28603654e+02] [ 8.86874178e-01 4.61572336e-01 -2.01288798e-02 -2.77989333e+02] [ 2.27036566e-02 -2.51215823e-05 9.99742238e-01 1.21522061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0627550959999 meters 0.015122287380778044 Centerline is valid? [True, True] Translation: X:528.63, Y:-277.94, Z:12.15 [[ 4.62360026e-01 -8.86625153e-01 -1.09107691e-02 5.28633171e+02] [ 8.86378052e-01 4.62488744e-01 -2.09311130e-02 -2.77940267e+02] [ 2.36041591e-02 6.64371397e-06 9.99721383e-01 1.21521169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.122755096 meters 0.015434566674721638 Centerline is valid? [True, True] Translation: X:528.66, Y:-277.89, Z:12.15 [[ 4.63263485e-01 -8.86154144e-01 -1.08525305e-02 5.28664566e+02] [ 8.85909164e-01 4.63390583e-01 -2.08355676e-02 -2.77893024e+02] [ 2.34924850e-02 3.80015003e-05 9.99724013e-01 1.21527246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1827550959999 meters 0.015970674469123744 Centerline is valid? [True, True] Translation: X:528.69, Y:-277.84, Z:12.15 [[ 4.66671169e-01 -8.84367507e-01 -1.05892403e-02 5.28690762e+02] [ 8.84133500e-01 4.66791276e-01 -2.03435087e-02 -2.77841105e+02] [ 2.29341030e-02 1.31426906e-04 9.99736970e-01 1.21549484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.242755096 meters 0.01683168076353093 Centerline is valid? [True, True] Translation: X:528.71, Y:-277.79, Z:12.16 [[ 4.68865676e-01 -8.83201900e-01 -1.09261974e-02 5.28714880e+02] [ 8.82952044e-01 4.68992924e-01 -2.10077514e-02 -2.77789083e+02] [ 2.36783953e-02 2.02505239e-04 9.99719607e-01 1.21558441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3027550959999 meters 0.016891753361096246 Centerline is valid? [True, True] Translation: X:528.74, Y:-277.74, Z:12.16 [[ 4.68283561e-01 -8.83503211e-01 -1.15144296e-02 5.28740443e+02] [ 8.83225346e-01 4.68425056e-01 -2.21575119e-02 -2.77737496e+02] [ 2.49698802e-02 2.06162516e-04 9.99688183e-01 1.21558534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.362755096 meters 0.01634094881649627 Centerline is valid? [True, True] Translation: X:528.77, Y:-277.69, Z:12.16 [[ 4.66224038e-01 -8.84590287e-01 -1.16262848e-02 5.28768829e+02] [ 8.84306869e-01 4.66368952e-01 -2.23911237e-02 -2.77686676e+02] [ 2.52291088e-02 1.58076540e-04 9.99681683e-01 1.21576953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.422755096 meters 0.016024550164594916 Centerline is valid? [True, True] Translation: X:528.80, Y:-277.64, Z:12.16 [[ 4.60889844e-01 -8.87380818e-01 -1.16548123e-02 5.28798645e+02] [ 8.87096443e-01 4.61037182e-01 -2.24636834e-02 -2.77636276e+02] [ 2.53071435e-02 1.43410324e-05 9.99679723e-01 1.21584595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4827550959999 meters 0.01675351322105661 Centerline is valid? [True, True] Translation: X:528.83, Y:-277.59, Z:12.16 [[ 4.53945477e-01 -8.90942390e-01 -1.24563728e-02 5.28828742e+02] [ 8.90618326e-01 4.54116309e-01 -2.40286146e-02 -2.77586987e+02] [ 2.70647533e-02 -1.86192968e-04 9.99633665e-01 1.21583372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.542755096 meters 0.018424369812504324 Centerline is valid? [True, True] Translation: X:528.86, Y:-277.54, Z:12.16 [[ 4.48010767e-01 -8.93940484e-01 -1.25205706e-02 5.28860056e+02] [ 8.93613694e-01 4.48185545e-01 -2.41719548e-02 -2.77538039e+02] [ 2.72198277e-02 -3.59257334e-04 9.99629407e-01 1.21604703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6027550959999 meters 0.019179439868006656 Centerline is valid? [True, True] Translation: X:528.89, Y:-277.49, Z:12.16 [[ 4.44952530e-01 -8.95466551e-01 -1.25260277e-02 5.28886198e+02] [ 8.95139567e-01 4.45128586e-01 -2.42011735e-02 -2.77486524e+02] [ 2.72470343e-02 -4.44169664e-04 9.99628632e-01 1.21620985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.662755096 meters 0.019537838571188754 Centerline is valid? [True, True] Translation: X:528.91, Y:-277.43, Z:12.16 [[ 4.44006940e-01 -8.95936083e-01 -1.25049007e-02 5.28912197e+02] [ 8.95609874e-01 4.44182756e-01 -2.41791774e-02 -2.77434377e+02] [ 2.72174588e-02 -4.63789981e-04 9.99629429e-01 1.21632355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7227550959999 meters 0.019752593167631765 Centerline is valid? [True, True] Translation: X:528.94, Y:-277.38, Z:12.16 [[ 4.43588822e-01 -8.96142301e-01 -1.25671449e-02 5.28938447e+02] [ 8.95812400e-01 4.43766554e-01 -2.43184967e-02 -2.77382996e+02] [ 2.73697122e-02 -4.70390968e-04 9.99625269e-01 1.21647488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.782755096 meters 0.019380386139383022 Centerline is valid? [True, True] Translation: X:528.96, Y:-277.33, Z:12.17 [[ 4.43748465e-01 -8.96068497e-01 -1.21880545e-02 5.28964617e+02] [ 8.95757695e-01 4.43915591e-01 -2.36029550e-02 -2.77331062e+02] [ 2.65603318e-02 -4.43768580e-04 9.99647114e-01 1.21686455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8427550959999 meters 0.01946431886909138 Centerline is valid? [True, True] Translation: X:528.99, Y:-277.28, Z:12.17 [[ 4.44712471e-01 -8.95594470e-01 -1.18896663e-02 5.28989569e+02] [ 8.95298113e-01 4.44871203e-01 -2.30413008e-02 -2.77279840e+02] [ 2.59250317e-02 -3.98041965e-04 9.99663811e-01 1.21696680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.902755096 meters 0.018784931186621796 Centerline is valid? [True, True] Translation: X:529.01, Y:-277.23, Z:12.17 [[ 4.46464567e-01 -8.94722860e-01 -1.18488146e-02 5.29012989e+02] [ 8.94427852e-01 4.46621640e-01 -2.29767137e-02 -2.77226362e+02] [ 2.58497280e-02 -3.39621222e-04 9.99665782e-01 1.21709731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9627550959999 meters 0.019232277031019977 Centerline is valid? [True, True] Translation: X:529.04, Y:-277.18, Z:12.17 [[ 4.46227245e-01 -8.94843898e-01 -1.16466420e-02 5.29039610e+02] [ 8.94558498e-01 4.46379085e-01 -2.26010338e-02 -2.77177246e+02] [ 2.54232146e-02 -3.33405540e-04 9.99676722e-01 1.21730946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.022755096 meters 0.02004291839174901 Centerline is valid? [True, True] Translation: X:529.07, Y:-277.13, Z:12.18 [[ 4.44108191e-01 -8.95899827e-01 -1.14636127e-02 5.29068714e+02] [ 8.95623294e-01 4.44255956e-01 -2.22611705e-02 -2.77126458e+02] [ 2.50365570e-02 -3.80710406e-04 9.99686464e-01 1.21761969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0827550959999 meters 0.02183224769634805 Centerline is valid? [True, True] Translation: X:529.10, Y:-277.08, Z:12.18 [[ 4.40315697e-01 -8.97774348e-01 -1.11043386e-02 5.29099228e+02] [ 8.97515077e-01 4.40455450e-01 -2.15796830e-02 -2.77076928e+02] [ 2.42646523e-02 -4.64438111e-04 9.99705462e-01 1.21796493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.142755096 meters 0.022643036522387257 Centerline is valid? [True, True] Translation: X:529.13, Y:-277.03, Z:12.18 [[ 4.37413049e-01 -8.99193701e-01 -1.09778473e-02 5.29127204e+02] [ 8.98940357e-01 4.37550463e-01 -2.13501053e-02 -2.77026335e+02] [ 2.40012424e-02 -5.29615294e-04 9.99711788e-01 1.21825224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2027550959999 meters 0.024297018324322368 Centerline is valid? [True, True] Translation: X:529.16, Y:-276.98, Z:12.18 [[ 4.33500422e-01 -9.01081769e-01 -1.13591183e-02 5.29155252e+02] [ 9.00810719e-01 4.33648735e-01 -2.21093508e-02 -2.76975327e+02] [ 2.48482002e-02 -6.48002657e-04 9.99691026e-01 1.21837631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.262755096 meters 0.028367479122089097 Centerline is valid? [True, True] Translation: X:529.19, Y:-276.93, Z:12.18 [[ 4.30486333e-01 -9.02521751e-01 -1.16621618e-02 5.29185887e+02] [ 9.02236094e-01 4.30643632e-01 -2.27176680e-02 -2.76926685e+02] [ 2.55254252e-02 -7.42377696e-04 9.99673898e-01 1.21831435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3227550959999 meters 0.030112537585595053 Centerline is valid? [True, True] Translation: X:529.21, Y:-276.87, Z:12.18 [[ 4.29500470e-01 -9.02986685e-01 -1.20163722e-02 5.29211689e+02] [ 9.02683094e-01 4.29667814e-01 -2.34265020e-02 -2.76874443e+02] [ 2.63168678e-02 -7.85282409e-04 9.99653343e-01 1.21831128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.382755096 meters 0.027928813996439796 Centerline is valid? [True, True] Translation: X:529.23, Y:-276.82, Z:12.19 [[ 4.29505990e-01 -9.02987761e-01 -1.17348617e-02 5.29233855e+02] [ 9.02697791e-01 4.29665598e-01 -2.28947962e-02 -2.76821552e+02] [ 2.57157872e-02 -7.59581635e-04 9.99669006e-01 1.21863559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4427550959999 meters 0.026690520510864606 Centerline is valid? [True, True] Translation: X:529.26, Y:-276.77, Z:12.19 [[ 4.29437103e-01 -9.03027983e-01 -1.11461399e-02 5.29255655e+02] [ 9.02765975e-01 4.29581132e-01 -2.17633840e-02 -2.76767357e+02] [ 2.44411162e-02 -7.16351249e-04 9.99701015e-01 1.21896524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.502755096 meters 0.027096949474555154 Centerline is valid? [True, True] Translation: X:529.28, Y:-276.72, Z:12.19 [[ 4.30578296e-01 -9.02495883e-01 -1.01741237e-02 5.29279527e+02] [ 9.02277118e-01 4.30698035e-01 -1.98797458e-02 -2.76715068e+02] [ 2.23233638e-02 -6.20091921e-04 9.99750610e-01 1.21916192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5627550959999 meters 0.02604962217218365 Centerline is valid? [True, True] Translation: X:529.30, Y:-276.66, Z:12.19 [[ 4.30288427e-01 -9.02640370e-01 -9.60371283e-03 5.29301260e+02] [ 9.02445201e-01 4.30395188e-01 -1.87787695e-02 -2.76661141e+02] [ 2.10838672e-02 -5.86537381e-04 9.99777539e-01 1.21936211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.622755096 meters 0.02585817912188765 Centerline is valid? [True, True] Translation: X:529.33, Y:-276.61, Z:12.20 [[ 4.30032858e-01 -9.02766321e-01 -9.20384250e-03 5.29326524e+02] [ 9.02586816e-01 4.30130973e-01 -1.80107333e-02 -2.76608567e+02] [ 2.02183411e-02 -5.62059784e-04 9.99795430e-01 1.21963386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6827550959999 meters 0.026771011749276846 Centerline is valid? [True, True] Translation: X:529.35, Y:-276.56, Z:12.20 [[ 4.27884743e-01 -9.03787315e-01 -9.11795277e-03 5.29352049e+02] [ 9.03611092e-01 4.27981462e-01 -1.78567208e-02 -2.76556981e+02] [ 2.00409925e-02 -5.98464865e-04 9.99798980e-01 1.21974822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.742755096 meters 0.027974114182718925 Centerline is valid? [True, True] Translation: X:529.38, Y:-276.51, Z:12.20 [[ 4.24717405e-01 -9.05278367e-01 -9.28460348e-03 5.29378957e+02] [ 9.05095685e-01 4.24818342e-01 -1.81983114e-02 -2.76505392e+02] [ 2.04188075e-02 -6.74314956e-04 9.99791287e-01 1.21991289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8027550959999 meters 0.02909932946937744 Centerline is valid? [True, True] Translation: X:529.40, Y:-276.45, Z:12.20 [[ 4.20707200e-01 -9.07149321e-01 -9.24998184e-03 5.29404564e+02] [ 9.06968154e-01 4.20808197e-01 -1.81446773e-02 -2.76453491e+02] [ 2.03523998e-02 -7.55842599e-04 9.99792583e-01 1.21994794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.862755096 meters 0.031980708596999315 Centerline is valid? [True, True] Translation: X:529.43, Y:-276.40, Z:12.20 [[ 4.16516453e-01 -9.09076659e-01 -9.67841952e-03 5.29432785e+02] [ 9.08878491e-01 4.16627951e-01 -1.90010275e-02 -2.76404325e+02] [ 2.13056907e-02 -8.82266740e-04 9.99772619e-01 1.21994474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.922755096 meters 0.03325880829797297 Centerline is valid? [True, True] Translation: X:529.46, Y:-276.35, Z:12.20 [[ 4.14111445e-01 -9.10165185e-01 -1.05379238e-02 5.29459946e+02] [ 9.09930187e-01 4.14244262e-01 -2.07061939e-02 -2.76352950e+02] [ 2.32113312e-02 -1.01410308e-03 9.99730066e-01 1.21997350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9827550959999 meters 0.03430108127745638 Centerline is valid? [True, True] Translation: X:529.49, Y:-276.30, Z:12.20 [[ 4.12239750e-01 -9.11005400e-01 -1.12938030e-02 5.29485469e+02] [ 9.10735337e-01 4.12392877e-01 -2.22095059e-02 -2.76300964e+02] [ 2.48904637e-02 -1.13002429e-03 9.99689546e-01 1.21998693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.042755096 meters 0.03516523985662139 Centerline is valid? [True, True] Translation: X:529.51, Y:-276.25, Z:12.20 [[ 4.11795961e-01 -9.11196410e-01 -1.20494607e-02 5.29510447e+02] [ 9.10888565e-01 4.11970434e-01 -2.37146260e-02 -2.76248184e+02] [ 2.65727036e-02 -1.21012879e-03 9.99646151e-01 1.22001296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1027550959999 meters 0.036194126275305376 Centerline is valid? [True, True] Translation: X:529.54, Y:-276.20, Z:12.20 [[ 4.11560909e-01 -9.11301725e-01 -1.21154339e-02 5.29535855e+02] [ 9.10990028e-01 4.11737402e-01 -2.38638107e-02 -2.76198204e+02] [ 2.67355091e-02 -1.21562779e-03 9.99641803e-01 1.22008444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.162755096 meters 0.03792626686829066 Centerline is valid? [True, True] Translation: X:529.56, Y:-276.15, Z:12.20 [[ 4.09885018e-01 -9.12057567e-01 -1.20526692e-02 5.29562696e+02] [ 9.11748876e-01 4.10060279e-01 -2.37603641e-02 -2.76148052e+02] [ 2.66131408e-02 -1.24999034e-03 9.99645026e-01 1.22022554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2227550959999 meters 0.036067652344113604 Centerline is valid? [True, True] Translation: X:529.58, Y:-276.09, Z:12.20 [[ 4.09457054e-01 -9.12253922e-01 -1.17347199e-02 5.29584178e+02] [ 9.11960908e-01 4.09623351e-01 -2.31519609e-02 -2.76094243e+02] [ 2.59272824e-02 -1.22187208e-03 9.99663085e-01 1.22040086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.282755096 meters 0.035234391874668744 Centerline is valid? [True, True] Translation: X:529.61, Y:-276.04, Z:12.21 [[ 4.10128006e-01 -9.11958200e-01 -1.12809862e-02 5.29608286e+02] [ 9.11686859e-01 4.10281514e-01 -2.22744156e-02 -2.76040919e+02] [ 2.49417160e-02 -1.14936526e-03 9.99688246e-01 1.22058112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3427550959999 meters 0.03533764341557893 Centerline is valid? [True, True] Translation: X:529.63, Y:-275.99, Z:12.21 [[ 4.11509008e-01 -9.11343613e-01 -1.06374758e-02 5.29632756e+02] [ 9.11101838e-01 4.11645152e-01 -2.10169036e-02 -2.75987936e+02] [ 2.35324862e-02 -1.04317863e-03 9.99722528e-01 1.22072356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.402755096 meters 0.03559712145884204 Centerline is valid? [True, True] Translation: X:529.66, Y:-275.94, Z:12.21 [[ 4.12438698e-01 -9.10922046e-01 -1.07399750e-02 5.29657396e+02] [ 9.10675170e-01 4.12577239e-01 -2.12310464e-02 -2.75936160e+02] [ 2.37708974e-02 -1.02412347e-03 9.99716908e-01 1.22073331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4627550959999 meters 0.03650080290805549 Centerline is valid? [True, True] Translation: X:529.68, Y:-275.89, Z:12.21 [[ 4.11898168e-01 -9.11167046e-01 -1.07011278e-02 5.29683951e+02] [ 9.10921658e-01 4.12035870e-01 -2.11701382e-02 -2.75885279e+02] [ 2.36987807e-02 -1.02794790e-03 9.99718616e-01 1.22076841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.522755096 meters 0.0386610639650821 Centerline is valid? [True, True] Translation: X:529.71, Y:-275.84, Z:12.21 [[ 4.13444981e-01 -9.10465931e-01 -1.07254973e-02 5.29712227e+02] [ 9.10218787e-01 4.13582908e-01 -2.12352778e-02 -2.75835057e+02] [ 2.37698794e-02 -9.82930161e-04 9.99716973e-01 1.22072156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5827550959999 meters 0.030249564142571895 Centerline is valid? [True, True] Translation: X:529.73, Y:-275.78, Z:12.21 [[ 4.16695118e-01 -9.08982727e-01 -1.07508239e-02 5.29727221e+02] [ 9.08733533e-01 4.16832825e-01 -2.13017146e-02 -2.75778293e+02] [ 2.38441869e-02 -8.93313708e-04 9.99715288e-01 1.22081499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.642755096 meters 0.029515609481447432 Centerline is valid? [True, True] Translation: X:529.75, Y:-275.73, Z:12.21 [[ 4.17703512e-01 -9.08519416e-01 -1.07818171e-02 5.29752164e+02] [ 9.08268198e-01 4.17841751e-01 -2.13810962e-02 -2.75725788e+02] [ 2.39302344e-02 -8.61822621e-04 9.99713259e-01 1.22088562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7027550959999 meters 0.027391981959916312 Centerline is valid? [True, True] Translation: X:529.78, Y:-275.67, Z:12.21 [[ 4.21725171e-01 -9.06660725e-01 -1.06868541e-02 5.29775212e+02] [ 9.06412959e-01 4.21859902e-01 -2.12077984e-02 -2.75672209e+02] [ 2.37366331e-02 -7.42840661e-04 9.99717970e-01 1.22088337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.762755096 meters 0.024997242071920025 Centerline is valid? [True, True] Translation: X:529.80, Y:-275.62, Z:12.21 [[ 4.25647831e-01 -9.04822484e-01 -1.09634187e-02 5.29798635e+02] [ 9.04560785e-01 4.25788503e-01 -2.17700833e-02 -2.75619035e+02] [ 2.43661585e-02 -6.50689889e-04 9.99702889e-01 1.22092213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8227550959999 meters 0.024213369072467152 Centerline is valid? [True, True] Translation: X:529.82, Y:-275.57, Z:12.21 [[ 4.27242289e-01 -9.04071458e-01 -1.09007085e-02 5.29824355e+02] [ 9.03812074e-01 4.27380911e-01 -2.16631448e-02 -2.75566868e+02] [ 2.42437857e-02 -5.96780413e-04 9.99705898e-01 1.22105694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.882755096 meters 0.02338081645708712 Centerline is valid? [True, True] Translation: X:529.85, Y:-275.52, Z:12.21 [[ 4.28821501e-01 -9.03326413e-01 -1.06542497e-02 5.29851365e+02] [ 9.03078004e-01 4.28953501e-01 -2.11899166e-02 -2.75515568e+02] [ 2.37115891e-02 -5.34926671e-04 9.99718698e-01 1.22111045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9427550959999 meters 0.023004934083712528 Centerline is valid? [True, True] Translation: X:529.88, Y:-275.47, Z:12.21 [[ 4.29018868e-01 -9.03237431e-01 -1.02447532e-02 5.29880093e+02] [ 9.03007369e-01 4.29140876e-01 -2.03911772e-02 -2.75465057e+02] [ 2.28145168e-02 -5.02887841e-04 9.99739589e-01 1.22126352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.002755096 meters 0.022800709527036733 Centerline is valid? [True, True] Translation: X:529.91, Y:-275.41, Z:12.21 [[ 4.29151763e-01 -9.03181215e-01 -9.61548238e-03 5.29909091e+02] [ 9.02978229e-01 4.29259221e-01 -1.91530381e-02 -2.75414876e+02] [ 2.14261987e-02 -4.63011184e-04 9.99770325e-01 1.22141226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0627550959999 meters 0.022456453330310894 Centerline is valid? [True, True] Translation: X:529.94, Y:-275.37, Z:12.21 [[ 4.29778094e-01 -9.02886239e-01 -9.33969639e-03 5.29936896e+02] [ 9.02694357e-01 4.29879350e-01 -1.86183573e-02 -2.75366009e+02] [ 2.08252013e-02 -4.29129095e-04 9.99783040e-01 1.22148666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.122755096 meters 0.02221857960941499 Centerline is valid? [True, True] Translation: X:529.96, Y:-275.32, Z:12.21 [[ 4.30291195e-01 -9.02639705e-01 -9.54200291e-03 5.29964595e+02] [ 9.02438986e-01 4.30396778e-01 -1.90391608e-02 -2.75315482e+02] [ 2.12923498e-02 -4.18692174e-04 9.99773205e-01 1.22147129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1827550959999 meters 0.02156131680852691 Centerline is valid? [True, True] Translation: X:529.99, Y:-275.27, Z:12.21 [[ 4.31493507e-01 -9.02065669e-01 -9.53323900e-03 5.29992362e+02] [ 9.01864829e-01 4.31598636e-01 -1.90380663e-02 -2.75266360e+02] [ 2.12881190e-02 -3.82890953e-04 9.99773309e-01 1.22148036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.242755096 meters 0.02049679351232609 Centerline is valid? [True, True] Translation: X:530.02, Y:-275.22, Z:12.22 [[ 4.33543362e-01 -9.01087291e-01 -9.04689957e-03 5.30020817e+02] [ 9.00905906e-01 4.33637633e-01 -1.80818073e-02 -2.75215714e+02] [ 2.02163629e-02 -3.11157713e-04 9.99795580e-01 1.22156753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3027550959999 meters 0.019785779247083597 Centerline is valid? [True, True] Translation: X:530.05, Y:-275.17, Z:12.21 [[ 4.35349701e-01 -9.00210917e-01 -9.53638463e-03 5.30047651e+02] [ 9.00008836e-01 4.35454047e-01 -1.90753238e-02 -2.75165739e+02] [ 2.13244720e-02 -2.78393941e-04 9.99772569e-01 1.22143103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.362755096 meters 0.019211009711730256 Centerline is valid? [True, True] Translation: X:530.07, Y:-275.12, Z:12.21 [[ 4.36241732e-01 -8.99780965e-01 -9.34703732e-03 5.30074326e+02] [ 8.99586401e-01 4.36341788e-01 -1.87123187e-02 -2.75115116e+02] [ 2.09154911e-02 -2.45373345e-04 9.99781217e-01 1.22146811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.422755096 meters 0.018957497096932556 Centerline is valid? [True, True] Translation: X:530.10, Y:-275.07, Z:12.22 [[ 4.36303796e-01 -8.99753692e-01 -9.07145556e-03 5.30103312e+02] [ 8.99570136e-01 4.36398030e-01 -1.81749840e-02 -2.75066913e+02] [ 2.03117743e-02 -2.30595982e-04 9.99793668e-01 1.22158933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4827550959999 meters 0.017260552870202454 Centerline is valid? [True, True] Translation: X:530.12, Y:-275.01, Z:12.22 [[ 4.38779085e-01 -8.98556963e-01 -8.26430957e-03 5.30124640e+02] [ 8.98404173e-01 4.38856879e-01 -1.65705184e-02 -2.75012822e+02] [ 1.85164038e-02 -1.53893294e-04 9.99828545e-01 1.22185632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.542755096 meters 0.016682912662781022 Centerline is valid? [True, True] Translation: X:530.15, Y:-274.96, Z:12.22 [[ 4.40803439e-01 -8.97563803e-01 -8.45855865e-03 5.30149473e+02] [ 8.97403305e-01 4.40884574e-01 -1.69735596e-02 -2.74962370e+02] [ 1.89641007e-02 -1.08735050e-04 9.99820159e-01 1.22190779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6027550959999 meters 0.016476752918980066 Centerline is valid? [True, True] Translation: X:530.17, Y:-274.91, Z:12.22 [[ 4.40563833e-01 -8.97684033e-01 -8.17836569e-03 5.30174556e+02] [ 8.97533810e-01 4.40639723e-01 -1.64223662e-02 -2.74910646e+02] [ 1.83458087e-02 -1.05259106e-04 9.99831696e-01 1.22198965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.662755096 meters 0.01702607250838067 Centerline is valid? [True, True] Translation: X:530.20, Y:-274.86, Z:12.22 [[ 4.37967819e-01 -8.98952363e-01 -8.29692114e-03 5.30198814e+02] [ 8.98797700e-01 4.38046374e-01 -1.66753822e-02 -2.74860357e+02] [ 1.86248104e-02 -1.53972882e-04 9.99826531e-01 1.22191552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7227550959999 meters 0.017499290852925117 Centerline is valid? [True, True] Translation: X:530.23, Y:-274.81, Z:12.22 [[ 4.35631305e-01 -9.00087011e-01 -8.29092052e-03 5.30225958e+02] [ 8.99932495e-01 4.35710150e-01 -1.66783893e-02 -2.74808658e+02] [ 1.86244398e-02 -1.95640313e-04 9.99826531e-01 1.22195133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.782755096 meters 0.01831895600419807 Centerline is valid? [True, True] Translation: X:530.25, Y:-274.76, Z:12.22 [[ 4.33293472e-01 -9.01214237e-01 -8.34659776e-03 5.30252522e+02] [ 9.01057608e-01 4.33373789e-01 -1.68031800e-02 -2.74756954e+02] [ 1.87604617e-02 -2.40057220e-04 9.99823978e-01 1.22196361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8427550959999 meters 0.01902765158881863 Centerline is valid? [True, True] Translation: X:530.28, Y:-274.70, Z:12.22 [[ 4.31582209e-01 -9.02031443e-01 -8.72198471e-03 5.30277550e+02] [ 9.01860306e-01 4.31670241e-01 -1.75724950e-02 -2.74704422e+02] [ 1.96159642e-02 -2.82035604e-04 9.99807549e-01 1.22180351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.902755096 meters 0.018800769382933343 Centerline is valid? [True, True] Translation: X:530.30, Y:-274.65, Z:12.22 [[ 4.30762190e-01 -9.02418727e-01 -9.18569699e-03 5.30301916e+02] [ 9.02228693e-01 4.30860007e-01 -1.85213619e-02 -2.74652936e+02] [ 2.06717733e-02 -3.09296976e-04 9.99786268e-01 1.22175301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9627550959999 meters 0.01814812738926505 Centerline is valid? [True, True] Translation: X:530.33, Y:-274.60, Z:12.22 [[ 4.29946270e-01 -9.02808460e-01 -9.11530602e-03 5.30327758e+02] [ 9.02621095e-01 4.30042768e-01 -1.83949931e-02 -2.74601192e+02] [ 2.05271268e-02 -3.18808833e-04 9.99789246e-01 1.22193569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.022755096 meters 0.018242143394436805 Centerline is valid? [True, True] Translation: X:530.35, Y:-274.55, Z:12.22 [[ 4.30039142e-01 -9.02767169e-01 -8.81901995e-03 5.30354206e+02] [ 9.02591496e-01 4.30129455e-01 -1.78113152e-02 -2.74550096e+02] [ 1.98727908e-02 -3.00409713e-04 9.99802471e-01 1.22201257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0827550959999 meters 0.017108922396558097 Centerline is valid? [True, True] Translation: X:530.38, Y:-274.50, Z:12.22 [[ 4.32170980e-01 -9.01751935e-01 -8.46708029e-03 5.30378616e+02] [ 9.01589543e-01 4.32253850e-01 -1.71144889e-02 -2.74497621e+02] [ 1.90929515e-02 -2.37445623e-04 9.99817685e-01 1.22218382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.142755096 meters 0.016326822999616426 Centerline is valid? [True, True] Translation: X:530.40, Y:-274.45, Z:12.22 [[ 4.34790854e-01 -9.00489933e-01 -8.64831120e-03 5.30402890e+02] [ 9.00319985e-01 4.34876819e-01 -1.74950675e-02 -2.74445172e+02] [ 1.95150822e-02 -1.79552085e-04 9.99809547e-01 1.22225038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2027550959999 meters 0.015944357526006765 Centerline is valid? [True, True] Translation: X:530.43, Y:-274.39, Z:12.22 [[ 4.35547632e-01 -9.00124017e-01 -8.66103750e-03 5.30426997e+02] [ 8.99953219e-01 4.35633709e-01 -1.75349675e-02 -2.74393070e+02] [ 1.95566853e-02 -1.57215000e-04 9.99808737e-01 1.22227889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.262755096 meters 0.015739022749841156 Centerline is valid? [True, True] Translation: X:530.45, Y:-274.34, Z:12.22 [[ 4.34939954e-01 -9.00423202e-01 -8.08044620e-03 5.30452601e+02] [ 9.00274342e-01 4.35014981e-01 -1.63729988e-02 -2.74340640e+02] [ 1.82577432e-02 -1.53347032e-04 9.99833302e-01 1.22246784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3227550959999 meters 0.016732991988031437 Centerline is valid? [True, True] Translation: X:530.48, Y:-274.29, Z:12.23 [[ 4.31055168e-01 -9.02287994e-01 -8.23516043e-03 5.30481256e+02] [ 9.02133463e-01 4.31133765e-01 -1.67000744e-02 -2.74290976e+02] [ 1.86187323e-02 -2.30560418e-04 9.99826630e-01 1.22255183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.382755096 meters 0.018003517453452925 Centerline is valid? [True, True] Translation: X:530.51, Y:-274.24, Z:12.22 [[ 4.26298070e-01 -9.04538924e-01 -8.90454836e-03 5.30509059e+02] [ 9.04358410e-01 4.26390917e-01 -1.80735411e-02 -2.74239524e+02] [ 2.01450399e-02 -3.48187513e-04 9.99797007e-01 1.22244678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4427550959999 meters 0.020840175050214776 Centerline is valid? [True, True] Translation: X:530.54, Y:-274.19, Z:12.22 [[ 4.22000075e-01 -9.06549971e-01 -9.11525353e-03 5.30539071e+02] [ 9.06360971e-01 4.22098271e-01 -1.85159682e-02 -2.74191058e+02] [ 2.06331832e-02 -4.47970079e-04 9.99787013e-01 1.22243251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.502755096 meters 0.021013588682017817 Centerline is valid? [True, True] Translation: X:530.57, Y:-274.14, Z:12.23 [[ 4.17254629e-01 -9.08751437e-01 -8.33065906e-03 5.30566049e+02] [ 9.08593808e-01 4.17337479e-01 -1.69327964e-02 -2.74138796e+02] [ 1.88643993e-02 -5.03897544e-04 9.99821924e-01 1.22276749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5627550959999 meters 0.021721469084352883 Centerline is valid? [True, True] Translation: X:530.59, Y:-274.09, Z:12.23 [[ 4.16042851e-01 -9.09304340e-01 -8.60014834e-03 5.30592041e+02] [ 9.09136194e-01 4.16131379e-01 -1.74944486e-02 -2.74087305e+02] [ 1.94865697e-02 -5.40265846e-04 9.99809973e-01 1.22290868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.622755096 meters 0.021394063605358515 Centerline is valid? [True, True] Translation: X:530.62, Y:-274.03, Z:12.23 [[ 4.16757219e-01 -9.08973592e-01 -8.96823714e-03 5.30616686e+02] [ 9.08790356e-01 4.16853351e-01 -1.82585097e-02 -2.74034839e+02] [ 2.03349429e-02 -5.40881688e-04 9.99793077e-01 1.22294731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6827550959999 meters 0.02018709052483402 Centerline is valid? [True, True] Translation: X:530.64, Y:-273.98, Z:12.23 [[ 4.20506806e-01 -9.07244036e-01 -9.07112865e-03 5.30639451e+02] [ 9.07055862e-01 4.20604389e-01 -1.84827244e-02 -2.73982771e+02] [ 2.05836980e-02 -4.55908986e-04 9.99788029e-01 1.22303296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.742755096 meters 0.018066395176793 Centerline is valid? [True, True] Translation: X:530.66, Y:-273.93, Z:12.23 [[ 4.24930919e-01 -9.05181186e-01 -8.98528212e-03 5.30659142e+02] [ 9.04995819e-01 4.25025765e-01 -1.83211940e-02 -2.73927809e+02] [ 2.04029765e-02 -3.46400946e-04 9.99791778e-01 1.22309360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8027550959999 meters 0.016709477850534834 Centerline is valid? [True, True] Translation: X:530.68, Y:-273.87, Z:12.23 [[ 4.27898999e-01 -9.03785042e-01 -8.66286429e-03 5.30681211e+02] [ 9.03612191e-01 4.27986599e-01 -1.76770958e-02 -2.73873447e+02] [ 1.96838846e-02 -2.63858188e-04 9.99806219e-01 1.22323016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.862755096 meters 0.016486183892924656 Centerline is valid? [True, True] Translation: X:530.71, Y:-273.82, Z:12.24 [[ 4.26936543e-01 -9.04245438e-01 -8.08553301e-03 5.30706691e+02] [ 9.04094736e-01 4.27013020e-01 -1.65102661e-02 -2.73821573e+02] [ 1.83819607e-02 -2.61251899e-04 9.99831003e-01 1.22351016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.922755096 meters 0.01866214245332218 Centerline is valid? [True, True] Translation: X:530.74, Y:-273.77, Z:12.24 [[ 4.24430558e-01 -9.05423736e-01 -8.15845006e-03 5.30736358e+02] [ 9.05270268e-01 4.24508849e-01 -1.66727131e-02 -2.73772258e+02] [ 1.85592044e-02 -3.09193351e-04 9.99827715e-01 1.22355223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9827550959999 meters 0.019625824531273043 Centerline is valid? [True, True] Translation: X:530.77, Y:-273.72, Z:12.24 [[ 4.19285321e-01 -9.07818183e-01 -8.12196635e-03 5.30765219e+02] [ 9.07666270e-01 4.19363782e-01 -1.66120606e-02 -2.73722315e+02] [ 1.84867892e-02 -4.06841747e-04 9.99829022e-01 1.22368320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.042755096 meters 0.02240110535131577 Centerline is valid? [True, True] Translation: X:530.80, Y:-273.67, Z:12.24 [[ 4.14266706e-01 -9.10120020e-01 -8.04025364e-03 5.30796715e+02] [ 9.09971324e-01 4.14344424e-01 -1.64587008e-02 -2.73672952e+02] [ 1.83108274e-02 -4.98108475e-04 9.99832219e-01 1.22378661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1027550959999 meters 0.022342442553331645 Centerline is valid? [True, True] Translation: X:530.82, Y:-273.62, Z:12.24 [[ 4.13131370e-01 -9.10635603e-01 -8.07896679e-03 5.30824885e+02] [ 9.10485327e-01 4.13210031e-01 -1.65511196e-02 -2.73622236e+02] [ 1.84103489e-02 -5.17993998e-04 9.99830381e-01 1.22391938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.162755096 meters 0.02143124195634835 Centerline is valid? [True, True] Translation: X:530.85, Y:-273.57, Z:12.24 [[ 4.15640171e-01 -9.09489555e-01 -8.48518924e-03 5.30850633e+02] [ 9.09323276e-01 4.15726491e-01 -1.73972838e-02 -2.73569694e+02] [ 1.93501658e-02 -4.84770062e-04 9.99812650e-01 1.22390024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2227550959999 meters 0.018601737080369798 Centerline is valid? [True, True] Translation: X:530.87, Y:-273.52, Z:12.24 [[ 4.20634958e-01 -9.07185968e-01 -8.93600151e-03 5.30872405e+02] [ 9.07000814e-01 4.20729682e-01 -1.83319150e-02 -2.73515856e+02] [ 2.03900971e-02 -3.93916333e-04 9.99792023e-01 1.22386439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.282755096 meters 0.01716312752864847 Centerline is valid? [True, True] Translation: X:530.90, Y:-273.46, Z:12.24 [[ 4.24654527e-01 -9.05306600e-01 -9.40703870e-03 5.30895755e+02] [ 9.05100590e-01 4.24758593e-01 -1.93147328e-02 -2.73462801e+02] [ 2.14814756e-02 -3.12227540e-04 9.99769198e-01 1.22388666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3427550959999 meters 0.015530675847003348 Centerline is valid? [True, True] Translation: X:530.92, Y:-273.41, Z:12.24 [[ 4.29306546e-01 -9.03109980e-01 -9.39434062e-03 5.30917661e+02] [ 9.02903665e-01 4.29409276e-01 -1.93040234e-02 -2.73409014e+02] [ 2.14676732e-02 -1.94840950e-04 9.99769524e-01 1.22399251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.402755096 meters 0.014788120727231069 Centerline is valid? [True, True] Translation: X:530.94, Y:-273.36, Z:12.24 [[ 4.32763907e-01 -9.01457725e-01 -9.45364312e-03 5.30940198e+02] [ 9.01248060e-01 4.32867138e-01 -1.94415750e-02 -2.73355429e+02] [ 2.16179294e-02 -1.06465588e-04 9.99766300e-01 1.22418292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4627550959999 meters 0.014634817119633327 Centerline is valid? [True, True] Translation: X:530.96, Y:-273.30, Z:12.24 [[ 4.33941273e-01 -9.00892664e-01 -9.34768927e-03 5.30963223e+02] [ 9.00687206e-01 4.34041936e-01 -1.92394077e-02 -2.73303237e+02] [ 2.13899305e-02 -7.05710420e-05 9.99771207e-01 1.22429558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.522755096 meters 0.014802836282056014 Centerline is valid? [True, True] Translation: X:530.99, Y:-273.25, Z:12.24 [[ 4.32437472e-01 -9.01618163e-01 -9.08405881e-03 5.30988808e+02] [ 9.01423956e-01 4.32532864e-01 -1.87129391e-02 -2.73251496e+02] [ 2.08010798e-02 -9.64121333e-05 9.99783629e-01 1.22447435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5827550959999 meters 0.016016155994516577 Centerline is valid? [True, True] Translation: X:531.02, Y:-273.20, Z:12.25 [[ 4.27329343e-01 -9.04047510e-01 -9.36657850e-03 5.31017192e+02] [ 9.03841279e-01 4.27431929e-01 -1.93103055e-02 -2.73201480e+02] [ 2.14610083e-02 -2.14040156e-04 9.99769663e-01 1.22451000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.642755096 meters 0.018557108253700154 Centerline is valid? [True, True] Translation: X:531.05, Y:-273.15, Z:12.25 [[ 4.19805498e-01 -9.07562218e-01 -9.70384173e-03 5.31047888e+02] [ 9.07341496e-01 4.19917445e-01 -2.00187403e-02 -2.73151591e+02] [ 2.22430648e-02 -4.00721013e-04 9.99752512e-01 1.22459761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7027550959999 meters 0.020627175722701667 Centerline is valid? [True, True] Translation: X:531.08, Y:-273.10, Z:12.25 [[ 4.12849203e-01 -9.10750671e-01 -9.42074033e-03 5.31075390e+02] [ 9.10543127e-01 4.12956310e-01 -1.94499399e-02 -2.73099805e+02] [ 2.16044000e-02 -5.48098168e-04 9.99766447e-01 1.22476256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.762755096 meters 0.023314168301870487 Centerline is valid? [True, True] Translation: X:531.10, Y:-273.05, Z:12.25 [[ 4.09237419e-01 -9.12375029e-01 -9.82558894e-03 5.31102475e+02] [ 9.12149338e-01 4.09354834e-01 -2.03028259e-02 -2.73049176e+02] [ 2.25459437e-02 -6.53728365e-04 9.99745594e-01 1.22471975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8227550959999 meters 0.024098699956529704 Centerline is valid? [True, True] Translation: X:531.13, Y:-273.00, Z:12.25 [[ 4.06427907e-01 -9.13622833e-01 -1.04726025e-02 5.31126499e+02] [ 9.13366372e-01 4.06562096e-01 -2.16594506e-02 -2.72996797e+02] [ 2.40463318e-02 -7.62317805e-04 9.99710555e-01 1.22476010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.882755096 meters 0.023515638426317837 Centerline is valid? [True, True] Translation: X:531.15, Y:-272.94, Z:12.25 [[ 4.07048690e-01 -9.13338761e-01 -1.11207428e-02 5.31147485e+02] [ 9.13048943e-01 4.07199820e-01 -2.30202913e-02 -2.72942184e+02] [ 2.55536888e-02 -7.83403086e-04 9.99673144e-01 1.22476760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9427550959999 meters 0.022296675810624198 Centerline is valid? [True, True] Translation: X:531.17, Y:-272.89, Z:12.25 [[ 4.10103935e-01 -9.11972237e-01 -1.10182230e-02 5.31167107e+02] [ 9.11686773e-01 4.10251351e-01 -2.28266852e-02 -2.72887585e+02] [ 2.53375441e-02 -6.83854771e-04 9.99678719e-01 1.22490725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.002755096 meters 0.02078338339610494 Centerline is valid? [True, True] Translation: X:531.19, Y:-272.83, Z:12.25 [[ 4.13419085e-01 -9.10471060e-01 -1.12742727e-02 5.31187958e+02] [ 9.10171114e-01 4.13572355e-01 -2.33762970e-02 -2.72832859e+02] [ 2.59461694e-02 -5.97310001e-04 9.99663163e-01 1.22506746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0627550959999 meters 0.019307657657001133 Centerline is valid? [True, True] Translation: X:531.21, Y:-272.78, Z:12.25 [[ 4.16715333e-01 -9.08975735e-01 -1.05566963e-02 5.31209836e+02] [ 9.08711882e-01 4.16848769e-01 -2.19047835e-02 -2.72779316e+02] [ 2.43114626e-02 -4.64936246e-04 9.99704325e-01 1.22540774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.122755096 meters 0.017788177266695182 Centerline is valid? [True, True] Translation: X:531.23, Y:-272.73, Z:12.26 [[ 4.19206110e-01 -9.07837312e-01 -9.88191592e-03 5.31231658e+02] [ 9.07605435e-01 4.19322406e-01 -2.05205636e-02 -2.72725856e+02] [ 2.27730420e-02 -3.66534981e-04 9.99740593e-01 1.22575393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1827550959999 meters 0.017543114998358037 Centerline is valid? [True, True] Translation: X:531.26, Y:-272.67, Z:12.26 [[ 4.21789741e-01 -9.06644531e-01 -9.43978320e-03 5.31256761e+02] [ 9.06432301e-01 4.21895267e-01 -1.96180295e-02 -2.72674172e+02] [ 2.17691790e-02 -2.81840838e-04 9.99762984e-01 1.22601309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.242755096 meters 0.016814941228638122 Centerline is valid? [True, True] Translation: X:531.28, Y:-272.62, Z:12.26 [[ 4.22770718e-01 -9.06186251e-01 -9.56027809e-03 5.31280293e+02] [ 9.05968082e-01 4.22878722e-01 -1.98851635e-02 -2.72622116e+02] [ 2.20624999e-02 -2.54441971e-04 9.99756561e-01 1.22619138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3027550959999 meters 0.01698023755492318 Centerline is valid? [True, True] Translation: X:531.31, Y:-272.57, Z:12.26 [[ 4.22283762e-01 -9.06419176e-01 -8.98343134e-03 5.31305550e+02] [ 9.06226263e-01 4.22379235e-01 -1.87014037e-02 -2.72571300e+02] [ 2.07457258e-02 -2.43722313e-04 9.99784755e-01 1.22649282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.362755096 meters 0.018146655027961124 Centerline is valid? [True, True] Translation: X:531.33, Y:-272.52, Z:12.27 [[ 4.19460825e-01 -9.07733518e-01 -8.51333722e-03 5.31333154e+02] [ 9.07560241e-01 4.19547111e-01 -1.77378256e-02 -2.72519895e+02] [ 1.96729649e-02 -2.86043411e-04 9.99806428e-01 1.22664085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.422755096 meters 0.019292711183699983 Centerline is valid? [True, True] Translation: X:531.36, Y:-272.47, Z:12.27 [[ 4.16527680e-01 -9.09086962e-01 -8.09858151e-03 5.31360212e+02] [ 9.08930173e-01 4.16606274e-01 -1.68864422e-02 -2.72468172e+02] [ 1.87251643e-02 -3.27374500e-04 9.99824615e-01 1.22675877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4827550959999 meters 0.020432490786448734 Centerline is valid? [True, True] Translation: X:531.39, Y:-272.42, Z:12.27 [[ 4.13369913e-01 -9.10529194e-01 -7.86778071e-03 5.31387240e+02] [ 9.10381244e-01 4.13444610e-01 -1.64178418e-02 -2.72416289e+02] [ 1.82018158e-02 -3.76038154e-04 9.99834263e-01 1.22684876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.542755096 meters 0.021401832259719106 Centerline is valid? [True, True] Translation: X:531.41, Y:-272.36, Z:12.27 [[ 4.09909925e-01 -9.12091968e-01 -7.88003025e-03 5.31412469e+02] [ 9.11943602e-01 4.09985423e-01 -1.64565982e-02 -2.72364005e+02] [ 1.82406286e-02 -4.40420232e-04 9.99833529e-01 1.22695117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6027550959999 meters 0.02222417735349314 Centerline is valid? [True, True] Translation: X:531.44, Y:-272.31, Z:12.27 [[ 4.08417620e-01 -9.12758723e-01 -8.15850423e-03 5.31437731e+02] [ 9.12599543e-01 4.08498815e-01 -1.70526387e-02 -2.72312176e+02] [ 1.88976840e-02 -4.80849138e-04 9.99821307e-01 1.22701703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.662755096 meters 0.022919994707438246 Centerline is valid? [True, True] Translation: X:531.46, Y:-272.26, Z:12.27 [[ 4.07198685e-01 -9.13298783e-01 -8.63503736e-03 5.31462174e+02] [ 9.13120274e-01 4.07289888e-01 -1.80641073e-02 -2.72259186e+02] [ 2.00148906e-02 -5.29146961e-04 9.99799542e-01 1.22704211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7227550959999 meters 0.023089229491001104 Centerline is valid? [True, True] Translation: X:531.49, Y:-272.21, Z:12.27 [[ 4.07082068e-01 -9.13350934e-01 -8.61748699e-03 5.31485790e+02] [ 9.13172866e-01 4.07172932e-01 -1.80422010e-02 -2.72206829e+02] [ 1.99876686e-02 -5.24598780e-04 9.99800089e-01 1.22723666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.782755096 meters 0.02315020214316888 Centerline is valid? [True, True] Translation: X:531.51, Y:-272.16, Z:12.28 [[ 4.07669447e-01 -9.13094064e-01 -8.05313060e-03 5.31508486e+02] [ 9.12938239e-01 4.07748706e-01 -1.68749836e-02 -2.72155429e+02] [ 1.86921009e-02 -4.72595632e-04 9.99825176e-01 1.22753073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8427550959999 meters 0.02184531442233803 Centerline is valid? [True, True] Translation: X:531.53, Y:-272.10, Z:12.28 [[ 4.08405510e-01 -9.12772117e-01 -7.21125309e-03 5.31530878e+02] [ 9.12646908e-01 4.08468970e-01 -1.51235805e-02 -2.72101282e+02] [ 1.67499557e-02 -4.04774209e-04 9.99859628e-01 1.22791403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.902755096 meters 0.021001124017345132 Centerline is valid? [True, True] Translation: X:531.55, Y:-272.05, Z:12.28 [[ 4.10293215e-01 -9.11928572e-01 -6.76447838e-03 5.31552629e+02] [ 9.11818124e-01 4.10348830e-01 -1.41967027e-02 -2.72047755e+02] [ 1.57221746e-02 -3.43163203e-04 9.99876340e-01 1.22817273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9627550959999 meters 0.020435762052212217 Centerline is valid? [True, True] Translation: X:531.57, Y:-271.99, Z:12.28 [[ 4.11923875e-01 -9.11198386e-01 -6.01854077e-03 5.31574736e+02] [ 9.11110749e-01 4.11967747e-01 -1.26403506e-02 -2.71993480e+02] [ 1.39973117e-02 -2.76694993e-04 9.99901995e-01 1.22841739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.022755096 meters 0.020777690241402434 Centerline is valid? [True, True] Translation: X:531.60, Y:-271.94, Z:12.29 [[ 4.12239827e-01 -9.11061464e-01 -5.03335761e-03 5.31598012e+02] [ 9.11000095e-01 4.12270492e-01 -1.05767315e-02 -2.71941710e+02] [ 1.17111573e-02 -2.25239319e-04 9.99931397e-01 1.22872837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0827550959999 meters 0.02069683718503648 Centerline is valid? [True, True] Translation: X:531.62, Y:-271.89, Z:12.29 [[ 4.12639683e-01 -9.10882056e-01 -4.72992157e-03 5.31619907e+02] [ 9.10827762e-01 4.12666740e-01 -9.94732695e-03 -2.71888766e+02] [ 1.10127229e-02 -2.03482038e-04 9.99939337e-01 1.22879381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.142755096 meters 0.022041926316725705 Centerline is valid? [True, True] Translation: X:531.64, Y:-271.84, Z:12.29 [[ 4.12704819e-01 -9.10852945e-01 -4.65246002e-03 5.31644192e+02] [ 9.10800320e-01 4.12730996e-01 -9.79294927e-03 -2.71837855e+02] [ 1.08401511e-02 -1.95864719e-04 9.99941225e-01 1.22889519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2027550959999 meters 0.021460463846067104 Centerline is valid? [True, True] Translation: X:531.66, Y:-271.78, Z:12.29 [[ 4.12145762e-01 -9.11105280e-01 -4.80003091e-03 5.31664756e+02] [ 9.11049164e-01 4.12173662e-01 -1.01139912e-02 -2.71784466e+02] [ 1.11933571e-02 -2.04625534e-04 9.99937331e-01 1.22877691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.262755096 meters 0.022120065111196505 Centerline is valid? [True, True] Translation: X:531.69, Y:-271.73, Z:12.29 [[ 4.11127333e-01 -9.11561326e-01 -5.50144509e-03 5.31688921e+02] [ 9.11487495e-01 4.11164067e-01 -1.16041098e-02 -2.71733406e+02] [ 1.28398542e-02 -2.43731706e-04 9.99917536e-01 1.22872802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3227550959999 meters 0.022654724746520433 Centerline is valid? [True, True] Translation: X:531.71, Y:-271.68, Z:12.29 [[ 4.10430336e-01 -9.11865794e-01 -6.90743000e-03 5.31713171e+02] [ 9.11749168e-01 4.10488339e-01 -1.45869178e-02 -2.71681168e+02] [ 1.61367308e-02 -3.10929997e-04 9.99869746e-01 1.22857877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.382755096 meters 0.022727068488504906 Centerline is valid? [True, True] Translation: X:531.74, Y:-271.63, Z:12.28 [[ 4.10717232e-01 -9.11726360e-01 -8.14865655e-03 5.31736464e+02] [ 9.11563701e-01 4.10797907e-01 -1.72249330e-02 -2.71630056e+02] [ 1.90518765e-02 -3.53442704e-04 9.99818434e-01 1.22841099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4427550959999 meters 0.022044224647688352 Centerline is valid? [True, True] Translation: X:531.76, Y:-271.58, Z:12.28 [[ 4.10820928e-01 -9.11671739e-01 -8.98920747e-03 5.31759402e+02] [ 9.11473475e-01 4.10919086e-01 -1.90160020e-02 -2.71577692e+02] [ 2.10301886e-02 -3.81252571e-04 9.99778768e-01 1.22841515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.502755096 meters 0.02321175217951545 Centerline is valid? [True, True] Translation: X:531.79, Y:-271.53, Z:12.28 [[ 4.09233546e-01 -9.12382190e-01 -9.30827636e-03 5.31786416e+02] [ 9.12169401e-01 4.09339172e-01 -1.97085031e-02 -2.71527411e+02] [ 2.17919294e-02 -4.25344267e-04 9.99762437e-01 1.22849203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5627550959999 meters 0.02390409243176518 Centerline is valid? [True, True] Translation: X:531.81, Y:-271.48, Z:12.29 [[ 4.07659691e-01 -9.13087470e-01 -9.21131688e-03 5.31813433e+02] [ 9.12878934e-01 4.07763495e-01 -1.95188004e-02 -2.71475579e+02] [ 2.15784108e-02 -4.51789005e-04 9.99767057e-01 1.22872879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.622755096 meters 0.02508858390923455 Centerline is valid? [True, True] Translation: X:531.84, Y:-271.42, Z:12.29 [[ 4.04795342e-01 -9.14362396e-01 -9.06315598e-03 5.31841316e+02] [ 9.14160523e-01 4.04896473e-01 -1.92193860e-02 -2.71424791e+02] [ 2.12431237e-02 -5.05261481e-04 9.99774212e-01 1.22900309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6827550959999 meters 0.024797667566792015 Centerline is valid? [True, True] Translation: X:531.87, Y:-271.37, Z:12.29 [[ 4.02131405e-01 -9.15543632e-01 -8.37803161e-03 5.31867590e+02] [ 9.15371137e-01 4.02218334e-01 -1.77789941e-02 -2.71373501e+02] [ 1.96472428e-02 -5.19516427e-04 9.99806839e-01 1.22944066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.742755096 meters 0.024832837710253457 Centerline is valid? [True, True] Translation: X:531.89, Y:-271.32, Z:12.30 [[ 4.01333099e-01 -9.15896160e-01 -8.12208724e-03 5.31893903e+02] [ 9.15733915e-01 4.01414945e-01 -1.72464159e-02 -2.71321466e+02] [ 1.90562533e-02 -5.16113216e-04 9.99818280e-01 1.22967999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8027550959999 meters 0.024598888523595316 Centerline is valid? [True, True] Translation: X:531.92, Y:-271.27, Z:12.30 [[ 4.02080216e-01 -9.15570069e-01 -7.93406814e-03 5.31919560e+02] [ 9.15414929e-01 4.02158197e-01 -1.68609898e-02 -2.71269503e+02] [ 1.86281681e-02 -4.83494011e-04 9.99826364e-01 1.22982953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.862755096 meters 0.023668216005289972 Centerline is valid? [True, True] Translation: X:531.94, Y:-271.22, Z:12.30 [[ 4.04010570e-01 -9.14721875e-01 -7.70387962e-03 5.31943117e+02] [ 9.14575213e-01 4.04083790e-01 -1.63850834e-02 -2.71216750e+02] [ 1.81008071e-02 -4.26030443e-04 9.99836076e-01 1.22998005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.922755096 meters 0.025409197603231036 Centerline is valid? [True, True] Translation: X:531.97, Y:-271.17, Z:12.30 [[ 4.05090170e-01 -9.14242542e-01 -7.90746169e-03 5.31972128e+02] [ 9.14087669e-01 4.05167134e-01 -1.68323082e-02 -2.71168068e+02] [ 1.85926558e-02 -4.09510631e-04 9.99827058e-01 1.23006650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9827550959999 meters 0.023651314021054397 Centerline is valid? [True, True] Translation: X:532.00, Y:-271.12, Z:12.30 [[ 4.05233546e-01 -9.14181207e-01 -7.64811090e-03 5.31995205e+02] [ 9.14036110e-01 4.05305526e-01 -1.62916967e-02 -2.71116077e+02] [ 1.79933846e-02 -3.88707507e-04 9.99838030e-01 1.23029231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.042755096 meters 0.023529890284408692 Centerline is valid? [True, True] Translation: X:532.02, Y:-271.07, Z:12.30 [[ 4.06077724e-01 -9.13806087e-01 -7.70184638e-03 5.32020202e+02] [ 9.13658604e-01 4.06150588e-01 -1.64211665e-02 -2.71066145e+02] [ 1.81338713e-02 -3.68588318e-04 9.99835500e-01 1.23046289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1027550959999 meters 0.023687221568081045 Centerline is valid? [True, True] Translation: X:532.05, Y:-271.01, Z:12.30 [[ 4.06288858e-01 -9.13710571e-01 -7.89662097e-03 5.32045836e+02] [ 9.13555216e-01 4.06365424e-01 -1.68525928e-02 -2.71014475e+02] [ 1.86073059e-02 -3.66978615e-04 9.99826802e-01 1.23044751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.162755096 meters 0.02355752433424303 Centerline is valid? [True, True] Translation: X:532.07, Y:-270.96, Z:12.30 [[ 4.05117728e-01 -9.14226185e-01 -8.37312031e-03 5.32072515e+02] [ 9.14051295e-01 4.05204044e-01 -1.78861243e-02 -2.70963210e+02] [ 1.97447854e-02 -4.07475423e-04 9.99804970e-01 1.23047192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2227550959999 meters 0.024654158830184895 Centerline is valid? [True, True] Translation: X:532.10, Y:-270.91, Z:12.31 [[ 4.02856766e-01 -9.15225012e-01 -8.34288976e-03 5.32101283e+02] [ 9.15051281e-01 4.02942896e-01 -1.78374924e-02 -2.70912269e+02] [ 1.96870273e-02 -4.48217472e-04 9.99806091e-01 1.23062186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.282755096 meters 0.024159281676224227 Centerline is valid? [True, True] Translation: X:532.13, Y:-270.86, Z:12.31 [[ 4.01699738e-01 -9.15732093e-01 -8.48847926e-03 5.32126368e+02] [ 9.15552061e-01 4.01789134e-01 -1.81635727e-02 -2.70859789e+02] [ 2.00435452e-02 -4.75342272e-04 9.99798995e-01 1.23071349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3427550959999 meters 0.02486800838531276 Centerline is valid? [True, True] Translation: X:532.15, Y:-270.81, Z:12.31 [[ 4.00698494e-01 -9.16168710e-01 -8.69547909e-03 5.32154004e+02] [ 9.15979562e-01 4.00792517e-01 -1.86225591e-02 -2.70809564e+02] [ 2.05464889e-02 -5.02849764e-04 9.99788772e-01 1.23082361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.402755096 meters 0.024394651736683287 Centerline is valid? [True, True] Translation: X:532.18, Y:-270.76, Z:12.31 [[ 4.00091975e-01 -9.16431850e-01 -8.89241354e-03 5.32180156e+02] [ 9.16233747e-01 4.00190445e-01 -1.90612111e-02 -2.70757748e+02] [ 2.10269599e-02 -5.21291770e-04 9.99778773e-01 1.23096668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4627550959999 meters 0.024996180516345643 Centerline is valid? [True, True] Translation: X:532.21, Y:-270.71, Z:12.31 [[ 3.99575504e-01 -9.16650543e-01 -9.54978287e-03 5.32207319e+02] [ 9.16421698e-01 3.99689208e-01 -2.04892161e-02 -2.70707992e+02] [ 2.25983962e-02 -5.64639385e-04 9.99744464e-01 1.23096873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.522755096 meters 0.02462281750886653 Centerline is valid? [True, True] Translation: X:532.24, Y:-270.66, Z:12.31 [[ 4.00578372e-01 -9.16205434e-01 -1.02260347e-02 5.32235158e+02] [ 9.15942341e-01 4.00708473e-01 -2.19624340e-02 -2.70657804e+02] [ 2.42197602e-02 -5.68782125e-04 9.99706497e-01 1.23087357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5827550959999 meters 0.022655012610702154 Centerline is valid? [True, True] Translation: X:532.26, Y:-270.60, Z:12.31 [[ 4.04576777e-01 -9.14438441e-01 -1.09530479e-02 5.32257864e+02] [ 9.14135375e-01 4.04724723e-01 -2.35460304e-02 -2.70604503e+02] [ 2.59643646e-02 -4.86391435e-04 9.99662751e-01 1.23093680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.642755096 meters 0.022539310853667782 Centerline is valid? [True, True] Translation: X:532.28, Y:-270.55, Z:12.31 [[ 4.11897244e-01 -9.11161835e-01 -1.11701181e-02 5.32276320e+02] [ 9.10844890e-01 4.12048584e-01 -2.40323046e-02 -2.70550518e+02] [ 2.64999501e-02 -2.75404977e-04 9.99648777e-01 1.23055632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7027550959999 meters 0.02040641856860937 Centerline is valid? [True, True] Translation: X:532.30, Y:-270.50, Z:12.31 [[ 4.15963617e-01 -9.09307980e-01 -1.15441325e-02 5.32295772e+02] [ 9.08968165e-01 4.16123748e-01 -2.48576245e-02 -2.70496297e+02] [ 2.74070240e-02 -1.53381548e-04 9.99624345e-01 1.23096919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.762755096 meters 0.020904550914584635 Centerline is valid? [True, True] Translation: X:532.32, Y:-270.44, Z:12.31 [[ 4.16533606e-01 -9.09049465e-01 -1.13501670e-02 5.32318592e+02] [ 9.08720288e-01 4.16688199e-01 -2.44618570e-02 -2.70443339e+02] [ 2.69665186e-02 -1.24941496e-04 9.99636330e-01 1.23097610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8227550959999 meters 0.020834930404298107 Centerline is valid? [True, True] Translation: X:532.34, Y:-270.39, Z:12.31 [[ 4.14047207e-01 -9.10177409e-01 -1.19161426e-02 5.32343213e+02] [ 9.09814399e-01 4.14218595e-01 -2.57043831e-02 -2.70391853e+02] [ 2.83314366e-02 -1.98650100e-04 9.99598565e-01 1.23091075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.882755096 meters 0.02112413519334581 Centerline is valid? [True, True] Translation: X:532.37, Y:-270.34, Z:12.31 [[ 4.11096571e-01 -9.11515736e-01 -1.17759091e-02 5.32369471e+02] [ 9.11161153e-01 4.11265103e-01 -2.54237854e-02 -2.70339959e+02] [ 2.80172010e-02 -2.78119925e-04 9.99607402e-01 1.23114156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9427550959999 meters 0.02194555192634949 Centerline is valid? [True, True] Translation: X:532.40, Y:-270.29, Z:12.31 [[ 4.08879820e-01 -9.12510293e-01 -1.19271653e-02 5.32395037e+02] [ 9.12146339e-01 4.09053601e-01 -2.57722409e-02 -2.70287705e+02] [ 2.83962850e-02 -3.41570886e-04 9.99596686e-01 1.23107145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.002755096 meters 0.02193022385841065 Centerline is valid? [True, True] Translation: X:532.42, Y:-270.23, Z:12.31 [[ 4.08847061e-01 -9.12527345e-01 -1.17441634e-02 5.32419575e+02] [ 9.12173887e-01 4.09015570e-01 -2.53980998e-02 -2.70234602e+02] [ 2.79800062e-02 -3.28780692e-04 9.99608429e-01 1.23112944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0627550959999 meters 0.02245979704109853 Centerline is valid? [True, True] Translation: X:532.44, Y:-270.18, Z:12.31 [[ 4.10093948e-01 -9.11964378e-01 -1.19969477e-02 5.32443915e+02] [ 9.11594611e-01 4.10269290e-01 -2.59687355e-02 -2.70183711e+02] [ 2.86045409e-02 -2.86731638e-04 9.99590765e-01 1.23107901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.122755096 meters 0.02156318752589087 Centerline is valid? [True, True] Translation: X:532.47, Y:-270.13, Z:12.31 [[ 4.13668752e-01 -9.10349731e-01 -1.18966643e-02 5.32465982e+02] [ 9.09984773e-01 4.13839752e-01 -2.57754135e-02 -2.70129556e+02] [ 2.83879534e-02 -1.63300211e-04 9.99596968e-01 1.23124621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1827550959999 meters 0.020367351672350317 Centerline is valid? [True, True] Translation: X:532.49, Y:-270.08, Z:12.32 [[ 4.16742817e-01 -9.08951928e-01 -1.14811870e-02 5.32487219e+02] [ 9.08610913e-01 4.16900936e-01 -2.48961601e-02 -2.70075914e+02] [ 2.74159303e-02 -5.66358954e-05 9.99624111e-01 1.23161774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.242755096 meters 0.020238724162313194 Centerline is valid? [True, True] Translation: X:532.51, Y:-270.02, Z:12.32 [[ 4.19116196e-01 -9.07860186e-01 -1.14671925e-02 5.32511495e+02] [ 9.07518979e-01 4.19273040e-01 -2.48881725e-02 -2.70022800e+02] [ 2.74028656e-02 2.43413394e-05 9.99624471e-01 1.23182915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3027550959999 meters 0.020242607049662128 Centerline is valid? [True, True] Translation: X:532.54, Y:-269.97, Z:12.32 [[ 4.19892777e-01 -9.07503460e-01 -1.12927153e-02 5.32536993e+02] [ 9.07171873e-01 4.20044600e-01 -2.45301091e-02 -2.69970740e+02] [ 2.70046030e-02 5.55819633e-05 9.99635308e-01 1.23197488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.362755096 meters 0.020194781760917737 Centerline is valid? [True, True] Translation: X:532.56, Y:-269.92, Z:12.32 [[ 4.18248078e-01 -9.08258594e-01 -1.16134078e-02 5.32564674e+02] [ 9.07907587e-01 4.18409281e-01 -2.52485187e-02 -2.69919956e+02] [ 2.77913417e-02 1.62433306e-05 9.99613746e-01 1.23193333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.422755096 meters 0.020152695762438548 Centerline is valid? [True, True] Translation: X:532.60, Y:-269.87, Z:12.32 [[ 4.13903317e-01 -9.10246543e-01 -1.16307811e-02 5.32595712e+02] [ 9.09894642e-01 4.14066685e-01 -2.53085107e-02 -2.69871204e+02] [ 2.78529034e-02 -1.07508915e-04 9.99612027e-01 1.23205843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4827550959999 meters 0.02024854424609195 Centerline is valid? [True, True] Translation: X:532.62, Y:-269.82, Z:12.32 [[ 4.10482487e-01 -9.11797864e-01 -1.13482976e-02 5.32623852e+02] [ 9.11462821e-01 4.10639278e-01 -2.47165959e-02 -2.69820856e+02] [ 2.71965960e-02 -1.97821661e-04 9.99630085e-01 1.23225759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.542755096 meters 0.0204726307256052 Centerline is valid? [True, True] Translation: X:532.65, Y:-269.77, Z:12.33 [[ 4.07957276e-01 -9.12941703e-01 -1.04071250e-02 5.32648571e+02] [ 9.12659809e-01 4.08089927e-01 -2.26866560e-02 -2.69769174e+02] [ 2.49586373e-02 -2.42978335e-04 9.99688455e-01 1.23267668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6027550959999 meters 0.020270489103120636 Centerline is valid? [True, True] Translation: X:532.67, Y:-269.72, Z:12.33 [[ 4.06751599e-01 -9.13481263e-01 -1.02527621e-02 5.32671738e+02] [ 9.13207345e-01 4.06880711e-01 -2.23703299e-02 -2.69715686e+02] [ 2.46065283e-02 -2.63730260e-04 9.99697179e-01 1.23289712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.662755096 meters 0.02096963900110105 Centerline is valid? [True, True] Translation: X:532.70, Y:-269.66, Z:12.33 [[ 4.04080262e-01 -9.14665019e-01 -1.03461990e-02 5.32696687e+02] [ 9.14385977e-01 4.04212559e-01 -2.25940791e-02 -2.69663972e+02] [ 2.48480774e-02 -3.30597822e-04 9.99691184e-01 1.23307259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7227550959999 meters 0.021253871385547234 Centerline is valid? [True, True] Translation: X:532.72, Y:-269.61, Z:12.33 [[ 4.02633757e-01 -9.15298099e-01 -1.07446663e-02 5.32719133e+02] [ 9.14996821e-01 4.02776923e-01 -2.34855024e-02 -2.69610349e+02] [ 2.58239394e-02 -3.75279458e-04 9.99666436e-01 1.23308444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.782755096 meters 0.02153090275505119 Centerline is valid? [True, True] Translation: X:532.74, Y:-269.56, Z:12.33 [[ 4.01966569e-01 -9.15588451e-01 -1.09848352e-02 5.32741403e+02] [ 9.15273084e-01 4.02116443e-01 -2.40322097e-02 -2.69558417e+02] [ 2.64207965e-02 -3.93979073e-04 9.99650832e-01 1.23320258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8427550959999 meters 0.021466635727841417 Centerline is valid? [True, True] Translation: X:532.76, Y:-269.51, Z:12.33 [[ 4.01935986e-01 -9.15605548e-01 -1.06744303e-02 5.32763835e+02] [ 9.15307195e-01 4.02077530e-01 -2.33751875e-02 -2.69505909e+02] [ 2.56943999e-02 -3.75053864e-04 9.99669774e-01 1.23339513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.902755096 meters 0.02128158043161019 Centerline is valid? [True, True] Translation: X:532.78, Y:-269.45, Z:12.34 [[ 4.01746213e-01 -9.15696182e-01 -1.00241253e-02 5.32784216e+02] [ 9.15432639e-01 4.01871100e-01 -2.19705186e-02 -2.69452676e+02] [ 2.41467263e-02 -3.49838825e-04 9.99708364e-01 1.23369707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9627550959999 meters 0.02077211978406363 Centerline is valid? [True, True] Translation: X:532.81, Y:-269.40, Z:12.34 [[ 4.02597396e-01 -9.15321399e-01 -1.01031490e-02 5.32805938e+02] [ 9.15053056e-01 4.02724016e-01 -2.21646225e-02 -2.69399312e+02] [ 2.43565340e-02 -3.21498062e-04 9.99703284e-01 1.23382374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.022755096 meters 0.02062168777718373 Centerline is valid? [True, True] Translation: X:532.83, Y:-269.35, Z:12.34 [[ 4.03026215e-01 -9.15130709e-01 -1.02788930e-02 5.32828859e+02] [ 9.14852346e-01 4.03157155e-01 -2.25719704e-02 -2.69348059e+02] [ 2.48003125e-02 -3.06573549e-04 9.99692378e-01 1.23389549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0827550959999 meters 0.02020713946668866 Centerline is valid? [True, True] Translation: X:532.85, Y:-269.30, Z:12.34 [[ 4.03483741e-01 -9.14926482e-01 -1.05072800e-02 5.32851574e+02] [ 9.14634966e-01 4.03620424e-01 -2.30961494e-02 -2.69295980e+02] [ 2.53722315e-02 -2.91404898e-04 9.99678031e-01 1.23398421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.142755096 meters 0.020686531191487237 Centerline is valid? [True, True] Translation: X:532.88, Y:-269.25, Z:12.34 [[ 4.03277864e-01 -9.15010993e-01 -1.10384172e-02 5.32875347e+02] [ 9.14688651e-01 4.03428793e-01 -2.42874729e-02 -2.69245233e+02] [ 2.66765200e-02 -3.02114764e-04 9.99644073e-01 1.23386146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2027550959999 meters 0.02141111278068968 Centerline is valid? [True, True] Translation: X:532.90, Y:-269.19, Z:12.34 [[ 4.01747148e-01 -9.15680853e-01 -1.13050468e-02 5.32899166e+02] [ 9.15342366e-01 4.01906029e-01 -2.48977245e-02 -2.69193449e+02] [ 2.73419361e-02 -3.45398474e-04 9.99626080e-01 1.23378861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.262755096 meters 0.020787546312929877 Centerline is valid? [True, True] Translation: X:532.92, Y:-269.14, Z:12.34 [[ 3.99210970e-01 -9.16789111e-01 -1.13281515e-02 5.32922156e+02] [ 9.16449093e-01 3.99371449e-01 -2.49700816e-02 -2.69140260e+02] [ 2.74164392e-02 -4.13343666e-04 9.99624013e-01 1.23422650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3227550959999 meters 0.022272628128670913 Centerline is valid? [True, True] Translation: X:532.95, Y:-269.09, Z:12.34 [[ 3.95806865e-01 -9.18270909e-01 -1.07453413e-02 5.32948015e+02] [ 9.17965067e-01 3.95952402e-01 -2.37029915e-02 -2.69089374e+02] [ 2.60204112e-02 -4.82041148e-04 9.99661296e-01 1.23427909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.382755096 meters 0.023908152921051355 Centerline is valid? [True, True] Translation: X:532.97, Y:-269.04, Z:12.35 [[ 3.90052066e-01 -9.20727972e-01 -1.09264661e-02 5.32974027e+02] [ 9.20412229e-01 3.90204537e-01 -2.41194533e-02 -2.69037540e+02] [ 2.64710120e-02 -6.49010422e-04 9.99649371e-01 1.23457701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4427550959999 meters 0.02518632536971936 Centerline is valid? [True, True] Translation: X:533.00, Y:-268.98, Z:12.35 [[ 3.87483748e-01 -9.21804631e-01 -1.15137654e-02 5.32998886e+02] [ 9.21453880e-01 3.87654041e-01 -2.54379968e-02 -2.68984612e+02] [ 2.79122209e-02 -7.52593459e-04 9.99610095e-01 1.23452845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.502755096 meters 0.02664392457543678 Centerline is valid? [True, True] Translation: X:533.02, Y:-268.93, Z:12.34 [[ 3.83937804e-01 -9.23277211e-01 -1.22863886e-02 5.33022984e+02] [ 9.22877838e-01 3.84133269e-01 -2.71684980e-02 -2.68931973e+02] [ 2.98036657e-02 -9.07822340e-04 9.99555360e-01 1.23442546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5627550959999 meters 0.027044050012323802 Centerline is valid? [True, True] Translation: X:533.04, Y:-268.88, Z:12.34 [[ 3.82289425e-01 -9.23949420e-01 -1.31249415e-02 5.33044650e+02] [ 9.23493224e-01 3.82513316e-01 -2.90487300e-02 -2.68878603e+02] [ 3.18600222e-02 -1.01577224e-03 9.99491824e-01 1.23439623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.622755096 meters 0.02685619115174389 Centerline is valid? [True, True] Translation: X:533.07, Y:-268.83, Z:12.35 [[ 3.81679241e-01 -9.24200054e-01 -1.32369410e-02 5.33066170e+02] [ 9.23735314e-01 3.81907303e-01 -2.93237324e-02 -2.68825732e+02] [ 3.21562795e-02 -1.03516990e-03 9.99482317e-01 1.23450340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6827550959999 meters 0.026608088686375545 Centerline is valid? [True, True] Translation: X:533.09, Y:-268.77, Z:12.35 [[ 3.82390108e-01 -9.23902473e-01 -1.34917053e-02 5.33086343e+02] [ 9.23418564e-01 3.82626689e-01 -2.99160861e-02 -2.68771492e+02] [ 3.28018325e-02 -1.01887574e-03 9.99461356e-01 1.23472516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.742755096 meters 0.025706523805778744 Centerline is valid? [True, True] Translation: X:533.11, Y:-268.72, Z:12.35 [[ 3.84789659e-01 -9.22906275e-01 -1.34508917e-02 5.33106291e+02] [ 9.22423856e-01 3.85023584e-01 -2.98508069e-02 -2.68716187e+02] [ 3.27284075e-02 -9.21141598e-04 9.99463858e-01 1.23491022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8027550959999 meters 0.024154789150707633 Centerline is valid? [True, True] Translation: X:533.13, Y:-268.66, Z:12.35 [[ 3.87165861e-01 -9.21920540e-01 -1.28496465e-02 5.33127436e+02] [ 9.21479032e-01 3.87378228e-01 -2.85394915e-02 -2.68662184e+02] [ 3.12888167e-02 -7.91162973e-04 9.99510072e-01 1.23546550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.862755096 meters 0.02335647864584296 Centerline is valid? [True, True] Translation: X:533.15, Y:-268.61, Z:12.36 [[ 3.89975455e-01 -9.20734363e-01 -1.29374377e-02 5.33147654e+02] [ 9.20285365e-01 3.90189384e-01 -2.87591995e-02 -2.68607996e+02] [ 3.15276341e-02 -6.90752621e-04 9.99502642e-01 1.23565027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.922755096 meters 0.023327597283186088 Centerline is valid? [True, True] Translation: X:533.17, Y:-268.56, Z:12.36 [[ 3.92287867e-01 -9.19751013e-01 -1.29731748e-02 5.33170389e+02] [ 9.19298223e-01 3.92501859e-01 -2.88628967e-02 -2.68555060e+02] [ 3.16386737e-02 -6.03652308e-04 9.99499190e-01 1.23565492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9827550959999 meters 0.022123505502527452 Centerline is valid? [True, True] Translation: X:533.19, Y:-268.50, Z:12.36 [[ 3.94120221e-01 -9.18960507e-01 -1.34476089e-02 5.33192273e+02] [ 9.18472636e-01 3.94349192e-01 -2.99454604e-02 -2.68502067e+02] [ 3.28217492e-02 -5.49149321e-04 9.99461070e-01 1.23578947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.042755096 meters 0.022654085677010015 Centerline is valid? [True, True] Translation: X:533.22, Y:-268.45, Z:12.36 [[ 3.92844969e-01 -9.19504775e-01 -1.35572515e-02 5.33218458e+02] [ 9.19008336e-01 3.93078392e-01 -3.02168353e-02 -2.68450433e+02] [ 3.31135870e-02 -5.88695381e-04 9.99451421e-01 1.23576651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1027550959999 meters 0.024010379736950766 Centerline is valid? [True, True] Translation: X:533.25, Y:-268.40, Z:12.36 [[ 3.89251701e-01 -9.21037177e-01 -1.31769532e-02 5.33247371e+02] [ 9.20568295e-01 3.89474061e-01 -2.93933683e-02 -2.68399404e+02] [ 3.22044664e-02 -6.88866786e-04 9.99481064e-01 1.23587182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.162755096 meters 0.0251266702370286 Centerline is valid? [True, True] Translation: X:533.27, Y:-268.35, Z:12.36 [[ 3.86708870e-01 -9.22112094e-01 -1.28660490e-02 5.33274781e+02] [ 9.21664938e-01 3.86922114e-01 -2.87231725e-02 -2.68348455e+02] [ 3.14641436e-02 -7.50680704e-04 9.99504599e-01 1.23604055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2227550959999 meters 0.02704239573264947 Centerline is valid? [True, True] Translation: X:533.30, Y:-268.30, Z:12.36 [[ 3.83481980e-01 -9.23463778e-01 -1.24988698e-02 5.33302420e+02] [ 9.23041793e-01 3.83684721e-01 -2.79263736e-02 -2.68298147e+02] [ 3.05846199e-02 -8.27718122e-04 9.99531838e-01 1.23598544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.282755096 meters 0.02804478991692386 Centerline is valid? [True, True] Translation: X:533.33, Y:-268.25, Z:12.36 [[ 3.82243484e-01 -9.23982309e-01 -1.21082791e-02 5.33327106e+02] [ 9.23585862e-01 3.82434305e-01 -2.70768852e-02 -2.68246314e+02] [ 2.96491842e-02 -8.33072427e-04 9.99560019e-01 1.23591633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3427550959999 meters 0.026461976000456768 Centerline is valid? [True, True] Translation: X:533.35, Y:-268.19, Z:12.36 [[ 3.83949094e-01 -9.23282991e-01 -1.14722428e-02 5.33349968e+02] [ 9.22926196e-01 3.84119755e-01 -2.56758899e-02 -2.68192999e+02] [ 2.81128275e-02 -7.29798757e-04 9.99604490e-01 1.23634707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.402755096 meters 0.02376164714165732 Centerline is valid? [True, True] Translation: X:533.37, Y:-268.14, Z:12.37 [[ 3.88059333e-01 -9.21571863e-01 -1.07356960e-02 5.33369592e+02] [ 9.21258332e-01 3.88207403e-01 -2.40436641e-02 -2.68137886e+02] [ 2.63256409e-02 -5.59981109e-04 9.99653263e-01 1.23664263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4627550959999 meters 0.022497466377779666 Centerline is valid? [True, True] Translation: X:533.39, Y:-268.08, Z:12.37 [[ 3.91223530e-01 -9.20236539e-01 -1.04336572e-02 5.33390365e+02] [ 9.19939568e-01 3.91362375e-01 -2.33812622e-02 -2.68082946e+02] [ 2.55996327e-02 -4.51034185e-04 9.99672174e-01 1.23678814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.522755096 meters 0.02046901576025271 Centerline is valid? [True, True] Translation: X:533.41, Y:-268.03, Z:12.37 [[ 3.95709727e-01 -9.18322701e-01 -9.86046563e-03 5.33408789e+02] [ 9.18056463e-01 3.95832447e-01 -2.21134446e-02 -2.68027521e+02] [ 2.42103704e-02 -3.01959071e-04 9.99706840e-01 1.23699175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5827550959999 meters 0.02114383755361601 Centerline is valid? [True, True] Translation: X:533.43, Y:-267.97, Z:12.37 [[ 3.99345616e-01 -9.16759800e-01 -8.63407670e-03 5.33430486e+02] [ 9.16555001e-01 3.99438904e-01 -1.93776150e-02 -2.67974987e+02] [ 2.12134045e-02 -1.75240591e-04 9.99774955e-01 1.23700982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.642755096 meters 0.01893104966804651 Centerline is valid? [True, True] Translation: X:533.45, Y:-267.92, Z:12.38 [[ 4.01731057e-01 -9.15723393e-01 -7.92622959e-03 5.33452514e+02] [ 9.15550338e-01 4.01809228e-01 -1.78023210e-02 -2.67921689e+02] [ 1.94868340e-02 -1.05116970e-04 9.99810108e-01 1.23752800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7027550959999 meters 0.0187891783754146 Centerline is valid? [True, True] Translation: X:533.48, Y:-267.87, Z:12.38 [[ 4.02377955e-01 -9.15440154e-01 -7.82982343e-03 5.33475927e+02] [ 9.15270947e-01 4.02454119e-01 -1.76004491e-02 -2.67870793e+02] [ 1.92633025e-02 -8.43771910e-05 9.99814442e-01 1.23756270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.762755096 meters 0.018943241364806844 Centerline is valid? [True, True] Translation: X:533.50, Y:-267.82, Z:12.38 [[ 4.00792631e-01 -9.16137793e-01 -7.53729566e-03 5.33501799e+02] [ 9.15980901e-01 4.00863483e-01 -1.69545336e-02 -2.67819472e+02] [ 1.85541156e-02 -1.08766745e-04 9.99827852e-01 1.23758925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8227550959999 meters 0.01931786272843929 Centerline is valid? [True, True] Translation: X:533.53, Y:-267.77, Z:12.38 [[ 3.98084499e-01 -9.17319811e-01 -7.28668438e-03 5.33529266e+02] [ 9.17173115e-01 3.98151153e-01 -1.64053594e-02 -2.67768587e+02] [ 1.79501630e-02 -1.52431737e-04 9.99838871e-01 1.23771398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.882755096 meters 0.019849065781330808 Centerline is valid? [True, True] Translation: X:533.56, Y:-267.72, Z:12.38 [[ 3.95502972e-01 -9.18438773e-01 -6.90070052e-03 5.33555931e+02] [ 9.18307140e-01 3.95563125e-01 -1.55502705e-02 -2.67716610e+02] [ 1.70116340e-02 -1.86784353e-04 9.99855274e-01 1.23789051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9427550959999 meters 0.02090041664283942 Centerline is valid? [True, True] Translation: X:533.58, Y:-267.67, Z:12.38 [[ 3.91630339e-01 -9.20100040e-01 -6.44933012e-03 5.33584491e+02] [ 9.19985106e-01 3.91683367e-01 -1.45445622e-02 -2.67665650e+02] [ 1.59085476e-02 -2.37195836e-04 9.99873423e-01 1.23795546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.002755096 meters 0.022581796275357106 Centerline is valid? [True, True] Translation: X:533.61, Y:-267.61, Z:12.38 [[ 3.87945281e-01 -9.21659105e-01 -6.55386111e-03 5.33611473e+02] [ 9.21540429e-01 3.88000520e-01 -1.47930565e-02 -2.67613952e+02] [ 1.61770567e-02 -3.00751514e-04 9.99869098e-01 1.23770469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0627550959999 meters 0.024370226237828144 Centerline is valid? [True, True] Translation: X:533.64, Y:-267.56, Z:12.38 [[ 3.85769662e-01 -9.22568402e-01 -7.02221091e-03 5.33637205e+02] [ 9.22432057e-01 3.85833404e-01 -1.58645381e-02 -2.67562812e+02] [ 1.73455251e-02 -3.57454965e-04 9.99849491e-01 1.23762214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.122755096 meters 0.024550002308416113 Centerline is valid? [True, True] Translation: X:533.66, Y:-267.51, Z:12.38 [[ 3.84326142e-01 -9.23171152e-01 -6.95993964e-03 5.33659387e+02] [ 9.23037077e-01 3.84388973e-01 -1.57375888e-02 -2.67510115e+02] [ 1.72038120e-02 -3.75915565e-04 9.99851933e-01 1.23769543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1827550959999 meters 0.02350070522039777 Centerline is valid? [True, True] Translation: X:533.68, Y:-267.46, Z:12.38 [[ 3.83529395e-01 -9.23503165e-01 -6.86352794e-03 5.33680108e+02] [ 9.23372602e-01 3.83590615e-01 -1.55331455e-02 -2.67456311e+02] [ 1.69776939e-02 -3.80175755e-04 9.99855796e-01 1.23778921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.242755096 meters 0.024749310281220762 Centerline is valid? [True, True] Translation: X:533.70, Y:-267.40, Z:12.38 [[ 3.80251639e-01 -9.24863122e-01 -6.07422552e-03 5.33704488e+02] [ 9.24760861e-01 3.80299956e-01 -1.37583986e-02 -2.67403311e+02] [ 1.50346632e-02 -3.85552395e-04 9.99886899e-01 1.23797896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3027550959999 meters 0.027013878800668106 Centerline is valid? [True, True] Translation: X:533.73, Y:-267.35, Z:12.38 [[ 3.75578135e-01 -9.26776006e-01 -5.22482546e-03 5.33728010e+02] [ 9.26700423e-01 3.75614269e-01 -1.18425987e-02 -2.67350423e+02] [ 1.29379553e-02 -3.94026849e-04 9.99916224e-01 1.23816643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.362755096 meters 0.02970034179120024 Centerline is valid? [True, True] Translation: X:533.75, Y:-267.30, Z:12.38 [[ 3.70758267e-01 -9.28717901e-01 -4.62254790e-03 5.33753176e+02] [ 9.28658803e-01 3.70786861e-01 -1.04848177e-02 -2.67298271e+02] [ 1.14514179e-02 -4.05436955e-04 9.99934348e-01 1.23834810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.422755096 meters 0.030373817712897704 Centerline is valid? [True, True] Translation: X:533.78, Y:-267.25, Z:12.38 [[ 3.66780130e-01 -9.30296435e-01 -4.56936062e-03 5.33775851e+02] [ 9.30238717e-01 3.66808320e-01 -1.03723192e-02 -2.67245335e+02] [ 1.13254110e-02 -4.46235596e-04 9.99935766e-01 1.23833262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4827550959999 meters 0.03073598003312353 Centerline is valid? [True, True] Translation: X:533.80, Y:-267.19, Z:12.38 [[ 3.65035122e-01 -9.30983530e-01 -4.36194056e-03 5.33797299e+02] [ 9.30930888e-01 3.65060913e-01 -9.91021583e-03 -2.67191602e+02] [ 1.08186217e-02 -4.43088353e-04 9.99941379e-01 1.23835037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.542755096 meters 0.03130190829992906 Centerline is valid? [True, True] Translation: X:533.82, Y:-267.14, Z:12.38 [[ 3.64708919e-01 -9.31111616e-01 -4.30835461e-03 5.33816191e+02] [ 9.31060187e-01 3.64734102e-01 -9.79607963e-03 -2.67137423e+02] [ 1.06926474e-02 -4.38619837e-04 9.99942736e-01 1.23840038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6027550959999 meters 0.03128101875351855 Centerline is valid? [True, True] Translation: X:533.84, Y:-267.08, Z:12.39 [[ 3.65146207e-01 -9.30940876e-01 -4.16338201e-03 5.33835724e+02] [ 9.30892747e-01 3.65169705e-01 -9.47528682e-03 -2.67082965e+02] [ 1.03412728e-02 -4.15797070e-04 9.99946441e-01 1.23853565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.662755096 meters 0.02800452658761375 Centerline is valid? [True, True] Translation: X:533.85, Y:-267.03, Z:12.39 [[ 3.67383122e-01 -9.30061423e-01 -3.92316193e-03 5.33849123e+02] [ 9.30018569e-01 3.67403887e-01 -8.93565728e-03 -2.67025681e+02] [ 9.75209506e-03 -3.65803765e-04 9.99952380e-01 1.23856980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7227550959999 meters 0.026349559714696245 Centerline is valid? [True, True] Translation: X:533.87, Y:-266.97, Z:12.39 [[ 3.71765702e-01 -9.28319147e-01 -3.71799054e-03 5.33865753e+02] [ 9.28280510e-01 3.71784172e-01 -8.47496227e-03 -2.66969951e+02] [ 9.24975978e-03 -3.00637850e-04 9.99957175e-01 1.23880157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.782755096 meters 0.024241985420686746 Centerline is valid? [True, True] Translation: X:533.88, Y:-266.91, Z:12.39 [[ 3.75108090e-01 -9.26974106e-01 -3.59560401e-03 5.33882077e+02] [ 9.26937841e-01 3.75125235e-01 -8.20346838e-03 -2.66913417e+02] [ 8.95320457e-03 -2.55714058e-04 9.99959887e-01 1.23890690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8427550959999 meters 0.02249841939427989 Centerline is valid? [True, True] Translation: X:533.90, Y:-266.86, Z:12.39 [[ 3.81404618e-01 -9.24398540e-01 -4.22575344e-03 5.33896510e+02] [ 9.24348187e-01 3.81427960e-01 -9.65092514e-03 -2.66858091e+02] [ 1.05331216e-02 -2.25160121e-04 9.99944500e-01 1.23890868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.902755096 meters 0.02095144609161482 Centerline is valid? [True, True] Translation: X:533.91, Y:-266.80, Z:12.39 [[ 3.85491483e-01 -9.22698151e-01 -4.94365416e-03 5.33912577e+02] [ 9.22628919e-01 3.85523127e-01 -1.13046608e-02 -2.66801515e+02] [ 1.23366826e-02 -2.03307850e-04 9.99923880e-01 1.23886079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9627550959999 meters 0.02109170003000482 Centerline is valid? [True, True] Translation: X:533.93, Y:-266.75, Z:12.39 [[ 3.86280479e-01 -9.22364827e-01 -5.52427824e-03 5.33932706e+02] [ 9.22278176e-01 3.86319922e-01 -1.26445473e-02 -2.66749410e+02] [ 1.37970244e-02 -2.10579478e-04 9.99904794e-01 1.23888821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.022755096 meters 0.021184354505443825 Centerline is valid? [True, True] Translation: X:533.95, Y:-266.70, Z:12.39 [[ 3.84245674e-01 -9.23215686e-01 -5.29706906e-03 5.33952755e+02] [ 9.23135928e-01 3.84282117e-01 -1.21372904e-02 -2.66695307e+02] [ 1.32409058e-02 -2.26213433e-04 9.99912310e-01 1.23893085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0827550959999 meters 0.022324937815537245 Centerline is valid? [True, True] Translation: X:533.98, Y:-266.64, Z:12.39 [[ 3.81584705e-01 -9.24321079e-01 -4.86375918e-03 5.33976011e+02] [ 9.24253860e-01 3.81615625e-01 -1.11497087e-02 -2.66642506e+02] [ 1.21619973e-02 -2.40789874e-04 9.99926011e-01 1.23909147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.142755096 meters 0.024689918989452195 Centerline is valid? [True, True] Translation: X:534.00, Y:-266.59, Z:12.39 [[ 3.75565880e-01 -9.26785466e-01 -4.35536257e-03 5.34001182e+02] [ 9.26731653e-01 3.75591026e-01 -9.99126450e-03 -2.66590348e+02] [ 1.08955938e-02 -2.83874311e-04 9.99940601e-01 1.23936523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2027550959999 meters 0.026694327091452544 Centerline is valid? [True, True] Translation: X:534.02, Y:-266.54, Z:12.39 [[ 3.69414221e-01 -9.29252697e-01 -4.74961623e-03 5.34024547e+02] [ 9.29188776e-01 3.69444553e-01 -1.09059848e-02 -2.66537938e+02] [ 1.18891357e-02 -3.84464202e-04 9.99929248e-01 1.23928832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.262755096 meters 0.029512544255678657 Centerline is valid? [True, True] Translation: X:534.05, Y:-266.49, Z:12.39 [[ 3.63094003e-01 -9.31738179e-01 -5.16827388e-03 5.34047749e+02] [ 9.31662576e-01 3.63130438e-01 -1.18798407e-02 -2.66485226e+02] [ 1.29456586e-02 -5.01588453e-04 9.99916076e-01 1.23911826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3227550959999 meters 0.03167837133374866 Centerline is valid? [True, True] Translation: X:534.07, Y:-266.43, Z:12.39 [[ 3.59784755e-01 -9.33019505e-01 -5.43448020e-03 5.34071825e+02] [ 9.32935885e-01 3.59825343e-01 -1.25042939e-02 -2.66433528e+02] [ 1.36222138e-02 -5.71167275e-04 9.99907050e-01 1.23911679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.382755096 meters 0.032445143574468815 Centerline is valid? [True, True] Translation: X:534.09, Y:-266.38, Z:12.39 [[ 3.56603507e-01 -9.34236752e-01 -5.96904906e-03 5.34092191e+02] [ 9.34135827e-01 3.56652825e-01 -1.37484194e-02 -2.66378933e+02] [ 1.49731569e-02 -6.73168005e-04 9.99887669e-01 1.23906842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4427550959999 meters 0.03512449989341633 Centerline is valid? [True, True] Translation: X:534.12, Y:-266.33, Z:12.39 [[ 3.56610928e-01 -9.34231113e-01 -6.39318897e-03 5.34116167e+02] [ 9.34115112e-01 3.56667513e-01 -1.47391496e-02 -2.66327480e+02] [ 1.60500150e-02 -7.15832601e-04 9.99870934e-01 1.23909811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.502755096 meters 0.03213069441879811 Centerline is valid? [True, True] Translation: X:534.13, Y:-266.27, Z:12.39 [[ 3.57932749e-01 -9.33723631e-01 -6.65798350e-03 5.34132194e+02] [ 9.33597475e-01 3.57993951e-01 -1.53650859e-02 -2.66271355e+02] [ 1.67302616e-02 -7.16209161e-04 9.99859783e-01 1.23914692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5627550959999 meters 0.031320816292259926 Centerline is valid? [True, True] Translation: X:534.15, Y:-266.22, Z:12.39 [[ 3.61136002e-01 -9.32488758e-01 -6.74564769e-03 5.34150907e+02] [ 9.32358815e-01 3.61198389e-01 -1.55808995e-02 -2.66218265e+02] [ 1.69655307e-02 -6.62540325e-04 9.99855856e-01 1.23927136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.622755096 meters 0.026892584795752354 Centerline is valid? [True, True] Translation: X:534.16, Y:-266.16, Z:12.39 [[ 3.65783941e-01 -9.30676629e-01 -6.56666446e-03 5.34164774e+02] [ 9.30553003e-01 3.65842453e-01 -1.51791822e-02 -2.66161071e+02] [ 1.65292748e-02 -5.58328239e-04 9.99863226e-01 1.23937646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6827550959999 meters 0.02739105963107697 Centerline is valid? [True, True] Translation: X:534.19, Y:-266.11, Z:12.40 [[ 3.70768634e-01 -9.28701025e-01 -6.71009207e-03 5.34185194e+02] [ 9.28571380e-01 3.70829044e-01 -1.55245816e-02 -2.66108151e+02] [ 1.69059919e-02 -4.74771542e-04 9.99856971e-01 1.23950331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.742755096 meters 0.02524005019625594 Centerline is valid? [True, True] Translation: X:534.20, Y:-266.05, Z:12.40 [[ 3.73574225e-01 -9.27576031e-01 -6.70859666e-03 5.34202200e+02] [ 9.27446004e-01 3.73634222e-01 -1.55363076e-02 -2.66052701e+02] [ 1.69176679e-02 -4.17897085e-04 9.99856799e-01 1.23957472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8027550959999 meters 0.023113865590433904 Centerline is valid? [True, True] Translation: X:534.22, Y:-266.00, Z:12.40 [[ 3.75410030e-01 -9.26835425e-01 -6.58818871e-03 5.34219814e+02] [ 9.26709706e-01 3.75467650e-01 -1.52697557e-02 -2.65996748e+02] [ 1.66262023e-02 -3.72918959e-04 9.99861706e-01 1.23963801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.862755096 meters 0.023115820348373006 Centerline is valid? [True, True] Translation: X:534.24, Y:-265.94, Z:12.40 [[ 3.74917996e-01 -9.27035673e-01 -6.43104361e-03 5.34241828e+02] [ 9.26915709e-01 3.74972968e-01 -1.49178592e-02 -2.65943553e+02] [ 1.62408552e-02 -3.68061463e-04 9.99868041e-01 1.23978573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.922755096 meters 0.023558244981953337 Centerline is valid? [True, True] Translation: X:534.27, Y:-265.89, Z:12.40 [[ 3.73026384e-01 -9.27795962e-01 -6.78013900e-03 5.34265801e+02] [ 9.27662468e-01 3.73087765e-01 -1.57437321e-02 -2.65890552e+02] [ 1.71365579e-02 -4.16853024e-04 9.99853072e-01 1.23979079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9827550959999 meters 0.02432621026308155 Centerline is valid? [True, True] Translation: X:534.29, Y:-265.84, Z:12.40 [[ 3.71482658e-01 -9.28413125e-01 -7.05006845e-03 5.34289555e+02] [ 9.28268637e-01 3.71549269e-01 -1.63852886e-02 -2.65837991e+02] [ 1.78317648e-02 -4.57506852e-04 9.99840897e-01 1.23980055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.042755096 meters 0.024869991817346258 Centerline is valid? [True, True] Translation: X:534.31, Y:-265.79, Z:12.40 [[ 3.68424223e-01 -9.29631857e-01 -6.94275682e-03 5.34313329e+02] [ 9.29491709e-01 3.68489289e-01 -1.61495020e-02 -2.65785560e+02] [ 1.75714231e-02 -5.03367184e-04 9.99845484e-01 1.23992609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1027550959999 meters 0.026441327206949954 Centerline is valid? [True, True] Translation: X:534.34, Y:-265.74, Z:12.40 [[ 3.67055920e-01 -9.30169595e-01 -7.38081158e-03 5.34339423e+02] [ 9.30010994e-01 3.67129698e-01 -1.71853044e-02 -2.65735082e+02] [ 1.86949628e-02 -5.56268198e-04 9.99825079e-01 1.23995225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.162755096 meters 0.026362791358435736 Centerline is valid? [True, True] Translation: X:534.36, Y:-265.68, Z:12.40 [[ 3.67319579e-01 -9.30061156e-01 -7.91028791e-03 5.34362947e+02] [ 9.29878598e-01 3.67404280e-01 -1.84360359e-02 -2.65683360e+02] [ 2.00529145e-02 -5.83690483e-04 9.99798750e-01 1.23989376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2227550959999 meters 0.024858748679170012 Centerline is valid? [True, True] Translation: X:534.38, Y:-265.63, Z:12.40 [[ 3.69628050e-01 -9.29142345e-01 -8.34310051e-03 5.34383648e+02] [ 9.28938630e-01 3.69721779e-01 -1.94635065e-02 -2.65629275e+02] [ 2.11689941e-02 -5.55970384e-04 9.99775757e-01 1.23988577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.282755096 meters 0.02356061396278429 Centerline is valid? [True, True] Translation: X:534.41, Y:-265.58, Z:12.40 [[ 3.72959503e-01 -9.27806626e-01 -8.72209532e-03 5.34406671e+02] [ 9.27583219e-01 3.73061149e-01 -2.03654303e-02 -2.65576017e+02] [ 2.21490560e-02 -4.94988513e-04 9.99754557e-01 1.23995683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3427550959999 meters 0.022123314364735257 Centerline is valid? [True, True] Translation: X:534.43, Y:-265.52, Z:12.40 [[ 3.76291470e-01 -9.26464379e-01 -8.27551804e-03 5.34429120e+02] [ 9.26262613e-01 3.76382257e-01 -1.93382652e-02 -2.65523147e+02] [ 2.10309720e-02 -3.88478715e-04 9.99778749e-01 1.24028758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.402755096 meters 0.020662452247559856 Centerline is valid? [True, True] Translation: X:534.45, Y:-265.47, Z:12.40 [[ 3.77944962e-01 -9.25791643e-01 -8.21215090e-03 5.34450959e+02] [ 9.25592464e-01 3.78034015e-01 -1.92060849e-02 -2.65468950e+02] [ 2.08853052e-02 -3.42261981e-04 9.99781820e-01 1.24045114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4627550959999 meters 0.020709520443932348 Centerline is valid? [True, True] Translation: X:534.48, Y:-265.42, Z:12.41 [[ 3.77450689e-01 -9.25993237e-01 -8.21600082e-03 5.34477639e+02] [ 9.25793566e-01 3.77539938e-01 -1.92319624e-02 -2.65417657e+02] [ 2.09105356e-02 -3.47203224e-04 9.99781291e-01 1.24065318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.522755096 meters 0.020977445138144493 Centerline is valid? [True, True] Translation: X:534.51, Y:-265.37, Z:12.41 [[ 3.75191542e-01 -9.26909025e-01 -8.42416994e-03 5.34505388e+02] [ 9.26698923e-01 3.75285889e-01 -1.97384918e-02 -2.65366968e+02] [ 2.14572583e-02 -4.00954058e-04 9.99769686e-01 1.24089709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5827550959999 meters 0.02155116074217236 Centerline is valid? [True, True] Translation: X:534.53, Y:-265.32, Z:12.41 [[ 3.72751469e-01 -9.27889013e-01 -8.85002173e-03 5.34531739e+02] [ 9.27656953e-01 3.72856214e-01 -2.07562360e-02 -2.65315493e+02] [ 2.25592690e-02 -4.72866728e-04 9.99745395e-01 1.24098479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.642755096 meters 0.02158326158846424 Centerline is valid? [True, True] Translation: X:534.56, Y:-265.26, Z:12.41 [[ 3.71734180e-01 -9.28295122e-01 -9.04793951e-03 5.34559303e+02] [ 9.28052240e-01 3.71843939e-01 -2.12396885e-02 -2.65264486e+02] [ 2.30811207e-02 -5.01442355e-04 9.99733470e-01 1.24116271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7027550959999 meters 0.021623147860344243 Centerline is valid? [True, True] Translation: X:534.58, Y:-265.21, Z:12.41 [[ 3.72518940e-01 -9.27974684e-01 -9.62422731e-03 5.34583797e+02] [ 9.27699219e-01 3.72642902e-01 -2.26147305e-02 -2.65213286e+02] [ 2.45722974e-02 -5.03972733e-04 9.99697928e-01 1.24116966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.762755096 meters 0.02102888010092818 Centerline is valid? [True, True] Translation: X:534.61, Y:-265.16, Z:12.41 [[ 3.73661731e-01 -9.27511823e-01 -9.93625120e-03 5.34607053e+02] [ 9.27217428e-01 3.73793510e-01 -2.33720678e-02 -2.65160409e+02] [ 2.53919754e-02 -4.79817973e-04 9.99677457e-01 1.24123378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8227550959999 meters 0.0204500880012082 Centerline is valid? [True, True] Translation: X:534.63, Y:-265.11, Z:12.41 [[ 3.75968966e-01 -9.26575409e-01 -1.02639305e-02 5.34631335e+02] [ 9.26260333e-01 3.76108806e-01 -2.41653019e-02 -2.65108670e+02] [ 2.62513291e-02 -4.21668134e-04 9.99655286e-01 1.24130779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.882755096 meters 0.01935059735781758 Centerline is valid? [True, True] Translation: X:534.65, Y:-265.06, Z:12.41 [[ 3.77712441e-01 -9.25860434e-01 -1.07596140e-02 5.34654762e+02] [ 9.25513239e-01 3.77865469e-01 -2.53561166e-02 -2.65056567e+02] [ 2.75419117e-02 -3.80844495e-04 9.99620577e-01 1.24148982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9427550959999 meters 0.0183187942468639 Centerline is valid? [True, True] Translation: X:534.68, Y:-265.00, Z:12.42 [[ 3.80696166e-01 -9.24631116e-01 -1.13016903e-02 5.34677709e+02] [ 9.24246711e-01 3.80863770e-01 -2.66609253e-02 -2.65004274e+02] [ 2.89559255e-02 -2.95838098e-04 9.99580646e-01 1.24157623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.002755096 meters 0.01754638478080167 Centerline is valid? [True, True] Translation: X:534.70, Y:-264.95, Z:12.42 [[ 3.84354347e-01 -9.23118804e-01 -1.11089436e-02 5.34701995e+02] [ 9.22746068e-01 3.84514817e-01 -2.62307053e-02 -2.64951032e+02] [ 2.84856107e-02 -1.68848386e-04 9.99594188e-01 1.24184628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0627550959999 meters 0.017341839390098437 Centerline is valid? [True, True] Translation: X:534.73, Y:-264.90, Z:12.42 [[ 3.86261099e-01 -9.22314270e-01 -1.17792270e-02 5.34727318e+02] [ 9.21894053e-01 3.86440649e-01 -2.78384584e-02 -2.64898227e+02] [ 3.02277796e-02 -1.06285724e-04 9.99543031e-01 1.24183804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.122755096 meters 0.017407934566648114 Centerline is valid? [True, True] Translation: X:534.75, Y:-264.85, Z:12.42 [[ 3.85508062e-01 -9.22629074e-01 -1.17951674e-02 5.34752771e+02] [ 9.22207045e-01 3.85688446e-01 -2.79031898e-02 -2.64847876e+02] [ 3.02935539e-02 -1.20681832e-04 9.99541038e-01 1.24193022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1827550959999 meters 0.017745951241641182 Centerline is valid? [True, True] Translation: X:534.78, Y:-264.80, Z:12.42 [[ 3.82347323e-01 -9.23943016e-01 -1.18248639e-02 5.34782282e+02] [ 9.23518643e-01 3.82530073e-01 -2.80010536e-02 -2.64797103e+02] [ 3.03947440e-02 -2.14354419e-04 9.99537950e-01 1.24216358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.242755096 meters 0.01899851906849695 Centerline is valid? [True, True] Translation: X:534.81, Y:-264.75, Z:12.42 [[ 3.77438706e-01 -9.25960483e-01 -1.17135275e-02 5.34813547e+02] [ 9.25544268e-01 3.77620248e-01 -2.77624976e-02 -2.64748495e+02] [ 3.01302409e-02 -3.62747046e-04 9.99545915e-01 1.24236660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3027550959999 meters 0.020862669845189367 Centerline is valid? [True, True] Translation: X:534.84, Y:-264.70, Z:12.43 [[ 3.72385263e-01 -9.28003659e-01 -1.17653852e-02 5.34844363e+02] [ 9.27583968e-01 3.72570716e-01 -2.79113506e-02 -2.64699053e+02] [ 3.02852735e-02 -5.19607093e-04 9.99541161e-01 1.24251585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.362755096 meters 0.021230841715278212 Centerline is valid? [True, True] Translation: X:534.87, Y:-264.65, Z:12.43 [[ 3.71208126e-01 -9.28465609e-01 -1.24955843e-02 5.34870791e+02] [ 9.27991562e-01 3.71417924e-01 -2.96712977e-02 -2.64647438e+02] [ 3.21898635e-02 -5.81569957e-04 9.99481603e-01 1.24252935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.422755096 meters 0.021172774787461317 Centerline is valid? [True, True] Translation: X:534.89, Y:-264.59, Z:12.42 [[ 3.73418919e-01 -9.27576264e-01 -1.26722434e-02 5.34892432e+02] [ 9.27087332e-01 3.73633541e-01 -3.01173658e-02 -2.64594913e+02] [ 3.26709288e-02 -5.01882113e-04 9.99466037e-01 1.24249835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4827550959999 meters 0.019134316159619195 Centerline is valid? [True, True] Translation: X:534.91, Y:-264.54, Z:12.43 [[ 3.78294564e-01 -9.25588991e-01 -1.33507294e-02 5.34908584e+02] [ 9.25044043e-01 3.78529928e-01 -3.17586646e-02 -2.64539083e+02] [ 3.44491210e-02 -3.35882521e-04 9.99406396e-01 1.24274946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.542755096 meters 0.021250607231518323 Centerline is valid? [True, True] Translation: X:534.93, Y:-264.49, Z:12.42 [[ 3.79940966e-01 -9.24906823e-01 -1.38647293e-02 5.34928732e+02] [ 9.24317469e-01 3.80193759e-01 -3.30139656e-02 -2.64486046e+02] [ 3.58061256e-02 -2.72053514e-04 9.99358718e-01 1.24247919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6027550959999 meters 0.02300582566991379 Centerline is valid? [True, True] Translation: X:534.95, Y:-264.43, Z:12.43 [[ 3.79212316e-01 -9.25207494e-01 -1.37518418e-02 5.34951843e+02] [ 9.24626862e-01 3.79461475e-01 -3.27742965e-02 -2.64434607e+02] [ 3.55413189e-02 -2.86905446e-04 9.99368167e-01 1.24253813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.662755096 meters 0.01971589633289569 Centerline is valid? [True, True] Translation: X:534.97, Y:-264.38, Z:12.43 [[ 3.76365050e-01 -9.26378889e-01 -1.30959277e-02 5.34973647e+02] [ 9.25852144e-01 3.76592643e-01 -3.12376220e-02 -2.64382144e+02] [ 3.38697036e-02 -3.68143560e-04 9.99426189e-01 1.24337693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7227550959999 meters 0.020001197756506498 Centerline is valid? [True, True] Translation: X:535.00, Y:-264.33, Z:12.44 [[ 3.73975269e-01 -9.27351661e-01 -1.27041524e-02 5.34996616e+02] [ 9.26855595e-01 3.74190741e-01 -3.03314162e-02 -2.64328902e+02] [ 3.28816654e-02 -4.31715234e-04 9.99459159e-01 1.24371690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.782755096 meters 0.023011208036299035 Centerline is valid? [True, True] Translation: X:535.02, Y:-264.28, Z:12.44 [[ 3.70661982e-01 -9.28679167e-01 -1.28335432e-02 5.35021621e+02] [ 9.28172785e-01 3.70883687e-01 -3.06687367e-02 -2.64277358e+02] [ 3.32411687e-02 -5.44010804e-04 9.99447212e-01 1.24362337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8427550959999 meters 0.021465413604779434 Centerline is valid? [True, True] Translation: X:535.04, Y:-264.22, Z:12.44 [[ 3.70156078e-01 -9.28880635e-01 -1.28547538e-02 5.35042604e+02] [ 9.28371712e-01 3.70378809e-01 -3.07490319e-02 -2.64223599e+02] [ 3.33233086e-02 -5.52048738e-04 9.99444472e-01 1.24387230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.902755096 meters 0.021202148614333543 Centerline is valid? [True, True] Translation: X:535.06, Y:-264.17, Z:12.44 [[ 3.71006322e-01 -9.28539943e-01 -1.29569867e-02 5.35061871e+02] [ 9.28021650e-01 3.71232151e-01 -3.10243121e-02 -2.64169690e+02] [ 3.36173630e-02 -5.14148242e-04 9.99434644e-01 1.24394633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9627550959999 meters 0.021587596983238807 Centerline is valid? [True, True] Translation: X:535.08, Y:-264.12, Z:12.44 [[ 3.70797956e-01 -9.28622783e-01 -1.29846882e-02 5.35082756e+02] [ 9.28101268e-01 3.71024884e-01 -3.11218699e-02 -2.64116454e+02] [ 3.37181199e-02 -5.11179903e-04 9.99431252e-01 1.24407634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.022755096 meters 0.021145186105637075 Centerline is valid? [True, True] Translation: X:535.11, Y:-264.06, Z:12.45 [[ 3.69171150e-01 -9.29283890e-01 -1.20047402e-02 5.35105499e+02] [ 9.28837611e-01 3.69365921e-01 -2.88011895e-02 -2.64063759e+02] [ 3.11986234e-02 -5.17885960e-04 9.99513070e-01 1.24452375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0827550959999 meters 0.0217782842408759 Centerline is valid? [True, True] Translation: X:535.13, Y:-264.01, Z:12.45 [[ 3.67758826e-01 -9.29850532e-01 -1.14644428e-02 5.35125758e+02] [ 9.29442994e-01 3.67937095e-01 -2.75320801e-02 -2.64009840e+02] [ 2.98189131e-02 -5.30380581e-04 9.99555177e-01 1.24472340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.142755096 meters 0.022670685087438792 Centerline is valid? [True, True] Translation: X:535.15, Y:-263.96, Z:12.45 [[ 3.67956026e-01 -9.29772998e-01 -1.14251981e-02 5.35145992e+02] [ 9.29367470e-01 3.68133004e-01 -2.74626297e-02 -2.63957193e+02] [ 2.97400040e-02 -5.13167371e-04 9.99557537e-01 1.24468010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2027550959999 meters 0.0236514937029744 Centerline is valid? [True, True] Translation: X:535.17, Y:-263.90, Z:12.45 [[ 3.67560345e-01 -9.29928774e-01 -1.14833867e-02 5.35167517e+02] [ 9.29518471e-01 3.67739317e-01 -2.76261942e-02 -2.63903775e+02] [ 2.99132857e-02 -5.19726536e-04 9.99552362e-01 1.24463927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.262755096 meters 0.024006805374039795 Centerline is valid? [True, True] Translation: X:535.19, Y:-263.85, Z:12.45 [[ 3.66844592e-01 -9.30214074e-01 -1.12615122e-02 5.35189716e+02] [ 9.29818848e-01 3.67017033e-01 -2.71183980e-02 -2.63851144e+02] [ 2.93590823e-02 -5.22928634e-04 9.99568792e-01 1.24474758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3227550959999 meters 0.0249829755385612 Centerline is valid? [True, True] Translation: X:535.21, Y:-263.80, Z:12.45 [[ 3.66575407e-01 -9.30320127e-01 -1.12664455e-02 5.35211165e+02] [ 9.29923911e-01 3.66748127e-01 -2.71538275e-02 -2.63799438e+02] [ 2.93937000e-02 -5.23011695e-04 9.99567775e-01 1.24481447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.382755096 meters 0.02398507476705909 Centerline is valid? [True, True] Translation: X:535.23, Y:-263.75, Z:12.45 [[ 3.65374597e-01 -9.30800858e-01 -1.05435537e-02 5.35234016e+02] [ 9.30453534e-01 3.65526324e-01 -2.54308246e-02 -2.63746451e+02] [ 2.75249798e-02 -5.18509534e-04 9.99620981e-01 1.24520249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4427550959999 meters 0.025563700369062893 Centerline is valid? [True, True] Translation: X:535.26, Y:-263.70, Z:12.45 [[ 3.62603099e-01 -9.31886053e-01 -1.03622857e-02 5.35258267e+02] [ 9.31550401e-01 3.62750666e-01 -2.50160774e-02 -2.63695484e+02] [ 2.70710596e-02 -5.82084215e-04 9.99633342e-01 1.24530668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.502755096 meters 0.024369685186044276 Centerline is valid? [True, True] Translation: X:535.28, Y:-263.64, Z:12.46 [[ 3.59353778e-01 -9.33150450e-01 -9.75196924e-03 5.35279329e+02] [ 9.32853091e-01 3.59485525e-01 -2.35641324e-02 -2.63641420e+02] [ 2.54945725e-02 -6.29294652e-04 9.99674762e-01 1.24571142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5627550959999 meters 0.02495985932161846 Centerline is valid? [True, True] Translation: X:535.30, Y:-263.59, Z:12.46 [[ 3.57635819e-01 -9.33816697e-01 -9.11029515e-03 5.35303368e+02] [ 9.33556945e-01 3.57751290e-01 -2.20328175e-02 -2.63588173e+02] [ 2.38338327e-02 -6.25254602e-04 9.99715738e-01 1.24595649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.622755096 meters 0.0261317610138902 Centerline is valid? [True, True] Translation: X:535.33, Y:-263.54, Z:12.46 [[ 3.56510712e-01 -9.34250531e-01 -8.72106199e-03 5.35326672e+02] [ 9.34012189e-01 3.56616827e-01 -2.11108727e-02 -2.63536460e+02] [ 2.28329215e-02 -6.19325944e-04 9.99739103e-01 1.24609339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6827550959999 meters 0.02509239580322571 Centerline is valid? [True, True] Translation: X:535.35, Y:-263.48, Z:12.46 [[ 3.57978858e-01 -9.33690638e-01 -8.53993805e-03 5.35347183e+02] [ 9.33461469e-01 3.58080263e-01 -2.06932756e-02 -2.63482011e+02] [ 2.23791009e-02 -5.63947957e-04 9.99749398e-01 1.24624123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.742755096 meters 0.024664368178360783 Centerline is valid? [True, True] Translation: X:535.37, Y:-263.43, Z:12.46 [[ 3.59886770e-01 -9.32959554e-01 -8.24524194e-03 5.35367235e+02] [ 9.32745383e-01 3.59980870e-01 -1.99956030e-02 -2.63428928e+02] [ 2.16232182e-02 -4.94558381e-04 9.99766069e-01 1.24632379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8027550959999 meters 0.02534785616345731 Centerline is valid? [True, True] Translation: X:535.39, Y:-263.38, Z:12.46 [[ 3.61604056e-01 -9.32292923e-01 -8.50955997e-03 5.35389139e+02] [ 9.32064285e-01 3.61703872e-01 -2.06513403e-02 -2.63376108e+02] [ 2.23310392e-02 -4.63848505e-04 9.99750524e-01 1.24618941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.862755096 meters 0.023386204389282943 Centerline is valid? [True, True] Translation: X:535.41, Y:-263.32, Z:12.46 [[ 3.62043357e-01 -9.32122680e-01 -8.48042776e-03 5.35409103e+02] [ 9.31895155e-01 3.62142392e-01 -2.05987589e-02 -2.63321895e+02] [ 2.22716927e-02 -4.45225710e-04 9.99751856e-01 1.24641830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.922755096 meters 0.023305532051598066 Centerline is valid? [True, True] Translation: X:535.43, Y:-263.27, Z:12.47 [[ 3.62295070e-01 -9.32025900e-01 -8.36681211e-03 5.35432289e+02] [ 9.31803979e-01 3.62391418e-01 -2.03421816e-02 -2.63269130e+02] [ 2.19915010e-02 -4.26356716e-04 9.99758067e-01 1.24650009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9827550959999 meters 0.024707000384312203 Centerline is valid? [True, True] Translation: X:535.46, Y:-263.22, Z:12.46 [[ 3.62991922e-01 -9.31754029e-01 -8.44358513e-03 5.35455212e+02] [ 9.31527479e-01 3.63089886e-01 -2.05497387e-02 -2.63217717e+02] [ 2.22130822e-02 -4.06042416e-04 9.99753177e-01 1.24643451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.042755096 meters 0.02282527059431733 Centerline is valid? [True, True] Translation: X:535.47, Y:-263.16, Z:12.47 [[ 3.63269806e-01 -9.31646465e-01 -8.36132853e-03 5.35473578e+02] [ 9.31423822e-01 3.63365812e-01 -2.03703533e-02 -2.63163696e+02] [ 2.20161886e-02 -3.88006278e-04 9.99757539e-01 1.24665334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1027550959999 meters 0.02353364187158642 Centerline is valid? [True, True] Translation: X:535.50, Y:-263.11, Z:12.47 [[ 3.63088332e-01 -9.31719296e-01 -8.12502721e-03 5.35495162e+02] [ 9.31508667e-01 3.63179037e-01 -1.98139105e-02 -2.63110194e+02] [ 2.14118423e-02 -3.74333549e-04 9.99770670e-01 1.24678647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.162755096 meters 0.022799620352521033 Centerline is valid? [True, True] Translation: X:535.52, Y:-263.06, Z:12.47 [[ 3.62976311e-01 -9.31767542e-01 -7.57931578e-03 5.35516845e+02] [ 9.31583924e-01 3.63055270e-01 -1.85003847e-02 -2.63057552e+02] [ 1.99897685e-02 -3.45567364e-04 9.99800125e-01 1.24709819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2227550959999 meters 0.024500320890394042 Centerline is valid? [True, True] Translation: X:535.54, Y:-263.00, Z:12.47 [[ 3.62577613e-01 -9.31922411e-01 -7.62201973e-03 5.35540113e+02] [ 9.31736383e-01 3.62657550e-01 -1.86229612e-02 -2.63004961e+02] [ 2.01193379e-02 -3.49444274e-04 9.99797525e-01 1.24710604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.282755096 meters 0.02230077422205497 Centerline is valid? [True, True] Translation: X:535.56, Y:-262.95, Z:12.47 [[ 3.62729331e-01 -9.31865783e-01 -7.32085264e-03 5.35560259e+02] [ 9.31693830e-01 3.62803054e-01 -1.79039537e-02 -2.62951746e+02] [ 1.93401096e-02 -3.26504073e-04 9.99812909e-01 1.24740097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3427550959999 meters 0.022782266229334373 Centerline is valid? [True, True] Translation: X:535.58, Y:-262.90, Z:12.47 [[ 3.61304178e-01 -9.32416780e-01 -7.63145482e-03 5.35582719e+02] [ 9.32229657e-01 3.61384581e-01 -1.86829123e-02 -2.62898157e+02] [ 2.01781511e-02 -3.64054223e-04 9.99796334e-01 1.24733808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.402755096 meters 0.02342988226269608 Centerline is valid? [True, True] Translation: X:535.61, Y:-262.85, Z:12.47 [[ 3.59465002e-01 -9.33124254e-01 -8.00239604e-03 5.35606489e+02] [ 9.32918286e-01 3.59553824e-01 -1.96091725e-02 -2.62845295e+02] [ 2.11750865e-02 -4.16770392e-04 9.99775696e-01 1.24730682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4627550959999 meters 0.025990778874406914 Centerline is valid? [True, True] Translation: X:535.63, Y:-262.79, Z:12.47 [[ 3.55355264e-01 -9.34692531e-01 -8.51527416e-03 5.35632168e+02] [ 9.34459310e-01 3.55456871e-01 -2.08856636e-02 -2.62793483e+02] [ 2.25484864e-02 -5.35346733e-04 9.99745607e-01 1.24725234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.522755096 meters 0.026309780345100203 Centerline is valid? [True, True] Translation: X:535.66, Y:-262.74, Z:12.48 [[ 3.51829295e-01 -9.36030852e-01 -7.89887267e-03 5.35657010e+02] [ 9.35830149e-01 3.51917491e-01 -1.93910047e-02 -2.62740753e+02] [ 2.09303301e-02 -5.69679698e-04 9.99780774e-01 1.24754855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5827550959999 meters 0.025880763558321158 Centerline is valid? [True, True] Translation: X:535.68, Y:-262.69, Z:12.48 [[ 3.49843495e-01 -9.36773581e-01 -8.04901974e-03 5.35678185e+02] [ 9.36564988e-01 3.49935528e-01 -1.97775073e-02 -2.62686649e+02] [ 2.13436844e-02 -6.19397778e-04 9.99772006e-01 1.24770257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.642755096 meters 0.02746664713911122 Centerline is valid? [True, True] Translation: X:535.70, Y:-262.63, Z:12.48 [[ 3.49852379e-01 -9.36767066e-01 -8.41287446e-03 5.35700353e+02] [ 9.36538732e-01 3.49952931e-01 -2.06917614e-02 -2.62633778e+02] [ 2.23274707e-02 -6.39920840e-04 9.99750506e-01 1.24774664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7027550959999 meters 0.025900569962076514 Centerline is valid? [True, True] Translation: X:535.72, Y:-262.58, Z:12.48 [[ 3.53489839e-01 -9.35400095e-01 -8.46138857e-03 5.35720345e+02] [ 9.35168267e-01 3.53590667e-01 -2.08315270e-02 -2.62580660e+02] [ 2.24776804e-02 -5.49088956e-04 9.99747194e-01 1.24786683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.762755096 meters 0.022681818999250977 Centerline is valid? [True, True] Translation: X:535.73, Y:-262.52, Z:12.48 [[ 3.57634209e-01 -9.33820303e-01 -8.79852455e-03 5.35734585e+02] [ 9.33568707e-01 3.57742127e-01 -2.16804207e-02 -2.62523949e+02] [ 2.33932200e-02 -4.60367068e-04 9.99726235e-01 1.24796846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8227550959999 meters 0.02218083251158888 Centerline is valid? [True, True] Translation: X:535.75, Y:-262.47, Z:12.48 [[ 3.59761208e-01 -9.33003320e-01 -8.75659571e-03 5.35753980e+02] [ 9.32753441e-01 3.59867539e-01 -2.15956422e-02 -2.62469944e+02] [ 2.33000204e-02 -3.98470453e-04 9.99728438e-01 1.24808291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.882755096 meters 0.021377750105059407 Centerline is valid? [True, True] Translation: X:535.77, Y:-262.42, Z:12.48 [[ 3.61588949e-01 -9.32298480e-01 -8.54265227e-03 5.35773590e+02] [ 9.32060127e-01 3.61689687e-01 -2.10829312e-02 -2.62415644e+02] [ 2.27453739e-02 -3.38910642e-04 9.99741233e-01 1.24824710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9427550959999 meters 0.020922821304427075 Centerline is valid? [True, True] Translation: X:535.79, Y:-262.36, Z:12.49 [[ 3.62168862e-01 -9.32077816e-01 -8.04115675e-03 5.35793821e+02] [ 9.31866204e-01 3.62257995e-01 -1.98626205e-02 -2.62361775e+02] [ 2.14264813e-02 -2.99659532e-04 9.99770382e-01 1.24852672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.002755096 meters 0.020483234027997798 Centerline is valid? [True, True] Translation: X:535.81, Y:-262.31, Z:12.49 [[ 3.62986446e-01 -9.31763812e-01 -7.55238739e-03 5.35813387e+02] [ 9.31576716e-01 3.63064915e-01 -1.86732574e-02 -2.62307940e+02] [ 2.01410724e-02 -2.57488888e-04 9.99797115e-01 1.24870678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0627550959999 meters 0.02203265993791878 Centerline is valid? [True, True] Translation: X:535.83, Y:-262.25, Z:12.49 [[ 3.64265807e-01 -9.31266289e-01 -7.31576822e-03 5.35832347e+02] [ 9.31090281e-01 3.64339199e-01 -1.81062537e-02 -2.62253972e+02] [ 1.95271648e-02 -2.16151594e-04 9.99809303e-01 1.24876538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.122755096 meters 0.020130454549484436 Centerline is valid? [True, True] Translation: X:535.85, Y:-262.20, Z:12.49 [[ 3.66372542e-01 -9.30439962e-01 -7.25525701e-03 5.35850474e+02] [ 9.30266335e-01 3.66444336e-01 -1.79748344e-02 -2.62199244e+02] [ 1.93831521e-02 -1.63835575e-04 9.99812116e-01 1.24896562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1827550959999 meters 0.02198826221570028 Centerline is valid? [True, True] Translation: X:535.87, Y:-262.15, Z:12.49 [[ 3.68811283e-01 -9.29473772e-01 -7.53296323e-03 5.35867591e+02] [ 9.29285990e-01 3.68888189e-01 -1.86829447e-02 -2.62145345e+02] [ 2.01441282e-02 -1.09796380e-04 9.99797080e-01 1.24891641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.242755096 meters 0.018560949472245694 Centerline is valid? [True, True] Translation: X:535.89, Y:-262.09, Z:12.49 [[ 3.71529784e-01 -9.28392903e-01 -7.22754887e-03 5.35886334e+02] [ 9.28219487e-01 3.71600075e-01 -1.79434704e-02 -2.62091979e+02] [ 1.93443483e-02 -4.22180243e-05 9.99812880e-01 1.24926939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3027550959999 meters 0.018324054665918244 Centerline is valid? [True, True] Translation: X:535.91, Y:-262.04, Z:12.49 [[ 3.71591469e-01 -9.28366686e-01 -7.42141276e-03 5.35906359e+02] [ 9.28183538e-01 3.71665570e-01 -1.84397207e-02 -2.62038467e+02] [ 1.98771060e-02 -3.63902401e-05 9.99802430e-01 1.24922242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.362755096 meters 0.018247144751472644 Centerline is valid? [True, True] Translation: X:535.93, Y:-261.99, Z:12.49 [[ 3.69972577e-01 -9.29012696e-01 -7.46341974e-03 5.35927960e+02] [ 9.28827239e-01 3.70047843e-01 -1.85621481e-02 -2.61985467e+02] [ 2.00062936e-02 -6.47417965e-05 9.99799852e-01 1.24925609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.422755096 meters 0.01851031271466171 Centerline is valid? [True, True] Translation: X:535.95, Y:-261.93, Z:12.49 [[ 3.65022424e-01 -9.30967735e-01 -7.59648415e-03 5.35954859e+02] [ 9.30775651e-01 3.65101422e-01 -1.89113418e-02 -2.61934064e+02] [ 2.03793362e-02 -1.67558641e-04 9.99792306e-01 1.24940415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4827550959999 meters 0.020054979376172215 Centerline is valid? [True, True] Translation: X:535.98, Y:-261.88, Z:12.49 [[ 3.59048998e-01 -9.33286160e-01 -7.79488307e-03 5.35983326e+02] [ 9.33084062e-01 3.59133476e-01 -1.94236797e-02 -2.61883941e+02] [ 2.09272549e-02 -2.99228417e-04 9.99780956e-01 1.24947828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.542755096 meters 0.020838013579983383 Centerline is valid? [True, True] Translation: X:536.01, Y:-261.83, Z:12.50 [[ 3.55226812e-01 -9.34747852e-01 -7.76951692e-03 5.36007071e+02] [ 9.34547026e-01 3.55311569e-01 -1.93789766e-02 -2.61830733e+02] [ 2.08750560e-02 -3.77046840e-04 9.99782021e-01 1.24954113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6027550959999 meters 0.02205599428501307 Centerline is valid? [True, True] Translation: X:536.03, Y:-261.78, Z:12.50 [[ 3.51833466e-01 -9.36028565e-01 -7.98356232e-03 5.36032692e+02] [ 9.35816439e-01 3.51923735e-01 -1.99318192e-02 -2.61778815e+02] [ 2.14663572e-02 -4.58467799e-04 9.99769466e-01 1.24954649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.662755096 meters 0.02214052151872793 Centerline is valid? [True, True] Translation: X:536.06, Y:-261.73, Z:12.50 [[ 3.51609731e-01 -9.36112478e-01 -8.00158377e-03 5.36056414e+02] [ 9.35898995e-01 3.51700467e-01 -1.99963068e-02 -2.61726424e+02] [ 2.15329531e-02 -4.57778148e-04 9.99768034e-01 1.24962646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7227550959999 meters 0.021119827881098528 Centerline is valid? [True, True] Translation: X:536.08, Y:-261.67, Z:12.50 [[ 3.53282704e-01 -9.35480505e-01 -8.21928210e-03 5.36077036e+02] [ 9.35254615e-01 3.53378050e-01 -2.05610977e-02 -2.61671921e+02] [ 2.21390199e-02 -4.23241312e-04 9.99754812e-01 1.24964922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.782755096 meters 0.01914048418598391 Centerline is valid? [True, True] Translation: X:536.09, Y:-261.62, Z:12.50 [[ 3.58038762e-01 -9.33670551e-01 -8.21876737e-03 5.36094541e+02] [ 9.33443791e-01 3.58132951e-01 -2.05785804e-02 -2.61616133e+02] [ 2.21570259e-02 -3.03827946e-04 9.99754457e-01 1.24968584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8427550959999 meters 0.017667383669007348 Centerline is valid? [True, True] Translation: X:536.11, Y:-261.56, Z:12.50 [[ 3.62883622e-01 -9.31801875e-01 -7.79373010e-03 5.36113406e+02] [ 9.31597167e-01 3.62967265e-01 -1.95315998e-02 -2.61560945e+02] [ 2.10284503e-02 -1.72919185e-04 9.99778863e-01 1.24983117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.902755096 meters 0.016957582011283254 Centerline is valid? [True, True] Translation: X:536.13, Y:-261.51, Z:12.50 [[ 3.65249243e-01 -9.30880016e-01 -7.44221206e-03 5.36132854e+02] [ 9.30692828e-01 3.65325040e-01 -1.86674734e-02 -2.61506749e+02] [ 2.00960044e-02 -1.08132854e-04 9.99798049e-01 1.24997252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9627550959999 meters 0.01677727153693672 Centerline is valid? [True, True] Translation: X:536.15, Y:-261.45, Z:12.50 [[ 3.67395787e-01 -9.30036295e-01 -7.26818496e-03 5.36153289e+02] [ 9.29857231e-01 3.67467669e-01 -1.82494426e-02 -2.61454588e+02] [ 1.96434670e-02 -5.36060137e-05 9.99807047e-01 1.25007652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.022755096 meters 0.01662886847589672 Centerline is valid? [True, True] Translation: X:536.17, Y:-261.40, Z:12.50 [[ 3.67204446e-01 -9.30109653e-01 -7.54504129e-03 5.36174009e+02] [ 9.29916363e-01 3.67281949e-01 -1.89612475e-02 -2.61401300e+02] [ 2.04071968e-02 -5.36029638e-05 9.99791750e-01 1.25000561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0827550959999 meters 0.01652554662426102 Centerline is valid? [True, True] Translation: X:536.19, Y:-261.35, Z:12.50 [[ 3.66395643e-01 -9.30429387e-01 -7.44231672e-03 5.36194925e+02] [ 9.30240997e-01 3.66471215e-01 -1.87226048e-02 -2.61347980e+02] [ 2.01474566e-02 -6.32673103e-05 9.99797017e-01 1.25006106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.142755096 meters 0.016557364619617126 Centerline is valid? [True, True] Translation: X:536.22, Y:-261.30, Z:12.50 [[ 3.64316225e-01 -9.31247201e-01 -7.23451273e-03 5.36216065e+02] [ 9.31068980e-01 3.64388035e-01 -1.82185129e-02 -2.61295273e+02] [ 1.96021090e-02 -9.85305516e-05 9.99807855e-01 1.25018745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2027550959999 meters 0.017034280097249267 Centerline is valid? [True, True] Translation: X:536.24, Y:-261.24, Z:12.50 [[ 3.60560501e-01 -9.32712838e-01 -6.54876052e-03 5.36239452e+02] [ 9.32566765e-01 3.60619934e-01 -1.65073409e-02 -2.61241928e+02] [ 1.77582223e-02 -1.55261328e-04 9.99842298e-01 1.25038974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.262755096 meters 0.017752981798456708 Centerline is valid? [True, True] Translation: X:536.26, Y:-261.19, Z:12.50 [[ 3.56886199e-01 -9.34126755e-01 -6.28061161e-03 5.36261673e+02] [ 9.33992375e-01 3.56941396e-01 -1.58455784e-02 -2.61187876e+02] [ 1.70435890e-02 -2.10975117e-04 9.99854725e-01 1.25031197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3227550959999 meters 0.01801783230210503 Centerline is valid? [True, True] Translation: X:536.28, Y:-261.13, Z:12.50 [[ 3.54653776e-01 -9.34975460e-01 -6.44890829e-03 5.36283788e+02] [ 9.34833648e-01 3.54712313e-01 -1.62857349e-02 -2.61133874e+02] [ 1.75142696e-02 -2.52859095e-04 9.99846581e-01 1.25033992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.382755096 meters 0.018501185428841098 Centerline is valid? [True, True] Translation: X:536.31, Y:-261.08, Z:12.50 [[ 3.52915566e-01 -9.35633815e-01 -6.32197599e-03 5.36305177e+02] [ 9.35497383e-01 3.52972079e-01 -1.59799467e-02 -2.61079742e+02] [ 1.71828595e-02 -2.74620043e-04 9.99852326e-01 1.25036467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4427550959999 meters 0.018285154313120916 Centerline is valid? [True, True] Translation: X:536.32, Y:-261.03, Z:12.50 [[ 3.53279631e-01 -9.35495356e-01 -6.47617027e-03 5.36323022e+02] [ 9.35351888e-01 3.53338883e-01 -1.63853546e-02 -2.61025886e+02] [ 1.76167059e-02 -2.68886037e-04 9.99844778e-01 1.25031261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.502755096 meters 0.017927474265953182 Centerline is valid? [True, True] Translation: X:536.34, Y:-260.97, Z:12.50 [[ 3.54411687e-01 -9.35069251e-01 -6.15240244e-03 5.36341133e+02] [ 9.34939437e-01 3.54465010e-01 -1.55822517e-02 -2.60971875e+02] [ 1.67512958e-02 -2.29591560e-04 9.99859661e-01 1.25048486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5627550959999 meters 0.017101094755164557 Centerline is valid? [True, True] Translation: X:536.36, Y:-260.92, Z:12.51 [[ 3.56533260e-01 -9.34266030e-01 -5.56953854e-03 5.36356699e+02] [ 9.34159356e-01 3.56576719e-01 -1.41188321e-02 -2.60916862e+02] [ 1.51767130e-02 -1.69003302e-04 9.99884813e-01 1.25071513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.622755096 meters 0.016142923734675803 Centerline is valid? [True, True] Translation: X:536.37, Y:-260.86, Z:12.51 [[ 3.58854245e-01 -9.33378875e-01 -5.24475923e-03 5.36371063e+02] [ 9.33284008e-01 3.58892550e-01 -1.33077994e-02 -2.60860513e+02] [ 1.43035239e-02 -1.19289598e-04 9.99897692e-01 1.25080896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6827550959999 meters 0.015978943637136526 Centerline is valid? [True, True] Translation: X:536.39, Y:-260.81, Z:12.51 [[ 3.60266557e-01 -9.32836354e-01 -4.93398107e-03 5.36389009e+02] [ 9.32752181e-01 3.60300331e-01 -1.25315602e-02 -2.60806548e+02] [ 1.34676100e-02 -8.74795466e-05 9.99909304e-01 1.25094527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.742755096 meters 0.016552067573362413 Centerline is valid? [True, True] Translation: X:536.41, Y:-260.75, Z:12.51 [[ 3.62101453e-01 -9.32125541e-01 -4.95100335e-03 5.36406988e+02] [ 9.32040543e-01 3.62135295e-01 -1.25878899e-02 -2.60753211e+02] [ 1.35264268e-02 -5.64426058e-05 9.99908512e-01 1.25096678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8027550959999 meters 0.016098010295178773 Centerline is valid? [True, True] Translation: X:536.43, Y:-260.70, Z:12.51 [[ 3.63023423e-01 -9.31766137e-01 -5.08525282e-03 5.36425158e+02] [ 9.31676226e-01 3.63059037e-01 -1.29439541e-02 -2.60699247e+02] [ 1.39069851e-02 -3.88506276e-05 9.99903292e-01 1.25093566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.862755096 meters 0.015560329731432702 Centerline is valid? [True, True] Translation: X:536.45, Y:-260.65, Z:12.51 [[ 3.63336267e-01 -9.31642148e-01 -5.44649860e-03 5.36445686e+02] [ 9.31538762e-01 3.63377086e-01 -1.38790419e-02 -2.60645354e+02] [ 1.49094332e-02 -3.08652880e-05 9.99888848e-01 1.25101701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.922755096 meters 0.015608282278672975 Centerline is valid? [True, True] Translation: X:536.47, Y:-260.59, Z:12.51 [[ 3.61383238e-01 -9.32397694e-01 -6.05771938e-03 5.36468502e+02] [ 9.32269609e-01 3.61434001e-01 -1.54544520e-02 -2.60593251e+02] [ 1.65991611e-02 -6.24477725e-05 9.99862222e-01 1.25091445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9827550959999 meters 0.015809276581027522 Centerline is valid? [True, True] Translation: X:536.49, Y:-260.54, Z:12.51 [[ 3.58393797e-01 -9.33549679e-01 -6.23568189e-03 5.36492346e+02] [ 9.33413836e-01 3.58448022e-01 -1.59256407e-02 -2.60541248e+02] [ 1.71025446e-02 -1.12820899e-04 9.99853734e-01 1.25093508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.042755096 meters 0.017681404533941097 Centerline is valid? [True, True] Translation: X:536.52, Y:-260.49, Z:12.51 [[ 3.52085746e-01 -9.35946367e-01 -6.32655912e-03 5.36519945e+02] [ 9.35806619e-01 3.52142510e-01 -1.61748209e-02 -2.60490924e+02] [ 1.73666153e-02 -2.25512000e-04 9.99849164e-01 1.25091532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1027550959999 meters 0.01943911090863405 Centerline is valid? [True, True] Translation: X:536.55, Y:-260.44, Z:12.51 [[ 3.47007876e-01 -9.37844409e-01 -5.77918211e-03 5.36545269e+02] [ 9.37727851e-01 3.47055878e-01 -1.47883542e-02 -2.60438168e+02] [ 1.58748744e-02 -2.87624641e-04 9.99873945e-01 1.25110050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.162755096 meters 0.019193911533193476 Centerline is valid? [True, True] Translation: X:536.57, Y:-260.39, Z:12.51 [[ 3.46291694e-01 -9.38111865e-01 -5.30965084e-03 5.36565551e+02] [ 9.38013345e-01 3.46332291e-01 -1.35981389e-02 -2.60385087e+02] [ 1.45954790e-02 -2.71600802e-04 9.99893443e-01 1.25138184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2227550959999 meters 0.018209964282698006 Centerline is valid? [True, True] Translation: X:536.59, Y:-260.33, Z:12.51 [[ 3.48088816e-01 -9.37443385e-01 -5.83752070e-03 5.36585184e+02] [ 9.37323928e-01 3.48137663e-01 -1.49673478e-02 -2.60330764e+02] [ 1.60633020e-02 -2.61681438e-04 9.99870943e-01 1.25145025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.282755096 meters 0.017423510433526027 Centerline is valid? [True, True] Translation: X:536.60, Y:-260.28, Z:12.51 [[ 3.49877386e-01 -9.36772877e-01 -6.51095593e-03 5.36601586e+02] [ 9.36623838e-01 3.49937873e-01 -1.67114419e-02 -2.60276132e+02] [ 1.79332556e-02 -2.51360905e-04 9.99839155e-01 1.25133987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3427550959999 meters 0.017337684377000746 Centerline is valid? [True, True] Translation: X:536.62, Y:-260.22, Z:12.51 [[ 3.50048271e-01 -9.36706190e-01 -6.90801645e-03 5.36620377e+02] [ 9.36538026e-01 3.50116334e-01 -1.77504504e-02 -2.60222490e+02] [ 1.90455662e-02 -2.56105609e-04 9.99818584e-01 1.25129557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.402755096 meters 0.018354284166365763 Centerline is valid? [True, True] Translation: X:536.64, Y:-260.17, Z:12.51 [[ 3.48371644e-01 -9.37328628e-01 -7.22778087e-03 5.36643030e+02] [ 9.37144264e-01 3.48446488e-01 -1.85922782e-02 -2.60170447e+02] [ 1.99455695e-02 -2.96450877e-04 9.99801023e-01 1.25132076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4627550959999 meters 0.018415904139804318 Centerline is valid? [True, True] Translation: X:536.66, Y:-260.12, Z:12.51 [[ 3.45594783e-01 -9.38353845e-01 -7.50380417e-03 5.36664188e+02] [ 9.38154967e-01 3.45676048e-01 -1.93216890e-02 -2.60116703e+02] [ 2.07244665e-02 -3.62256235e-04 9.99785160e-01 1.25147531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.522755096 meters 0.01932846062204696 Centerline is valid? [True, True] Translation: X:536.69, Y:-260.06, Z:12.52 [[ 3.42929283e-01 -9.39330388e-01 -7.61110947e-03 5.36685187e+02] [ 9.39125624e-01 3.43013477e-01 -1.96167504e-02 -2.60062338e+02] [ 2.10373229e-02 -4.20629781e-04 9.99778603e-01 1.25157034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5827550959999 meters 0.02012137899071657 Centerline is valid? [True, True] Translation: X:536.71, Y:-260.01, Z:12.52 [[ 3.41210105e-01 -9.39958441e-01 -7.33441766e-03 5.36706910e+02] [ 9.39768088e-01 3.41288645e-01 -1.89209419e-02 -2.60008452e+02] [ 2.02880525e-02 -4.36635074e-04 9.99794081e-01 1.25178664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.642755096 meters 0.02142656984572367 Centerline is valid? [True, True] Translation: X:536.73, Y:-259.96, Z:12.52 [[ 3.38867376e-01 -9.40809397e-01 -6.82493867e-03 5.36729980e+02] [ 9.40644452e-01 3.38935801e-01 -1.76220821e-02 -2.59956406e+02] [ 1.88922365e-02 -4.48291984e-04 9.99821425e-01 1.25215266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7027550959999 meters 0.02136694648527473 Centerline is valid? [True, True] Translation: X:536.75, Y:-259.90, Z:12.52 [[ 3.37182119e-01 -9.41413564e-01 -6.97995119e-03 5.36749789e+02] [ 9.41240821e-01 3.37254005e-01 -1.80403201e-02 -2.59902365e+02] [ 1.93374185e-02 -4.86941657e-04 9.99812896e-01 1.25233257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.762755096 meters 0.02200454037400822 Centerline is valid? [True, True] Translation: X:536.77, Y:-259.85, Z:12.52 [[ 3.36194445e-01 -9.41766169e-01 -7.05530917e-03 5.36769094e+02] [ 9.41589391e-01 3.36268086e-01 -1.82535989e-02 -2.59848847e+02] [ 1.95630973e-02 -5.06445699e-04 9.99808496e-01 1.25235034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8227550959999 meters 0.02333880602253021 Centerline is valid? [True, True] Translation: X:536.79, Y:-259.79, Z:12.52 [[ 3.35580841e-01 -9.41980578e-01 -7.62172702e-03 5.36788476e+02] [ 9.41773861e-01 3.35666927e-01 -1.97410483e-02 -2.59794706e+02] [ 2.11540458e-02 -5.53225688e-04 9.99776075e-01 1.25220869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.882755096 meters 0.022523682991323853 Centerline is valid? [True, True] Translation: X:536.81, Y:-259.74, Z:12.52 [[ 3.35455450e-01 -9.42025157e-01 -7.63175911e-03 5.36805383e+02] [ 9.41817463e-01 3.35541802e-01 -1.97880055e-02 -2.59740985e+02] [ 2.12015732e-02 -5.49729723e-04 9.99775070e-01 1.25227179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9427550959999 meters 0.02365423073353469 Centerline is valid? [True, True] Translation: X:536.83, Y:-259.69, Z:12.52 [[ 3.34035412e-01 -9.42529750e-01 -7.61670467e-03 5.36825477e+02] [ 9.42322559e-01 3.34121747e-01 -1.97699985e-02 -2.59687302e+02] [ 2.11787184e-02 -5.73513047e-04 9.99775541e-01 1.25232661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.002755096 meters 0.023974381001933515 Centerline is valid? [True, True] Translation: X:536.84, Y:-259.63, Z:12.52 [[ 3.33014417e-01 -9.42890981e-01 -7.61554518e-03 5.36844506e+02] [ 9.42683542e-01 3.33100962e-01 -1.97860714e-02 -2.59632895e+02] [ 2.11928537e-02 -5.90002063e-04 9.99775232e-01 1.25247213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0627550959999 meters 0.024113065118789703 Centerline is valid? [True, True] Translation: X:536.86, Y:-259.58, Z:12.52 [[ 3.32240059e-01 -9.43164107e-01 -7.61650157e-03 5.36859974e+02] [ 9.42956262e-01 3.32326808e-01 -1.98085888e-02 -2.59577127e+02] [ 2.12139176e-02 -6.00821130e-04 9.99774779e-01 1.25240022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.122755096 meters 0.02373638005770254 Centerline is valid? [True, True] Translation: X:536.88, Y:-259.52, Z:12.53 [[ 3.31157954e-01 -9.43547547e-01 -7.24129906e-03 5.36876449e+02] [ 9.43359395e-01 3.31236593e-01 -1.88512759e-02 -2.59522362e+02] [ 2.01856583e-02 -5.88397563e-04 9.99796076e-01 1.25258783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1827550959999 meters 0.0266252583698751 Centerline is valid? [True, True] Translation: X:536.90, Y:-259.47, Z:12.53 [[ 3.29685098e-01 -9.44065156e-01 -6.97975384e-03 5.36898055e+02] [ 9.43890106e-01 3.29758443e-01 -1.81888965e-02 -2.59469326e+02] [ 1.94731361e-02 -5.91512483e-04 9.99810206e-01 1.25269566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.242755096 meters 0.023197386975421126 Centerline is valid? [True, True] Translation: X:536.91, Y:-259.41, Z:12.53 [[ 3.28923967e-01 -9.44333369e-01 -6.59639883e-03 5.36909325e+02] [ 9.44176779e-01 3.28989613e-01 -1.72059456e-02 -2.59411164e+02] [ 1.84182953e-02 -5.68718715e-04 9.99830207e-01 1.25285098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3027550959999 meters 0.023360308185620984 Centerline is valid? [True, True] Translation: X:536.92, Y:-259.36, Z:12.53 [[ 3.29674657e-01 -9.44072636e-01 -6.44043629e-03 5.36924145e+02] [ 9.43923023e-01 3.29737125e-01 -1.68152978e-02 -2.59356777e+02] [ 1.79985134e-02 -5.35698564e-04 9.99837870e-01 1.25283738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.362755096 meters 0.02354772480046316 Centerline is valid? [True, True] Translation: X:536.94, Y:-259.30, Z:12.53 [[ 3.29803013e-01 -9.44029880e-01 -6.12847072e-03 5.36941870e+02] [ 9.43894107e-01 3.29859566e-01 -1.60181646e-02 -2.59302130e+02] [ 1.71431607e-02 -5.01788453e-04 9.99852919e-01 1.25293551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.422755096 meters 0.022792682134338386 Centerline is valid? [True, True] Translation: X:536.96, Y:-259.25, Z:12.53 [[ 3.29548241e-01 -9.44116337e-01 -6.50371422e-03 5.36956588e+02] [ 9.43963097e-01 3.29611983e-01 -1.70180071e-02 -2.59245305e+02] [ 1.82106807e-02 -5.31011904e-04 9.99834031e-01 1.25282462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4827550959999 meters 0.023802618520774248 Centerline is valid? [True, True] Translation: X:536.98, Y:-259.19, Z:12.53 [[ 3.28273993e-01 -9.44558148e-01 -6.78905779e-03 5.36975694e+02] [ 9.44390913e-01 3.28343687e-01 -1.77827783e-02 -2.59191768e+02] [ 1.90260124e-02 -5.73900853e-04 9.99818824e-01 1.25276658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.542755096 meters 0.024901346015263927 Centerline is valid? [True, True] Translation: X:537.00, Y:-259.14, Z:12.53 [[ 3.26651119e-01 -9.45121358e-01 -6.68313957e-03 5.36995155e+02] [ 9.44959090e-01 3.26718943e-01 -1.75228426e-02 -2.59137026e+02] [ 1.87447211e-02 -5.91437348e-04 9.99824127e-01 1.25274615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6027550959999 meters 0.025030737890556827 Centerline is valid? [True, True] Translation: X:537.01, Y:-259.08, Z:12.53 [[ 3.25324603e-01 -9.45581659e-01 -6.26336138e-03 5.37013875e+02] [ 9.45438962e-01 3.25384384e-01 -1.64369379e-02 -2.59081552e+02] [ 1.75804670e-02 -5.74285569e-04 9.99845287e-01 1.25285576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.662755096 meters 0.026033483767356178 Centerline is valid? [True, True] Translation: X:537.03, Y:-259.03, Z:12.53 [[ 3.23832611e-01 -9.46096779e-01 -5.77274167e-03 5.37030557e+02] [ 9.45975428e-01 3.23883592e-01 -1.51627151e-02 -2.59026013e+02] [ 1.62150923e-02 -5.50690133e-04 9.99868375e-01 1.25285134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7227550959999 meters 0.0246194852368497 Centerline is valid? [True, True] Translation: X:537.05, Y:-258.97, Z:12.53 [[ 3.24305963e-01 -9.45936914e-01 -5.38491742e-03 5.37049583e+02] [ 9.45831105e-01 3.24350278e-01 -1.41568826e-02 -2.58972452e+02] [ 1.51381173e-02 -5.02060948e-04 9.99885286e-01 1.25311914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.782755096 meters 0.02416826995336345 Centerline is valid? [True, True] Translation: X:537.07, Y:-258.92, Z:12.53 [[ 3.25320046e-01 -9.45588781e-01 -5.35954862e-03 5.37066467e+02] [ 9.45483684e-01 3.25363840e-01 -1.41058384e-02 -2.58917018e+02] [ 1.50821258e-02 -4.78453782e-04 9.99886144e-01 1.25314978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8427550959999 meters 0.024588394338078395 Centerline is valid? [True, True] Translation: X:537.09, Y:-258.86, Z:12.53 [[ 3.25704494e-01 -9.45456003e-01 -5.43401302e-03 5.37085033e+02] [ 9.45347735e-01 3.25749476e-01 -1.43156941e-02 -2.58863614e+02] [ 1.53049858e-02 -4.74345994e-04 9.99882759e-01 1.25312225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.902755096 meters 0.025981635078954773 Centerline is valid? [True, True] Translation: X:537.10, Y:-258.81, Z:12.53 [[ 3.26441126e-01 -9.45200803e-01 -5.62444744e-03 5.37103142e+02] [ 9.45084493e-01 3.26489233e-01 -1.48351358e-02 -2.58808736e+02] [ 1.58585038e-02 -4.72779609e-04 9.99874134e-01 1.25298337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9627550959999 meters 0.022406514627140273 Centerline is valid? [True, True] Translation: X:537.12, Y:-258.75, Z:12.53 [[ 3.29336441e-01 -9.44197847e-01 -5.28536940e-03 5.37118169e+02] [ 9.44094813e-01 3.29378613e-01 -1.39539484e-02 -2.58751839e+02] [ 1.49161757e-02 -3.94346128e-04 9.99888670e-01 1.25323868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.022755096 meters 0.02161893232094091 Centerline is valid? [True, True] Translation: X:537.13, Y:-258.70, Z:12.53 [[ 3.32756577e-01 -9.42999255e-01 -5.04637664e-03 5.37133790e+02] [ 9.42905026e-01 3.32794685e-01 -1.33345126e-02 -2.58696381e+02] [ 1.42538428e-02 -3.21107122e-04 9.99898357e-01 1.25326378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0827550959999 meters 0.020776788330458953 Centerline is valid? [True, True] Translation: X:537.15, Y:-258.64, Z:12.53 [[ 3.34567866e-01 -9.42358094e-01 -5.05627927e-03 5.37152043e+02] [ 9.42263235e-01 3.34605945e-01 -1.33737303e-02 -2.58640988e+02] [ 1.42947041e-02 -2.89925662e-04 9.99897783e-01 1.25332287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.142755096 meters 0.02010046465499287 Centerline is valid? [True, True] Translation: X:537.17, Y:-258.59, Z:12.53 [[ 3.35835430e-01 -9.41908579e-01 -4.77420973e-03 5.37172061e+02] [ 9.41823818e-01 3.35869269e-01 -1.26384466e-02 -2.58587194e+02] [ 1.35077716e-02 -2.52026280e-04 9.99908734e-01 1.25344839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2027550959999 meters 0.02028455109020129 Centerline is valid? [True, True] Translation: X:537.19, Y:-258.53, Z:12.54 [[ 3.35561319e-01 -9.42009191e-01 -4.15768236e-03 5.37192700e+02] [ 9.41944805e-01 3.35587003e-01 -1.10157997e-02 -2.58534804e+02] [ 1.17722487e-02 -2.19831036e-04 9.99930681e-01 1.25363958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.262755096 meters 0.02067623369113668 Centerline is valid? [True, True] Translation: X:537.21, Y:-258.48, Z:12.54 [[ 3.34781183e-01 -9.42288542e-01 -3.72331700e-03 5.37214096e+02] [ 9.42236823e-01 3.34801826e-01 -9.87457135e-03 -2.58481393e+02] [ 1.05512688e-02 -2.02425700e-04 9.99944313e-01 1.25377411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3227550959999 meters 0.020270898382571855 Centerline is valid? [True, True] Translation: X:537.23, Y:-258.43, Z:12.54 [[ 3.34039669e-01 -9.42552199e-01 -3.58508830e-03 5.37234647e+02] [ 9.42504171e-01 3.34058847e-01 -9.51711020e-03 -2.58428460e+02] [ 1.01680036e-02 -1.99868337e-04 9.99948285e-01 1.25378719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.382755096 meters 0.02064524246422189 Centerline is valid? [True, True] Translation: X:537.26, Y:-258.38, Z:12.54 [[ 3.31723856e-01 -9.43368100e-01 -3.98884196e-03 5.37258930e+02] [ 9.43308543e-01 3.31747746e-01 -1.06030892e-02 -2.58375388e+02] [ 1.13259054e-02 -2.45411073e-04 9.99935830e-01 1.25365337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4427550959999 meters 0.022219998283438323 Centerline is valid? [True, True] Translation: X:537.29, Y:-258.32, Z:12.54 [[ 3.28175164e-01 -9.44606958e-01 -4.33081172e-03 5.37286252e+02] [ 9.44536685e-01 3.28203594e-01 -1.15261610e-02 -2.58324980e+02] [ 1.23090799e-02 -3.08010760e-04 9.99924193e-01 1.25363915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.502755096 meters 0.022815997246286104 Centerline is valid? [True, True] Translation: X:537.31, Y:-258.27, Z:12.54 [[ 3.26488702e-01 -9.45192339e-01 -4.07057396e-03 5.37310075e+02] [ 9.45130237e-01 3.26513930e-01 -1.08392158e-02 -2.58272249e+02] [ 1.15742428e-02 -3.08341050e-04 9.99932969e-01 1.25377035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5627550959999 meters 0.022656720563271462 Centerline is valid? [True, True] Translation: X:537.33, Y:-258.22, Z:12.54 [[ 3.27828003e-01 -9.44728921e-01 -4.00833630e-03 5.37333844e+02] [ 9.44668552e-01 3.27852384e-01 -1.06836792e-02 -2.58219897e+02] [ 1.14073233e-02 -2.84140050e-04 9.99934894e-01 1.25383870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.622755096 meters 0.02010060182971756 Centerline is valid? [True, True] Translation: X:537.35, Y:-258.17, Z:12.54 [[ 3.32515129e-01 -9.43088105e-01 -4.30306218e-03 5.37354342e+02] [ 9.43018226e-01 3.32542884e-01 -1.14828770e-02 -2.58165147e+02] [ 1.22603174e-02 -2.39635742e-04 9.99924811e-01 1.25378743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6827550959999 meters 0.019288836653616977 Centerline is valid? [True, True] Translation: X:537.38, Y:-258.11, Z:12.54 [[ 3.36104624e-01 -9.41814738e-01 -4.32209994e-03 5.37375383e+02] [ 9.41744061e-01 3.36132358e-01 -1.15395886e-02 -2.58111982e+02] [ 1.23209522e-02 -1.91802868e-04 9.99924076e-01 1.25393254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.742755096 meters 0.016902541657591547 Centerline is valid? [True, True] Translation: X:537.39, Y:-258.06, Z:12.54 [[ 3.42842759e-01 -9.39382390e-01 -4.42360073e-03 5.37392831e+02] [ 9.39308012e-01 3.42871281e-01 -1.18213147e-02 -2.58057383e+02] [ 1.26214605e-02 -1.02271471e-04 9.99920341e-01 1.25400638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8027550959999 meters 0.016050262291764993 Centerline is valid? [True, True] Translation: X:537.41, Y:-258.00, Z:12.54 [[ 3.48759267e-01 -9.37203793e-01 -4.00304805e-03 5.37411899e+02] [ 9.37142639e-01 3.48782240e-01 -1.07062694e-02 -2.58002949e+02] [ 1.14301484e-02 -1.75163364e-05 9.99934674e-01 1.25417515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.862755096 meters 0.015979401162185186 Centerline is valid? [True, True] Translation: X:537.44, Y:-257.95, Z:12.54 [[ 3.50442568e-01 -9.36574649e-01 -4.23484975e-03 5.37435975e+02] [ 9.36505996e-01 3.50468155e-01 -1.13398445e-02 -2.57950796e+02] [ 1.21047909e-02 8.00205386e-06 9.99926734e-01 1.25423873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.922755096 meters 0.01578017513396591 Centerline is valid? [True, True] Translation: X:537.46, Y:-257.90, Z:12.54 [[ 3.49185399e-01 -9.37043538e-01 -4.35485667e-03 5.37460298e+02] [ 9.36970812e-01 3.49212554e-01 -1.16743122e-02 -2.57898753e+02] [ 1.24601095e-02 -3.87421056e-06 9.99922370e-01 1.25427706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9827550959999 meters 0.015682522856342543 Centerline is valid? [True, True] Translation: X:537.49, Y:-257.85, Z:12.54 [[ 3.46391617e-01 -9.38078388e-01 -4.66749445e-03 5.37487683e+02] [ 9.37994739e-01 3.46423060e-01 -1.25273350e-02 -2.57848481e+02] [ 1.33685500e-02 -3.87213949e-05 9.99910636e-01 1.25419147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.042755096 meters 0.015973486552266446 Centerline is valid? [True, True] Translation: X:537.52, Y:-257.80, Z:12.54 [[ 3.42933274e-01 -9.39346621e-01 -4.96948326e-03 5.37517550e+02] [ 9.39251691e-01 3.42969267e-01 -1.33545178e-02 -2.57798313e+02] [ 1.42489012e-02 -8.78870335e-05 9.99898475e-01 1.25417008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1027550959999 meters 0.0164610767722126 Centerline is valid? [True, True] Translation: X:537.54, Y:-257.75, Z:12.54 [[ 3.40113455e-01 -9.40369045e-01 -5.37561279e-03 5.37544140e+02] [ 9.40257832e-01 3.40155908e-01 -1.44626613e-02 -2.57748278e+02] [ 1.54287854e-02 -1.35516326e-04 9.99880960e-01 1.25416361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.162755096 meters 0.017165658571623287 Centerline is valid? [True, True] Translation: X:537.57, Y:-257.70, Z:12.54 [[ 3.37443661e-01 -9.41330851e-01 -5.29199337e-03 5.37573741e+02] [ 9.41222950e-01 3.37485111e-01 -1.42533371e-02 -2.57698292e+02] [ 1.52030749e-02 -1.71247370e-04 9.99884412e-01 1.25426250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2227550959999 meters 0.016708118482735252 Centerline is valid? [True, True] Translation: X:537.59, Y:-257.65, Z:12.54 [[ 3.39090920e-01 -9.40740591e-01 -4.94857397e-03 5.37594438e+02] [ 9.40646002e-01 3.39127002e-01 -1.33407511e-02 -2.57645774e+02] [ 1.42283812e-02 -1.31128745e-04 9.99898763e-01 1.25440245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.282755096 meters 0.01555667450762569 Centerline is valid? [True, True] Translation: X:537.61, Y:-257.59, Z:12.54 [[ 3.45685266e-01 -9.38336469e-01 -5.13498755e-03 5.37606849e+02] [ 9.38234105e-01 3.45723402e-01 -1.38597698e-02 -2.57590584e+02] [ 1.47804128e-02 -2.67022368e-05 9.99890763e-01 1.25434247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3427550959999 meters 0.015642948086287578 Centerline is valid? [True, True] Translation: X:537.62, Y:-257.54, Z:12.54 [[ 3.50126877e-01 -9.36685364e-01 -5.63019953e-03 5.37621988e+02] [ 9.36561800e-01 3.50172138e-01 -1.52140679e-02 -2.57535008e+02] [ 1.62223337e-02 5.38242724e-05 9.99868408e-01 1.25425373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.402755096 meters 0.01639159042221627 Centerline is valid? [True, True] Translation: X:537.64, Y:-257.48, Z:12.54 [[ 3.54413008e-01 -9.35069719e-01 -6.00330203e-03 5.37640398e+02] [ 9.34928682e-01 3.54463820e-01 -1.62406695e-02 -2.57479659e+02] [ 1.73141116e-02 1.43245258e-04 9.99850089e-01 1.25433437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4627550959999 meters 0.016488184999603476 Centerline is valid? [True, True] Translation: X:537.66, Y:-257.42, Z:12.54 [[ 3.54821830e-01 -9.34912724e-01 -6.29816158e-03 5.37658201e+02] [ 9.34757141e-01 3.54877684e-01 -1.70562493e-02 -2.57424709e+02] [ 1.81811815e-02 1.64678083e-04 9.99834695e-01 1.25430288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.522755096 meters 0.016212550735104907 Centerline is valid? [True, True] Translation: X:537.68, Y:-257.37, Z:12.54 [[ 3.52573621e-01 -9.35764115e-01 -6.11256387e-03 5.37676523e+02] [ 9.35617408e-01 3.52626582e-01 -1.65698508e-02 -2.57371209e+02] [ 1.76609243e-02 1.23071139e-04 9.99844026e-01 1.25439631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5827550959999 meters 0.015767171173900075 Centerline is valid? [True, True] Translation: X:537.70, Y:-257.32, Z:12.54 [[ 3.49872457e-01 -9.36778593e-01 -5.92727202e-03 5.37697234e+02] [ 9.36640477e-01 3.49922652e-01 -1.60858456e-02 -2.57317366e+02] [ 1.71429625e-02 7.62714211e-05 9.99853046e-01 1.25449449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.642755096 meters 0.015448290201044457 Centerline is valid? [True, True] Translation: X:537.72, Y:-257.27, Z:12.55 [[ 3.46662756e-01 -9.37970057e-01 -6.09153045e-03 5.37719872e+02] [ 9.37824027e-01 3.46716271e-01 -1.65505776e-02 -2.57265105e+02] [ 1.76359790e-02 2.46852247e-05 9.99844474e-01 1.25458281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7027550959999 meters 0.015624602837617272 Centerline is valid? [True, True] Translation: X:537.75, Y:-257.22, Z:12.55 [[ 3.40752089e-01 -9.40133725e-01 -6.04920864e-03 5.37746355e+02] [ 9.39989731e-01 3.40805770e-01 -1.64539646e-02 -2.57215070e+02] [ 1.75305322e-02 -7.94711924e-05 9.99846325e-01 1.25471473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.762755096 meters 0.016518047619186946 Centerline is valid? [True, True] Translation: X:537.77, Y:-257.16, Z:12.55 [[ 3.34964477e-01 -9.42212717e-01 -5.83044649e-03 5.37770955e+02] [ 9.42079038e-01 3.35015170e-01 -1.58720629e-02 -2.57162731e+02] [ 1.69081475e-02 -1.76164170e-04 9.99857032e-01 1.25479718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8227550959999 meters 0.017526321428717802 Centerline is valid? [True, True] Translation: X:537.79, Y:-257.11, Z:12.55 [[ 3.31301443e-01 -9.43507629e-01 -5.71912645e-03 5.37791928e+02] [ 9.43378936e-01 3.31350722e-01 -1.55847031e-02 -2.57108286e+02] [ 1.65993230e-02 -2.32068784e-04 9.99862195e-01 1.25490467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.882755096 meters 0.018149920205077014 Centerline is valid? [True, True] Translation: X:537.81, Y:-257.05, Z:12.55 [[ 3.29192139e-01 -9.44245620e-01 -5.72224746e-03 5.37812407e+02] [ 9.44116646e-01 3.29241764e-01 -1.56083311e-02 -2.57054409e+02] [ 1.66221011e-02 -2.64329185e-04 9.99861808e-01 1.25500858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9427550959999 meters 0.018518911262436853 Centerline is valid? [True, True] Translation: X:537.83, Y:-257.00, Z:12.55 [[ 3.29137416e-01 -9.44265080e-01 -5.65867670e-03 5.37830967e+02] [ 9.44138702e-01 3.29185955e-01 -1.54505384e-02 -2.57001348e+02] [ 1.64521608e-02 -2.57225389e-04 9.99864621e-01 1.25508959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.002755096 meters 0.018606313383860856 Centerline is valid? [True, True] Translation: X:537.85, Y:-256.95, Z:12.55 [[ 3.27342728e-01 -9.44880198e-01 -6.93899570e-03 5.37849036e+02] [ 9.44689786e-01 3.27416084e-01 -1.89714406e-02 -2.56945664e+02] [ 2.01976773e-02 -3.45035265e-04 9.99795947e-01 1.25473454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0627550959999 meters 0.01979928129408423 Centerline is valid? [True, True] Translation: X:537.87, Y:-256.89, Z:12.55 [[ 3.24420652e-01 -9.45886650e-01 -7.04877971e-03 5.37870395e+02] [ 9.45690011e-01 3.24496962e-01 -1.92905365e-02 -2.56891245e+02] [ 2.05339685e-02 -4.07712154e-04 9.99789073e-01 1.25482719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.122755096 meters 0.02091266916939007 Centerline is valid? [True, True] Translation: X:537.89, Y:-256.84, Z:12.55 [[ 3.22318665e-01 -9.46604498e-01 -7.11349953e-03 5.37889801e+02] [ 9.46404014e-01 3.22396836e-01 -1.94864851e-02 -2.56836653e+02] [ 2.07393642e-02 -4.51386652e-04 9.99784814e-01 1.25489611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1827550959999 meters 0.02230923148479227 Centerline is valid? [True, True] Translation: X:537.91, Y:-256.78, Z:12.55 [[ 3.19473893e-01 -9.47569388e-01 -6.97764830e-03 5.37911610e+02] [ 9.47376352e-01 3.19549695e-01 -1.91321652e-02 -2.56782826e+02] [ 2.03587594e-02 -4.98231708e-04 9.99792615e-01 1.25502852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.242755096 meters 0.023031475146719185 Centerline is valid? [True, True] Translation: X:537.93, Y:-256.73, Z:12.55 [[ 3.16304062e-01 -9.48629728e-01 -7.30619940e-03 5.37933841e+02] [ 9.48417940e-01 3.16387889e-01 -2.00528075e-02 -2.56729301e+02] [ 2.13342824e-02 -5.86546109e-04 9.99772226e-01 1.25507871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3027550959999 meters 0.022751074332809103 Centerline is valid? [True, True] Translation: X:537.95, Y:-256.67, Z:12.55 [[ 3.14734061e-01 -9.49154262e-01 -6.97557202e-03 5.37953245e+02] [ 9.48960971e-01 3.14810803e-01 -1.91633632e-02 -2.56674814e+02] [ 2.03849733e-02 -5.88182478e-04 9.99792032e-01 1.25517942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.362755096 meters 0.023117941310746352 Centerline is valid? [True, True] Translation: X:537.97, Y:-256.62, Z:12.55 [[ 3.14531080e-01 -9.49223168e-01 -6.75114785e-03 5.37974155e+02] [ 9.49041769e-01 3.14603013e-01 -1.85651584e-02 -2.56621570e+02] [ 1.97464099e-02 -5.67801988e-04 9.99804859e-01 1.25536100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.422755096 meters 0.02297721789133651 Centerline is valid? [True, True] Translation: X:538.00, Y:-256.57, Z:12.56 [[ 3.15209200e-01 -9.49001581e-01 -6.25784251e-03 5.37995910e+02] [ 9.48845355e-01 3.15270903e-01 -1.72264153e-02 -2.56568712e+02] [ 1.83208110e-02 -5.07800204e-04 9.99832031e-01 1.25561615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4827550959999 meters 0.02267695145230202 Centerline is valid? [True, True] Translation: X:538.02, Y:-256.52, Z:12.56 [[ 3.17027366e-01 -9.48393690e-01 -6.56189046e-03 5.38017074e+02] [ 9.48221390e-01 3.17094891e-01 -1.80838642e-02 -2.56515841e+02] [ 1.92313646e-02 -4.89045059e-04 9.99814941e-01 1.25572050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.542755096 meters 0.02135607613985452 Centerline is valid? [True, True] Translation: X:538.03, Y:-256.46, Z:12.56 [[ 3.18691306e-01 -9.47833604e-01 -6.87821756e-03 5.38033231e+02] [ 9.47643783e-01 3.18765175e-01 -1.89742999e-02 -2.56459751e+02] [ 2.01770153e-02 -4.71155699e-04 9.99796312e-01 1.25570732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6027550959999 meters 0.020148122664519888 Centerline is valid? [True, True] Translation: X:538.05, Y:-256.40, Z:12.56 [[ 3.21391084e-01 -9.46920191e-01 -7.06566778e-03 5.38050628e+02] [ 9.46719260e-01 3.21468470e-01 -1.95106430e-02 -2.56403876e+02] [ 2.07464112e-02 -4.18657071e-04 9.99784682e-01 1.25573745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.662755096 meters 0.019479141707203468 Centerline is valid? [True, True] Translation: X:538.07, Y:-256.35, Z:12.56 [[ 3.22645254e-01 -9.46492624e-01 -7.19390702e-03 5.38067800e+02] [ 9.46283810e-01 3.22725206e-01 -1.98844727e-02 -2.56349400e+02] [ 2.11421619e-02 -3.91846982e-04 9.99776403e-01 1.25584249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7227550959999 meters 0.01982741955493837 Centerline is valid? [True, True] Translation: X:538.09, Y:-256.30, Z:12.56 [[ 3.21767120e-01 -9.46788633e-01 -7.56344351e-03 5.38086325e+02] [ 9.46557378e-01 3.21855720e-01 -2.09290838e-02 -2.56295587e+02] [ 2.22497562e-02 -4.24942260e-04 9.99752353e-01 1.25585972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.782755096 meters 0.02189821691774703 Centerline is valid? [True, True] Translation: X:538.11, Y:-256.24, Z:12.56 [[ 3.18864818e-01 -9.47765090e-01 -8.15861283e-03 5.38107857e+02] [ 9.47495705e-01 3.18968746e-01 -2.26014846e-02 -2.56243963e+02] [ 2.40232405e-02 -5.23432350e-04 9.99711263e-01 1.25585081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8427550959999 meters 0.0244853210070196 Centerline is valid? [True, True] Translation: X:538.13, Y:-256.19, Z:12.56 [[ 3.13935500e-01 -9.49405670e-01 -8.56595031e-03 5.38131755e+02] [ 9.49108649e-01 3.14051623e-01 -2.37560508e-02 -2.56191721e+02] [ 2.52442800e-02 -6.72149817e-04 9.99681086e-01 1.25591819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.902755096 meters 0.02501583782159815 Centerline is valid? [True, True] Translation: X:538.15, Y:-256.14, Z:12.56 [[ 3.09622413e-01 -9.50820693e-01 -8.60066969e-03 5.38153025e+02] [ 9.50521176e-01 3.09740857e-01 -2.38766701e-02 -2.56137714e+02] [ 2.53664108e-02 -7.82366459e-04 9.99677915e-01 1.25613112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9627550959999 meters 0.02537204759524773 Centerline is valid? [True, True] Translation: X:538.17, Y:-256.08, Z:12.56 [[ 3.07071454e-01 -9.51648348e-01 -8.51729526e-03 5.38173846e+02] [ 9.51354346e-01 3.07188419e-01 -2.36682006e-02 -2.56083646e+02] [ 2.51402185e-02 -8.35137076e-04 9.99683586e-01 1.25634658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.022755096 meters 0.026608931403145988 Centerline is valid? [True, True] Translation: X:538.20, Y:-256.03, Z:12.57 [[ 3.05865231e-01 -9.52039754e-01 -8.17111761e-03 5.38196468e+02] [ 9.51768828e-01 3.05973242e-01 -2.27260570e-02 -2.56031682e+02] [ 2.41362531e-02 -8.25904341e-04 9.99708337e-01 1.25666832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0827550959999 meters 0.025195307127239743 Centerline is valid? [True, True] Translation: X:538.21, Y:-255.98, Z:12.57 [[ 3.07942659e-01 -9.51371393e-01 -7.98690232e-03 5.38213421e+02] [ 9.51111935e-01 3.08045302e-01 -2.22301263e-02 -2.55975623e+02] [ 2.36094340e-02 -7.50833911e-04 9.99720977e-01 1.25681850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.142755096 meters 0.023701601959288516 Centerline is valid? [True, True] Translation: X:538.23, Y:-255.92, Z:12.57 [[ 3.10950538e-01 -9.50392290e-01 -8.01612356e-03 5.38229607e+02] [ 9.50130105e-01 3.11053120e-01 -2.23325091e-02 -2.55920227e+02] [ 2.37180847e-02 -6.72054614e-04 9.99718461e-01 1.25694348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2027550959999 meters 0.020715856537850925 Centerline is valid? [True, True] Translation: X:538.24, Y:-255.86, Z:12.57 [[ 3.16862808e-01 -9.48436599e-01 -8.12274237e-03 5.38242333e+02] [ 9.48166238e-01 3.16966470e-01 -2.26504498e-02 -2.55863637e+02] [ 2.40571525e-02 -5.24624947e-04 9.99710447e-01 1.25700339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.262755096 meters 0.01894819524848366 Centerline is valid? [True, True] Translation: X:538.26, Y:-255.81, Z:12.57 [[ 3.21402775e-01 -9.46904184e-01 -8.52771311e-03 5.38256028e+02] [ 9.46605143e-01 3.21515609e-01 -2.37995142e-02 -2.55806830e+02] [ 2.52776525e-02 -4.23147179e-04 9.99680380e-01 1.25693187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3227550959999 meters 0.01869642500697742 Centerline is valid? [True, True] Translation: X:538.27, Y:-255.75, Z:12.57 [[ 3.24317140e-01 -9.45906553e-01 -8.89863758e-03 5.38271765e+02] [ 9.45579910e-01 3.24439007e-01 -2.48588873e-02 -2.55752902e+02] [ 2.64012496e-02 -3.52209663e-04 9.99651364e-01 1.25672076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.382755096 meters 0.01832922137242215 Centerline is valid? [True, True] Translation: X:538.29, Y:-255.70, Z:12.57 [[ 3.24600077e-01 -9.45806176e-01 -9.24486601e-03 5.38290448e+02] [ 9.45452903e-01 3.24731512e-01 -2.58505982e-02 -2.55698735e+02] [ 2.74517548e-02 -3.49479243e-04 9.99623068e-01 1.25685528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4427550959999 meters 0.017538520612949145 Centerline is valid? [True, True] Translation: X:538.31, Y:-255.64, Z:12.57 [[ 3.24579180e-01 -9.45813159e-01 -9.26415531e-03 5.38308596e+02] [ 9.45457633e-01 3.24711183e-01 -2.59328328e-02 -2.55643999e+02] [ 2.75357893e-02 -3.41608736e-04 9.99620760e-01 1.25713928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.502755096 meters 0.017615239832157598 Centerline is valid? [True, True] Translation: X:538.33, Y:-255.59, Z:12.57 [[ 3.25268459e-01 -9.45574407e-01 -9.45888447e-03 5.38327179e+02] [ 9.45202889e-01 3.25405807e-01 -2.65058418e-02 -2.55590480e+02] [ 2.81412216e-02 -3.19050607e-04 9.99603906e-01 1.25717449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5627550959999 meters 0.01737730823284089 Centerline is valid? [True, True] Translation: X:538.35, Y:-255.54, Z:12.57 [[ 3.25898959e-01 -9.45356757e-01 -9.51159111e-03 5.38345149e+02] [ 9.44980254e-01 3.26037598e-01 -2.66796636e-02 -2.55536333e+02] [ 2.83229366e-02 -2.93391182e-04 9.99598782e-01 1.25735164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.622755096 meters 0.01742787755986659 Centerline is valid? [True, True] Translation: X:538.37, Y:-255.48, Z:12.57 [[ 3.26865405e-01 -9.45020272e-01 -9.78232243e-03 5.38366035e+02] [ 9.44620936e-01 3.27011649e-01 -2.74712486e-02 -2.55483916e+02] [ 2.91598201e-02 -2.61185802e-04 9.99574728e-01 1.25745975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6827550959999 meters 0.017765963375313304 Centerline is valid? [True, True] Translation: X:538.39, Y:-255.43, Z:12.57 [[ 3.26619345e-01 -9.45102944e-01 -1.00114593e-02 5.38387130e+02] [ 9.44683723e-01 3.26772637e-01 -2.81479360e-02 -2.55431773e+02] [ 2.98741682e-02 -2.64002214e-04 9.99553633e-01 1.25747236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.742755096 meters 0.01729434805650746 Centerline is valid? [True, True] Translation: X:538.41, Y:-255.38, Z:12.58 [[ 3.26286232e-01 -9.45220966e-01 -9.72726862e-03 5.38407176e+02] [ 9.44824382e-01 3.26431093e-01 -2.73793509e-02 -2.55377707e+02] [ 2.90548195e-02 -2.57055314e-04 9.99577787e-01 1.25794219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8027550959999 meters 0.017318431478204104 Centerline is valid? [True, True] Translation: X:538.43, Y:-255.32, Z:12.58 [[ 3.25962967e-01 -9.45336094e-01 -9.37083728e-03 5.38426374e+02] [ 9.44967290e-01 3.26097542e-01 -2.64048198e-02 -2.55324217e+02] [ 2.80172362e-02 -2.48141309e-04 9.99607409e-01 1.25824845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8627550959999 meters 0.01702643136554874 Centerline is valid? [True, True] Translation: X:538.45, Y:-255.27, Z:12.59 [[ 3.25760726e-01 -9.45408216e-01 -9.12434779e-03 5.38445573e+02] [ 9.45057812e-01 3.25888397e-01 -2.57387583e-02 -2.55270277e+02] [ 2.73071526e-02 -2.38359577e-04 9.99627062e-01 1.25852495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.922755096 meters 0.01680500654860313 Centerline is valid? [True, True] Translation: X:538.46, Y:-255.22, Z:12.59 [[ 3.26205022e-01 -9.45257663e-01 -8.84500478e-03 5.38463380e+02] [ 9.44927599e-01 3.26324848e-01 -2.49785340e-02 -2.55216159e+02] [ 2.64974955e-02 -2.09765904e-04 9.99648858e-01 1.25871678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9827550959999 meters 0.01641252855796157 Centerline is valid? [True, True] Translation: X:538.48, Y:-255.16, Z:12.59 [[ 3.27678608e-01 -9.44747986e-01 -8.83027874e-03 5.38480356e+02] [ 9.44418089e-01 3.27797527e-01 -2.49650811e-02 -2.55161431e+02] [ 2.64802536e-02 -1.58951946e-04 9.99649324e-01 1.25883469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.042755096 meters 0.01627404001879191 Centerline is valid? [True, True] Translation: X:538.50, Y:-255.11, Z:12.59 [[ 3.28604428e-01 -9.44427329e-01 -8.72640831e-03 5.38498350e+02] [ 9.44104297e-01 3.28720254e-01 -2.46996176e-02 -2.55108187e+02] [ 2.61955410e-02 -1.22235885e-04 9.99656830e-01 1.25896142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1027550959999 meters 0.016336367507471108 Centerline is valid? [True, True] Translation: X:538.52, Y:-255.06, Z:12.59 [[ 3.28234670e-01 -9.44558056e-01 -8.48996674e-03 5.38516820e+02] [ 9.44251634e-01 3.28344428e-01 -2.40580252e-02 -2.55055431e+02] [ 2.55118348e-02 -1.19987012e-04 9.99674513e-01 1.25918758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.162755096 meters 0.016335889151465183 Centerline is valid? [True, True] Translation: X:538.54, Y:-255.00, Z:12.59 [[ 3.26952413e-01 -9.45005417e-01 -8.17809327e-03 5.38535191e+02] [ 9.44720601e-01 3.27054646e-01 -2.32000976e-02 -2.55001578e+02] [ 2.45989013e-02 -1.40685294e-04 9.99697391e-01 1.25945560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2227550959999 meters 0.01659582558371836 Centerline is valid? [True, True] Translation: X:538.55, Y:-254.95, Z:12.60 [[ 3.24735283e-01 -9.45775797e-01 -7.42546939e-03 5.38554897e+02] [ 9.45540707e-01 3.24820122e-01 -2.10869487e-02 -2.54947957e+02] [ 2.23554676e-02 -1.73407307e-04 9.99750070e-01 1.25982672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.282755096 meters 0.017229128746058645 Centerline is valid? [True, True] Translation: X:538.58, Y:-254.90, Z:12.60 [[ 3.21693297e-01 -9.46817887e-01 -7.02226832e-03 5.38575267e+02] [ 9.46607440e-01 3.21769854e-01 -1.99628535e-02 -2.54895026e+02] [ 2.11607410e-02 -2.25415263e-04 9.99776061e-01 1.26015100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3427550959999 meters 0.01721423161525452 Centerline is valid? [True, True] Translation: X:538.59, Y:-254.84, Z:12.60 [[ 3.20452020e-01 -9.47234903e-01 -7.51942586e-03 5.38592282e+02] [ 9.46993172e-01 3.20540121e-01 -2.14000735e-02 -2.54840362e+02] [ 2.26811742e-02 -2.63148163e-04 9.99742714e-01 1.26012244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.402755096 meters 0.01741333362000656 Centerline is valid? [True, True] Translation: X:538.61, Y:-254.79, Z:12.60 [[ 3.21593489e-01 -9.46845555e-01 -7.81814831e-03 5.38607924e+02] [ 9.46583488e-01 3.21688420e-01 -2.22769072e-02 -2.54786120e+02] [ 2.36077984e-02 -2.36421785e-04 9.99721269e-01 1.25994516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4627550959999 meters 0.017055031012722606 Centerline is valid? [True, True] Translation: X:538.62, Y:-254.73, Z:12.60 [[ 3.22996211e-01 -9.46368334e-01 -7.77332850e-03 5.38622963e+02] [ 9.46108500e-01 3.23089678e-01 -2.21757880e-02 -2.54733044e+02] [ 2.34979457e-02 -1.91716686e-04 9.99723867e-01 1.26016106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.522755096 meters 0.016232804305653374 Centerline is valid? [True, True] Translation: X:538.63, Y:-254.68, Z:12.60 [[ 3.25095367e-01 -9.45653360e-01 -7.26116329e-03 5.38634451e+02] [ 9.45425944e-01 3.25176425e-01 -2.07383101e-02 -2.54676761e+02] [ 2.19724118e-02 -1.22963615e-04 9.99758570e-01 1.26042922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5827550959999 meters 0.016011259065477998 Centerline is valid? [True, True] Translation: X:538.65, Y:-254.62, Z:12.61 [[ 3.27265753e-01 -9.44908896e-01 -6.65620294e-03 5.38647223e+02] [ 9.44717245e-01 3.27333431e-01 -1.90302867e-02 -2.54620547e+02] [ 2.01606849e-02 -6.02686016e-05 9.99796751e-01 1.26070570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.642755096 meters 0.016100080218760457 Centerline is valid? [True, True] Translation: X:538.66, Y:-254.57, Z:12.61 [[ 3.28621603e-01 -9.44441839e-01 -6.12005249e-03 5.38661008e+02] [ 9.44279405e-01 3.28678585e-01 -1.75154972e-02 -2.54566197e+02] [ 1.85538985e-02 -2.30687829e-05 9.99827861e-01 1.26089448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7027550959999 meters 0.016135120395103265 Centerline is valid? [True, True] Translation: X:538.68, Y:-254.51, Z:12.61 [[ 3.28848341e-01 -9.44363677e-01 -6.00123150e-03 5.38676411e+02] [ 9.44207205e-01 3.28903095e-01 -1.71903578e-02 -2.54510689e+02] [ 1.82077731e-02 -1.33853840e-05 9.99834225e-01 1.26101591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.762755096 meters 0.01613394068773762 Centerline is valid? [True, True] Translation: X:538.69, Y:-254.46, Z:12.61 [[ 3.29297639e-01 -9.44207154e-01 -5.99296775e-03 5.38690353e+02] [ 9.44050726e-01 3.29352168e-01 -1.71865041e-02 -2.54455557e+02] [ 1.82014170e-02 1.80965458e-06 9.99834340e-01 1.26102923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8227550959999 meters 0.016236588603252874 Centerline is valid? [True, True] Translation: X:538.71, Y:-254.40, Z:12.61 [[ 3.28395804e-01 -9.44518764e-01 -6.36394333e-03 5.38707276e+02] [ 9.44341985e-01 3.28457461e-01 -1.82732625e-02 -2.54401148e+02] [ 1.93497240e-02 -8.87614927e-06 9.99812777e-01 1.26110119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.882755096 meters 0.016371619069079614 Centerline is valid? [True, True] Translation: X:538.72, Y:-254.35, Z:12.61 [[ 3.27298589e-01 -9.44898020e-01 -6.58525794e-03 5.38723849e+02] [ 9.44708372e-01 3.27364830e-01 -1.89303885e-02 -2.54346703e+02] [ 2.00430684e-02 -2.52588609e-05 9.99799117e-01 1.26107053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9427550959999 meters 0.01648992944388273 Centerline is valid? [True, True] Translation: X:538.74, Y:-254.29, Z:12.61 [[ 3.24355886e-01 -9.45912419e-01 -6.55395129e-03 5.38742396e+02] [ 9.45724349e-01 3.24422084e-01 -1.88618178e-02 -2.54292983e+02] [ 1.99678743e-02 -8.02896834e-05 9.99800619e-01 1.26116111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.002755096 meters 0.017132328142744565 Centerline is valid? [True, True] Translation: X:538.76, Y:-254.24, Z:12.61 [[ 3.19650309e-01 -9.47514723e-01 -6.28720152e-03 5.38762956e+02] [ 9.47341585e-01 3.19712092e-01 -1.81135213e-02 -2.54238611e+02] [ 1.91729225e-02 -1.66134765e-04 9.99816169e-01 1.26140437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0627550959999 meters 0.018480399393316006 Centerline is valid? [True, True] Translation: X:538.78, Y:-254.18, Z:12.62 [[ 3.13057618e-01 -9.49712875e-01 -6.35470453e-03 5.38784142e+02] [ 9.49536082e-01 3.13121968e-01 -1.83265570e-02 -2.54184528e+02] [ 1.93947648e-02 -2.96752941e-04 9.99811860e-01 1.26157824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.122755096 meters 0.02099520130062309 Centerline is valid? [True, True] Translation: X:538.80, Y:-254.13, Z:12.62 [[ 3.06485185e-01 -9.51851986e-01 -6.68035836e-03 5.38803824e+02] [ 9.51656672e-01 3.06557657e-01 -1.92868309e-02 -2.54131156e+02] [ 2.04061234e-02 -4.46279648e-04 9.99791674e-01 1.26159823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1827550959999 meters 0.022864223658743733 Centerline is valid? [True, True] Translation: X:538.82, Y:-254.08, Z:12.62 [[ 3.01700623e-01 -9.53374677e-01 -7.31152354e-03 5.38820048e+02] [ 9.53140598e-01 3.01788623e-01 -2.11335583e-02 -2.54075397e+02] [ 2.23547339e-02 -5.92902214e-04 9.99749926e-01 1.26150272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.242755096 meters 0.02344938302520073 Centerline is valid? [True, True] Translation: X:538.84, Y:-254.02, Z:12.62 [[ 2.99607082e-01 -9.54034093e-01 -7.38547144e-03 5.38835528e+02] [ 9.53794948e-01 2.99697409e-01 -2.13696032e-02 -2.54019236e+02] [ 2.26007367e-02 -6.41740884e-04 9.99744365e-01 1.26158002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3027550959999 meters 0.025135742350152195 Centerline is valid? [True, True] Translation: X:538.85, Y:-253.96, Z:12.62 [[ 2.97772297e-01 -9.54612740e-01 -6.79522554e-03 5.38849868e+02] [ 9.54410068e-01 2.97849165e-01 -1.96798611e-02 -2.53963823e+02] [ 2.08105984e-02 -6.25314240e-04 9.99783241e-01 1.26179801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3627550959999 meters 0.025093531549371963 Centerline is valid? [True, True] Translation: X:538.86, Y:-253.91, Z:12.62 [[ 2.95918180e-01 -9.55191302e-01 -6.48137508e-03 5.38862632e+02] [ 9.55006775e-01 2.95988479e-01 -1.87851164e-02 -2.53906580e+02] [ 1.98617922e-02 -6.30899643e-04 9.99802536e-01 1.26198890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.422755096 meters 0.02524705879895243 Centerline is valid? [True, True] Translation: X:538.88, Y:-253.85, Z:12.62 [[ 2.95291220e-01 -9.55386602e-01 -6.28779393e-03 5.38879895e+02] [ 9.55212618e-01 2.95357507e-01 -1.82427503e-02 -2.53851597e+02] [ 1.92860264e-02 -6.19256110e-04 9.99813816e-01 1.26213749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4827550959999 meters 0.02508455120852045 Centerline is valid? [True, True] Translation: X:538.89, Y:-253.79, Z:12.62 [[ 2.96173648e-01 -9.55115402e-01 -5.97826130e-03 5.38891424e+02] [ 9.54957720e-01 2.96233436e-01 -1.73638651e-02 -2.53793951e+02] [ 1.83554559e-02 -5.66267525e-04 9.99831364e-01 1.26233341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.542755096 meters 0.023685410574350516 Centerline is valid? [True, True] Translation: X:538.90, Y:-253.74, Z:12.62 [[ 2.98670304e-01 -9.54337642e-01 -5.97609254e-03 5.38903027e+02] [ 9.54179593e-01 2.98729646e-01 -1.73753677e-02 -2.53736080e+02] [ 1.83672035e-02 -5.12759189e-04 9.99831177e-01 1.26236162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6027550959999 meters 0.021543095788788585 Centerline is valid? [True, True] Translation: X:538.91, Y:-253.68, Z:12.62 [[ 3.03882382e-01 -9.52689628e-01 -6.16204380e-03 5.38912257e+02] [ 9.52520902e-01 3.03944562e-01 -1.79341828e-02 -2.53678535e+02] [ 1.89586297e-02 -4.19593324e-04 9.99820181e-01 1.26241870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.662755096 meters 0.021092548093718768 Centerline is valid? [True, True] Translation: X:538.92, Y:-253.62, Z:12.62 [[ 3.07981654e-01 -9.51369398e-01 -6.60072934e-03 5.38924555e+02] [ 9.51175055e-01 3.08052175e-01 -1.92320840e-02 -2.53621685e+02] [ 2.03301852e-02 -3.55320067e-04 9.99793257e-01 1.26236879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7227550959999 meters 0.019008696844346917 Centerline is valid? [True, True] Translation: X:538.94, Y:-253.56, Z:12.62 [[ 3.10925884e-01 -9.50409324e-01 -6.87107413e-03 5.38936214e+02] [ 9.50198169e-01 3.11001651e-01 -2.00352602e-02 -2.53564193e+02] [ 2.11786135e-02 -2.99401085e-04 9.99775663e-01 1.26249816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.782755096 meters 0.018825273829104316 Centerline is valid? [True, True] Translation: X:538.95, Y:-253.51, Z:12.63 [[ 3.12351542e-01 -9.49942296e-01 -6.79323306e-03 5.38953470e+02] [ 9.49735325e-01 3.12425299e-01 -1.98304254e-02 -2.53510625e+02] [ 2.09601377e-02 -2.57709468e-04 9.99780279e-01 1.26263937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8427550959999 meters 0.018113992874335533 Centerline is valid? [True, True] Translation: X:538.97, Y:-253.46, Z:12.63 [[ 3.14016284e-01 -9.49395389e-01 -6.49368568e-03 5.38969653e+02] [ 9.49205713e-01 3.14083353e-01 -1.89779041e-02 -2.53455819e+02] [ 2.00570932e-02 -2.04472630e-04 9.99798815e-01 1.26290127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.902755096 meters 0.01821250806415096 Centerline is valid? [True, True] Translation: X:538.99, Y:-253.40, Z:12.63 [[ 3.13872888e-01 -9.49442945e-01 -6.47330019e-03 5.38990029e+02] [ 9.49254040e-01 3.13939570e-01 -1.89397598e-02 -2.53402051e+02] [ 2.00144464e-02 -2.00129245e-04 9.99799671e-01 1.26303670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9627550959999 meters 0.01793708711968214 Centerline is valid? [True, True] Translation: X:539.01, Y:-253.35, Z:12.63 [[ 3.13396682e-01 -9.49600372e-01 -6.45395673e-03 5.39011597e+02] [ 9.49412183e-01 3.13463064e-01 -1.89054011e-02 -2.53350052e+02] [ 1.99756530e-02 -2.02575182e-04 9.99800446e-01 1.26319498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.022755096 meters 0.017930489892283377 Centerline is valid? [True, True] Translation: X:539.03, Y:-253.30, Z:12.63 [[ 3.12764621e-01 -9.49810423e-01 -6.20099466e-03 5.39032066e+02] [ 9.49636306e-01 3.12826022e-01 -1.81869870e-02 -2.53297032e+02] [ 1.92140223e-02 -2.00443568e-04 9.99815374e-01 1.26342832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0827550959999 meters 0.017876216768158766 Centerline is valid? [True, True] Translation: X:539.05, Y:-253.24, Z:12.63 [[ 3.12324977e-01 -9.49954250e-01 -6.32708026e-03 5.39054068e+02] [ 9.49772569e-01 3.12388989e-01 -1.85792027e-02 -2.53243749e+02] [ 1.96259028e-02 -2.06538220e-04 9.99807372e-01 1.26348956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.142755096 meters 0.01801676323043352 Centerline is valid? [True, True] Translation: X:539.08, Y:-253.19, Z:12.64 [[ 3.11564324e-01 -9.50201277e-01 -6.72353106e-03 5.39078393e+02] [ 9.49995656e-01 3.11636779e-01 -1.97679211e-02 -2.53191690e+02] [ 2.08788035e-02 -2.28346303e-04 9.99781988e-01 1.26356189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2027550959999 meters 0.018268768619461574 Centerline is valid? [True, True] Translation: X:539.10, Y:-253.14, Z:12.64 [[ 3.11005835e-01 -9.50384701e-01 -6.65509884e-03 5.39100413e+02] [ 9.50182812e-01 3.11076946e-01 -1.95897319e-02 -2.53138241e+02] [ 2.06880294e-02 -2.31039590e-04 9.99785953e-01 1.26362724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.262755096 meters 0.018405409843439614 Centerline is valid? [True, True] Translation: X:539.12, Y:-253.09, Z:12.64 [[ 3.11150230e-01 -9.50337706e-01 -6.61661434e-03 5.39123188e+02] [ 9.50137667e-01 3.11220496e-01 -1.94991380e-02 -2.53086001e+02] [ 2.05899921e-02 -2.19533238e-04 9.99787980e-01 1.26369307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3227550959999 meters 0.018668887566377246 Centerline is valid? [True, True] Translation: X:539.15, Y:-253.03, Z:12.64 [[ 3.10348001e-01 -9.50599222e-01 -6.72584697e-03 5.39150132e+02] [ 9.50392098e-01 3.10420786e-01 -1.98442732e-02 -2.53034530e+02] [ 2.09517934e-02 -2.33561277e-04 9.99780460e-01 1.26392740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.382755096 meters 0.019456768745972526 Centerline is valid? [True, True] Translation: X:539.18, Y:-252.98, Z:12.64 [[ 3.08262107e-01 -9.51276236e-01 -6.92792785e-03 5.39177802e+02] [ 9.51056134e-01 3.08339820e-01 -2.04642453e-02 -2.52983321e+02] [ 2.16033063e-02 -2.80496880e-04 9.99766582e-01 1.26413889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4427550959999 meters 0.019222208941753187 Centerline is valid? [True, True] Translation: X:539.20, Y:-252.93, Z:12.64 [[ 3.07245267e-01 -9.51603814e-01 -7.10825685e-03 5.39201611e+02] [ 9.51371672e-01 3.07327332e-01 -2.10202955e-02 -2.52930841e+02] [ 2.21875550e-02 -3.04207891e-04 9.99753780e-01 1.26433144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.502755096 meters 0.019611553277908814 Centerline is valid? [True, True] Translation: X:539.23, Y:-252.88, Z:12.65 [[ 3.06983977e-01 -9.51690597e-01 -6.77094139e-03 5.39225759e+02] [ 9.51479508e-01 3.07058503e-01 -2.00454954e-02 -2.52879193e+02] [ 2.11561846e-02 -2.88766094e-04 9.99776141e-01 1.26457394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5627550959999 meters 0.019985647079385587 Centerline is valid? [True, True] Translation: X:539.25, Y:-252.83, Z:12.65 [[ 3.06778644e-01 -9.51756094e-01 -6.87034432e-03 5.39251274e+02] [ 9.51538243e-01 3.06855428e-01 -2.03646122e-02 -2.52828260e+02] [ 2.14903462e-02 -2.89967250e-04 9.99769014e-01 1.26470933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.622755096 meters 0.01958724157996882 Centerline is valid? [True, True] Translation: X:539.27, Y:-252.78, Z:12.65 [[ 3.06437233e-01 -9.51865024e-01 -7.01421171e-03 5.39272285e+02] [ 9.51637439e-01 3.06517355e-01 -2.08157726e-02 -2.52775380e+02] [ 2.19637835e-02 -2.96258714e-04 9.99758723e-01 1.26481322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6827550959999 meters 0.019905460076720408 Centerline is valid? [True, True] Translation: X:539.30, Y:-252.72, Z:12.65 [[ 3.05476245e-01 -9.52176042e-01 -6.71190724e-03 5.39298093e+02] [ 9.51967261e-01 3.05549827e-01 -1.99408533e-02 -2.52723481e+02] [ 2.10380248e-02 -2.98058967e-04 9.99778632e-01 1.26507210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.742755096 meters 0.020546472138931935 Centerline is valid? [True, True] Translation: X:539.32, Y:-252.67, Z:12.65 [[ 3.03314418e-01 -9.52868856e-01 -6.42706631e-03 5.39323759e+02] [ 9.52677150e-01 3.03382329e-01 -1.91157198e-02 -2.52670609e+02] [ 2.01646324e-02 -3.24845795e-04 9.99796620e-01 1.26526842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8027550959999 meters 0.02114307052190542 Centerline is valid? [True, True] Translation: X:539.35, Y:-252.62, Z:12.65 [[ 3.01416979e-01 -9.53471141e-01 -6.37091796e-03 5.39346743e+02] [ 9.53282507e-01 3.01484091e-01 -1.89685286e-02 -2.52617183e+02] [ 2.00066750e-02 -3.55848080e-04 9.99799783e-01 1.26533604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8627550959999 meters 0.02237790093384745 Centerline is valid? [True, True] Translation: X:539.37, Y:-252.57, Z:12.65 [[ 2.99177346e-01 -9.54175148e-01 -6.53479790e-03 5.39372671e+02] [ 9.53976415e-01 2.99248429e-01 -1.94776313e-02 -2.52565639e+02] [ 2.05405997e-02 -4.06777050e-04 9.99788937e-01 1.26543120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.922755096 meters 0.02252500305884673 Centerline is valid? [True, True] Translation: X:539.40, Y:-252.51, Z:12.65 [[ 2.98356456e-01 -9.54428474e-01 -7.05073052e-03 5.39395604e+02] [ 9.54196635e-01 2.98439416e-01 -2.10403646e-02 -2.52513192e+02] [ 2.21857389e-02 -4.50254736e-04 9.99753765e-01 1.26541812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9827550959999 meters 0.022431757168680254 Centerline is valid? [True, True] Translation: X:539.42, Y:-252.46, Z:12.66 [[ 2.99318059e-01 -9.54127377e-01 -7.04618572e-03 5.39417504e+02] [ 9.53895236e-01 2.99400688e-01 -2.10500858e-02 -2.52461130e+02] [ 2.21940960e-02 -4.20652174e-04 9.99753592e-01 1.26556909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.042755096 meters 0.022073063734144152 Centerline is valid? [True, True] Translation: X:539.44, Y:-252.41, Z:12.66 [[ 3.00573734e-01 -9.53732669e-01 -7.03041937e-03 5.39437186e+02] [ 9.53501019e-01 3.00655697e-01 -2.10228341e-02 -2.52407430e+02] [ 2.21638993e-02 -3.84600295e-04 9.99754277e-01 1.26563623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1027550959999 meters 0.020743978244877188 Centerline is valid? [True, True] Translation: X:539.46, Y:-252.35, Z:12.66 [[ 3.03236899e-01 -9.52888520e-01 -7.13104945e-03 5.39456541e+02] [ 9.52649415e-01 3.03320568e-01 -2.13477248e-02 -2.52352289e+02] [ 2.25049958e-02 -3.19972222e-04 9.99746679e-01 1.26578111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.162755096 meters 0.020290317752003656 Centerline is valid? [True, True] Translation: X:539.48, Y:-252.30, Z:12.66 [[ 3.06198778e-01 -9.51940484e-01 -7.18498105e-03 5.39478675e+02] [ 9.51696984e-01 3.06282967e-01 -2.15312675e-02 -2.52300014e+02] [ 2.26971225e-02 -2.45076978e-04 9.99742357e-01 1.26589177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2227550959999 meters 0.020086512167181207 Centerline is valid? [True, True] Translation: X:539.50, Y:-252.25, Z:12.66 [[ 3.07278448e-01 -9.51593479e-01 -7.05733548e-03 5.39496892e+02] [ 9.51358009e-01 3.07359410e-01 -2.11691073e-02 -2.52245487e+02] [ 2.23135230e-02 -2.09242176e-04 9.99751000e-01 1.26606677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.282755096 meters 0.019492999138412955 Centerline is valid? [True, True] Translation: X:539.52, Y:-252.19, Z:12.67 [[ 3.08648825e-01 -9.51150844e-01 -6.92635747e-03 5.39517877e+02] [ 9.50923382e-01 3.08726487e-01 -2.08009174e-02 -2.52193135e+02] [ 2.19231602e-02 -1.66256541e-04 9.99759645e-01 1.26650121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3427550959999 meters 0.01954443056962576 Centerline is valid? [True, True] Translation: X:539.54, Y:-252.14, Z:12.67 [[ 3.09199861e-01 -9.50972948e-01 -6.77478474e-03 5.39537669e+02] [ 9.50754765e-01 3.09274039e-01 -2.03702017e-02 -2.52138949e+02] [ 2.14667758e-02 -1.42695358e-04 9.99769552e-01 1.26673784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.402755096 meters 0.019466612711154442 Centerline is valid? [True, True] Translation: X:539.56, Y:-252.09, Z:12.67 [[ 3.08765212e-01 -9.51114074e-01 -6.78687465e-03 5.39558192e+02] [ 9.50894638e-01 3.08839759e-01 -2.04301278e-02 -2.52085158e+02] [ 2.15274389e-02 -1.45489957e-04 9.99768247e-01 1.26682712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4627550959999 meters 0.019916691851952013 Centerline is valid? [True, True] Translation: X:539.58, Y:-252.03, Z:12.67 [[ 3.06780869e-01 -9.51754125e-01 -7.04150773e-03 5.39581779e+02] [ 9.51517524e-01 3.06861612e-01 -2.12215140e-02 -2.52032501e+02] [ 2.23584319e-02 -1.89763483e-04 9.99750001e-01 1.26684685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.522755096 meters 0.020934546865351518 Centerline is valid? [True, True] Translation: X:539.60, Y:-251.98, Z:12.67 [[ 3.03885048e-01 -9.52680923e-01 -7.27571045e-03 5.39604095e+02] [ 9.52428025e-01 3.03972023e-01 -2.19514488e-02 -2.51980303e+02] [ 2.31243390e-02 -2.58873470e-04 9.99732563e-01 1.26686380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5827550959999 meters 0.020709254027333455 Centerline is valid? [True, True] Translation: X:539.62, Y:-251.93, Z:12.67 [[ 3.04209386e-01 -9.52578316e-01 -7.15548631e-03 5.39619849e+02] [ 9.52333242e-01 3.04293433e-01 -2.16079476e-02 -2.51925559e+02] [ 2.27606299e-02 -2.41067000e-04 9.99740914e-01 1.26701914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.642755096 meters 0.020655978763485128 Centerline is valid? [True, True] Translation: X:539.64, Y:-251.87, Z:12.67 [[ 3.04484506e-01 -9.52489033e-01 -7.33666736e-03 5.39636020e+02] [ 9.52230807e-01 3.04572794e-01 -2.21788875e-02 -2.51871838e+02] [ 2.33596963e-02 -2.33073093e-04 9.99727098e-01 1.26696920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7027550959999 meters 0.020453702347409022 Centerline is valid? [True, True] Translation: X:539.65, Y:-251.82, Z:12.67 [[ 3.03878351e-01 -9.52679309e-01 -7.75131440e-03 5.39651333e+02] [ 9.52390396e-01 3.03977089e-01 -2.34619418e-02 -2.51816916e+02] [ 2.47079285e-02 -2.52701216e-04 9.99694681e-01 1.26707254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.762755096 meters 0.02101041982616127 Centerline is valid? [True, True] Translation: X:539.67, Y:-251.76, Z:12.67 [[ 3.01481501e-01 -9.53440285e-01 -7.77998457e-03 5.39669441e+02] [ 9.53148811e-01 3.01581712e-01 -2.35757427e-02 -2.51761572e+02] [ 2.48243639e-02 -3.07832751e-04 9.99691781e-01 1.26705437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8227550959999 meters 0.022120904045815924 Centerline is valid? [True, True] Translation: X:539.69, Y:-251.71, Z:12.67 [[ 2.96393428e-01 -9.55034709e-01 -7.72275619e-03 5.39689944e+02] [ 9.54747433e-01 2.96493711e-01 -2.34268817e-02 -2.51707508e+02] [ 2.46632338e-02 -4.29707870e-04 9.99695724e-01 1.26728313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.882755096 meters 0.02437672234072076 Centerline is valid? [True, True] Translation: X:539.71, Y:-251.65, Z:12.67 [[ 2.91698100e-01 -9.56482489e-01 -7.31209710e-03 5.39711926e+02] [ 9.56224862e-01 2.91789279e-01 -2.22042864e-02 -2.51654866e+02] [ 2.33716026e-02 -5.15060889e-04 9.99726714e-01 1.26748987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9427550959999 meters 0.0241780435050781 Centerline is valid? [True, True] Translation: X:539.73, Y:-251.60, Z:12.68 [[ 2.89061183e-01 -9.57285689e-01 -6.90960618e-03 5.39728161e+02] [ 9.57055379e-01 2.89143247e-01 -2.10043971e-02 -2.51599389e+02] [ 2.21050747e-02 -5.41319878e-04 9.99755506e-01 1.26772396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.002755096 meters 0.02486561322617964 Centerline is valid? [True, True] Translation: X:539.75, Y:-251.55, Z:12.68 [[ 2.88178150e-01 -9.57553996e-01 -6.61051087e-03 5.39745915e+02] [ 9.57342831e-01 2.88253469e-01 -2.01157059e-02 -2.51545667e+02] [ 2.11673773e-02 -5.31618264e-04 9.99775805e-01 1.26781639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0627550959999 meters 0.02501812016673313 Centerline is valid? [True, True] Translation: X:539.76, Y:-251.49, Z:12.68 [[ 2.88079954e-01 -9.57581442e-01 -6.90813796e-03 5.39762757e+02] [ 9.57350364e-01 2.88162243e-01 -2.10428549e-02 -2.51491113e+02] [ 2.21409118e-02 -5.51483717e-04 9.99754708e-01 1.26783928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.122755096 meters 0.024579525528068347 Centerline is valid? [True, True] Translation: X:539.78, Y:-251.44, Z:12.68 [[ 2.88548133e-01 -9.57437374e-01 -7.32459615e-03 5.39779432e+02] [ 9.57176901e-01 2.88640530e-01 -2.23388831e-02 -2.51436107e+02] [ 2.35022569e-02 -5.65091233e-04 9.99723624e-01 1.26786815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1827550959999 meters 0.02445862556502755 Centerline is valid? [True, True] Translation: X:539.80, Y:-251.38, Z:12.68 [[ 2.89518178e-01 -9.57143562e-01 -7.44490761e-03 5.39796783e+02] [ 9.56873714e-01 2.89613377e-01 -2.27329588e-02 -2.51381265e+02] [ 2.39148500e-02 -5.42231577e-04 9.99713852e-01 1.26796887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.242755096 meters 0.024372028996523906 Centerline is valid? [True, True] Translation: X:539.81, Y:-251.33, Z:12.68 [[ 2.90593537e-01 -9.56818566e-01 -7.32318252e-03 5.39813318e+02] [ 9.56556761e-01 2.90685368e-01 -2.23870265e-02 -2.51326917e+02] [ 2.35490646e-02 -4.99514524e-04 9.99722558e-01 1.26809776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3027550959999 meters 0.0238622334500592 Centerline is valid? [True, True] Translation: X:539.83, Y:-251.27, Z:12.68 [[ 2.91450401e-01 -9.56558953e-01 -7.18556863e-03 5.39829281e+02] [ 9.56306227e-01 2.91538600e-01 -2.19919292e-02 -2.51272958e+02] [ 2.31314474e-02 -4.62047450e-04 9.99732326e-01 1.26823117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3627550959999 meters 0.022490957882039773 Centerline is valid? [True, True] Translation: X:539.84, Y:-251.22, Z:12.68 [[ 2.93011289e-01 -9.56082917e-01 -7.05974079e-03 5.39844962e+02] [ 9.55838237e-01 2.93096039e-01 -2.16327899e-02 -2.51217200e+02] [ 2.27519230e-02 -4.09318519e-04 9.99741058e-01 1.26845159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.422755096 meters 0.021691616460549377 Centerline is valid? [True, True] Translation: X:539.86, Y:-251.16, Z:12.69 [[ 2.94901784e-01 -9.55500499e-01 -7.19267122e-03 5.39860926e+02] [ 9.55245788e-01 2.94989261e-01 -2.20640202e-02 -2.51161652e+02] [ 2.32039431e-02 -3.64049961e-04 9.99730686e-01 1.26853280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4827550959999 meters 0.020715300821882242 Centerline is valid? [True, True] Translation: X:539.88, Y:-251.11, Z:12.69 [[ 2.98303810e-01 -9.54444179e-01 -7.15172260e-03 5.39877058e+02] [ 9.54191506e-01 2.98389403e-01 -2.19620896e-02 -2.51105941e+02] [ 2.30955868e-02 -2.72737957e-04 9.99733224e-01 1.26872000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.542755096 meters 0.020838794996011014 Centerline is valid? [True, True] Translation: X:539.89, Y:-251.05, Z:12.69 [[ 3.01179278e-01 -9.53538745e-01 -7.40976498e-03 5.39894696e+02] [ 9.53266596e-01 3.01270346e-01 -2.27810199e-02 -2.51052386e+02] [ 2.39549276e-02 -2.02310315e-04 9.99713019e-01 1.26850906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6027550959999 meters 0.02015030763474056 Centerline is valid? [True, True] Translation: X:539.91, Y:-251.00, Z:12.69 [[ 3.01982946e-01 -9.53283982e-01 -7.47994248e-03 5.39910815e+02] [ 9.53005871e-01 3.02075518e-01 -2.30258831e-02 -2.50997596e+02] [ 2.42097130e-02 -1.75005081e-04 9.99706887e-01 1.26876689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.662755096 meters 0.020256979234414604 Centerline is valid? [True, True] Translation: X:539.93, Y:-250.94, Z:12.69 [[ 3.01008145e-01 -9.53593879e-01 -7.26710013e-03 5.39928246e+02] [ 9.53330832e-01 3.01095797e-01 -2.23974282e-02 -2.50943560e+02] [ 2.35461437e-02 -1.86142322e-04 9.99722734e-01 1.26887108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7227550959999 meters 0.020944124311356054 Centerline is valid? [True, True] Translation: X:539.95, Y:-250.89, Z:12.69 [[ 2.97926561e-01 -9.54562756e-01 -7.05045455e-03 5.39948343e+02] [ 9.54314861e-01 2.98009872e-01 -2.17545844e-02 -2.50889129e+02] [ 2.28672211e-02 -2.47085027e-04 9.99738480e-01 1.26908959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.782755096 meters 0.023261116994491935 Centerline is valid? [True, True] Translation: X:539.97, Y:-250.84, Z:12.69 [[ 2.90868561e-01 -9.56738086e-01 -6.90756340e-03 5.39973940e+02] [ 9.56500219e-01 2.90950294e-01 -2.13367823e-02 -2.50838726e+02] [ 2.24234699e-02 -4.00886727e-04 9.99748482e-01 1.26932467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8427550959999 meters 0.02564612253588608 Centerline is valid? [True, True] Translation: X:539.99, Y:-250.79, Z:12.69 [[ 2.84208817e-01 -9.58739452e-01 -6.63406445e-03 5.39993634e+02] [ 9.58520051e-01 2.84285744e-01 -2.05165323e-02 -2.50785269e+02] [ 2.15559789e-02 -5.27904405e-04 9.99767504e-01 1.26939600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.902755096 meters 0.027215306365270763 Centerline is valid? [True, True] Translation: X:540.01, Y:-250.73, Z:12.69 [[ 2.80757298e-01 -9.59756862e-01 -6.48881134e-03 5.40012480e+02] [ 9.59546720e-01 2.80831662e-01 -2.00915476e-02 -2.50730865e+02] [ 2.11052644e-02 -5.85469018e-04 9.99777088e-01 1.26946022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9627550959999 meters 0.02685690710357182 Centerline is valid? [True, True] Translation: X:540.03, Y:-250.68, Z:12.70 [[ 2.78271743e-01 -9.60479090e-01 -6.68985830e-03 5.40028379e+02] [ 9.60255393e-01 2.78351380e-01 -2.07385869e-02 -2.50675293e+02] [ 2.17811103e-02 -6.53009794e-04 9.99762550e-01 1.26959403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.022755096 meters 0.027358109896843605 Centerline is valid? [True, True] Translation: X:540.04, Y:-250.62, Z:12.69 [[ 2.78325651e-01 -9.60460275e-01 -7.13382343e-03 5.40043564e+02] [ 9.60205322e-01 2.78416210e-01 -2.21394273e-02 -2.50621492e+02] [ 2.32502126e-02 -6.87964683e-04 9.99729441e-01 1.26947003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0827550959999 meters 0.026538497604719904 Centerline is valid? [True, True] Translation: X:540.06, Y:-250.57, Z:12.70 [[ 2.79426065e-01 -9.60140096e-01 -7.21603099e-03 5.40058373e+02] [ 9.59878605e-01 2.79518439e-01 -2.24166469e-02 -2.50565099e+02] [ 2.35401352e-02 -6.62718329e-04 9.99722673e-01 1.26957023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.142755096 meters 0.025308249665000684 Centerline is valid? [True, True] Translation: X:540.07, Y:-250.51, Z:12.70 [[ 2.82493171e-01 -9.59245779e-01 -6.71895517e-03 5.40072503e+02] [ 9.59018363e-01 2.82572545e-01 -2.08934671e-02 -2.50508184e+02] [ 2.19405624e-02 -5.41339614e-04 9.99759130e-01 1.26990096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2027550959999 meters 0.023991617715657717 Centerline is valid? [True, True] Translation: X:540.09, Y:-250.45, Z:12.70 [[ 2.84348419e-01 -9.58700809e-01 -6.22376732e-03 5.40086863e+02] [ 9.58505174e-01 2.84416156e-01 -1.93721841e-02 -2.50451234e+02] [ 2.03422686e-02 -4.57063245e-04 9.99792970e-01 1.27019658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.262755096 meters 0.023176986898727003 Centerline is valid? [True, True] Translation: X:540.10, Y:-250.40, Z:12.70 [[ 2.86565758e-01 -9.58042146e-01 -5.94244891e-03 5.40101790e+02] [ 9.57863299e-01 2.86627105e-01 -1.85149211e-02 -2.50395225e+02] [ 1.94413417e-02 -3.86311325e-04 9.99810925e-01 1.27042995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3227550959999 meters 0.022112205619549137 Centerline is valid? [True, True] Translation: X:540.12, Y:-250.34, Z:12.71 [[ 2.90182425e-01 -9.56955531e-01 -5.50202091e-03 5.40115873e+02] [ 9.56801705e-01 2.90234441e-01 -1.71600043e-02 -2.50339841e+02] [ 1.80182370e-02 -2.84811322e-04 9.99837618e-01 1.27060655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.382755096 meters 0.021259026828320055 Centerline is valid? [True, True] Translation: X:540.13, Y:-250.28, Z:12.71 [[ 2.92618887e-01 -9.56213468e-01 -5.47632913e-03 5.40130941e+02] [ 9.56060630e-01 2.92670035e-01 -1.70974426e-02 -2.50284111e+02] [ 1.79515623e-02 -2.32668054e-04 9.99838831e-01 1.27069704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4427550959999 meters 0.021169093694479044 Centerline is valid? [True, True] Translation: X:540.15, Y:-250.23, Z:12.71 [[ 2.93777828e-01 -9.55857214e-01 -5.61906223e-03 5.40147540e+02] [ 9.55695876e-01 2.93831485e-01 -1.75627781e-02 -2.50230279e+02] [ 1.84385656e-02 -2.10559789e-04 9.99829973e-01 1.27075664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.502755096 meters 0.02112591948842164 Centerline is valid? [True, True] Translation: X:540.16, Y:-250.18, Z:12.71 [[ 2.93661875e-01 -9.55893823e-01 -5.45000057e-03 5.40163806e+02] [ 9.55741677e-01 2.93712375e-01 -1.70554142e-02 -2.50177514e+02] [ 1.79038977e-02 -2.00267763e-04 9.99839692e-01 1.27084628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5627550959999 meters 0.021709152543167475 Centerline is valid? [True, True] Translation: X:540.18, Y:-250.12, Z:12.71 [[ 2.91088482e-01 -9.56678674e-01 -5.78026771e-03 5.40184780e+02] [ 9.56507193e-01 2.91145754e-01 -1.81146413e-02 -2.50123994e+02] [ 1.90127914e-02 -2.55904218e-04 9.99819208e-01 1.27080330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.622755096 meters 0.023589486053256416 Centerline is valid? [True, True] Translation: X:540.21, Y:-250.07, Z:12.71 [[ 2.85072445e-01 -9.58488093e-01 -5.85457712e-03 5.40208904e+02] [ 9.58312127e-01 2.85132312e-01 -1.83693123e-02 -2.50070486e+02] [ 1.92760962e-02 -3.73927485e-04 9.99814129e-01 1.27091586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6827550959999 meters 0.024199959676842037 Centerline is valid? [True, True] Translation: X:540.23, Y:-250.02, Z:12.71 [[ 2.80629055e-01 -9.59798611e-01 -5.82752639e-03 5.40228123e+02] [ 9.59624170e-01 2.80689186e-01 -1.83039072e-02 -2.50015846e+02] [ 1.92037883e-02 -4.55627003e-04 9.99815486e-01 1.27092463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.742755096 meters 0.026501508107057092 Centerline is valid? [True, True] Translation: X:540.25, Y:-249.96, Z:12.71 [[ 2.75290392e-01 -9.61342004e-01 -6.06226093e-03 5.40250607e+02] [ 9.61153143e-01 2.75356525e-01 -1.90635767e-02 -2.49963259e+02] [ 1.99959002e-02 -5.78741631e-04 9.99799895e-01 1.27092316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8027550959999 meters 0.02808963469574652 Centerline is valid? [True, True] Translation: X:540.27, Y:-249.91, Z:12.71 [[ 2.72884154e-01 -9.62029383e-01 -5.80561289e-03 5.40270781e+02] [ 9.61855939e-01 2.72945252e-01 -1.82768365e-02 -2.49910342e+02] [ 1.91674682e-02 -5.96704164e-04 9.99816109e-01 1.27107225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8627550959999 meters 0.02782673522311005 Centerline is valid? [True, True] Translation: X:540.29, Y:-249.86, Z:12.71 [[ 2.72000565e-01 -9.62278959e-01 -5.90752182e-03 5.40286837e+02] [ 9.62099091e-01 2.72064002e-01 -1.86149926e-02 -2.49855555e+02] [ 1.95200397e-02 -6.20332884e-04 9.99809273e-01 1.27107491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.922755096 meters 0.027520665614019127 Centerline is valid? [True, True] Translation: X:540.30, Y:-249.80, Z:12.71 [[ 2.72908298e-01 -9.62023798e-01 -5.59220688e-03 5.40303463e+02] [ 9.61862196e-01 2.72965004e-01 -1.76414908e-02 -2.49800275e+02] [ 1.84980108e-02 -5.64423161e-04 9.99828738e-01 1.27119629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9827550959999 meters 0.026784526738030487 Centerline is valid? [True, True] Translation: X:540.32, Y:-249.74, Z:12.71 [[ 2.74847103e-01 -9.61474228e-01 -5.13614392e-03 5.40317328e+02] [ 9.61337612e-01 2.74894668e-01 -1.62147079e-02 -2.49744657e+02] [ 1.70019223e-02 -4.81002854e-04 9.99855341e-01 1.27142554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.042755096 meters 0.025323135551929766 Centerline is valid? [True, True] Translation: X:540.33, Y:-249.69, Z:12.72 [[ 2.77500885e-01 -9.60712962e-01 -4.88508318e-03 5.40330165e+02] [ 9.60588971e-01 2.77543579e-01 -1.54398940e-02 -2.49687736e+02] [ 1.61891297e-02 -4.07972795e-04 9.99868864e-01 1.27158595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1027550959999 meters 0.023535393323092325 Centerline is valid? [True, True] Translation: X:540.34, Y:-249.63, Z:12.72 [[ 2.80253330e-01 -9.59914532e-01 -4.70762995e-03 5.40342507e+02] [ 9.59799031e-01 2.80292654e-01 -1.48945812e-02 -2.49630144e+02] [ 1.56170391e-02 -3.44122687e-04 9.99877987e-01 1.27167133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.162755096 meters 0.022870181106499327 Centerline is valid? [True, True] Translation: X:540.36, Y:-249.57, Z:12.72 [[ 2.81975480e-01 -9.59410456e-01 -4.62669650e-03 5.40355882e+02] [ 9.59298595e-01 2.82013268e-01 -1.46533914e-02 -2.49573614e+02] [ 1.53634068e-02 -3.06486374e-04 9.99881929e-01 1.27163632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2227550959999 meters 0.022900365013616076 Centerline is valid? [True, True] Translation: X:540.37, Y:-249.52, Z:12.72 [[ 2.82073671e-01 -9.59381869e-01 -4.56886478e-03 5.40372201e+02] [ 9.59272548e-01 2.82110514e-01 -1.44857113e-02 -2.49519238e+02] [ 1.51862536e-02 -2.96748783e-04 9.99884638e-01 1.27173658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.282755096 meters 0.02287541080317856 Centerline is valid? [True, True] Translation: X:540.39, Y:-249.46, Z:12.72 [[ 2.81687404e-01 -9.59497177e-01 -4.16825399e-03 5.40388696e+02] [ 9.59406001e-01 2.81718110e-01 -1.32299687e-02 -2.49464711e+02] [ 1.38683902e-02 -2.72332358e-04 9.99903792e-01 1.27190844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3427550959999 meters 0.02339964651697302 Centerline is valid? [True, True] Translation: X:540.40, Y:-249.41, Z:12.72 [[ 2.80811189e-01 -9.59752721e-01 -4.44867527e-03 5.40403755e+02] [ 9.59648625e-01 2.80846267e-01 -1.41382569e-02 -2.49409592e+02] [ 1.48186244e-02 -2.98984374e-04 9.99890153e-01 1.27173206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.402755096 meters 0.022581598754699672 Centerline is valid? [True, True] Translation: X:540.42, Y:-249.36, Z:12.72 [[ 2.79969196e-01 -9.59999237e-01 -4.32610542e-03 5.40420655e+02] [ 9.59900587e-01 2.80002458e-01 -1.37654255e-02 -2.49355315e+02] [ 1.44261182e-02 -2.98736010e-04 9.99895894e-01 1.27188482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4627550959999 meters 0.023421984056663372 Centerline is valid? [True, True] Translation: X:540.44, Y:-249.30, Z:12.72 [[ 2.77466174e-01 -9.60726738e-01 -4.08137203e-03 5.40439769e+02] [ 9.60638801e-01 2.77496013e-01 -1.30021998e-02 -2.49300584e+02] [ 1.36241255e-02 -3.13053683e-04 9.99907138e-01 1.27194393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.522755096 meters 0.02425560383329893 Centerline is valid? [True, True] Translation: X:540.46, Y:-249.25, Z:12.72 [[ 2.74199566e-01 -9.61665300e-01 -3.80117744e-03 5.40459783e+02] [ 9.61588961e-01 2.74225712e-01 -1.21214391e-02 -2.49245688e+02] [ 1.26991479e-02 -3.31476929e-04 9.99919308e-01 1.27210304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5827550959999 meters 0.026230316882070878 Centerline is valid? [True, True] Translation: X:540.48, Y:-249.19, Z:12.72 [[ 2.71671657e-01 -9.62382218e-01 -3.86997704e-03 5.40480563e+02] [ 9.62302970e-01 2.71698971e-01 -1.23557106e-02 -2.49192793e+02] [ 1.29423850e-02 -3.67394022e-04 9.99916176e-01 1.27207653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.642755096 meters 0.02781310260339457 Centerline is valid? [True, True] Translation: X:540.50, Y:-249.14, Z:12.72 [[ 2.68301891e-01 -9.63326232e-01 -4.08240252e-03 5.40500640e+02] [ 9.63238000e-01 2.68332600e-01 -1.30449603e-02 -2.49139599e+02] [ 1.36619941e-02 -4.32337732e-04 9.99906577e-01 1.27197409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7027550959999 meters 0.027559576716416165 Centerline is valid? [True, True] Translation: X:540.52, Y:-249.08, Z:12.72 [[ 2.67561275e-01 -9.63533293e-01 -3.81547923e-03 5.40517915e+02] [ 9.63456062e-01 2.67588164e-01 -1.22061741e-02 -2.49084832e+02] [ 1.27820322e-02 -4.10147093e-04 9.99918222e-01 1.27201776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.762755096 meters 0.0253942174913044 Centerline is valid? [True, True] Translation: X:540.53, Y:-249.03, Z:12.72 [[ 2.68858170e-01 -9.63172353e-01 -3.78194673e-03 5.40532719e+02] [ 9.63096252e-01 2.68884492e-01 -1.21135993e-02 -2.49028282e+02] [ 1.26843907e-02 -3.85538595e-04 9.99919476e-01 1.27201605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8227550959999 meters 0.02358803355099375 Centerline is valid? [True, True] Translation: X:540.55, Y:-248.97, Z:12.72 [[ 2.71387629e-01 -9.62463299e-01 -3.62656092e-03 5.40549025e+02] [ 9.62393114e-01 2.71411653e-01 -1.16279411e-02 -2.48972368e+02] [ 1.21757575e-02 -3.34497885e-04 9.99925817e-01 1.27211964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.882755096 meters 0.022621530918938863 Centerline is valid? [True, True] Translation: X:540.57, Y:-248.92, Z:12.72 [[ 2.74081869e-01 -9.61700358e-01 -3.39862236e-03 5.40565433e+02] [ 9.61638526e-01 2.74102798e-01 -1.09087831e-02 -2.48916217e+02] [ 1.14225525e-02 -2.78346527e-04 9.99934722e-01 1.27217076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9427550959999 meters 0.02147576003259459 Centerline is valid? [True, True] Translation: X:540.58, Y:-248.86, Z:12.72 [[ 2.76635853e-01 -9.60969327e-01 -3.24929668e-03 5.40581781e+02] [ 9.60912652e-01 2.76654836e-01 -1.04392131e-02 -2.48860590e+02] [ 1.09306973e-02 -2.34429659e-04 9.99940231e-01 1.27225712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.002755096 meters 0.020927560166289907 Centerline is valid? [True, True] Translation: X:540.60, Y:-248.81, Z:12.72 [[ 2.77483550e-01 -9.60725801e-01 -2.96888374e-03 5.40597617e+02] [ 9.60678366e-01 2.77499358e-01 -9.54900379e-03 -2.48805026e+02] [ 9.99783765e-03 -2.02450908e-04 9.99950000e-01 1.27234593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0627550959999 meters 0.02078814252992159 Centerline is valid? [True, True] Translation: X:540.61, Y:-248.75, Z:12.72 [[ 2.77442521e-01 -9.60738989e-01 -2.49851059e-03 5.40614239e+02] [ 9.60705381e-01 2.77453719e-01 -8.03769828e-03 -2.48750620e+02] [ 8.41535117e-03 -1.70333293e-04 9.99964576e-01 1.27245486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.122755096 meters 0.020789263867571985 Centerline is valid? [True, True] Translation: X:540.63, Y:-248.70, Z:12.72 [[ 2.76828485e-01 -9.60915758e-01 -2.62590848e-03 5.40631435e+02] [ 9.60878540e-01 2.76840880e-01 -8.45926863e-03 -2.48695567e+02] [ 8.85560334e-03 -1.81412584e-04 9.99960772e-01 1.27249029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1827550959999 meters 0.021068504343945877 Centerline is valid? [True, True] Translation: X:540.65, Y:-248.64, Z:12.73 [[ 2.75856930e-01 -9.61194704e-01 -2.77407113e-03 5.40649035e+02] [ 9.61153062e-01 2.75870808e-01 -8.94919563e-03 -2.48640875e+02] [ 9.36720469e-03 -1.97609328e-04 9.99956107e-01 1.27250292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.242755096 meters 0.022071208381007575 Centerline is valid? [True, True] Translation: X:540.67, Y:-248.59, Z:12.72 [[ 2.73724771e-01 -9.61803762e-01 -2.87623204e-03 5.40666634e+02] [ 9.61758903e-01 2.73739791e-01 -9.29188803e-03 -2.48586248e+02] [ 9.72431203e-03 -2.22821850e-04 9.99952693e-01 1.27244191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3027550959999 meters 0.022694763852493836 Centerline is valid? [True, True] Translation: X:540.68, Y:-248.53, Z:12.72 [[ 2.71581559e-01 -9.62410343e-01 -3.12857890e-03 5.40683530e+02] [ 9.62357159e-01 2.71599453e-01 -1.01210960e-02 -2.48530797e+02] [ 1.05903678e-02 -2.62107268e-04 9.99943886e-01 1.27235762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3627550959999 meters 0.02325814033120781 Centerline is valid? [True, True] Translation: X:540.70, Y:-248.48, Z:12.72 [[ 2.70609118e-01 -9.62683612e-01 -3.31190035e-03 5.40700951e+02] [ 9.62623878e-01 2.70629234e-01 -1.07278704e-02 -2.48477045e+02] [ 1.12238421e-02 -2.85054811e-04 9.99936970e-01 1.27234552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.422755096 meters 0.021863008140583205 Centerline is valid? [True, True] Translation: X:540.71, Y:-248.42, Z:12.72 [[ 2.70888720e-01 -9.62604855e-01 -3.34584864e-03 5.40714723e+02] [ 9.62543787e-01 2.70909235e-01 -1.08464219e-02 -2.48420935e+02] [ 1.13472397e-02 -2.82352471e-04 9.99935578e-01 1.27238329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4827550959999 meters 0.021010115241579898 Centerline is valid? [True, True] Translation: X:540.73, Y:-248.36, Z:12.72 [[ 2.73272334e-01 -9.61931453e-01 -3.17993630e-03 5.40727982e+02] [ 9.61876104e-01 2.73290731e-01 -1.03216344e-02 -2.48364021e+02] [ 1.07977519e-02 -2.38087615e-04 9.99941674e-01 1.27249993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.542755096 meters 0.01961979543759308 Centerline is valid? [True, True] Translation: X:540.74, Y:-248.31, Z:12.73 [[ 2.76217551e-01 -9.61088904e-01 -3.46178058e-03 5.40741940e+02] [ 9.61023076e-01 2.76239156e-01 -1.12506187e-02 -2.48307437e+02] [ 1.17691241e-02 -2.19232674e-04 9.99930717e-01 1.27255177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6027550959999 meters 0.018730293775705644 Centerline is valid? [True, True] Translation: X:540.76, Y:-248.25, Z:12.73 [[ 2.78274052e-01 -9.60495310e-01 -3.50865297e-03 5.40756748e+02] [ 9.60427485e-01 2.78296104e-01 -1.14159490e-02 -2.48251064e+02] [ 1.19414099e-02 -1.93044368e-04 9.99928680e-01 1.27261674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.662755096 meters 0.017617362022369937 Centerline is valid? [True, True] Translation: X:540.77, Y:-248.19, Z:12.73 [[ 2.81359117e-01 -9.59595736e-01 -3.61531491e-03 5.40768604e+02] [ 9.59523479e-01 2.81382300e-01 -1.17768469e-02 -2.48193990e+02] [ 1.23182977e-02 -1.55456300e-04 9.99924115e-01 1.27261849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7227550959999 meters 0.017141446307764943 Centerline is valid? [True, True] Translation: X:540.78, Y:-248.14, Z:12.73 [[ 2.82975230e-01 -9.59120103e-01 -3.69413526e-03 5.40782582e+02] [ 9.59044451e-01 2.82999310e-01 -1.20470766e-02 -2.48138578e+02] [ 1.26000311e-02 -1.33815667e-04 9.99920608e-01 1.27268027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.782755096 meters 0.017084459556517058 Centerline is valid? [True, True] Translation: X:540.80, Y:-248.08, Z:12.73 [[ 2.82642745e-01 -9.59217942e-01 -3.74412745e-03 5.40798671e+02] [ 9.59140035e-01 2.82667510e-01 -1.22258521e-02 -2.48083649e+02] [ 1.27855999e-02 -1.35594137e-04 9.99918252e-01 1.27276144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8427550959999 meters 0.0175171385175622 Centerline is valid? [True, True] Translation: X:540.82, Y:-248.03, Z:12.73 [[ 2.81314491e-01 -9.59607709e-01 -3.89890362e-03 5.40815960e+02] [ 9.59523038e-01 2.81341465e-01 -1.27483376e-02 -2.48029003e+02] [ 1.33303263e-02 -1.54795755e-04 9.99911135e-01 1.27278854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.902755096 meters 0.018252535242077764 Centerline is valid? [True, True] Translation: X:540.84, Y:-247.97, Z:12.73 [[ 2.77579223e-01 -9.60694419e-01 -4.00095160e-03 5.40835939e+02] [ 9.60605135e-01 2.77607978e-01 -1.30990518e-02 -2.47974897e+02] [ 1.36948820e-02 -2.07310039e-04 9.99906199e-01 1.27283864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9627550959999 meters 0.019852375280879384 Centerline is valid? [True, True] Translation: X:540.86, Y:-247.92, Z:12.73 [[ 2.74710942e-01 -9.61518465e-01 -4.01742447e-03 5.40856720e+02] [ 9.61428295e-01 2.74740207e-01 -1.31701123e-02 -2.47921452e+02] [ 1.37670542e-02 -2.44491596e-04 9.99905200e-01 1.27296665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.022755096 meters 0.01964211083930106 Centerline is valid? [True, True] Translation: X:540.87, Y:-247.87, Z:12.73 [[ 2.72144241e-01 -9.62248478e-01 -3.92160879e-03 5.40873688e+02] [ 9.62162513e-01 2.72172359e-01 -1.28648816e-02 -2.47865557e+02] [ 1.34465663e-02 -2.72121526e-04 9.99909554e-01 1.27303291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0827550959999 meters 0.020742059870216968 Centerline is valid? [True, True] Translation: X:540.89, Y:-247.81, Z:12.73 [[ 2.72236989e-01 -9.62219697e-01 -4.50299919e-03 5.40891161e+02] [ 9.62106046e-01 2.72274056e-01 -1.47917334e-02 -2.47812403e+02] [ 1.54589471e-02 -3.05505770e-04 9.99880457e-01 1.27296654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.142755096 meters 0.0191673126088396 Centerline is valid? [True, True] Translation: X:540.90, Y:-247.76, Z:12.73 [[ 2.73763607e-01 -9.61784114e-01 -4.98053175e-03 5.40904350e+02] [ 9.61644587e-01 2.73808740e-01 -1.63848324e-02 -2.47756089e+02] [ 1.71223846e-02 -3.03930593e-04 9.99853355e-01 1.27287994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2027550959999 meters 0.01829271494037291 Centerline is valid? [True, True] Translation: X:540.92, Y:-247.70, Z:12.73 [[ 2.77243941e-01 -9.60783197e-01 -5.60766221e-03 5.40916760e+02] [ 9.60605663e-01 2.77300519e-01 -1.84711192e-02 -2.47700476e+02] [ 1.93017486e-02 -2.65746183e-04 9.99813669e-01 1.27281393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.262755096 meters 0.01765166082356149 Centerline is valid? [True, True] Translation: X:540.93, Y:-247.64, Z:12.73 [[ 2.79228242e-01 -9.60205772e-01 -6.03857018e-03 5.40927126e+02] [ 9.59999275e-01 2.79293429e-01 -1.99141517e-02 -2.47643540e+02] [ 2.08082164e-02 -2.36429418e-04 9.99783458e-01 1.27284309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3227550959999 meters 0.017757458634109005 Centerline is valid? [True, True] Translation: X:540.94, Y:-247.59, Z:12.73 [[ 2.79296775e-01 -9.60185859e-01 -6.03557913e-03 5.40939784e+02] [ 9.59979036e-01 2.79361889e-01 -1.99295004e-02 -2.47588548e+02] [ 2.08221352e-02 -2.27784261e-04 9.99783170e-01 1.27305827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.382755096 meters 0.01815179808388687 Centerline is valid? [True, True] Translation: X:540.95, Y:-247.53, Z:12.73 [[ 2.78590403e-01 -9.60390337e-01 -6.14727012e-03 5.40954601e+02] [ 9.60175262e-01 2.78658113e-01 -2.03254353e-02 -2.47533573e+02] [ 2.12333384e-02 -2.39985491e-04 9.99774518e-01 1.27320835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4427550959999 meters 0.019000715006711334 Centerline is valid? [True, True] Translation: X:540.97, Y:-247.48, Z:12.73 [[ 2.76749991e-01 -9.60920612e-01 -6.40465403e-03 5.40969366e+02] [ 9.60686674e-01 2.76823944e-01 -2.12042233e-02 -2.47479249e+02] [ 2.21485368e-02 -2.84597172e-04 9.99754651e-01 1.27320140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.502755096 meters 0.020009260887691633 Centerline is valid? [True, True] Translation: X:540.99, Y:-247.42, Z:12.73 [[ 2.72522942e-01 -9.62124678e-01 -6.88117925e-03 5.40985549e+02] [ 9.61854439e-01 2.72609504e-01 -2.28056114e-02 -2.47423443e+02] [ 2.38177164e-02 -4.03640484e-04 9.99716236e-01 1.27322227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5627550959999 meters 0.02241331832761625 Centerline is valid? [True, True] Translation: X:541.01, Y:-247.37, Z:12.73 [[ 2.66988487e-01 -9.63672517e-01 -7.24070187e-03 5.41006489e+02] [ 9.63373147e-01 2.67086063e-01 -2.40253118e-02 -2.47369231e+02] [ 2.50864233e-02 -5.61016093e-04 9.99685129e-01 1.27326717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.622755096 meters 0.02573930549355221 Centerline is valid? [True, True] Translation: X:541.03, Y:-247.32, Z:12.73 [[ 2.64326870e-01 -9.64404900e-01 -7.38200784e-03 5.41028407e+02] [ 9.64093257e-01 2.64429169e-01 -2.45235804e-02 -2.47316651e+02] [ 2.56026793e-02 -6.34702734e-04 9.99671996e-01 1.27330543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6827550959999 meters 0.023437151319094567 Centerline is valid? [True, True] Translation: X:541.04, Y:-247.26, Z:12.74 [[ 2.63447509e-01 -9.64647129e-01 -7.16427878e-03 5.41039426e+02] [ 9.64352936e-01 2.63544150e-01 -2.38305537e-02 -2.47259963e+02] [ 2.48761790e-02 -6.30793259e-04 9.99690341e-01 1.27360956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.742755096 meters 0.02334015472286341 Centerline is valid? [True, True] Translation: X:541.05, Y:-247.20, Z:12.73 [[ 2.65175132e-01 -9.64172242e-01 -7.35094125e-03 5.41053534e+02] [ 9.63861529e-01 2.65276338e-01 -2.44830103e-02 -2.47204951e+02] [ 2.55558698e-02 -5.93003973e-04 9.99673220e-01 1.27347527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8027550959999 meters 0.02283247608316923 Centerline is valid? [True, True] Translation: X:541.07, Y:-247.15, Z:12.73 [[ 2.66829683e-01 -9.63713689e-01 -7.60560457e-03 5.41068848e+02] [ 9.63380029e-01 2.66937468e-01 -2.53634981e-02 -2.47149448e+02] [ 2.64733712e-02 -5.59353395e-04 9.99649362e-01 1.27346992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8627550959999 meters 0.020945920096644036 Centerline is valid? [True, True] Translation: X:541.08, Y:-247.09, Z:12.74 [[ 2.69904476e-01 -9.62858021e-01 -7.48361273e-03 5.41081140e+02] [ 9.62533878e-01 2.70007814e-01 -2.49862604e-02 -2.47092167e+02] [ 2.60788551e-02 -4.59327263e-04 9.99659783e-01 1.27352475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.922755096 meters 0.019488636776907462 Centerline is valid? [True, True] Translation: X:541.09, Y:-247.04, Z:12.74 [[ 2.72898527e-01 -9.62010169e-01 -7.92646556e-03 5.41093028e+02] [ 9.61645287e-01 2.73013336e-01 -2.64964092e-02 -2.47035537e+02] [ 2.76538459e-02 -3.91617203e-04 9.99617483e-01 1.27352747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9827550959999 meters 0.020401600897752704 Centerline is valid? [True, True] Translation: X:541.11, Y:-246.98, Z:12.73 [[ 2.73775103e-01 -9.61757208e-01 -8.38249483e-03 5.41110680e+02] [ 9.61348054e-01 2.73903140e-01 -2.80533353e-02 -2.46981904e+02] [ 2.92764891e-02 -3.78190324e-04 9.99571280e-01 1.27324698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.042755096 meters 0.019754569441810647 Centerline is valid? [True, True] Translation: X:541.13, Y:-246.93, Z:12.73 [[ 2.73444689e-01 -9.61848161e-01 -8.72451847e-03 5.41125340e+02] [ 9.61403939e-01 2.73583552e-01 -2.92319265e-02 -2.46926569e+02] [ 3.05035594e-02 -3.94471380e-04 9.99534580e-01 1.27342224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1027550959999 meters 0.020493693741752857 Centerline is valid? [True, True] Translation: X:541.14, Y:-246.87, Z:12.73 [[ 2.73211858e-01 -9.61908824e-01 -9.31096780e-03 5.41142938e+02] [ 9.61401768e-01 2.73370149e-01 -3.12314156e-02 -2.46872800e+02] [ 3.25871149e-02 -4.18787810e-04 9.99468811e-01 1.27326136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.162755096 meters 0.02006181216116566 Centerline is valid? [True, True] Translation: X:541.16, Y:-246.82, Z:12.74 [[ 2.71964539e-01 -9.62262409e-01 -9.29219232e-03 5.41158029e+02] [ 9.61756548e-01 2.72122862e-01 -3.12008103e-02 -2.46817639e+02] [ 3.25519849e-02 -4.51312800e-04 9.99469942e-01 1.27359090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2227550959999 meters 0.020281881360370933 Centerline is valid? [True, True] Translation: X:541.17, Y:-246.76, Z:12.74 [[ 2.70590394e-01 -9.62652088e-01 -9.04414203e-03 5.41173673e+02] [ 9.62171859e-01 2.70741081e-01 -3.04069058e-02 -2.46762351e+02] [ 3.17198921e-02 -4.74202350e-04 9.99496685e-01 1.27389853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.282755096 meters 0.020297442969184603 Centerline is valid? [True, True] Translation: X:541.19, Y:-246.71, Z:12.74 [[ 2.70095829e-01 -9.62787971e-01 -9.35767767e-03 5.41188265e+02] [ 9.62272559e-01 2.70257428e-01 -3.15030940e-02 -2.46707371e+02] [ 3.28597818e-02 -4.95782144e-04 9.99459849e-01 1.27413635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3427550959999 meters 0.020430541113717688 Centerline is valid? [True, True] Translation: X:541.20, Y:-246.65, Z:12.74 [[ 2.70830563e-01 -9.62577284e-01 -9.78664927e-03 5.41202786e+02] [ 9.62011802e-01 2.71006905e-01 -3.29931753e-02 -2.46652467e+02] [ 3.44107306e-02 -4.79311860e-04 9.99407661e-01 1.27417158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.402755096 meters 0.02073933408540076 Centerline is valid? [True, True] Translation: X:541.22, Y:-246.60, Z:12.74 [[ 2.72271156e-01 -9.62168396e-01 -1.00197649e-02 5.41215657e+02] [ 9.61573696e-01 2.72455130e-01 -3.38264612e-02 -2.46597359e+02] [ 3.52766882e-02 -4.24772688e-04 9.99377494e-01 1.27406666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4627550959999 meters 0.020098555853039168 Centerline is valid? [True, True] Translation: X:541.23, Y:-246.54, Z:12.74 [[ 2.74622814e-01 -9.61498672e-01 -1.01298625e-02 5.41225284e+02] [ 9.60888706e-01 2.74809381e-01 -3.42447050e-02 -2.46540634e+02] [ 3.57100196e-02 -3.29293173e-04 9.99362140e-01 1.27417705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.522755096 meters 0.02016908804027876 Centerline is valid? [True, True] Translation: X:541.24, Y:-246.49, Z:12.74 [[ 2.75602106e-01 -9.61217208e-01 -1.02449334e-02 5.41239087e+02] [ 9.60591391e-01 2.75792312e-01 -3.46811340e-02 -2.46485876e+02] [ 3.61615767e-02 -2.83001219e-04 9.99345916e-01 1.27415991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5827550959999 meters 0.019944427507886126 Centerline is valid? [True, True] Translation: X:541.25, Y:-246.43, Z:12.74 [[ 2.76297900e-01 -9.61024513e-01 -9.55800575e-03 5.41252404e+02] [ 9.60478408e-01 2.76463076e-01 -3.23943762e-02 -2.46428758e+02] [ 3.37742252e-02 -2.29760036e-04 9.99429462e-01 1.27444282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.642755096 meters 0.01995828229122192 Centerline is valid? [True, True] Translation: X:541.27, Y:-246.37, Z:12.75 [[ 2.75011205e-01 -9.61399043e-01 -8.98425201e-03 5.41266028e+02] [ 9.60915629e-01 2.75157805e-01 -3.04850088e-02 -2.46373549e+02] [ 3.17803453e-02 -2.49389176e-04 9.99494846e-01 1.27453903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7027550959999 meters 0.02023416126492124 Centerline is valid? [True, True] Translation: X:541.28, Y:-246.32, Z:12.75 [[ 2.73309163e-01 -9.61889199e-01 -8.44215619e-03 5.41282318e+02] [ 9.61461525e-01 2.73439375e-01 -2.86817821e-02 -2.46319048e+02] [ 2.98971143e-02 -2.77814493e-04 9.99552943e-01 1.27467164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.762755096 meters 0.020984047559389114 Centerline is valid? [True, True] Translation: X:541.30, Y:-246.27, Z:12.75 [[ 2.69665426e-01 -9.62923054e-01 -7.72983726e-03 5.41301419e+02] [ 9.62564130e-01 2.69775962e-01 -2.62911704e-02 -2.46265558e+02] [ 2.74016984e-02 -3.50644410e-04 9.99624441e-01 1.27483903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8227550959999 meters 0.021769890735281187 Centerline is valid? [True, True] Translation: X:541.32, Y:-246.21, Z:12.75 [[ 2.66839405e-01 -9.63716042e-01 -6.93703866e-03 5.41321276e+02] [ 9.63426655e-01 2.66929289e-01 -2.36185287e-02 -2.46212055e+02] [ 2.46132538e-02 -3.80973818e-04 9.99696975e-01 1.27498565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.882755096 meters 0.022604293481234976 Centerline is valid? [True, True] Translation: X:541.34, Y:-246.16, Z:12.75 [[ 2.64636819e-01 -9.64328963e-01 -6.08320053e-03 5.41340456e+02] [ 9.64106066e-01 2.64706458e-01 -2.07360667e-02 -2.46159844e+02] [ 2.16066521e-02 -3.77323815e-04 9.99766478e-01 1.27519530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9427550959999 meters 0.0227829876926082 Centerline is valid? [True, True] Translation: X:541.36, Y:-246.11, Z:12.75 [[ 2.63155866e-01 -9.64737727e-01 -5.48705598e-03 5.41357944e+02] [ 9.64555989e-01 2.63212813e-01 -1.87285786e-02 -2.46105488e+02] [ 1.95124298e-02 -3.64037382e-04 9.99809548e-01 1.27539828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.002755096 meters 0.02325120736935666 Centerline is valid? [True, True] Translation: X:541.38, Y:-246.05, Z:12.76 [[ 2.62010287e-01 -9.65052599e-01 -4.90829386e-03 5.41375658e+02] [ 9.64906900e-01 2.62056034e-01 -1.67722790e-02 -2.46050905e+02] [ 1.74723794e-02 -3.41536986e-04 9.99847288e-01 1.27561971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0627550959999 meters 0.022749015154403668 Centerline is valid? [True, True] Translation: X:541.39, Y:-246.00, Z:12.76 [[ 2.61349543e-01 -9.65235713e-01 -4.05395874e-03 5.41391122e+02] [ 9.65136147e-01 2.61380823e-01 -1.38666223e-02 -2.45995707e+02] [ 1.44441861e-02 -2.88586729e-04 9.99895636e-01 1.27591188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.122755096 meters 0.024150861204648842 Centerline is valid? [True, True] Translation: X:541.41, Y:-245.94, Z:12.76 [[ 2.61034288e-01 -9.65323482e-01 -3.41705503e-03 5.41408283e+02] [ 9.65252606e-01 2.61056538e-01 -1.17000185e-02 -2.45941983e+02] [ 1.21863471e-02 -2.44215284e-04 9.99925714e-01 1.27615928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1827550959999 meters 0.02356958865023631 Centerline is valid? [True, True] Translation: X:541.42, Y:-245.89, Z:12.76 [[ 2.60396480e-01 -9.65496316e-01 -3.24597369e-03 5.41421613e+02] [ 9.65432202e-01 2.60416604e-01 -1.11290546e-02 -2.45885885e+02] [ 1.15903667e-02 -2.35800867e-04 9.99932802e-01 1.27615208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.242755096 meters 0.024172035766569993 Centerline is valid? [True, True] Translation: X:541.44, Y:-245.83, Z:12.76 [[ 2.59537255e-01 -9.65728649e-01 -2.93076358e-03 5.41436251e+02] [ 9.65676281e-01 2.59553709e-01 -1.00594441e-02 -2.45830803e+02] [ 1.04753839e-02 -2.19368366e-04 9.99945108e-01 1.27618940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3027550959999 meters 0.024229880759625937 Centerline is valid? [True, True] Translation: X:541.45, Y:-245.77, Z:12.76 [[ 2.58590066e-01 -9.65983711e-01 -2.57817193e-03 5.41448986e+02] [ 9.65943109e-01 2.58602841e-01 -8.85891787e-03 -2.45774122e+02] [ 9.22429295e-03 -1.99539251e-04 9.99957435e-01 1.27635122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3627550959999 meters 0.024812113768127034 Centerline is valid? [True, True] Translation: X:541.46, Y:-245.72, Z:12.77 [[ 2.59055021e-01 -9.65859633e-01 -2.38017086e-03 5.41463165e+02] [ 9.65824968e-01 2.59065893e-01 -8.18501217e-03 -2.45719995e+02] [ 8.52219394e-03 -1.78459952e-04 9.99963670e-01 1.27660238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.422755096 meters 0.02372477067360071 Centerline is valid? [True, True] Translation: X:541.47, Y:-245.66, Z:12.77 [[ 2.60857406e-01 -9.65374916e-01 -2.16468839e-03 5.41473291e+02] [ 9.65346148e-01 2.60866347e-01 -7.45409109e-03 -2.45662264e+02] [ 7.76068691e-03 -1.45218730e-04 9.99969875e-01 1.27669358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4827550959999 meters 0.02359018619251338 Centerline is valid? [True, True] Translation: X:541.48, Y:-245.61, Z:12.77 [[ 2.62940971e-01 -9.64809008e-01 -2.37163495e-03 5.41484257e+02] [ 9.64774371e-01 2.62951630e-01 -8.17633653e-03 -2.45606954e+02] [ 8.51222841e-03 -1.38198750e-04 9.99963761e-01 1.27676544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.542755096 meters 0.02290853864519295 Centerline is valid? [True, True] Translation: X:541.49, Y:-245.55, Z:12.77 [[ 2.64604970e-01 -9.64354079e-01 -2.32826402e-03 5.41494853e+02] [ 9.64320587e-01 2.64615187e-01 -8.03791854e-03 -2.45550026e+02] [ 8.36749355e-03 -1.18319735e-04 9.99964985e-01 1.27680762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6027550959999 meters 0.022476025362783248 Centerline is valid? [True, True] Translation: X:541.50, Y:-245.49, Z:12.77 [[ 2.66499839e-01 -9.63833448e-01 -1.70892981e-03 5.41503010e+02] [ 9.63815386e-01 2.66505307e-01 -5.90117023e-03 -2.45493254e+02] [ 6.14318411e-03 -7.44319325e-05 9.99981128e-01 1.27708050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.662755096 meters 0.02226277277207418 Centerline is valid? [True, True] Translation: X:541.51, Y:-245.44, Z:12.77 [[ 2.68480332e-01 -9.63284089e-01 -1.44075967e-03 5.41511817e+02] [ 9.63271226e-01 2.68484193e-01 -4.97833626e-03 -2.45436624e+02] [ 5.18237331e-03 -5.12569548e-05 9.99986570e-01 1.27733405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7227550959999 meters 0.022191762151765732 Centerline is valid? [True, True] Translation: X:541.52, Y:-245.38, Z:12.78 [[ 2.70515924e-01 -9.62714539e-01 -1.36056180e-03 5.41520825e+02] [ 9.62703040e-01 2.70519343e-01 -4.70559370e-03 -2.45380981e+02] [ 4.89820176e-03 -3.68789527e-05 9.99988003e-01 1.27751484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.782755096 meters 0.02203819928198548 Centerline is valid? [True, True] Translation: X:541.53, Y:-245.32, Z:12.78 [[ 2.72354580e-01 -9.62195886e-01 -1.43484807e-03 5.41530448e+02] [ 9.62183043e-01 2.72358359e-01 -4.97148645e-03 -2.45324584e+02] [ 5.17433667e-03 -2.65793773e-05 9.99986613e-01 1.27755803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8427550959999 meters 0.02173283815758319 Centerline is valid? [True, True] Translation: X:541.54, Y:-245.27, Z:12.77 [[ 2.74756323e-01 -9.61511490e-01 -2.14884567e-03 5.41537489e+02] [ 9.61482498e-01 2.74764726e-01 -7.46666267e-03 -2.45265834e+02] [ 7.76970894e-03 -1.45647212e-05 9.99969815e-01 1.27736322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.902755096 meters 0.02158109806697996 Centerline is valid? [True, True] Translation: X:541.55, Y:-245.21, Z:12.77 [[ 2.75778829e-01 -9.61218080e-01 -2.41657843e-03 5.41545575e+02] [ 9.61181308e-01 2.75789417e-01 -8.40779016e-03 -2.45208822e+02] [ 8.74818667e-03 -4.07949025e-06 9.99961734e-01 1.27732054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9627550959999 meters 0.021599840609648823 Centerline is valid? [True, True] Translation: X:541.56, Y:-245.15, Z:12.77 [[ 2.75625111e-01 -9.61262199e-01 -2.40487662e-03 5.41558502e+02] [ 9.61225692e-01 2.75635602e-01 -8.37761609e-03 -2.45152837e+02] [ 8.71595528e-03 -2.54783386e-06 9.99962015e-01 1.27734720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.022755096 meters 0.021521687584924988 Centerline is valid? [True, True] Translation: X:541.57, Y:-245.10, Z:12.77 [[ 2.75068046e-01 -9.61420700e-01 -2.79419949e-03 5.41567915e+02] [ 9.61371252e-01 2.75082237e-01 -9.75087153e-03 -2.45096977e+02] [ 1.01433244e-02 -4.10988338e-06 9.99948555e-01 1.27741163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0827550959999 meters 0.02156164867294911 Centerline is valid? [True, True] Translation: X:541.58, Y:-245.04, Z:12.77 [[ 2.72842055e-01 -9.62054207e-01 -2.98592940e-03 5.41579382e+02] [ 9.61997589e-01 2.72858392e-01 -1.04372662e-02 -2.45040947e+02] [ 1.08559518e-02 -2.47317193e-05 9.99941072e-01 1.27747969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.142755096 meters 0.021959671271638764 Centerline is valid? [True, True] Translation: X:541.59, Y:-244.99, Z:12.78 [[ 2.67136845e-01 -9.63652696e-01 -3.37443641e-03 5.41594474e+02] [ 9.63580278e-01 2.67158140e-01 -1.18142622e-02 -2.44985810e+02] [ 1.22863538e-02 -9.55156405e-05 9.99924515e-01 1.27750454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2027550959999 meters 0.022741867988947034 Centerline is valid? [True, True] Translation: X:541.61, Y:-244.93, Z:12.78 [[ 2.61340377e-01 -9.65240234e-01 -3.53526276e-03 5.41611866e+02] [ 9.65160653e-01 2.61364230e-01 -1.23957088e-02 -2.44930286e+02] [ 1.28888280e-02 -1.72597319e-04 9.99916921e-01 1.27755031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.262755096 meters 0.026326091479376756 Centerline is valid? [True, True] Translation: X:541.63, Y:-244.88, Z:12.78 [[ 2.52657679e-01 -9.67548804e-01 -3.66189495e-03 5.41634709e+02] [ 9.67463438e-01 2.52684043e-01 -1.28557767e-02 -2.44877781e+02] [ 1.33638938e-02 -2.94638773e-04 9.99910656e-01 1.27781284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3227550959999 meters 0.029630520309895696 Centerline is valid? [True, True] Translation: X:541.65, Y:-244.82, Z:12.78 [[ 2.45378225e-01 -9.69420814e-01 -3.57943025e-03 5.41654200e+02] [ 9.69339232e-01 2.45404033e-01 -1.25823145e-02 -2.44824495e+02] [ 1.30759642e-02 -3.82256169e-04 9.99914433e-01 1.27807677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.382755096 meters 0.03215211606341954 Centerline is valid? [True, True] Translation: X:541.67, Y:-244.77, Z:12.78 [[ 2.40821283e-01 -9.70562702e-01 -3.62636670e-03 5.41671869e+02] [ 9.70478807e-01 2.40848175e-01 -1.27687748e-02 -2.44770525e+02] [ 1.32663004e-02 -4.44319296e-04 9.99911900e-01 1.27826429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4427550959999 meters 0.032528880593667646 Centerline is valid? [True, True] Translation: X:541.69, Y:-244.72, Z:12.78 [[ 2.39051093e-01 -9.70999977e-01 -3.69042289e-03 5.41686472e+02] [ 9.70912941e-01 2.39079109e-01 -1.30092575e-02 -2.44715655e+02] [ 1.35142918e-02 -4.73202115e-04 9.99908566e-01 1.27836645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.502755096 meters 0.03181797756630208 Centerline is valid? [True, True] Translation: X:541.70, Y:-244.66, Z:12.78 [[ 2.39724840e-01 -9.70832041e-01 -4.14114956e-03 5.41698393e+02] [ 9.70722139e-01 2.39760050e-01 -1.46166828e-02 -2.44659558e+02] [ 1.51832263e-02 -5.15923607e-04 9.99884595e-01 1.27841314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5627550959999 meters 0.03020743165780747 Centerline is valid? [True, True] Translation: X:541.71, Y:-244.60, Z:12.78 [[ 2.42529069e-01 -9.70133243e-01 -4.59809623e-03 5.41709070e+02] [ 9.69997163e-01 2.42572100e-01 -1.62566867e-02 -2.44602759e+02] [ 1.68865221e-02 -5.17421197e-04 9.99857279e-01 1.27840340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.622755096 meters 0.02923572606260517 Centerline is valid? [True, True] Translation: X:541.72, Y:-244.55, Z:12.79 [[ 2.44869599e-01 -9.69544463e-01 -4.73438078e-03 5.41721693e+02] [ 9.69399773e-01 2.44914879e-01 -1.67565477e-02 -2.44547056e+02] [ 1.74057383e-02 -4.86338549e-04 9.99848390e-01 1.27857679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6827550959999 meters 0.02743556731463589 Centerline is valid? [True, True] Translation: X:541.73, Y:-244.49, Z:12.78 [[ 2.50328219e-01 -9.68146340e-01 -5.33351752e-03 5.41730761e+02] [ 9.67961776e-01 2.50384663e-01 -1.89082186e-02 -2.44490694e+02] [ 1.96413537e-02 -4.29380391e-04 9.99806998e-01 1.27848577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.742755096 meters 0.02435002242294449 Centerline is valid? [True, True] Translation: X:541.74, Y:-244.43, Z:12.79 [[ 2.57032546e-01 -9.66386133e-01 -5.66674461e-03 5.41737816e+02] [ 9.66176734e-01 2.57094826e-01 -2.01189016e-02 -2.44432601e+02] [ 2.08995182e-02 -3.03864297e-04 9.99781535e-01 1.27861606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8027550959999 meters 0.02266300573883474 Centerline is valid? [True, True] Translation: X:541.75, Y:-244.38, Z:12.79 [[ 2.63640101e-01 -9.64602978e-01 -5.91538597e-03 5.41745785e+02] [ 9.64373810e-01 2.63706406e-01 -2.10258176e-02 -2.44376714e+02] [ 2.18414914e-02 -1.61394632e-04 9.99761433e-01 1.27871255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8627550959999 meters 0.022080296247295794 Centerline is valid? [True, True] Translation: X:541.76, Y:-244.32, Z:12.79 [[ 2.67358253e-01 -9.63576745e-01 -6.27863228e-03 5.41755959e+02] [ 9.63317465e-01 2.67431957e-01 -2.23519708e-02 -2.44321092e+02] [ 2.32169462e-02 -7.23322710e-05 9.99730448e-01 1.27875419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.922755096 meters 0.02210732680277257 Centerline is valid? [True, True] Translation: X:541.77, Y:-244.27, Z:12.79 [[ 2.72851740e-01 -9.62031596e-01 -6.86560278e-03 5.41766394e+02] [ 9.61720035e-01 2.72938093e-01 -2.44820773e-02 -2.44265505e+02] [ 2.54264165e-02 7.71896423e-05 9.99676693e-01 1.27894954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9827550959999 meters 0.022688569688451784 Centerline is valid? [True, True] Translation: X:541.78, Y:-244.21, Z:12.79 [[ 2.77269332e-01 -9.60767953e-01 -6.83071144e-03 5.41777724e+02] [ 9.60458264e-01 2.77353385e-01 -2.43930985e-02 -2.44209560e+02] [ 2.53306282e-02 2.02844881e-04 9.99679108e-01 1.27914716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.042755096 meters 0.022951376247808117 Centerline is valid? [True, True] Translation: X:541.79, Y:-244.16, Z:12.79 [[ 2.78414600e-01 -9.60436801e-01 -6.81628248e-03 5.41794737e+02] [ 9.60127500e-01 2.78497922e-01 -2.43739686e-02 -2.44155628e+02] [ 2.53079769e-02 2.41568442e-04 9.99679673e-01 1.27937400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1027550959999 meters 0.023006449750110545 Centerline is valid? [True, True] Translation: X:541.81, Y:-244.10, Z:12.80 [[ 2.77749617e-01 -9.60628153e-01 -6.97864685e-03 5.41812509e+02] [ 9.60303064e-01 2.77837172e-01 -2.49906419e-02 -2.44101550e+02] [ 2.59456417e-02 2.39525284e-04 9.99663326e-01 1.27951235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.162755096 meters 0.022759615805888138 Centerline is valid? [True, True] Translation: X:541.83, Y:-244.05, Z:12.80 [[ 2.75961568e-01 -9.61142114e-01 -7.14494159e-03 5.41832056e+02] [ 9.60800598e-01 2.76053972e-01 -2.56206260e-02 -2.44049332e+02] [ 2.65974521e-02 2.05443993e-04 9.99646204e-01 1.27950193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2227550959999 meters 0.0226165675145303 Centerline is valid? [True, True] Translation: X:541.85, Y:-244.00, Z:12.79 [[ 2.74351027e-01 -9.61601843e-01 -7.30823102e-03 5.41853463e+02] [ 9.61243887e-01 2.74448295e-01 -2.62358977e-02 -2.43997766e+02] [ 2.72342191e-02 1.72853091e-04 9.99629065e-01 1.27948877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.282755096 meters 0.022451223115750665 Centerline is valid? [True, True] Translation: X:541.87, Y:-243.94, Z:12.80 [[ 2.74964357e-01 -9.61424935e-01 -7.52978602e-03 5.41873085e+02] [ 9.61043965e-01 2.75067361e-01 -2.70636945e-02 -2.43944156e+02] [ 2.80909091e-02 2.05095931e-04 9.99605352e-01 1.27970773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3427550959999 meters 0.02303804833858689 Centerline is valid? [True, True] Translation: X:541.89, Y:-243.89, Z:12.80 [[ 2.75037964e-01 -9.61401915e-01 -7.77669495e-03 5.41889138e+02] [ 9.60994384e-01 2.75147793e-01 -2.79908309e-02 -2.43891312e+02] [ 2.90501789e-02 2.25180978e-04 9.99577929e-01 1.27953385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.402755096 meters 0.022458650946190043 Centerline is valid? [True, True] Translation: X:541.91, Y:-243.84, Z:12.80 [[ 2.75010954e-01 -9.61406327e-01 -8.17618352e-03 5.41912655e+02] [ 9.60954556e-01 2.75132356e-01 -2.94708096e-02 -2.43837357e+02] [ 3.05829554e-02 2.47854652e-04 9.99532201e-01 1.27998783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4627550959999 meters 0.023292015229372638 Centerline is valid? [True, True] Translation: X:541.93, Y:-243.78, Z:12.80 [[ 2.74641554e-01 -9.61510358e-01 -8.35753870e-03 5.41930710e+02] [ 9.61037112e-01 2.74768571e-01 -3.01645866e-02 -2.43784319e+02] [ 3.12999514e-02 2.52544085e-04 9.99510005e-01 1.27980225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.522755096 meters 0.022026293033584193 Centerline is valid? [True, True] Translation: X:541.95, Y:-243.73, Z:12.80 [[ 2.72413804e-01 -9.62144830e-01 -8.24898301e-03 5.41954138e+02] [ 9.61682798e-01 2.72538604e-01 -2.98145252e-02 -2.43731041e+02] [ 3.09340576e-02 1.88983165e-04 9.99521410e-01 1.28042100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5827550959999 meters 0.021797283231049416 Centerline is valid? [True, True] Translation: X:541.97, Y:-243.68, Z:12.81 [[ 2.70316538e-01 -9.62738436e-01 -7.97951106e-03 5.41974859e+02] [ 9.62305190e-01 2.70434256e-01 -2.88796482e-02 -2.43677354e+02] [ 2.99614804e-02 1.27921595e-04 9.99551046e-01 1.28059806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.642755096 meters 0.021609426622310635 Centerline is valid? [True, True] Translation: X:542.00, Y:-243.62, Z:12.81 [[ 2.65977142e-01 -9.63944752e-01 -8.16546348e-03 5.41999866e+02] [ 9.63490382e-01 2.66102451e-01 -2.95933863e-02 -2.43624665e+02] [ 3.06992393e-02 3.81877385e-06 9.99528667e-01 1.28072204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7027550959999 meters 0.021756192230543318 Centerline is valid? [True, True] Translation: X:542.02, Y:-243.57, Z:12.81 [[ 2.62812247e-01 -9.64811492e-01 -8.27694714e-03 5.42021842e+02] [ 9.64343758e-01 2.62942537e-01 -3.00389517e-02 -2.43572506e+02] [ 3.11582873e-02 -8.72179084e-05 9.99514459e-01 1.28078509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.762755096 meters 0.021825678568479636 Centerline is valid? [True, True] Translation: X:542.04, Y:-243.52, Z:12.81 [[ 2.61463030e-01 -9.65177682e-01 -8.31419249e-03 5.42041338e+02] [ 9.64704560e-01 2.61595159e-01 -3.02172748e-02 -2.43519689e+02] [ 3.13399918e-02 -1.20039191e-04 9.99508775e-01 1.28092637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8227550959999 meters 0.02162722503275611 Centerline is valid? [True, True] Translation: X:542.06, Y:-243.47, Z:12.81 [[ 2.60213972e-01 -9.65515984e-01 -8.22028161e-03 5.42060493e+02] [ 9.65052343e-01 2.60343739e-01 -2.99184367e-02 -2.43466137e+02] [ 3.10268277e-02 -1.47806775e-04 9.99518541e-01 1.28123954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.882755096 meters 0.02221493097124119 Centerline is valid? [True, True] Translation: X:542.08, Y:-243.41, Z:12.81 [[ 2.59132922e-01 -9.65804967e-01 -8.41989082e-03 5.42080494e+02] [ 9.65317276e-01 2.59269619e-01 -3.06891036e-02 -2.43413088e+02] [ 3.18227106e-02 -1.75308972e-04 9.99493514e-01 1.28105147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9427550959999 meters 0.021881822190456163 Centerline is valid? [True, True] Translation: X:542.10, Y:-243.36, Z:12.81 [[ 2.58398784e-01 -9.66001190e-01 -8.47174280e-03 5.42100369e+02] [ 9.65506189e-01 2.58537552e-01 -3.09214025e-02 -2.43358978e+02] [ 3.20603752e-02 -1.89467326e-04 9.99485916e-01 1.28133900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.002755096 meters 0.02154069040388317 Centerline is valid? [True, True] Translation: X:542.12, Y:-243.31, Z:12.81 [[ 2.60131052e-01 -9.65537391e-01 -8.32965364e-03 5.42117785e+02] [ 9.65057265e-01 2.60264352e-01 -3.04457196e-02 -2.43306203e+02] [ 3.15643925e-02 -1.18715706e-04 9.99501713e-01 1.28144029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0627550959999 meters 0.021328053914081116 Centerline is valid? [True, True] Translation: X:542.13, Y:-243.25, Z:12.82 [[ 2.62084739e-01 -9.65007921e-01 -8.44401105e-03 5.42134442e+02] [ 9.64512732e-01 2.62220728e-01 -3.09108269e-02 -2.43253454e+02] [ 3.20433875e-02 -4.31001679e-05 9.99486478e-01 1.28152883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.122755096 meters 0.021027407428417296 Centerline is valid? [True, True] Translation: X:542.15, Y:-243.20, Z:12.82 [[ 2.62652018e-01 -9.64856001e-01 -8.17406225e-03 5.42150590e+02] [ 9.64390551e-01 2.62779180e-01 -2.99660962e-02 -2.43199080e+02] [ 3.10609411e-02 -1.23327618e-05 9.99517492e-01 1.28183479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1827550959999 meters 0.020990139862553988 Centerline is valid? [True, True] Translation: X:542.17, Y:-243.15, Z:12.82 [[ 2.63150449e-01 -9.64721805e-01 -7.97993514e-03 5.42168450e+02] [ 9.64276861e-01 2.63271416e-01 -2.92967087e-02 -2.43145984e+02] [ 3.03640625e-02 1.45752489e-05 9.99538905e-01 1.28206589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.242755096 meters 0.02099988582875373 Centerline is valid? [True, True] Translation: X:542.19, Y:-243.09, Z:12.82 [[ 2.61725456e-01 -9.65107854e-01 -8.16181360e-03 5.42188179e+02] [ 9.64641166e-01 2.61852686e-01 -3.00098492e-02 -2.43093371e+02] [ 3.10999339e-02 -1.88799415e-05 9.99516280e-01 1.28206694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3027550959999 meters 0.02112490448171369 Centerline is valid? [True, True] Translation: X:542.21, Y:-243.04, Z:12.82 [[ 2.59803946e-01 -9.65626077e-01 -8.25765287e-03 5.42207663e+02] [ 9.65147160e-01 2.59935135e-01 -3.04086411e-02 -2.43040832e+02] [ 3.15098310e-02 -6.95652566e-05 9.99503440e-01 1.28209807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3627550959999 meters 0.02111251721024207 Centerline is valid? [True, True] Translation: X:542.23, Y:-242.99, Z:12.83 [[ 2.57127688e-01 -9.66342955e-01 -8.16361264e-03 5.42229134e+02] [ 9.65873891e-01 2.57257209e-01 -3.01057264e-02 -2.42987601e+02] [ 3.11926048e-02 -1.44004487e-04 9.99513382e-01 1.28250778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.422755096 meters 0.02152985944437945 Centerline is valid? [True, True] Translation: X:542.25, Y:-242.93, Z:12.83 [[ 2.54478582e-01 -9.67041136e-01 -8.49076704e-03 5.42252073e+02] [ 9.66532728e-01 2.54620090e-01 -3.13543550e-02 -2.42934035e+02] [ 3.24828709e-02 -2.27592440e-04 9.99472266e-01 1.28253093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4827550959999 meters 0.02223104879588438 Centerline is valid? [True, True] Translation: X:542.28, Y:-242.88, Z:12.83 [[ 2.51832270e-01 -9.67731975e-01 -8.67944349e-03 5.42275072e+02] [ 9.67199680e-01 2.51981601e-01 -3.20944227e-02 -2.42881700e+02] [ 3.32458591e-02 -3.12343661e-04 9.99447155e-01 1.28257126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.542755096 meters 0.022321758050282775 Centerline is valid? [True, True] Translation: X:542.30, Y:-242.83, Z:12.83 [[ 2.49094755e-01 -9.68442872e-01 -8.37896129e-03 5.42296797e+02] [ 9.67945793e-01 2.49235347e-01 -3.10271505e-02 -2.42828538e+02] [ 3.21363561e-02 -3.81679860e-04 9.99483421e-01 1.28288473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6027550959999 meters 0.02291737955007361 Centerline is valid? [True, True] Translation: X:542.32, Y:-242.78, Z:12.83 [[ 2.48500656e-01 -9.68599722e-01 -7.87420704e-03 5.42315789e+02] [ 9.68159576e-01 2.48625108e-01 -2.91991747e-02 -2.42775289e+02] [ 3.02400380e-02 -3.67474885e-04 9.99542598e-01 1.28311351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.662755096 meters 0.021793739714601235 Centerline is valid? [True, True] Translation: X:542.33, Y:-242.72, Z:12.84 [[ 2.51009894e-01 -9.67957703e-01 -7.20547122e-03 5.42328243e+02] [ 9.67587873e-01 2.51113162e-01 -2.67560710e-02 -2.42719253e+02] [ 2.77081337e-02 -2.55888017e-04 9.99616023e-01 1.28357173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7227550959999 meters 0.021274945435475732 Centerline is valid? [True, True] Translation: X:542.34, Y:-242.66, Z:12.84 [[ 2.55199280e-01 -9.66861403e-01 -7.23564963e-03 5.42339811e+02] [ 9.66486973e-01 2.55301804e-01 -2.69057630e-02 -2.42663297e+02] [ 2.78614182e-02 -1.26829751e-04 9.99611787e-01 1.28360526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.782755096 meters 0.02124772333147011 Centerline is valid? [True, True] Translation: X:542.35, Y:-242.61, Z:12.83 [[ 2.57218814e-01 -9.66323593e-01 -7.56281773e-03 5.42352223e+02] [ 9.65913110e-01 2.57329964e-01 -2.81629706e-02 -2.42607468e+02] [ 2.91606826e-02 -6.09789055e-05 9.99574735e-01 1.28348790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8427550959999 meters 0.021277735253212523 Centerline is valid? [True, True] Translation: X:542.36, Y:-242.55, Z:12.83 [[ 2.57505114e-01 -9.66244290e-01 -7.94287781e-03 5.42364489e+02] [ 9.65790134e-01 2.57627582e-01 -2.96217242e-02 -2.42552696e+02] [ 3.06681263e-02 -4.34075551e-05 9.99529621e-01 1.28334911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.902755096 meters 0.021137793649154295 Centerline is valid? [True, True] Translation: X:542.38, Y:-242.50, Z:12.84 [[ 2.55430843e-01 -9.66796831e-01 -7.67935406e-03 5.42380821e+02] [ 9.66371370e-01 2.55546236e-01 -2.86792048e-02 -2.42497664e+02] [ 2.96893943e-02 -9.55544332e-05 9.99559168e-01 1.28377563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9627550959999 meters 0.02101951797940178 Centerline is valid? [True, True] Translation: X:542.40, Y:-242.44, Z:12.84 [[ 2.52757835e-01 -9.67503004e-01 -7.17038327e-03 5.42397662e+02] [ 9.67131362e-01 2.52859473e-01 -2.68144673e-02 -2.42443431e+02] [ 2.77561770e-02 -1.57135824e-04 9.99614711e-01 1.28428749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.022755096 meters 0.021386219549107348 Centerline is valid? [True, True] Translation: X:542.42, Y:-242.39, Z:12.85 [[ 2.49565788e-01 -9.68333381e-01 -6.88343795e-03 5.42415621e+02] [ 9.67990261e-01 2.49660592e-01 -2.57767846e-02 -2.42388901e+02] [ 2.66790442e-02 -2.30097330e-04 9.99644024e-01 1.28456185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0827550959999 meters 0.02199872023548111 Centerline is valid? [True, True] Translation: X:542.43, Y:-242.33, Z:12.85 [[ 2.47257237e-01 -9.68926200e-01 -6.77328679e-03 5.42431974e+02] [ 9.68593260e-01 2.47349834e-01 -2.53999119e-02 -2.42334961e+02] [ 2.62860115e-02 -2.80247884e-04 9.99654424e-01 1.28461636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.142755096 meters 0.022533009530115403 Centerline is valid? [True, True] Translation: X:542.45, Y:-242.28, Z:12.85 [[ 2.44841690e-01 -9.69538655e-01 -6.88059657e-03 5.42449189e+02] [ 9.69194332e-01 2.44938112e-01 -2.58392877e-02 -2.42279941e+02] [ 2.67375086e-02 -3.42100304e-04 9.99642430e-01 1.28479244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2027550959999 meters 0.022476449373803123 Centerline is valid? [True, True] Translation: X:542.46, Y:-242.22, Z:12.85 [[ 2.42924532e-01 -9.70017487e-01 -7.33125410e-03 5.42463970e+02] [ 9.69625710e-01 2.43034784e-01 -2.75694700e-02 -2.42223455e+02] [ 2.85246178e-02 -4.11271874e-04 9.99593006e-01 1.28492133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.262755096 meters 0.022886403827455375 Centerline is valid? [True, True] Translation: X:542.48, Y:-242.17, Z:12.85 [[ 2.41330966e-01 -9.70412350e-01 -7.69651837e-03 5.42479489e+02] [ 9.69979622e-01 2.41453203e-01 -2.89807514e-02 -2.42167704e+02] [ 2.99816281e-02 -4.71513241e-04 9.99550339e-01 1.28491355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3227550959999 meters 0.023407980743044125 Centerline is valid? [True, True] Translation: X:542.49, Y:-242.11, Z:12.85 [[ 2.38993754e-01 -9.70991589e-01 -7.57102816e-03 5.42494173e+02] [ 9.70572064e-01 2.39113065e-01 -2.85448870e-02 -2.42112056e+02] [ 2.95271769e-02 -5.26178742e-04 9.99563839e-01 1.28510441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.382755096 meters 0.02402063037607943 Centerline is valid? [True, True] Translation: X:542.51, Y:-242.06, Z:12.85 [[ 2.36231739e-01 -9.71670260e-01 -7.17429560e-03 5.42510827e+02] [ 9.71292900e-01 2.36339967e-01 -2.70836274e-02 -2.42056057e+02] [ 2.80119281e-02 -5.70329979e-04 9.99607426e-01 1.28548619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4427550959999 meters 0.024474685746318798 Centerline is valid? [True, True] Translation: X:542.53, Y:-242.00, Z:12.86 [[ 2.34744908e-01 -9.72032382e-01 -6.91929053e-03 5.42526792e+02] [ 9.71680615e-01 2.34846137e-01 -2.61548115e-02 -2.42001150e+02] [ 2.70482924e-02 -5.83631653e-04 9.99633958e-01 1.28568416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.502755096 meters 0.02458917131212111 Centerline is valid? [True, True] Translation: X:542.54, Y:-241.95, Z:12.86 [[ 2.34893725e-01 -9.71999227e-01 -6.51469034e-03 5.42539312e+02] [ 9.71686510e-01 2.34983434e-01 -2.46599476e-02 -2.41946636e+02] [ 2.55002943e-02 -5.37769771e-04 9.99674670e-01 1.28589402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5627550959999 meters 0.023308347231144798 Centerline is valid? [True, True] Translation: X:542.55, Y:-241.89, Z:12.86 [[ 2.36950670e-01 -9.71500929e-01 -6.35020948e-03 5.42548928e+02] [ 9.71202740e-01 2.37035294e-01 -2.40729452e-02 -2.41889933e+02] [ 2.48921124e-02 -4.63240367e-04 9.99690036e-01 1.28610147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.622755096 meters 0.022338734591933442 Centerline is valid? [True, True] Translation: X:542.56, Y:-241.83, Z:12.86 [[ 2.38987146e-01 -9.71002524e-01 -6.26432588e-03 5.42560259e+02] [ 9.70711378e-01 2.39068901e-01 -2.37798590e-02 -2.41832899e+02] [ 2.45879086e-02 -3.97771774e-04 9.99697593e-01 1.28625017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6827550959999 meters 0.02141766512206114 Centerline is valid? [True, True] Translation: X:542.57, Y:-241.77, Z:12.86 [[ 2.42524128e-01 -9.70124106e-01 -6.42395404e-03 5.42569688e+02] [ 9.69816808e-01 2.42608996e-01 -2.44179044e-02 -2.41774910e+02] [ 2.52469067e-02 -3.08127646e-04 9.99681199e-01 1.28629361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.742755096 meters 0.020951368105458636 Centerline is valid? [True, True] Translation: X:542.58, Y:-241.72, Z:12.87 [[ 2.44405739e-01 -9.69652425e-01 -6.32538269e-03 5.42582220e+02] [ 9.69353527e-01 2.44487452e-01 -2.40754175e-02 -2.41719364e+02] [ 2.48912636e-02 -2.47361820e-04 9.99690134e-01 1.28650224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8027550959999 meters 0.020801774122117977 Centerline is valid? [True, True] Translation: X:542.60, Y:-241.66, Z:12.87 [[ 2.44789569e-01 -9.69556288e-01 -6.21855257e-03 5.42595582e+02] [ 9.69266525e-01 2.44868440e-01 -2.37033776e-02 -2.41663653e+02] [ 2.45044861e-02 -2.25095246e-04 9.99699695e-01 1.28664620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8627550959999 meters 0.021118111672734797 Centerline is valid? [True, True] Translation: X:542.61, Y:-241.61, Z:12.87 [[ 2.43764033e-01 -9.69814821e-01 -6.18939533e-03 5.42611265e+02] [ 9.69526998e-01 2.43842478e-01 -2.36272369e-02 -2.41609207e+02] [ 2.44232820e-02 -2.41315317e-04 9.99701678e-01 1.28670188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.922755096 meters 0.02163032758484655 Centerline is valid? [True, True] Translation: X:542.63, Y:-241.55, Z:12.87 [[ 2.40454783e-01 -9.70640591e-01 -6.19198456e-03 5.42628294e+02] [ 9.70351955e-01 2.40534287e-01 -2.36714943e-02 -2.41553481e+02] [ 2.44658978e-02 -3.16480303e-04 9.99700615e-01 1.28681956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9827550959999 meters 0.022713832372503046 Centerline is valid? [True, True] Translation: X:542.65, Y:-241.50, Z:12.87 [[ 2.37382227e-01 -9.71396132e-01 -6.26363985e-03 5.42646638e+02] [ 9.71100234e-01 2.37464529e-01 -2.39777841e-02 -2.41500181e+02] [ 2.47793190e-02 -3.90722322e-04 9.99692869e-01 1.28681901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.042755096 meters 0.024132069354999765 Centerline is valid? [True, True] Translation: X:542.67, Y:-241.45, Z:12.87 [[ 2.31725227e-01 -9.72758771e-01 -6.61755119e-03 5.42665023e+02] [ 9.72428010e-01 2.31819032e-01 -2.53712663e-02 -2.41446059e+02] [ 2.62141962e-02 -5.55929687e-04 9.99656194e-01 1.28687386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1027550959999 meters 0.025832692581458896 Centerline is valid? [True, True] Translation: X:542.68, Y:-241.39, Z:12.87 [[ 2.27417061e-01 -9.73772958e-01 -6.90697072e-03 5.42683211e+02] [ 9.73412015e-01 2.27520871e-01 -2.65198604e-02 -2.41391767e+02] [ 2.73958029e-02 -6.92259591e-04 9.99624425e-01 1.28681941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.162755096 meters 0.02663933914210933 Centerline is valid? [True, True] Translation: X:542.70, Y:-241.34, Z:12.87 [[ 2.24392166e-01 -9.74474988e-01 -6.83040245e-03 5.42700345e+02] [ 9.74121349e-01 2.24494811e-01 -2.62617192e-02 -2.41336255e+02] [ 2.71247784e-02 -7.60716777e-04 9.99631766e-01 1.28707017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2227550959999 meters 0.027504522925991676 Centerline is valid? [True, True] Translation: X:542.72, Y:-241.28, Z:12.87 [[ 2.23417382e-01 -9.74698751e-01 -6.85704828e-03 5.42716803e+02] [ 9.74341468e-01 2.23521214e-01 -2.64002049e-02 -2.41282499e+02] [ 2.72649425e-02 -7.82841812e-04 9.99627936e-01 1.28721576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.282755096 meters 0.028045245913987524 Centerline is valid? [True, True] Translation: X:542.73, Y:-241.23, Z:12.87 [[ 2.22940216e-01 -9.74809223e-01 -6.68123735e-03 5.42731662e+02] [ 9.74469039e-01 2.23038988e-01 -2.57624199e-02 -2.41229391e+02] [ 2.66036209e-02 -7.67179484e-04 9.99645767e-01 1.28742443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3427550959999 meters 0.027386303849405196 Centerline is valid? [True, True] Translation: X:542.75, Y:-241.17, Z:12.88 [[ 2.24156063e-01 -9.74531481e-01 -6.51553850e-03 5.42745213e+02] [ 9.74206858e-01 2.24249621e-01 -2.51615808e-02 -2.41173660e+02] [ 2.59818597e-02 -7.07361377e-04 9.99662164e-01 1.28755981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.402755096 meters 0.02672024402669171 Centerline is valid? [True, True] Translation: X:542.76, Y:-241.12, Z:12.88 [[ 2.26077490e-01 -9.74087650e-01 -6.49757170e-03 5.42758705e+02] [ 9.73763827e-01 2.26169916e-01 -2.51232693e-02 -2.41117534e+02] [ 2.59418217e-02 -6.47294607e-04 9.99663245e-01 1.28758769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4627550959999 meters 0.023707534781833683 Centerline is valid? [True, True] Translation: X:542.77, Y:-241.06, Z:12.88 [[ 2.29893886e-01 -9.73194678e-01 -6.39685022e-03 5.42767427e+02] [ 9.72879763e-01 2.29982253e-01 -2.47614746e-02 -2.41060552e+02] [ 2.55688974e-02 -5.30854497e-04 9.99672921e-01 1.28773288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.522755096 meters 0.022508410552969697 Centerline is valid? [True, True] Translation: X:542.78, Y:-241.00, Z:12.88 [[ 2.32815637e-01 -9.72502882e-01 -5.91814666e-03 5.42778106e+02] [ 9.72232375e-01 2.32890477e-01 -2.29398021e-02 -2.41004432e+02] [ 2.36873037e-02 -4.13069152e-04 9.99719331e-01 1.28787945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5827550959999 meters 0.022116875382191963 Centerline is valid? [True, True] Translation: X:542.79, Y:-240.95, Z:12.88 [[ 2.34144372e-01 -9.72186440e-01 -5.47162285e-03 5.42791249e+02] [ 9.71954496e-01 2.34208041e-01 -2.12379540e-02 -2.40949021e+02] [ 2.19287489e-02 -3.45421030e-04 9.99759476e-01 1.28806652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.642755096 meters 0.021560805719559144 Centerline is valid? [True, True] Translation: X:542.80, Y:-240.89, Z:12.88 [[ 2.35931511e-01 -9.71755989e-01 -5.15943916e-03 5.42803009e+02] [ 9.71549084e-01 2.35987750e-01 -2.00539044e-02 -2.40894370e+02] [ 2.07050661e-02 -2.81300436e-04 9.99785588e-01 1.28804920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7027550959999 meters 0.02092714110282863 Centerline is valid? [True, True] Translation: X:542.81, Y:-240.84, Z:12.88 [[ 2.36510230e-01 -9.71616759e-01 -4.87697526e-03 5.42813947e+02] [ 9.71431332e-01 2.36560378e-01 -1.89830022e-02 -2.40838371e+02] [ 1.95979022e-02 -2.47972355e-04 9.99807912e-01 1.28813258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.762755096 meters 0.021474596853868898 Centerline is valid? [True, True] Translation: X:542.83, Y:-240.78, Z:12.88 [[ 2.34774710e-01 -9.72039243e-01 -4.53268645e-03 5.42828581e+02] [ 9.71878715e-01 2.34818320e-01 -1.76669469e-02 -2.40783819e+02] [ 1.82373235e-02 -2.57469162e-04 9.99833653e-01 1.28811915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8227550959999 meters 0.02216546718223507 Centerline is valid? [True, True] Translation: X:542.84, Y:-240.73, Z:12.88 [[ 2.32324400e-01 -9.72628828e-01 -4.30546052e-03 5.42844137e+02] [ 9.72483777e-01 2.32364117e-01 -1.67993896e-02 -2.40729286e+02] [ 1.73400051e-02 -2.84082411e-04 9.99849610e-01 1.28818787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.882755096 meters 0.023368745579207748 Centerline is valid? [True, True] Translation: X:542.86, Y:-240.68, Z:12.88 [[ 2.29510680e-01 -9.73297443e-01 -4.11518788e-03 5.42860080e+02] [ 9.73164652e-01 2.29547355e-01 -1.60801672e-02 -2.40675368e+02] [ 1.65954161e-02 -3.14185275e-04 9.99862237e-01 1.28822491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9427550959999 meters 0.023116447784472444 Centerline is valid? [True, True] Translation: X:542.87, Y:-240.62, Z:12.88 [[ 2.26992745e-01 -9.73889108e-01 -3.78129817e-03 5.42872277e+02] [ 9.73776764e-01 2.27024007e-01 -1.47957270e-02 -2.40618680e+02] [ 1.52678429e-02 -3.23617595e-04 9.99883387e-01 1.28822594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.002755096 meters 0.024522977288131062 Centerline is valid? [True, True] Translation: X:542.89, Y:-240.56, Z:12.88 [[ 2.25523413e-01 -9.74231146e-01 -3.58660223e-03 5.42888485e+02] [ 9.74129873e-01 2.25551697e-01 -1.40506804e-02 -2.40564446e+02] [ 1.44975747e-02 -3.25058973e-04 9.99894852e-01 1.28833668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0627550959999 meters 0.023998897588910256 Centerline is valid? [True, True] Translation: X:542.90, Y:-240.51, Z:12.88 [[ 2.23221154e-01 -9.74762124e-01 -3.33425423e-03 5.42901297e+02] [ 9.74674407e-01 2.23245811e-01 -1.30808108e-02 -2.40508286e+02] [ 1.34950372e-02 -3.29898578e-04 9.99908883e-01 1.28837005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.122755096 meters 0.024988363088279907 Centerline is valid? [True, True] Translation: X:542.92, Y:-240.45, Z:12.88 [[ 2.21413096e-01 -9.75174898e-01 -3.18749641e-03 5.42916766e+02] [ 9.75094534e-01 2.21435785e-01 -1.25237162e-02 -2.40453900e+02] [ 1.29186395e-02 -3.35195541e-04 9.99916495e-01 1.28841845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1827550959999 meters 0.02519646633057269 Centerline is valid? [True, True] Translation: X:542.93, Y:-240.40, Z:12.88 [[ 2.21151750e-01 -9.75234304e-01 -3.15520444e-03 5.42930388e+02] [ 9.75155439e-01 2.21174006e-01 -1.24068252e-02 -2.40398412e+02] [ 1.27974107e-02 -3.33023679e-04 9.99918054e-01 1.28844252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.242755096 meters 0.02487491832541163 Centerline is valid? [True, True] Translation: X:542.94, Y:-240.34, Z:12.89 [[ 2.22664958e-01 -9.74890100e-01 -3.09977856e-03 5.42943096e+02] [ 9.74813729e-01 2.22686326e-01 -1.22063397e-02 -2.40342968e+02] [ 1.25901181e-02 -3.03782573e-04 9.99920695e-01 1.28852563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3027550959999 meters 0.023568260852850634 Centerline is valid? [True, True] Translation: X:542.95, Y:-240.29, Z:12.89 [[ 2.25001750e-01 -9.74353836e-01 -2.96906235e-03 5.42953158e+02] [ 9.74283532e-01 2.25021190e-01 -1.17074025e-02 -2.40286241e+02] [ 1.20752545e-02 -2.58522513e-04 9.99927058e-01 1.28858783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3627550959999 meters 0.022757900703777423 Centerline is valid? [True, True] Translation: X:542.97, Y:-240.23, Z:12.89 [[ 2.27429282e-01 -9.73790051e-01 -2.97643283e-03 5.42966166e+02] [ 9.73719143e-01 2.27448647e-01 -1.17534501e-02 -2.40231638e+02] [ 1.21223784e-02 -2.25130911e-04 9.99926496e-01 1.28864075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.422755096 meters 0.022593519173565665 Centerline is valid? [True, True] Translation: X:542.98, Y:-240.18, Z:12.89 [[ 2.28959396e-01 -9.73431231e-01 -3.03882593e-03 5.42979240e+02] [ 9.73357055e-01 2.28979469e-01 -1.20185571e-02 -2.40177020e+02] [ 1.23950676e-02 -2.06101079e-04 9.99923157e-01 1.28870764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4827550959999 meters 0.021542247103204477 Centerline is valid? [True, True] Translation: X:542.99, Y:-240.12, Z:12.89 [[ 2.30977333e-01 -9.72955414e-01 -2.68965296e-03 5.42990214e+02] [ 9.72897128e-01 2.30992939e-01 -1.06508182e-02 -2.40121180e+02] [ 1.09840620e-02 -1.56658069e-04 9.99939661e-01 1.28888055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.542755096 meters 0.021022414653518635 Centerline is valid? [True, True] Translation: X:543.00, Y:-240.07, Z:12.89 [[ 2.31495548e-01 -9.72833157e-01 -2.33661073e-03 5.43003514e+02] [ 9.72789048e-01 2.31507305e-01 -9.26473760e-03 -2.40065757e+02] [ 9.55398638e-03 -1.28283818e-04 9.99954351e-01 1.28907159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6027550959999 meters 0.021440938975163474 Centerline is valid? [True, True] Translation: X:543.02, Y:-240.01, Z:12.89 [[ 2.30627275e-01 -9.73039201e-01 -2.40273081e-03 5.43019805e+02] [ 9.72992414e-01 2.30639750e-01 -9.54296812e-03 -2.40012362e+02] [ 9.83984730e-03 -1.36970115e-04 9.99951578e-01 1.28918124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.662755096 meters 0.02140430262953654 Centerline is valid? [True, True] Translation: X:543.03, Y:-239.96, Z:12.89 [[ 2.29621679e-01 -9.73276508e-01 -2.59307520e-03 5.43034167e+02] [ 9.73221890e-01 2.29636267e-01 -1.03120365e-02 -2.39958009e+02] [ 1.06319270e-02 -1.55770418e-04 9.99943467e-01 1.28913990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7227550959999 meters 0.021327210963438415 Centerline is valid? [True, True] Translation: X:543.05, Y:-239.90, Z:12.89 [[ 2.28002985e-01 -9.73656963e-01 -2.59943028e-03 5.43049695e+02] [ 9.73601918e-01 2.28017739e-01 -1.03545137e-02 -2.39903183e+02] [ 1.06744606e-02 -1.69950267e-04 9.99943012e-01 1.28912073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.782755096 meters 0.022730842016401586 Centerline is valid? [True, True] Translation: X:543.07, Y:-239.85, Z:12.89 [[ 2.25936279e-01 -9.74138635e-01 -2.59196581e-03 5.43069190e+02] [ 9.74083777e-01 2.25951067e-01 -1.03397140e-02 -2.39850162e+02] [ 1.06579723e-02 -1.88675342e-04 9.99943184e-01 1.28923252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8427550959999 meters 0.02156684049058944 Centerline is valid? [True, True] Translation: X:543.08, Y:-239.79, Z:12.89 [[ 2.25520692e-01 -9.74233853e-01 -2.96929614e-03 5.43082694e+02] [ 9.74161597e-01 2.25540135e-01 -1.18671626e-02 -2.39794453e+02] [ 1.22310870e-02 -2.16283548e-04 9.99925174e-01 1.28911215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.902755096 meters 0.02105594432117627 Centerline is valid? [True, True] Translation: X:543.09, Y:-239.74, Z:12.89 [[ 2.27163099e-01 -9.73852008e-01 -3.03203793e-03 5.43094304e+02] [ 9.73776392e-01 2.27183249e-01 -1.21371135e-02 -2.39737778e+02] [ 1.25085806e-02 -1.95422651e-04 9.99921746e-01 1.28910870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9627550959999 meters 0.020656444445382546 Centerline is valid? [True, True] Translation: X:543.11, Y:-239.68, Z:12.89 [[ 2.30493323e-01 -9.73069073e-01 -3.06700213e-03 5.43106323e+02] [ 9.72991416e-01 2.30513678e-01 -1.22942264e-02 -2.39682409e+02] [ 1.26701174e-02 -1.50429664e-04 9.99919720e-01 1.28925690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.022755096 meters 0.01961562214972107 Centerline is valid? [True, True] Translation: X:543.12, Y:-239.63, Z:12.89 [[ 2.32297087e-01 -9.72639029e-01 -3.37374532e-03 5.43117187e+02] [ 9.72544679e-01 2.32321546e-01 -1.35479075e-02 -2.39626223e+02] [ 1.39610173e-02 -1.33978608e-04 9.99902531e-01 1.28915184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0827550959999 meters 0.019470763069321294 Centerline is valid? [True, True] Translation: X:543.13, Y:-239.57, Z:12.89 [[ 2.32978203e-01 -9.72475911e-01 -3.42913523e-03 5.43128847e+02] [ 9.72378123e-01 2.33003406e-01 -1.37912374e-02 -2.39570210e+02] [ 1.42106463e-02 -1.21358371e-04 9.99899016e-01 1.28917251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.142755096 meters 0.019290714843293612 Centerline is valid? [True, True] Translation: X:543.14, Y:-239.52, Z:12.89 [[ 2.33416538e-01 -9.72370570e-01 -3.49193298e-03 5.43139860e+02] [ 9.72268853e-01 2.33442629e-01 -1.40646867e-02 -2.39515842e+02] [ 1.44912535e-02 -1.12167198e-04 9.99894990e-01 1.28921215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2027550959999 meters 0.01902222287892994 Centerline is valid? [True, True] Translation: X:543.15, Y:-239.46, Z:12.89 [[ 2.33960088e-01 -9.72239039e-01 -3.73212211e-03 5.43152468e+02] [ 9.72122396e-01 2.33989830e-01 -1.50601117e-02 -2.39461280e+02] [ 1.55153071e-02 -1.04614442e-04 9.99879625e-01 1.28931929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.262755096 meters 0.01901562652204825 Centerline is valid? [True, True] Translation: X:543.17, Y:-239.41, Z:12.89 [[ 2.32936736e-01 -9.72484462e-01 -3.80113638e-03 5.43166486e+02] [ 9.72363092e-01 2.32967719e-01 -1.53642272e-02 -2.39407038e+02] [ 1.58270143e-02 -1.17191781e-04 9.99874738e-01 1.28943992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3227550959999 meters 0.01930605552090595 Centerline is valid? [True, True] Translation: X:543.18, Y:-239.35, Z:12.90 [[ 2.31242191e-01 -9.72888957e-01 -3.75857723e-03 5.43181236e+02] [ 9.72769962e-01 2.31272693e-01 -1.52165287e-02 -2.39352663e+02] [ 1.56732490e-02 -1.37527593e-04 9.99877158e-01 1.28953042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.382755096 meters 0.019435722883791223 Centerline is valid? [True, True] Translation: X:543.20, Y:-239.30, Z:12.90 [[ 2.28403975e-01 -9.73558717e-01 -3.87922615e-03 5.43197055e+02] [ 9.73431627e-01 2.28436841e-01 -1.57314214e-02 -2.39296956e+02] [ 1.62016206e-02 -1.83042246e-04 9.99868728e-01 1.28960194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4427550959999 meters 0.020173292163221272 Centerline is valid? [True, True] Translation: X:543.21, Y:-239.24, Z:12.90 [[ 2.25333213e-01 -9.74274110e-01 -3.86032136e-03 5.43214500e+02] [ 9.74148003e-01 2.25366162e-01 -1.56767864e-02 -2.39242938e+02] [ 1.61434729e-02 -2.28023702e-04 9.99869660e-01 1.28973365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.502755096 meters 0.020492201533682017 Centerline is valid? [True, True] Translation: X:543.23, Y:-239.19, Z:12.90 [[ 2.24048641e-01 -9.74570751e-01 -3.74945544e-03 5.43229235e+02] [ 9.74451577e-01 2.24079885e-01 -1.52423630e-02 -2.39187970e+02] [ 1.56949387e-02 -2.38632049e-04 9.99876798e-01 1.28982583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5627550959999 meters 0.02067589537757595 Centerline is valid? [True, True] Translation: X:543.24, Y:-239.13, Z:12.90 [[ 2.23839707e-01 -9.74618827e-01 -3.73202269e-03 5.43243245e+02] [ 9.74500403e-01 2.23870692e-01 -1.51946746e-02 -2.39131932e+02] [ 1.56445064e-02 -2.35686110e-04 9.99877589e-01 1.28992782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.622755096 meters 0.02024942853268685 Centerline is valid? [True, True] Translation: X:543.26, Y:-239.08, Z:12.90 [[ 2.24040972e-01 -9.74572579e-01 -3.73247121e-03 5.43255897e+02] [ 9.74453786e-01 2.24071945e-01 -1.52178257e-02 -2.39076134e+02] [ 1.56672177e-02 -2.27704238e-04 9.99877236e-01 1.28998155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6827550959999 meters 0.02012985842217329 Centerline is valid? [True, True] Translation: X:543.27, Y:-239.02, Z:12.90 [[ 2.24521121e-01 -9.74461510e-01 -3.87706482e-03 5.43268236e+02] [ 9.74332904e-01 2.24554483e-01 -1.58327602e-02 -2.39020567e+02] [ 1.62990277e-02 -2.22762747e-04 9.99867137e-01 1.29002015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.742755096 meters 0.01995994210400266 Centerline is valid? [True, True] Translation: X:543.28, Y:-238.96, Z:12.90 [[ 2.25155271e-01 -9.74314449e-01 -4.05685190e-03 5.43279565e+02] [ 9.74173161e-01 2.25191712e-01 -1.65935543e-02 -2.38964330e+02] [ 1.70809091e-02 -2.15950033e-04 9.99854087e-01 1.28998927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8027550959999 meters 0.019799232669999122 Centerline is valid? [True, True] Translation: X:543.29, Y:-238.91, Z:12.90 [[ 2.25960201e-01 -9.74127455e-01 -4.20582531e-03 5.43292290e+02] [ 9.73975078e-01 2.25999249e-01 -1.72304041e-02 -2.38908302e+02] [ 1.77351231e-02 -2.02983449e-04 9.99842700e-01 1.29007744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8627550959999 meters 0.019737322776055152 Centerline is valid? [True, True] Translation: X:543.30, Y:-238.85, Z:12.90 [[ 2.26743796e-01 -9.73945231e-01 -4.23539827e-03 5.43303620e+02] [ 9.73790197e-01 2.26783275e-01 -1.73780900e-02 -2.38853589e+02] [ 1.78858254e-02 -1.84015217e-04 9.99840019e-01 1.29013676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.922755096 meters 0.01948331088229087 Centerline is valid? [True, True] Translation: X:543.31, Y:-238.80, Z:12.90 [[ 2.26622796e-01 -9.73973470e-01 -4.21748351e-03 5.43314772e+02] [ 9.73819338e-01 2.26661965e-01 -1.73277278e-02 -2.38797288e+02] [ 1.78326903e-02 -1.80208867e-04 9.99840969e-01 1.29027372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9827550959999 meters 0.019849435239706767 Centerline is valid? [True, True] Translation: X:543.33, Y:-238.74, Z:12.90 [[ 2.25465097e-01 -9.74242703e-01 -4.07984108e-03 5.43328569e+02] [ 9.74098080e-01 2.25501927e-01 -1.67872249e-02 -2.38742478e+02] [ 1.72748434e-02 -1.89232084e-04 9.99850761e-01 1.29045926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.042755096 meters 0.020289334261945114 Centerline is valid? [True, True] Translation: X:543.34, Y:-238.69, Z:12.91 [[ 2.23404602e-01 -9.74717192e-01 -4.09621855e-03 5.43343080e+02] [ 9.74571014e-01 2.23442043e-01 -1.68817182e-02 -2.38688228e+02] [ 1.73701684e-02 -2.20602340e-04 9.99849103e-01 1.29062993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1027550959999 meters 0.02083831512810673 Centerline is valid? [True, True] Translation: X:543.36, Y:-238.63, Z:12.91 [[ 2.21808566e-01 -9.75081509e-01 -4.12446696e-03 5.43356131e+02] [ 9.74932877e-01 2.21846775e-01 -1.70262831e-02 -2.38634161e+02] [ 1.75170135e-02 -2.44503007e-04 9.99846535e-01 1.29068646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.162755096 meters 0.02121832503918868 Centerline is valid? [True, True] Translation: X:543.37, Y:-238.58, Z:12.91 [[ 2.20758886e-01 -9.75319660e-01 -4.13221181e-03 5.43369651e+02] [ 9.75170119e-01 2.20797404e-01 -1.70805598e-02 -2.38579588e+02] [ 1.75713874e-02 -2.58924142e-04 9.99845578e-01 1.29078357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2227550959999 meters 0.021177555089286742 Centerline is valid? [True, True] Translation: X:543.38, Y:-238.52, Z:12.91 [[ 2.19143481e-01 -9.75683085e-01 -4.31892305e-03 5.43382890e+02] [ 9.75519245e-01 2.19185838e-01 -1.78821398e-02 -2.38523765e+02] [ 1.83939481e-02 -2.94438198e-04 9.99830774e-01 1.29087573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.282755096 meters 0.02142708803731931 Centerline is valid? [True, True] Translation: X:543.40, Y:-238.47, Z:12.91 [[ 2.18604044e-01 -9.75803595e-01 -4.42893212e-03 5.43396690e+02] [ 9.75630783e-01 2.18648690e-01 -1.83664405e-02 -2.38468024e+02] [ 1.88904189e-02 -3.06024338e-04 9.99821513e-01 1.29096164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3427550959999 meters 0.021482529370126333 Centerline is valid? [True, True] Translation: X:543.41, Y:-238.41, Z:12.91 [[ 2.19016521e-01 -9.75711044e-01 -4.44102621e-03 5.43410009e+02] [ 9.75536724e-01 2.19061347e-01 -1.84452342e-02 -2.38413096e+02] [ 1.89700759e-02 -2.92573137e-04 9.99820009e-01 1.29111046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.402755096 meters 0.021045786927453857 Centerline is valid? [True, True] Translation: X:543.42, Y:-238.36, Z:12.91 [[ 2.20413520e-01 -9.75396908e-01 -4.33035863e-03 5.43422874e+02] [ 9.75230563e-01 2.20455910e-01 -1.80150165e-02 -2.38356837e+02] [ 1.85264445e-02 -2.52344879e-04 9.99828339e-01 1.29122912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4627550959999 meters 0.021194000571683445 Centerline is valid? [True, True] Translation: X:543.44, Y:-238.30, Z:12.91 [[ 2.22336126e-01 -9.74959963e-01 -4.44057551e-03 5.43437377e+02] [ 9.74784393e-01 2.22380362e-01 -1.85030419e-02 -2.38303273e+02] [ 1.90272218e-02 -2.14709062e-04 9.99818943e-01 1.29133905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.522755096 meters 0.02036393003358502 Centerline is valid? [True, True] Translation: X:543.45, Y:-238.25, Z:12.91 [[ 2.24918493e-01 -9.74366928e-01 -4.55635150e-03 5.43447223e+02] [ 9.74181292e-01 2.24964582e-01 -1.90196722e-02 -2.38247904e+02] [ 1.95571573e-02 -1.60836383e-04 9.99808728e-01 1.29146670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5827550959999 meters 0.020041063842201393 Centerline is valid? [True, True] Translation: X:543.46, Y:-238.19, Z:12.91 [[ 2.26999675e-01 -9.73883541e-01 -4.68992357e-03 5.43457815e+02] [ 9.73686071e-01 2.27048089e-01 -1.96112149e-02 -2.38192290e+02] [ 2.01638776e-02 -1.14773839e-04 9.99796682e-01 1.29143980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.642755096 meters 0.020044471352781548 Centerline is valid? [True, True] Translation: X:543.47, Y:-238.14, Z:12.91 [[ 2.29485741e-01 -9.73298390e-01 -5.15150864e-03 5.43469767e+02] [ 9.73059116e-01 2.29543547e-01 -2.15804852e-02 -2.38138358e+02] [ 2.21867471e-02 -6.03087962e-05 9.99753842e-01 1.29138951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7027550959999 meters 0.020125035494243996 Centerline is valid? [True, True] Translation: X:543.48, Y:-238.08, Z:12.91 [[ 2.29715849e-01 -9.73242691e-01 -5.41224622e-03 5.43483562e+02] [ 9.72977627e-01 2.29779593e-01 -2.27129150e-02 -2.38083453e+02] [ 2.33488023e-02 -4.84779362e-05 9.99727378e-01 1.29140579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.762755096 meters 0.020328626335556 Centerline is valid? [True, True] Translation: X:543.50, Y:-238.03, Z:12.91 [[ 2.28882962e-01 -9.73438647e-01 -5.45810393e-03 5.43496969e+02] [ 9.73168242e-01 2.28948024e-01 -2.29428629e-02 -2.38028864e+02] [ 2.35830915e-02 -6.04229892e-05 9.99721878e-01 1.29145413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8227550959999 meters 0.020382506586445467 Centerline is valid? [True, True] Translation: X:543.51, Y:-237.97, Z:12.92 [[ 2.26976148e-01 -9.73884034e-01 -5.63176361e-03 5.43513353e+02] [ 9.73595314e-01 2.27045983e-01 -2.37125882e-02 -2.37974821e+02] [ 2.43719803e-02 -1.00866743e-04 9.99702954e-01 1.29170610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.882755096 meters 0.02083023814597426 Centerline is valid? [True, True] Translation: X:543.53, Y:-237.92, Z:12.92 [[ 2.24239846e-01 -9.74516769e-01 -5.79298608e-03 5.43530481e+02] [ 9.74210443e-01 2.24314601e-01 -2.44330393e-02 -2.37920583e+02] [ 2.51098579e-02 -1.64726568e-04 9.99684684e-01 1.29178839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9427550959999 meters 0.020780302613987018 Centerline is valid? [True, True] Translation: X:543.54, Y:-237.87, Z:12.92 [[ 2.22636030e-01 -9.74885771e-01 -5.56160118e-03 5.43542166e+02] [ 9.74602656e-01 2.22705405e-01 -2.34939298e-02 -2.37865801e+02] [ 2.41424965e-02 -1.89756022e-04 9.99708509e-01 1.29208062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.002755096 meters 0.021020813056210435 Centerline is valid? [True, True] Translation: X:543.56, Y:-237.81, Z:12.92 [[ 2.20063033e-01 -9.75466740e-01 -6.07456884e-03 5.43556640e+02] [ 9.75128064e-01 2.20146696e-01 -2.57039062e-02 -2.37809216e+02] [ 2.64106019e-02 -2.67002984e-04 9.99651144e-01 1.29216027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0627550959999 meters 0.02184316646617923 Centerline is valid? [True, True] Translation: X:543.57, Y:-237.75, Z:12.92 [[ 2.17321681e-01 -9.76078986e-01 -6.41093128e-03 5.43570476e+02] [ 9.75700842e-01 2.17415938e-01 -2.71694002e-02 -2.37754370e+02] [ 2.79133192e-02 -3.50651320e-04 9.99610286e-01 1.29219932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.122755096 meters 0.02320744499286296 Centerline is valid? [True, True] Translation: X:543.58, Y:-237.70, Z:12.92 [[ 2.13918765e-01 -9.76829302e-01 -6.57845444e-03 5.43583219e+02] [ 9.76430174e-01 2.14019420e-01 -2.79249584e-02 -2.37700028e+02] [ 2.86858346e-02 -4.49728790e-04 9.99588376e-01 1.29210781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1827550959999 meters 0.023968679409272983 Centerline is valid? [True, True] Translation: X:543.60, Y:-237.64, Z:12.92 [[ 2.11828726e-01 -9.77285963e-01 -6.38259877e-03 5.43596272e+02] [ 9.76909320e-01 2.11924300e-01 -2.71343402e-02 -2.37643974e+02] [ 2.78706376e-02 -4.87387500e-04 9.99611420e-01 1.29228147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.242755096 meters 0.025034332923031873 Centerline is valid? [True, True] Translation: X:543.61, Y:-237.59, Z:12.93 [[ 2.09807829e-01 -9.77724390e-01 -5.97424945e-03 5.43607989e+02] [ 9.77393566e-01 2.09892269e-01 -2.54372223e-02 -2.37589470e+02] [ 2.61245415e-02 -5.02264575e-04 9.99658570e-01 1.29252052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3027550959999 meters 0.02426188662134336 Centerline is valid? [True, True] Translation: X:543.62, Y:-237.53, Z:12.93 [[ 2.09228376e-01 -9.77851000e-01 -5.55951991e-03 5.43616927e+02] [ 9.77563636e-01 2.09301688e-01 -2.37095198e-02 -2.37532625e+02] [ 2.43479945e-02 -4.74080179e-04 9.99703431e-01 1.29291829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3627550959999 meters 0.024032464633255823 Centerline is valid? [True, True] Translation: X:543.63, Y:-237.48, Z:12.93 [[ 2.09888626e-01 -9.77710982e-01 -5.29148958e-03 5.43626361e+02] [ 9.77449822e-01 2.09954879e-01 -2.26007511e-02 -2.37476365e+02] [ 2.32079766e-02 -4.28524961e-04 9.99730567e-01 1.29306860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.422755096 meters 0.023362372263014995 Centerline is valid? [True, True] Translation: X:543.64, Y:-237.42, Z:12.93 [[ 2.12112538e-01 -9.77233274e-01 -4.83723307e-03 5.43635741e+02] [ 9.77014270e-01 2.12167419e-01 -2.06906225e-02 -2.37420386e+02] [ 2.12458681e-02 -3.37305288e-04 9.99774224e-01 1.29331237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4827550959999 meters 0.022485422248054766 Centerline is valid? [True, True] Translation: X:543.64, Y:-237.36, Z:12.93 [[ 2.13481473e-01 -9.76935590e-01 -4.74478545e-03 5.43643744e+02] [ 9.76724155e-01 2.13533991e-01 -2.03263210e-02 -2.37363867e+02] [ 2.08706794e-02 -2.95053610e-04 9.99782140e-01 1.29343646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.542755096 meters 0.021969222352705733 Centerline is valid? [True, True] Translation: X:543.65, Y:-237.31, Z:12.94 [[ 2.15566467e-01 -9.76478479e-01 -4.56932521e-03 5.43652672e+02] [ 9.76281682e-01 2.15614761e-01 -1.96049123e-02 -2.37306288e+02] [ 2.01289889e-02 -2.34786829e-04 9.99797364e-01 1.29355334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6027550959999 meters 0.02167005853988596 Centerline is valid? [True, True] Translation: X:543.66, Y:-237.25, Z:12.94 [[ 2.17085796e-01 -9.76142265e-01 -4.47610751e-03 5.43661440e+02] [ 9.75952800e-01 2.17131851e-01 -1.92325681e-02 -2.37250260e+02] [ 1.97456281e-02 -1.93352316e-04 9.99805017e-01 1.29364121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.662755096 meters 0.022086453169709495 Centerline is valid? [True, True] Translation: X:543.67, Y:-237.20, Z:12.94 [[ 2.15919825e-01 -9.76401028e-01 -4.43418959e-03 5.43673980e+02] [ 9.76214523e-01 2.15965251e-01 -1.90844470e-02 -2.37196528e+02] [ 1.95917046e-02 -2.08009806e-04 9.99808043e-01 1.29368446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7227550959999 meters 0.02225916175304625 Centerline is valid? [True, True] Translation: X:543.69, Y:-237.14, Z:12.94 [[ 2.14090058e-01 -9.76804800e-01 -4.22255821e-03 5.43687151e+02] [ 9.76635166e-01 2.14131576e-01 -1.82049718e-02 -2.37141784e+02] [ 1.86868869e-02 -2.26395357e-04 9.99825359e-01 1.29383091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.782755096 meters 0.022789265713283335 Centerline is valid? [True, True] Translation: X:543.70, Y:-237.09, Z:12.94 [[ 2.09544485e-01 -9.77791221e-01 -3.92890248e-03 5.43701188e+02] [ 9.77644060e-01 2.09581120e-01 -1.69660201e-02 -2.37085386e+02] [ 1.74126493e-02 -2.85932242e-04 9.99848347e-01 1.29403975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8427550959999 meters 0.02508800303108235 Centerline is valid? [True, True] Translation: X:543.72, Y:-237.03, Z:12.94 [[ 2.06049502e-01 -9.78533777e-01 -3.90503947e-03 5.43719808e+02] [ 9.78388101e-01 2.06086220e-01 -1.68876709e-02 -2.37031238e+02] [ 1.73299312e-02 -3.40947987e-04 9.99849767e-01 1.29410633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.902755096 meters 0.025847465788453646 Centerline is valid? [True, True] Translation: X:543.73, Y:-236.98, Z:12.94 [[ 2.00689182e-01 -9.79648145e-01 -3.65587013e-03 5.43734947e+02] [ 9.79520278e-01 2.00722072e-01 -1.58327202e-02 -2.36975949e+02] [ 1.62443088e-02 -4.03543273e-04 9.99867971e-01 1.29427234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9627550959999 meters 0.026960670728913456 Centerline is valid? [True, True] Translation: X:543.75, Y:-236.92, Z:12.94 [[ 1.96926097e-01 -9.80411209e-01 -3.73805759e-03 5.43750779e+02] [ 9.80277220e-01 1.96961009e-01 -1.62151908e-02 -2.36920550e+02] [ 1.66338064e-02 -4.71138467e-04 9.99861538e-01 1.29434549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.022755096 meters 0.027993382132188306 Centerline is valid? [True, True] Translation: X:543.77, Y:-236.86, Z:12.94 [[ 1.94594915e-01 -9.80876152e-01 -3.84632150e-03 5.43765093e+02] [ 9.80733927e-01 1.94632229e-01 -1.67110576e-02 -2.36864796e+02] [ 1.71400960e-02 -5.20331159e-04 9.99852962e-01 1.29432947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0827550959999 meters 0.02799513176304875 Centerline is valid? [True, True] Translation: X:543.78, Y:-236.81, Z:12.94 [[ 1.93173712e-01 -9.81157256e-01 -3.78902090e-03 5.43777515e+02] [ 9.81018850e-01 1.93210136e-01 -1.64881543e-02 -2.36808539e+02] [ 1.69095495e-02 -5.32022944e-04 9.99856882e-01 1.29440777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.142755096 meters 0.030568922882866976 Centerline is valid? [True, True] Translation: X:543.80, Y:-236.76, Z:12.95 [[ 1.91729469e-01 -9.81441336e-01 -3.56589067e-03 5.43795373e+02] [ 9.81318446e-01 1.91761921e-01 -1.55394335e-02 -2.36755358e+02] [ 1.59348444e-02 -5.19906953e-04 9.99872897e-01 1.29466588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2027550959999 meters 0.029137675141052838 Centerline is valid? [True, True] Translation: X:543.81, Y:-236.70, Z:12.95 [[ 1.91653326e-01 -9.81456422e-01 -3.50634934e-03 5.43805542e+02] [ 9.81337203e-01 1.91684726e-01 -1.53055736e-02 -2.36698772e+02] [ 1.56938671e-02 -5.07546981e-04 9.99876715e-01 1.29473976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.262755096 meters 0.028611701041934515 Centerline is valid? [True, True] Translation: X:543.82, Y:-236.64, Z:12.95 [[ 1.93163394e-01 -9.81159934e-01 -3.61770051e-03 5.43817962e+02] [ 9.81032546e-01 1.93196638e-01 -1.58177877e-02 -2.36642621e+02] [ 1.62187071e-02 -4.93664380e-04 9.99868346e-01 1.29468533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3227550959999 meters 0.02687510489243586 Centerline is valid? [True, True] Translation: X:543.83, Y:-236.59, Z:12.95 [[ 1.95525794e-01 -9.80691525e-01 -3.71434117e-03 5.43828530e+02] [ 9.80556715e-01 1.95560527e-01 -1.62668327e-02 -2.36586497e+02] [ 1.66791235e-02 -4.61536787e-04 9.99860787e-01 1.29477398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.382755096 meters 0.024886295908005396 Centerline is valid? [True, True] Translation: X:543.84, Y:-236.53, Z:12.95 [[ 2.00022181e-01 -9.79785501e-01 -3.39102462e-03 5.43838273e+02] [ 9.79672674e-01 2.00050622e-01 -1.48727815e-02 -2.36529587e+02] [ 1.52505123e-02 -3.47207955e-04 9.99883644e-01 1.29495896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4427550959999 meters 0.024857399664127866 Centerline is valid? [True, True] Translation: X:543.85, Y:-236.48, Z:12.95 [[ 2.01042213e-01 -9.79576775e-01 -3.37188099e-03 5.43850935e+02] [ 9.79464850e-01 2.01070225e-01 -1.48112348e-02 -2.36475052e+02] [ 1.51867265e-02 -3.24955476e-04 9.99884622e-01 1.29503850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.502755096 meters 0.023277090148864175 Centerline is valid? [True, True] Translation: X:543.86, Y:-236.42, Z:12.95 [[ 2.04659110e-01 -9.78827333e-01 -3.42066143e-03 5.43862517e+02] [ 9.78711637e-01 2.04687519e-01 -1.50516251e-02 -2.36419122e+02] [ 1.54331088e-02 -2.67388944e-04 9.99880867e-01 1.29510160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5627550959999 meters 0.022442386280644287 Centerline is valid? [True, True] Translation: X:543.87, Y:-236.36, Z:12.95 [[ 2.07708827e-01 -9.78185237e-01 -3.26889712e-03 5.43874304e+02] [ 9.78079174e-01 2.07734447e-01 -1.44058818e-02 -2.36364197e+02] [ 1.47706835e-02 -2.05011380e-04 9.99890886e-01 1.29525962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.622755096 meters 0.021995796058187682 Centerline is valid? [True, True] Translation: X:543.89, Y:-236.31, Z:12.95 [[ 2.08908745e-01 -9.77929691e-01 -3.26421425e-03 5.43887456e+02] [ 9.77823545e-01 2.08934166e-01 -1.44093411e-02 -2.36309529e+02] [ 1.47733284e-02 -1.81588184e-04 9.99890852e-01 1.29538527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6827550959999 meters 0.021972395635947214 Centerline is valid? [True, True] Translation: X:543.90, Y:-236.26, Z:12.96 [[ 2.08606728e-01 -9.77994154e-01 -3.26628643e-03 5.43902656e+02] [ 9.77887504e-01 2.08632219e-01 -1.44439466e-02 -2.36255992e+02] [ 1.48075479e-02 -1.80956249e-04 9.99890346e-01 1.29551417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.742755096 meters 0.02204676222062705 Centerline is valid? [True, True] Translation: X:543.92, Y:-236.20, Z:12.96 [[ 2.07111117e-01 -9.78312350e-01 -3.15122018e-03 5.43920052e+02] [ 9.78212760e-01 2.07135001e-01 -1.39602086e-02 -2.36201310e+02] [ 1.43101725e-02 -1.91249397e-04 9.99897586e-01 1.29570757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8027550959999 meters 0.022470945645505957 Centerline is valid? [True, True] Translation: X:543.94, Y:-236.15, Z:12.96 [[ 2.05249656e-01 -9.78703629e-01 -3.43294699e-03 5.43936450e+02] [ 9.78585073e-01 2.05278232e-01 -1.52349157e-02 -2.36148656e+02] [ 1.56151766e-02 -2.32469472e-04 9.99878049e-01 1.29561241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8627550959999 meters 0.022645404646169428 Centerline is valid? [True, True] Translation: X:543.95, Y:-236.09, Z:12.96 [[ 2.03778431e-01 -9.79010681e-01 -3.52680755e-03 5.43952467e+02] [ 9.78885109e-01 2.03808786e-01 -1.56818828e-02 -2.36094691e+02] [ 1.60715251e-02 -2.56709922e-04 9.99870812e-01 1.29578294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.922755096 meters 0.023574393756350485 Centerline is valid? [True, True] Translation: X:543.97, Y:-236.04, Z:12.96 [[ 2.02008947e-01 -9.79377360e-01 -3.51752451e-03 5.43970077e+02] [ 9.79252055e-01 2.02039376e-01 -1.56685328e-02 -2.36041410e+02] [ 1.60560847e-02 -2.79359304e-04 9.99871054e-01 1.29589392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9827550959999 meters 0.023947718005343694 Centerline is valid? [True, True] Translation: X:543.99, Y:-235.99, Z:12.96 [[ 2.00799613e-01 -9.79626182e-01 -3.47266406e-03 5.43987186e+02] [ 9.79503688e-01 2.00829429e-01 -1.54940405e-02 -2.35987144e+02] [ 1.58757809e-02 -2.90289925e-04 9.99873930e-01 1.29607911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.042755096 meters 0.02398228977983615 Centerline is valid? [True, True] Translation: X:544.00, Y:-235.93, Z:12.96 [[ 2.00553533e-01 -9.79676515e-01 -3.49374794e-03 5.44001967e+02] [ 9.79552106e-01 2.00583751e-01 -1.56150366e-02 -2.35932145e+02] [ 1.59984737e-02 -2.90657404e-04 9.99871974e-01 1.29621063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1027550959999 meters 0.02295728290488948 Centerline is valid? [True, True] Translation: X:544.01, Y:-235.88, Z:12.96 [[ 2.01329823e-01 -9.79517326e-01 -3.47994910e-03 5.44012723e+02] [ 9.79393455e-01 2.01359713e-01 -1.55796906e-02 -2.35876518e+02] [ 1.59612984e-02 -2.71583018e-04 9.99872573e-01 1.29628762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.162755096 meters 0.021912261413086186 Centerline is valid? [True, True] Translation: X:544.02, Y:-235.82, Z:12.96 [[ 2.03471478e-01 -9.79073811e-01 -3.71903885e-03 5.44023841e+02] [ 9.78931711e-01 2.03505314e-01 -1.66821112e-02 -2.35819872e+02] [ 1.70898624e-02 -2.46351238e-04 9.99853927e-01 1.29631121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2227550959999 meters 0.02145972532134253 Centerline is valid? [True, True] Translation: X:544.03, Y:-235.77, Z:12.96 [[ 2.05030389e-01 -9.78748980e-01 -3.60190255e-03 5.44033581e+02] [ 9.78615242e-01 2.05061920e-01 -1.61807541e-02 -2.35765053e+02] [ 1.65755096e-02 -2.07330434e-04 9.99862595e-01 1.29645012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.282755096 meters 0.020993032057916975 Centerline is valid? [True, True] Translation: X:544.04, Y:-235.71, Z:12.97 [[ 2.06539046e-01 -9.78431812e-01 -3.57941039e-03 5.44042177e+02] [ 9.78299189e-01 2.06569987e-01 -1.61101388e-02 -2.35708529e+02] [ 1.65020711e-02 -1.74361575e-04 9.99863816e-01 1.29660405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3427550959999 meters 0.021360894884499472 Centerline is valid? [True, True] Translation: X:544.05, Y:-235.65, Z:12.97 [[ 2.04675922e-01 -9.78823147e-01 -3.60753412e-03 5.44053884e+02] [ 9.78688043e-01 2.04707612e-01 -1.62636833e-02 -2.35653175e+02] [ 1.66577593e-02 -2.01866142e-04 9.99861230e-01 1.29670528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.402755096 meters 0.023093360238319694 Centerline is valid? [True, True] Translation: X:544.07, Y:-235.60, Z:12.97 [[ 2.00741738e-01 -9.79637461e-01 -3.63307971e-03 5.44068012e+02] [ 9.79500065e-01 2.00774437e-01 -1.64087961e-02 -2.35598452e+02] [ 1.68041009e-02 -2.64671563e-04 9.99858766e-01 1.29673514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4627550959999 meters 0.02369153397727592 Centerline is valid? [True, True] Translation: X:544.08, Y:-235.54, Z:12.97 [[ 1.97319788e-01 -9.80332187e-01 -3.70196133e-03 5.44080154e+02] [ 9.80189155e-01 1.97354246e-01 -1.67487833e-02 -2.35542212e+02] [ 1.71499692e-02 -3.23755978e-04 9.99852876e-01 1.29678823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.522755096 meters 0.024817709409388048 Centerline is valid? [True, True] Translation: X:544.09, Y:-235.49, Z:12.97 [[ 1.91654885e-01 -9.81454500e-01 -3.93319865e-03 5.44093071e+02] [ 9.81292710e-01 1.91694727e-01 -1.78254965e-02 -2.35486735e+02] [ 1.82488872e-02 -4.43275698e-04 9.99833377e-01 1.29671254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5827550959999 meters 0.026392760466377382 Centerline is valid? [True, True] Translation: X:544.11, Y:-235.43, Z:12.97 [[ 1.87099878e-01 -9.82333148e-01 -3.90164524e-03 5.44106278e+02] [ 9.82173565e-01 1.87139838e-01 -1.77135503e-02 -2.35430011e+02] [ 1.81307609e-02 -5.17889713e-04 9.99835490e-01 1.29682840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.642755096 meters 0.02764532621806528 Centerline is valid? [True, True] Translation: X:544.12, Y:-235.37, Z:12.97 [[ 1.84739023e-01 -9.82779501e-01 -3.99330399e-03 5.44119148e+02] [ 9.82611908e-01 1.84781300e-01 -1.81578820e-02 -2.35373965e+02] [ 1.85830821e-02 -5.69398665e-04 9.99827157e-01 1.29687256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7027550959999 meters 0.028062266376920882 Centerline is valid? [True, True] Translation: X:544.13, Y:-235.32, Z:12.97 [[ 1.83136289e-01 -9.83078902e-01 -4.11985782e-03 5.44130400e+02] [ 9.82899973e-01 1.83181598e-01 -1.87655287e-02 -2.35317819e+02] [ 1.92026775e-02 -6.12758849e-04 9.99815424e-01 1.29692373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.762755096 meters 0.02869795648628773 Centerline is valid? [True, True] Translation: X:544.14, Y:-235.26, Z:12.97 [[ 1.82495924e-01 -9.83197932e-01 -4.13081975e-03 5.44142319e+02] [ 9.83017471e-01 1.82541612e-01 -1.88470425e-02 -2.35261482e+02] [ 1.92844197e-02 -6.21159556e-04 9.99813845e-01 1.29703823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8227550959999 meters 0.029075306422711333 Centerline is valid? [True, True] Translation: X:544.15, Y:-235.21, Z:12.97 [[ 1.82138588e-01 -9.83264503e-01 -4.05614512e-03 5.44153363e+02] [ 9.83089949e-01 1.82182721e-01 -1.85366652e-02 -2.35206124e+02] [ 1.89654044e-02 -6.11313479e-04 9.99819954e-01 1.29715879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.882755096 meters 0.028921357599290137 Centerline is valid? [True, True] Translation: X:544.16, Y:-235.15, Z:12.97 [[ 1.82963951e-01 -9.83112277e-01 -3.80031794e-03 5.44163248e+02] [ 9.82958493e-01 1.83002581e-01 -1.73970484e-02 -2.35151033e+02] [ 1.77987199e-02 -5.52522077e-04 9.99841438e-01 1.29739034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9427550959999 meters 0.02804146954788472 Centerline is valid? [True, True] Translation: X:544.17, Y:-235.09, Z:12.98 [[ 1.85213311e-01 -9.82691880e-01 -3.56338607e-03 5.44172760e+02] [ 9.82556164e-01 1.85246977e-01 -1.63383681e-02 -2.35094698e+02] [ 1.67156882e-02 -4.75143702e-04 9.99860170e-01 1.29766740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.002755096 meters 0.026792709763209594 Centerline is valid? [True, True] Translation: X:544.18, Y:-235.04, Z:12.98 [[ 1.87810850e-01 -9.82198851e-01 -3.53580526e-03 5.44181345e+02] [ 9.82064717e-01 1.87843654e-01 -1.62374154e-02 -2.35037610e+02] [ 1.66125494e-02 -4.22826805e-04 9.99861913e-01 1.29779249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0627550959999 meters 0.024124852318183492 Centerline is valid? [True, True] Translation: X:544.19, Y:-234.98, Z:12.98 [[ 1.93013783e-01 -9.81189913e-01 -3.46911989e-03 5.44187109e+02] [ 9.81060241e-01 1.93044685e-01 -1.59547016e-02 -2.34979814e+02] [ 1.63242874e-02 -3.23938284e-04 9.99866697e-01 1.29784744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.122755096 meters 0.02275295086258168 Centerline is valid? [True, True] Translation: X:544.20, Y:-234.92, Z:12.98 [[ 1.96816050e-01 -9.80433974e-01 -3.55871785e-03 5.44195387e+02] [ 9.80297074e-01 1.96848044e-01 -1.63857757e-02 -2.34923786e+02] [ 1.67656978e-02 -2.63617051e-04 9.99859411e-01 1.29787231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1827550959999 meters 0.021229033601259488 Centerline is valid? [True, True] Translation: X:544.20, Y:-234.87, Z:12.98 [[ 1.97060791e-01 -9.80384604e-01 -3.61555438e-03 5.44203967e+02] [ 9.80242813e-01 1.97093787e-01 -1.66753523e-02 -2.34867070e+02] [ 1.70608620e-02 -2.58063075e-04 9.99854420e-01 1.29789839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.242755096 meters 0.021457667047897633 Centerline is valid? [True, True] Translation: X:544.22, Y:-234.81, Z:12.98 [[ 1.96602945e-01 -9.80476636e-01 -3.58459646e-03 5.44216964e+02] [ 9.80336796e-01 1.96635451e-01 -1.65609936e-02 -2.34810848e+02] [ 1.69425260e-02 -2.58171694e-04 9.99856432e-01 1.29801581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3027550959999 meters 0.021694797487306034 Centerline is valid? [True, True] Translation: X:544.23, Y:-234.75, Z:12.98 [[ 1.95943955e-01 -9.80607898e-01 -3.75731766e-03 5.44229750e+02] [ 9.80453728e-01 1.95979781e-01 -1.73900093e-02 -2.34754655e+02] [ 1.77891388e-02 -2.76408896e-04 9.99841723e-01 1.29811018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3627550959999 meters 0.021713388037817125 Centerline is valid? [True, True] Translation: X:544.24, Y:-234.70, Z:12.98 [[ 1.95587346e-01 -9.80679091e-01 -3.75649319e-03 5.44241596e+02] [ 9.80524476e-01 1.95623220e-01 -1.74157272e-02 -2.34699595e+02] [ 1.78140968e-02 -2.77037665e-04 9.99841278e-01 1.29817265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.422755096 meters 0.021738450779754753 Centerline is valid? [True, True] Translation: X:544.25, Y:-234.64, Z:12.98 [[ 1.95142097e-01 -9.80767518e-01 -3.82579396e-03 5.44254980e+02] [ 9.80606547e-01 1.95179390e-01 -1.77709212e-02 -2.34644595e+02] [ 1.81758584e-02 -2.83743774e-04 9.99834765e-01 1.29827725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4827550959999 meters 0.022037496430490876 Centerline is valid? [True, True] Translation: X:544.27, Y:-234.59, Z:12.98 [[ 1.94535813e-01 -9.80888102e-01 -3.78792688e-03 5.44268363e+02] [ 9.80729735e-01 1.94572478e-01 -1.76277594e-02 -2.34590848e+02] [ 1.80278858e-02 -2.85702030e-04 9.99837444e-01 1.29836875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.542755096 meters 0.022367596038489472 Centerline is valid? [True, True] Translation: X:544.28, Y:-234.54, Z:12.98 [[ 1.93821121e-01 -9.81028524e-01 -4.05076054e-03 5.44282936e+02] [ 9.80846701e-01 1.93863194e-01 -1.88894266e-02 -2.34536566e+02] [ 1.93163596e-02 -3.12005291e-04 9.99813373e-01 1.29840332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6027550959999 meters 0.021714591191217977 Centerline is valid? [True, True] Translation: X:544.29, Y:-234.48, Z:12.98 [[ 1.93919301e-01 -9.81008897e-01 -4.10466707e-03 5.44293587e+02] [ 9.80821517e-01 1.93962494e-01 -1.91756024e-02 -2.34481350e+02] [ 1.96075880e-02 -3.07426377e-04 9.99807706e-01 1.29849724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.662755096 meters 0.02128443742399208 Centerline is valid? [True, True] Translation: X:544.31, Y:-234.42, Z:12.99 [[ 1.93608751e-01 -9.81070800e-01 -3.96699735e-03 5.44305650e+02] [ 9.80895160e-01 1.93649161e-01 -1.85657721e-02 -2.34424932e+02] [ 1.89825426e-02 -2.96712553e-04 9.99819771e-01 1.29868978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7227550959999 meters 0.021650245074406292 Centerline is valid? [True, True] Translation: X:544.32, Y:-234.37, Z:12.99 [[ 1.92203998e-01 -9.81348011e-01 -3.70202617e-03 5.44320304e+02] [ 9.81194603e-01 1.92239418e-01 -1.73538986e-02 -2.34369177e+02] [ 1.77418893e-02 -2.96919393e-04 9.99842556e-01 1.29893406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.782755096 meters 0.022194522487798848 Centerline is valid? [True, True] Translation: X:544.33, Y:-234.31, Z:12.99 [[ 1.90489314e-01 -9.81682030e-01 -3.76992786e-03 5.44334730e+02] [ 9.81522442e-01 1.90526333e-01 -1.77034612e-02 -2.34313830e+02] [ 1.80974403e-02 -3.27948620e-04 9.99836174e-01 1.29896678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8427550959999 meters 0.02385824878754648 Centerline is valid? [True, True] Translation: X:544.35, Y:-234.26, Z:12.99 [[ 1.87190582e-01 -9.82315522e-01 -3.98763063e-03 5.44352838e+02] [ 9.82136469e-01 1.87232613e-01 -1.87591219e-02 -2.34259907e+02] [ 1.91739912e-02 -4.04866516e-04 9.99816080e-01 1.29898901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.902755096 meters 0.024511386611850393 Centerline is valid? [True, True] Translation: X:544.37, Y:-234.20, Z:12.99 [[ 1.82797566e-01 -9.83142510e-01 -3.98174872e-03 5.44368129e+02] [ 9.82963684e-01 1.82840283e-01 -1.87570412e-02 -2.34204602e+02] [ 1.91688686e-02 -4.85172910e-04 9.99816143e-01 1.29909728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9627550959999 meters 0.026706227873959577 Centerline is valid? [True, True] Translation: X:544.38, Y:-234.15, Z:12.99 [[ 1.80526374e-01 -9.83561359e-01 -4.15701481e-03 5.44384515e+02] [ 9.83365839e-01 1.80573404e-01 -1.96181640e-02 -2.34151044e+02] [ 2.00463144e-02 -5.46270337e-04 9.99798903e-01 1.29913250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.022755096 meters 0.025590591080182416 Centerline is valid? [True, True] Translation: X:544.40, Y:-234.09, Z:12.99 [[ 1.78229298e-01 -9.83979899e-01 -4.22810245e-03 5.44396883e+02] [ 9.83777044e-01 1.78278442e-01 -1.99881354e-02 -2.34094565e+02] [ 2.04217029e-02 -5.97038795e-04 9.99791277e-01 1.29927615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0827550959999 meters 0.02495418030376196 Centerline is valid? [True, True] Translation: X:544.41, Y:-234.04, Z:12.99 [[ 1.80450606e-01 -9.83574913e-01 -4.23906851e-03 5.44406517e+02] [ 9.83370245e-01 1.80499562e-01 -2.00716045e-02 -2.34036826e+02] [ 2.05070767e-02 -5.46640649e-04 9.99789558e-01 1.29938840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.142755096 meters 0.024277323420837302 Centerline is valid? [True, True] Translation: X:544.42, Y:-233.98, Z:12.99 [[ 1.82469196e-01 -9.83202468e-01 -4.23077330e-03 5.44416189e+02] [ 9.82997878e-01 1.82517558e-01 -2.00627258e-02 -2.33979987e+02] [ 2.04979119e-02 -4.98011722e-04 9.99789772e-01 1.29945330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2027550959999 meters 0.023010507554046468 Centerline is valid? [True, True] Translation: X:544.42, Y:-233.92, Z:12.99 [[ 1.86030009e-01 -9.82534551e-01 -4.32344238e-03 5.44424054e+02] [ 9.82319948e-01 1.86079754e-01 -2.05388435e-02 -2.33922950e+02] [ 2.09846285e-02 -4.26162461e-04 9.99779708e-01 1.29946568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.262755096 meters 0.022115201663572056 Centerline is valid? [True, True] Translation: X:544.43, Y:-233.87, Z:13.00 [[ 1.88551639e-01 -9.82053496e-01 -4.38288187e-03 5.44431616e+02] [ 9.81832041e-01 1.88602208e-01 -2.08578769e-02 -2.33865698e+02] [ 2.13101722e-02 -3.70466963e-04 9.99772844e-01 1.29958883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3227550959999 meters 0.021669166267587383 Centerline is valid? [True, True] Translation: X:544.44, Y:-233.81, Z:13.00 [[ 1.89468368e-01 -9.81876530e-01 -4.49631448e-03 5.44439868e+02] [ 9.81642574e-01 1.89521384e-01 -2.14359799e-02 -2.33808514e+02] [ 2.18996333e-02 -3.52333598e-04 9.99760112e-01 1.29956616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.382755096 meters 0.021584090256561616 Centerline is valid? [True, True] Translation: X:544.45, Y:-233.75, Z:13.00 [[ 1.90343606e-01 -9.81706462e-01 -4.66190291e-03 5.44449754e+02] [ 9.81453973e-01 1.90400388e-01 -2.22663764e-02 -2.33752920e+02] [ 2.27466738e-02 -3.37180754e-04 9.99741204e-01 1.29958668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4427550959999 meters 0.02167193961912629 Centerline is valid? [True, True] Translation: X:544.46, Y:-233.70, Z:13.00 [[ 1.90846489e-01 -9.81608636e-01 -4.70139867e-03 5.44460291e+02] [ 9.81350811e-01 1.90904121e-01 -2.24989397e-02 -2.33698328e+02] [ 2.29826699e-02 -3.19877741e-04 9.99735812e-01 1.29964440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.502755096 meters 0.02142238181894046 Centerline is valid? [True, True] Translation: X:544.47, Y:-233.64, Z:13.00 [[ 1.89577711e-01 -9.81854522e-01 -4.68923428e-03 5.44469502e+02] [ 9.81597106e-01 1.89635391e-01 -2.24842378e-02 -2.33641674e+02] [ 2.29654953e-02 -3.40428469e-04 9.99736200e-01 1.29973131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5627550959999 meters 0.021853960506515654 Centerline is valid? [True, True] Translation: X:544.48, Y:-233.59, Z:13.00 [[ 1.88581122e-01 -9.82045829e-01 -4.81140850e-03 5.44482906e+02] [ 9.81773883e-01 1.88642137e-01 -2.31124958e-02 -2.33586894e+02] [ 2.36051644e-02 -3.65134816e-04 9.99721293e-01 1.29975426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.622755096 meters 0.021942997046409837 Centerline is valid? [True, True] Translation: X:544.50, Y:-233.53, Z:13.00 [[ 1.87356607e-01 -9.82277240e-01 -5.37824811e-03 5.44495572e+02] [ 9.81936155e-01 1.87433290e-01 -2.58872282e-02 -2.33531517e+02] [ 2.64364978e-02 -4.30953027e-04 9.99650402e-01 1.29970046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6827550959999 meters 0.02219774334690907 Centerline is valid? [True, True] Translation: X:544.51, Y:-233.48, Z:13.00 [[ 1.87150350e-01 -9.82314149e-01 -5.80166505e-03 5.44506286e+02] [ 9.81915724e-01 1.87239688e-01 -2.79787505e-02 -2.33475350e+02] [ 2.85702244e-02 -4.60513201e-04 9.99591682e-01 1.29962133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.742755096 meters 0.021988378478367872 Centerline is valid? [True, True] Translation: X:544.52, Y:-233.42, Z:13.00 [[ 1.86765709e-01 -9.82386336e-01 -5.97130633e-03 5.44515760e+02] [ 9.81962773e-01 1.86860538e-01 -2.88487703e-02 -2.33418931e+02] [ 2.94564393e-02 -4.75639471e-04 9.99565952e-01 1.29981285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8027550959999 meters 0.02240830444254338 Centerline is valid? [True, True] Translation: X:544.53, Y:-233.36, Z:13.00 [[ 1.85859146e-01 -9.82557848e-01 -6.03757738e-03 5.44527260e+02] [ 9.82123346e-01 1.85956516e-01 -2.92216967e-02 -2.33362527e+02] [ 2.98347343e-02 -4.98526098e-04 9.99554721e-01 1.29997170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8627550959999 meters 0.022881978626513838 Centerline is valid? [True, True] Translation: X:544.54, Y:-233.31, Z:13.00 [[ 1.85117974e-01 -9.82695920e-01 -6.32967170e-03 5.44537645e+02] [ 9.82216669e-01 1.85225382e-01 -3.06915878e-02 -2.33306632e+02] [ 3.13329139e-02 -5.35544502e-04 9.99508860e-01 1.30004529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.922755096 meters 0.02336984471583641 Centerline is valid? [True, True] Translation: X:544.55, Y:-233.25, Z:13.00 [[ 1.83698268e-01 -9.82958717e-01 -6.86343046e-03 5.44547176e+02] [ 9.82393291e-01 1.83825402e-01 -3.33413285e-02 -2.33250113e+02] [ 3.40348224e-02 -6.17843754e-04 9.99420457e-01 1.29993851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9827550959999 meters 0.023844062467800853 Centerline is valid? [True, True] Translation: X:544.56, Y:-233.19, Z:13.00 [[ 1.81928740e-01 -9.83285853e-01 -7.13199491e-03 5.44558020e+02] [ 9.82673427e-01 1.82067157e-01 -3.47057049e-02 -2.33193018e+02] [ 3.54241307e-02 -6.94456706e-04 9.99372127e-01 1.29997554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.042755096 meters 0.025423060292545235 Centerline is valid? [True, True] Translation: X:544.57, Y:-233.14, Z:13.00 [[ 1.78748444e-01 -9.83867612e-01 -7.31549955e-03 5.44570439e+02] [ 9.83221773e-01 1.78896200e-01 -3.56524053e-02 -2.33137652e+02] [ 3.63859620e-02 -8.19946473e-04 9.99337475e-01 1.30007988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1027550959999 meters 0.02716633153819076 Centerline is valid? [True, True] Translation: X:544.58, Y:-233.08, Z:13.00 [[ 1.73124905e-01 -9.84873493e-01 -7.20897515e-03 5.44582882e+02] [ 9.84245086e-01 1.73272030e-01 -3.51911048e-02 -2.33082289e+02] [ 3.59079001e-02 -1.00294170e-03 9.99354600e-01 1.30035938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.162755096 meters 0.02780642877224709 Centerline is valid? [True, True] Translation: X:544.59, Y:-233.03, Z:13.01 [[ 1.69359073e-01 -9.85529278e-01 -7.03887732e-03 5.44592869e+02] [ 9.84928616e-01 1.69501694e-01 -3.44208766e-02 -2.33025096e+02] [ 3.51158833e-02 -1.10330395e-03 9.99382638e-01 1.30062994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2227550959999 meters 0.029614356109902835 Centerline is valid? [True, True] Translation: X:544.61, Y:-232.97, Z:13.01 [[ 1.67017119e-01 -9.85928242e-01 -7.12618822e-03 5.44606764e+02] [ 9.85311074e-01 1.67164824e-01 -3.48999933e-02 -2.32970213e+02] [ 3.56001371e-02 -1.19261581e-03 9.99365403e-01 1.30073739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.282755096 meters 0.030124122445208627 Centerline is valid? [True, True] Translation: X:544.62, Y:-232.91, Z:13.01 [[ 1.65271609e-01 -9.86222401e-01 -7.11834453e-03 5.44617423e+02] [ 9.85605005e-01 1.65420144e-01 -3.49134685e-02 -2.32912931e+02] [ 3.56099623e-02 -1.24567088e-03 9.99364988e-01 1.30083139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3427550959999 meters 0.029103260618678666 Centerline is valid? [True, True] Translation: X:544.63, Y:-232.86, Z:13.01 [[ 1.66019264e-01 -9.86096884e-01 -7.10903650e-03 5.44626511e+02] [ 9.85479196e-01 1.66167005e-01 -3.49181936e-02 -2.32855936e+02] [ 3.56140092e-02 -1.20871476e-03 9.99364889e-01 1.30105078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.402755096 meters 0.027818095052768037 Centerline is valid? [True, True] Translation: X:544.63, Y:-232.80, Z:13.01 [[ 1.67469742e-01 -9.85851127e-01 -7.17222236e-03 5.44633767e+02] [ 9.85220326e-01 1.67619255e-01 -3.52802319e-02 -2.32798351e+02] [ 3.59832590e-02 -1.15784791e-03 9.99351722e-01 1.30114411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4627550959999 meters 0.02718663719445933 Centerline is valid? [True, True] Translation: X:544.64, Y:-232.74, Z:13.01 [[ 1.70913177e-01 -9.85261088e-01 -7.01957877e-03 5.44643736e+02] [ 9.84654262e-01 1.71054343e-01 -3.45889679e-02 -2.32742827e+02] [ 3.52798935e-02 -1.00014777e-03 9.99376970e-01 1.30114980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.522755096 meters 0.024831090904566998 Centerline is valid? [True, True] Translation: X:544.65, Y:-232.69, Z:13.01 [[ 1.74680199e-01 -9.84601107e-01 -6.89115950e-03 5.44650767e+02] [ 9.84013640e-01 1.74814063e-01 -3.40176460e-02 -2.32685620e+02] [ 3.46984835e-02 -8.38785764e-04 9.99397474e-01 1.30127610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5827550959999 meters 0.023748954776289046 Centerline is valid? [True, True] Translation: X:544.66, Y:-232.63, Z:13.01 [[ 1.76893993e-01 -9.84206916e-01 -6.72770590e-03 5.44660235e+02] [ 9.83644699e-01 1.77020367e-01 -3.32700508e-02 -2.32628852e+02] [ 3.39355551e-02 -7.32400112e-04 9.99423755e-01 1.30142012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.642755096 meters 0.021855754944071337 Centerline is valid? [True, True] Translation: X:544.67, Y:-232.57, Z:13.02 [[ 1.80614627e-01 -9.83533279e-01 -6.37537793e-03 5.44669042e+02] [ 9.83026209e-01 1.80726236e-01 -3.15832224e-02 -2.32572286e+02] [ 3.22153483e-02 -5.62771659e-04 9.99480793e-01 1.30164146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7027550959999 meters 0.02062724344981547 Centerline is valid? [True, True] Translation: X:544.68, Y:-232.52, Z:13.02 [[ 1.84097986e-01 -9.82889246e-01 -6.05487154e-03 5.44680153e+02] [ 9.82429884e-01 1.84197059e-01 -3.00494075e-02 -2.32517327e+02] [ 3.06505290e-02 -4.16451337e-04 9.99530075e-01 1.30185067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.762755096 meters 0.0198966784130671 Centerline is valid? [True, True] Translation: X:544.69, Y:-232.46, Z:13.02 [[ 1.85480813e-01 -9.82629421e-01 -6.02397292e-03 5.44689532e+02] [ 9.82172901e-01 1.85578258e-01 -2.99516784e-02 -2.32460627e+02] [ 3.05493188e-02 -3.61121312e-04 9.99533195e-01 1.30196787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8227550959999 meters 0.019563267273505748 Centerline is valid? [True, True] Translation: X:544.70, Y:-232.41, Z:13.02 [[ 1.85781357e-01 -9.82572719e-01 -6.01153218e-03 5.44700527e+02] [ 9.82116274e-01 1.85878281e-01 -2.99481073e-02 -2.32405876e+02] [ 3.05436065e-02 -3.40223566e-04 9.99533377e-01 1.30189751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.882755096 meters 0.01998024168262473 Centerline is valid? [True, True] Translation: X:544.71, Y:-232.35, Z:13.02 [[ 1.83638418e-01 -9.82976933e-01 -5.76887180e-03 5.44714500e+02] [ 9.82555074e-01 1.83728616e-01 -2.87979429e-02 -2.32352028e+02] [ 2.93676204e-02 -3.79825583e-04 9.99568606e-01 1.30201100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9427550959999 meters 0.020938105214708375 Centerline is valid? [True, True] Translation: X:544.73, Y:-232.30, Z:13.02 [[ 1.80346990e-01 -9.83587641e-01 -5.50589016e-03 5.44730426e+02] [ 9.83202197e-01 1.80430462e-01 -2.75370455e-02 -2.32296944e+02] [ 2.80785279e-02 -4.47180037e-04 9.99605620e-01 1.30218104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.002755096 meters 0.020838996227813187 Centerline is valid? [True, True] Translation: X:544.74, Y:-232.24, Z:13.02 [[ 1.77589798e-01 -9.84089838e-01 -5.39027681e-03 5.44743659e+02] [ 9.83719334e-01 1.77670861e-01 -2.70062290e-02 -2.32241554e+02] [ 2.75342506e-02 -5.06488772e-04 9.99620732e-01 1.30242134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0627550959999 meters 0.02159151139979892 Centerline is valid? [True, True] Translation: X:544.76, Y:-232.19, Z:13.02 [[ 1.76442296e-01 -9.84296614e-01 -5.31891989e-03 5.44756480e+02] [ 9.83934665e-01 1.76521673e-01 -2.66959553e-02 -2.32187236e+02] [ 2.72156431e-02 -5.23174003e-04 9.99629449e-01 1.30241413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.122755096 meters 0.021031100337037905 Centerline is valid? [True, True] Translation: X:544.77, Y:-232.13, Z:13.02 [[ 1.76244746e-01 -9.84331901e-01 -5.33840368e-03 5.44766348e+02] [ 9.83966030e-01 1.76324803e-01 -2.68405505e-02 -2.32130609e+02] [ 2.73613031e-02 -5.22301872e-04 9.99625473e-01 1.30247033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1827550959999 meters 0.020232990154181254 Centerline is valid? [True, True] Translation: X:544.78, Y:-232.07, Z:13.03 [[ 1.76692475e-01 -9.84253585e-01 -4.96488826e-03 5.44776480e+02] [ 9.83935980e-01 1.76761600e-01 -2.50064716e-02 -2.32074161e+02] [ 2.54903109e-02 -4.66676843e-04 9.99674960e-01 1.30276978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.242755096 meters 0.019541584648375895 Centerline is valid? [True, True] Translation: X:544.79, Y:-232.02, Z:13.03 [[ 1.78426362e-01 -9.83941291e-01 -4.85486519e-03 5.44787531e+02] [ 9.83636405e-01 1.78491940e-01 -2.44959270e-02 -2.32017362e+02] [ 2.49691083e-02 -4.04703009e-04 9.99688141e-01 1.30297177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3027550959999 meters 0.017920453729918618 Centerline is valid? [True, True] Translation: X:544.79, Y:-231.96, Z:13.03 [[ 1.85689490e-01 -9.82596948e-01 -4.75922766e-03 5.44793703e+02] [ 9.82302573e-01 1.85750352e-01 -2.40512372e-02 -2.31961558e+02] [ 2.45167005e-02 -2.08939587e-04 9.99699399e-01 1.30294147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3627550959999 meters 0.016839023525398428 Centerline is valid? [True, True] Translation: X:544.80, Y:-231.90, Z:13.03 [[ 1.89847294e-01 -9.81802927e-01 -4.58456748e-03 5.44800092e+02] [ 9.81528701e-01 1.89902618e-01 -2.32035564e-02 -2.31904471e+02] [ 2.36519410e-02 -9.47521698e-05 9.99720249e-01 1.30317917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.422755096 meters 0.01725551215049478 Centerline is valid? [True, True] Translation: X:544.81, Y:-231.85, Z:13.03 [[ 1.93430245e-01 -9.81103944e-01 -4.44868476e-03 5.44807865e+02] [ 9.80844613e-01 1.93481396e-01 -2.25564834e-02 -2.31848002e+02] [ 2.29909925e-02 -3.62377146e-07 9.99735672e-01 1.30331039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4827550959999 meters 0.017324439754230522 Centerline is valid? [True, True] Translation: X:544.82, Y:-231.79, Z:13.03 [[ 1.96833591e-01 -9.80427145e-01 -4.37611617e-03 5.44816421e+02] [ 9.80175085e-01 1.96882212e-01 -2.22305409e-02 -2.31792818e+02] [ 2.26570052e-02 8.63571496e-05 9.99743293e-01 1.30339941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.542755096 meters 0.017429592597812564 Centerline is valid? [True, True] Translation: X:544.83, Y:-231.74, Z:13.03 [[ 1.98522104e-01 -9.80087435e-01 -4.19446973e-03 5.44825634e+02] [ 9.79854863e-01 1.98566369e-01 -2.13505010e-02 -2.31736487e+02] [ 2.17582384e-02 1.28574823e-04 9.99763253e-01 1.30348030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6027550959999 meters 0.017401452256110155 Centerline is valid? [True, True] Translation: X:544.84, Y:-231.68, Z:13.04 [[ 1.98750676e-01 -9.80042678e-01 -3.81037097e-03 5.44835630e+02] [ 9.79850081e-01 1.98787157e-01 -1.94289593e-02 -2.31679900e+02] [ 1.97986621e-02 1.27926501e-04 9.99803979e-01 1.30352868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.662755096 meters 0.017054725119755025 Centerline is valid? [True, True] Translation: X:544.85, Y:-231.63, Z:13.04 [[ 1.95959879e-01 -9.80605959e-01 -3.41744939e-03 5.44847710e+02] [ 9.80450579e-01 1.95989664e-01 -1.74560300e-02 -2.31625063e+02] [ 1.77872718e-02 7.00412941e-05 9.99841792e-01 1.30365206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7227550959999 meters 0.01689722831212198 Centerline is valid? [True, True] Translation: X:544.86, Y:-231.57, Z:13.04 [[ 1.92923883e-01 -9.81207942e-01 -3.36898947e-03 5.44860990e+02] [ 9.81056427e-01 1.92953295e-01 -1.72427678e-02 -2.31568917e+02] [ 1.75687983e-02 2.13729377e-05 9.99845657e-01 1.30373230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.782755096 meters 0.016829250666018928 Centerline is valid? [True, True] Translation: X:544.87, Y:-231.51, Z:13.04 [[ 1.89144738e-01 -9.81944098e-01 -3.17117687e-03 5.44873654e+02] [ 9.81809467e-01 1.89171317e-01 -1.62599011e-02 -2.31512560e+02] [ 1.65662096e-02 -3.80167356e-05 9.99862770e-01 1.30381010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8427550959999 meters 0.018502340866061912 Centerline is valid? [True, True] Translation: X:544.88, Y:-231.46, Z:13.04 [[ 1.86551965e-01 -9.82440844e-01 -2.88997571e-03 5.44884837e+02] [ 9.82328706e-01 1.86574335e-01 -1.48435277e-02 -2.31456162e+02] [ 1.51220832e-02 -6.98168452e-05 9.99885652e-01 1.30371185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.902755096 meters 0.017125814150512675 Centerline is valid? [True, True] Translation: X:544.89, Y:-231.40, Z:13.04 [[ 1.85982930e-01 -9.82549024e-01 -2.78652644e-03 5.44894335e+02] [ 9.82444397e-01 1.86003790e-01 -1.43386450e-02 -2.31399778e+02] [ 1.46067262e-02 -7.08640656e-05 9.99893314e-01 1.30399494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9627550959999 meters 0.017046226085608827 Centerline is valid? [True, True] Translation: X:544.90, Y:-231.34, Z:13.04 [[ 1.86824970e-01 -9.82389531e-01 -2.69062783e-03 5.44901085e+02] [ 9.82291623e-01 1.86844337e-01 -1.38694591e-02 -2.31344666e+02] [ 1.41279400e-02 -5.18199036e-05 9.99900194e-01 1.30401421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.022755096 meters 0.01693945329709194 Centerline is valid? [True, True] Translation: X:544.91, Y:-231.29, Z:13.04 [[ 1.87464674e-01 -9.82267839e-01 -2.62477236e-03 5.44909057e+02] [ 9.82174253e-01 1.87483044e-01 -1.35589722e-02 -2.31288242e+02] [ 1.38106427e-02 -3.61555324e-05 9.99904628e-01 1.30409351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0827550959999 meters 0.016871917969974837 Centerline is valid? [True, True] Translation: X:544.92, Y:-231.23, Z:13.04 [[ 1.88671100e-01 -9.82037320e-01 -2.43269178e-03 5.44917144e+02] [ 9.81956612e-01 1.88686782e-01 -1.25900848e-02 -2.31232828e+02] [ 1.28229500e-02 -1.34126276e-05 9.99917783e-01 1.30429036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.142755096 meters 0.016964377351232938 Centerline is valid? [True, True] Translation: X:544.92, Y:-231.18, Z:13.04 [[ 1.88808601e-01 -9.82011583e-01 -2.13625688e-03 5.44924757e+02] [ 9.81949128e-01 1.88820686e-01 -1.10751319e-02 -2.31176045e+02] [ 1.12792773e-02 -6.61542744e-06 9.99936387e-01 1.30444447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2027550959999 meters 0.016992293684467023 Centerline is valid? [True, True] Translation: X:544.93, Y:-231.12, Z:13.05 [[ 1.88356614e-01 -9.82098640e-01 -2.01183173e-03 5.44934061e+02] [ 9.82043082e-01 1.88367357e-01 -1.04462039e-02 -2.31121524e+02] [ 1.06381661e-02 -8.09384221e-06 9.99943413e-01 1.30463038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.262755096 meters 0.017100031230026205 Centerline is valid? [True, True] Translation: X:544.94, Y:-231.06, Z:13.05 [[ 1.85667386e-01 -9.82610522e-01 -2.04564345e-03 5.44944835e+02] [ 9.82552836e-01 1.85678652e-01 -1.06471807e-02 -2.31064782e+02] [ 1.08418641e-02 -3.31185595e-05 9.99941225e-01 1.30461647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3227550959999 meters 0.01755850382059356 Centerline is valid? [True, True] Translation: X:544.96, Y:-231.01, Z:13.05 [[ 1.82837357e-01 -9.83141211e-01 -1.96493083e-03 5.44955130e+02] [ 9.83087830e-01 1.82847906e-01 -1.02451211e-02 -2.31009791e+02] [ 1.04316843e-02 -5.85087175e-05 9.99945587e-01 1.30470823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.382755096 meters 0.017768325512588935 Centerline is valid? [True, True] Translation: X:544.96, Y:-230.95, Z:13.05 [[ 1.80857201e-01 -9.83507156e-01 -2.08488842e-03 5.44964717e+02] [ 9.83446822e-01 1.80869200e-01 -1.08940859e-02 -2.30954618e+02] [ 1.10915036e-02 -8.01030039e-05 9.99938484e-01 1.30470477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4427550959999 meters 0.018215627995612976 Centerline is valid? [True, True] Translation: X:544.97, Y:-230.90, Z:13.05 [[ 1.77294783e-01 -9.84155141e-01 -2.28436668e-03 5.44974856e+02] [ 9.84082406e-01 1.77309453e-01 -1.19656392e-02 -2.30898336e+02] [ 1.21810852e-02 -1.26559646e-04 9.99925800e-01 1.30468507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.502755096 meters 0.019229051331544723 Centerline is valid? [True, True] Translation: X:544.99, Y:-230.84, Z:13.05 [[ 1.72454933e-01 -9.85013547e-01 -2.75841054e-03 5.44985728e+02] [ 9.84907091e-01 1.72476853e-01 -1.44830143e-02 -2.30842307e+02] [ 1.47417272e-02 -2.19110839e-04 9.99891311e-01 1.30454776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5627550959999 meters 0.021413815119149842 Centerline is valid? [True, True] Translation: X:545.00, Y:-230.79, Z:13.05 [[ 1.66443749e-01 -9.86046127e-01 -3.08430396e-03 5.44998762e+02] [ 9.85912620e-01 1.66471978e-01 -1.62291875e-02 -2.30786968e+02] [ 1.65161776e-02 -3.39607381e-04 9.99863541e-01 1.30455975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.622755096 meters 0.024179992079477325 Centerline is valid? [True, True] Translation: X:545.01, Y:-230.73, Z:13.05 [[ 1.58946663e-01 -9.87282434e-01 -3.05846656e-03 5.45010945e+02] [ 9.87150993e-01 1.58975428e-01 -1.61161675e-02 -2.30731419e+02] [ 1.63974301e-02 -4.57557264e-04 9.99865448e-01 1.30474588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6827550959999 meters 0.024915965730475186 Centerline is valid? [True, True] Translation: X:545.02, Y:-230.67, Z:13.05 [[ 1.54345993e-01 -9.88012218e-01 -3.02837607e-03 5.45020819e+02] [ 9.87882962e-01 1.54374811e-01 -1.59897191e-02 -2.30673955e+02] [ 1.62655429e-02 -5.23732042e-04 9.99867570e-01 1.30493568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.742755096 meters 0.03011833711312674 Centerline is valid? [True, True] Translation: X:545.03, Y:-230.62, Z:13.05 [[ 1.51711097e-01 -9.88419555e-01 -3.24451181e-03 5.45034968e+02] [ 9.88270708e-01 1.51744591e-01 -1.71635290e-02 -2.30619634e+02] [ 1.74571048e-02 -6.02558172e-04 9.99847432e-01 1.30501170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8027550959999 meters 0.02593947446466859 Centerline is valid? [True, True] Translation: X:545.03, Y:-230.56, Z:13.05 [[ 1.53505130e-01 -9.88142004e-01 -3.39929508e-03 5.45033452e+02] [ 9.87978018e-01 1.53541616e-01 -1.80113462e-02 -2.30561013e+02] [ 1.83197010e-02 -5.93594768e-04 9.99832004e-01 1.30503853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8627550959999 meters 0.02571054672421641 Centerline is valid? [True, True] Translation: X:545.04, Y:-230.50, Z:13.05 [[ 1.55915139e-01 -9.87764200e-01 -3.51499192e-03 5.45039673e+02] [ 9.87588060e-01 1.55953744e-01 -1.86615794e-02 -2.30504388e+02] [ 1.89814162e-02 -5.61741300e-04 9.99819679e-01 1.30506234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.922755096 meters 0.023952646252222876 Centerline is valid? [True, True] Translation: X:545.04, Y:-230.45, Z:13.05 [[ 1.59193767e-01 -9.87240025e-01 -3.80491870e-03 5.45041834e+02] [ 9.87032630e-01 1.59238338e-01 -2.02420208e-02 -2.30446325e+02] [ 2.05896220e-02 -5.33175387e-04 9.99787869e-01 1.30506825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9827550959999 meters 0.021648713336534106 Centerline is valid? [True, True] Translation: X:545.04, Y:-230.39, Z:13.05 [[ 1.59989693e-01 -9.87110704e-01 -3.96943767e-03 5.45043970e+02] [ 9.86884042e-01 1.60038042e-01 -2.11592410e-02 -2.30388714e+02] [ 2.15217743e-02 -5.32114224e-04 9.99768238e-01 1.30520414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.042755096 meters 0.02322147328680886 Centerline is valid? [True, True] Translation: X:545.05, Y:-230.33, Z:13.05 [[ 1.60067101e-01 -9.87098312e-01 -3.93010516e-03 5.45052278e+02] [ 9.86875199e-01 1.60114503e-01 -2.09925689e-02 -2.30332795e+02] [ 2.13509962e-02 -5.18303654e-04 9.99771907e-01 1.30532939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1027550959999 meters 0.024116418855803536 Centerline is valid? [True, True] Translation: X:545.06, Y:-230.28, Z:13.05 [[ 1.57927988e-01 -9.87442801e-01 -3.93250830e-03 5.45059048e+02] [ 9.87218580e-01 1.57975956e-01 -2.10493028e-02 -2.30275641e+02] [ 2.14062243e-02 -5.57971219e-04 9.99770705e-01 1.30544863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.162755096 meters 0.024544308919047814 Centerline is valid? [True, True] Translation: X:545.07, Y:-230.22, Z:13.06 [[ 1.55333910e-01 -9.87853998e-01 -3.98172944e-03 5.45068180e+02] [ 9.87623365e-01 1.55383715e-01 -2.13539432e-02 -2.30219373e+02] [ 2.17132741e-02 -6.15457538e-04 9.99764050e-01 1.30559454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2227550959999 meters 0.025516263368077254 Centerline is valid? [True, True] Translation: X:545.08, Y:-230.16, Z:13.06 [[ 1.52473498e-01 -9.88298991e-01 -4.11549980e-03 5.45076493e+02] [ 9.88051748e-01 1.52527450e-01 -2.21160817e-02 -2.30163249e+02] [ 2.24850279e-02 -6.94210430e-04 9.99746939e-01 1.30568982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.282755096 meters 0.024882298396154197 Centerline is valid? [True, True] Translation: X:545.08, Y:-230.11, Z:13.06 [[ 1.53718475e-01 -9.88105014e-01 -4.37178281e-03 5.45081625e+02] [ 9.87824738e-01 1.53779039e-01 -2.35434498e-02 -2.30106365e+02] [ 2.39356893e-02 -6.99492018e-04 9.99713256e-01 1.30567500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3427550959999 meters 0.023551071182501923 Centerline is valid? [True, True] Translation: X:545.09, Y:-230.05, Z:13.06 [[ 1.56967457e-01 -9.87593184e-01 -4.57385077e-03 5.45087529e+02] [ 9.87284936e-01 1.57032770e-01 -2.46812469e-02 -2.30049203e+02] [ 2.50932757e-02 -6.41541402e-04 9.99684908e-01 1.30577939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.402755096 meters 0.0224045948937285 Centerline is valid? [True, True] Translation: X:545.09, Y:-229.99, Z:13.06 [[ 1.61060481e-01 -9.86933701e-01 -4.62500846e-03 5.45093972e+02] [ 9.86617010e-01 1.61125983e-01 -2.50058562e-02 -2.29992754e+02] [ 2.54243312e-02 -5.35656798e-04 9.99676606e-01 1.30586055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4627550959999 meters 0.019463630209928848 Centerline is valid? [True, True] Translation: X:545.10, Y:-229.93, Z:13.06 [[ 1.64828784e-01 -9.86310746e-01 -4.75223539e-03 5.45098001e+02] [ 9.85974846e-01 1.64896683e-01 -2.57427217e-02 -2.29934257e+02] [ 2.61739509e-02 -4.42443051e-04 9.99657306e-01 1.30609370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.522755096 meters 0.018759961069062893 Centerline is valid? [True, True] Translation: X:545.11, Y:-229.88, Z:13.06 [[ 1.66816141e-01 -9.85976894e-01 -4.68403314e-03 5.45107660e+02] [ 9.85649272e-01 1.66881465e-01 -2.54182802e-02 -2.29877034e+02] [ 2.58435153e-02 -3.76634435e-04 9.99665930e-01 1.30629263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5827550959999 meters 0.017726583764987428 Centerline is valid? [True, True] Translation: X:545.11, Y:-229.82, Z:13.07 [[ 1.70129632e-01 -9.85411097e-01 -4.56929993e-03 5.45114621e+02] [ 9.85097992e-01 1.70190759e-01 -2.48405432e-02 -2.29820750e+02] [ 2.52557995e-02 -2.75095725e-04 9.99680984e-01 1.30653784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.642755096 meters 0.016645163203544595 Centerline is valid? [True, True] Translation: X:545.12, Y:-229.76, Z:13.07 [[ 1.73625356e-01 -9.84802282e-01 -4.32442680e-03 5.45120525e+02] [ 9.84520578e-01 1.73679120e-01 -2.35540732e-02 -2.29763652e+02] [ 2.39471677e-02 -1.67902823e-04 9.99713211e-01 1.30679425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7027550959999 meters 0.01633596359376446 Centerline is valid? [True, True] Translation: X:545.13, Y:-229.71, Z:13.07 [[ 1.75281917e-01 -9.84508761e-01 -4.33001380e-03 5.45129415e+02] [ 9.84225102e-01 1.75335350e-01 -2.36318324e-02 -2.29707154e+02] [ 2.40249505e-02 -1.19475403e-04 9.99711352e-01 1.30683397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.762755096 meters 0.016418934641023293 Centerline is valid? [True, True] Translation: X:545.14, Y:-229.65, Z:13.07 [[ 1.76367891e-01 -9.84313204e-01 -4.67790736e-03 5.45139763e+02] [ 9.83980642e-01 1.76429894e-01 -2.55849229e-02 -2.29651614e+02] [ 2.60089001e-02 -9.06114138e-05 9.99661707e-01 1.30674921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8227550959999 meters 0.016423576813079533 Centerline is valid? [True, True] Translation: X:545.15, Y:-229.60, Z:13.07 [[ 1.75166321e-01 -9.84526767e-01 -4.87897961e-03 5.45153119e+02] [ 9.84163545e-01 1.75234216e-01 -2.67411040e-02 -2.29595750e+02] [ 2.71822968e-02 -1.17573078e-04 9.99630486e-01 1.30683748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.882755096 meters 0.016975696855263428 Centerline is valid? [True, True] Translation: X:545.17, Y:-229.54, Z:13.07 [[ 1.71460060e-01 -9.85180016e-01 -4.66731989e-03 5.45170534e+02] [ 9.84846537e-01 1.71523454e-01 -2.56320616e-02 -2.29541962e+02] [ 2.60527497e-02 -2.01719016e-04 9.99660549e-01 1.30705884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9427550959999 meters 0.017730678707722144 Centerline is valid? [True, True] Translation: X:545.19, Y:-229.49, Z:13.07 [[ 1.68105942e-01 -9.85757839e-01 -4.67714006e-03 5.45186278e+02] [ 9.85421787e-01 1.68170758e-01 -2.57390513e-02 -2.29486455e+02] [ 2.61590298e-02 -2.82068253e-04 9.99657754e-01 1.30715453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.002755096 meters 0.019547138500468984 Centerline is valid? [True, True] Translation: X:545.21, Y:-229.43, Z:13.07 [[ 1.62908722e-01 -9.86630064e-01 -4.67602703e-03 5.45205739e+02] [ 9.86293288e-01 1.62975296e-01 -2.57798792e-02 -2.29432755e+02] [ 2.61972808e-02 -4.12166892e-04 9.99656707e-01 1.30725864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0627550959999 meters 0.020627779381925514 Centerline is valid? [True, True] Translation: X:545.22, Y:-229.38, Z:13.07 [[ 1.60231514e-01 -9.87068520e-01 -4.64753571e-03 5.45220958e+02] [ 9.86734914e-01 1.60298201e-01 -2.56650702e-02 -2.29377552e+02] [ 2.60781745e-02 -4.73532711e-04 9.99659794e-01 1.30736312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.122755096 meters 0.02137616327388078 Centerline is valid? [True, True] Translation: X:545.24, Y:-229.32, Z:13.08 [[ 1.58732169e-01 -9.87311124e-01 -4.56537255e-03 5.45235606e+02] [ 9.86988042e-01 1.58797034e-01 -2.52607794e-02 -2.29322712e+02] [ 2.56652161e-02 -4.96269811e-04 9.99670471e-01 1.30754377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1827550959999 meters 0.021192172864248165 Centerline is valid? [True, True] Translation: X:545.25, Y:-229.27, Z:13.08 [[ 1.59354688e-01 -9.87210759e-01 -4.58263952e-03 5.45248909e+02] [ 9.86883810e-01 1.59419864e-01 -2.54097014e-02 -2.29267724e+02] [ 2.58152943e-02 -4.73377712e-04 9.99666618e-01 1.30762012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.242755096 meters 0.01903206171677986 Centerline is valid? [True, True] Translation: X:545.26, Y:-229.21, Z:13.08 [[ 1.60741361e-01 -9.86985399e-01 -4.69432512e-03 5.45259004e+02] [ 9.86640766e-01 1.60809294e-01 -2.60838860e-02 -2.29210967e+02] [ 2.64993057e-02 -4.38853208e-04 9.99648735e-01 1.30786480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3027550959999 meters 0.020879289316589285 Centerline is valid? [True, True] Translation: X:545.28, Y:-229.16, Z:13.08 [[ 1.60409014e-01 -9.87039208e-01 -4.74873900e-03 5.45277979e+02] [ 9.86685070e-01 1.60478675e-01 -2.64417739e-02 -2.29156693e+02] [ 2.68611389e-02 -4.44010998e-04 9.99639076e-01 1.30783119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3627550959999 meters 0.02201952616106024 Centerline is valid? [True, True] Translation: X:545.30, Y:-229.10, Z:13.08 [[ 1.58358656e-01 -9.87371494e-01 -4.47973635e-03 5.45295275e+02] [ 9.87055224e-01 1.58421327e-01 -2.49933584e-02 -2.29104230e+02] [ 2.53874154e-02 -4.63832521e-04 9.99677580e-01 1.30807472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.422755096 meters 0.02002812229955837 Centerline is valid? [True, True] Translation: X:545.31, Y:-229.05, Z:13.08 [[ 1.57450532e-01 -9.87517289e-01 -4.35136930e-03 5.45305879e+02] [ 9.87217765e-01 1.57509960e-01 -2.43248194e-02 -2.29048508e+02] [ 2.47065637e-02 -4.65793318e-04 9.99694638e-01 1.30847333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4827550959999 meters 0.021736371627085867 Centerline is valid? [True, True] Translation: X:545.32, Y:-229.00, Z:13.09 [[ 1.56941145e-01 -9.87599425e-01 -4.10507868e-03 5.45323930e+02] [ 9.87331724e-01 1.56994197e-01 -2.29975729e-02 -2.28995623e+02] [ 2.33568633e-02 -4.43808984e-04 9.99727093e-01 1.30869623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.542755096 meters 0.01927230685349751 Centerline is valid? [True, True] Translation: X:545.33, Y:-228.94, Z:13.09 [[ 1.58083624e-01 -9.87417566e-01 -4.01471491e-03 5.45334441e+02] [ 9.87160327e-01 1.58134089e-01 -2.25410258e-02 -2.28939150e+02] [ 2.28922681e-02 -3.99800245e-04 9.99737858e-01 1.30900777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6027550959999 meters 0.018511897413554624 Centerline is valid? [True, True] Translation: X:545.35, Y:-228.88, Z:13.09 [[ 1.59943873e-01 -9.87118055e-01 -3.98775795e-03 5.45346090e+02] [ 9.86863121e-01 1.59993201e-01 -2.24356121e-02 -2.28882725e+02] [ 2.27846120e-02 -3.46932560e-04 9.99740337e-01 1.30908435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.662755096 meters 0.018590328133542076 Centerline is valid? [True, True] Translation: X:545.36, Y:-228.83, Z:13.09 [[ 1.62201569e-01 -9.86749287e-01 -4.06159107e-03 5.45359918e+02] [ 9.86483654e-01 1.62252149e-01 -2.28963215e-02 -2.28827819e+02] [ 2.32519308e-02 -2.92873924e-04 9.99729594e-01 1.30910331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7227550959999 meters 0.018465048135462177 Centerline is valid? [True, True] Translation: X:545.37, Y:-228.77, Z:13.09 [[ 1.62798232e-01 -9.86650230e-01 -4.24964833e-03 5.45372174e+02] [ 9.86358341e-01 1.62853440e-01 -2.39995705e-02 -2.28772587e+02] [ 2.43712516e-02 -2.84588414e-04 9.99702936e-01 1.30915458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.782755096 meters 0.018965378025582423 Centerline is valid? [True, True] Translation: X:545.39, Y:-228.72, Z:13.09 [[ 1.61781345e-01 -9.86816715e-01 -4.42353782e-03 5.45386228e+02] [ 9.86499125e-01 1.61841506e-01 -2.50360468e-02 -2.28717515e+02] [ 2.54219015e-02 -3.13450874e-04 9.99676762e-01 1.30916680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8427550959999 meters 0.01982603588826697 Centerline is valid? [True, True] Translation: X:545.40, Y:-228.66, Z:13.09 [[ 1.58378386e-01 -9.87368320e-01 -4.48197987e-03 5.45402576e+02] [ 9.87041126e-01 1.58441292e-01 -2.54199359e-02 -2.28662329e+02] [ 2.58089701e-02 -3.97930037e-04 9.99666814e-01 1.30938426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.902755096 meters 0.020801839922572937 Centerline is valid? [True, True] Translation: X:545.42, Y:-228.61, Z:13.10 [[ 1.54788579e-01 -9.87937213e-01 -4.53413919e-03 5.45418714e+02] [ 9.87601235e-01 1.54854200e-01 -2.57677798e-02 -2.28606791e+02] [ 2.61590791e-02 -4.89363438e-04 9.99657673e-01 1.30952140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9627550959999 meters 0.02108192142366909 Centerline is valid? [True, True] Translation: X:545.43, Y:-228.55, Z:13.10 [[ 1.52771652e-01 -9.88251021e-01 -4.55439296e-03 5.45431070e+02] [ 9.87910764e-01 1.52838581e-01 -2.59362703e-02 -2.28550975e+02] [ 2.63276326e-02 -5.37006951e-04 9.99653224e-01 1.30965408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.022755096 meters 0.020857499549072653 Centerline is valid? [True, True] Translation: X:545.44, Y:-228.50, Z:13.10 [[ 1.54525158e-01 -9.87979374e-01 -4.32798697e-03 5.45439482e+02] [ 9.87670737e-01 1.54585077e-01 -2.46975665e-02 -2.28495618e+02] [ 2.50697285e-02 -4.58230722e-04 9.99685600e-01 1.30981933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0827550959999 meters 0.020318995989812173 Centerline is valid? [True, True] Translation: X:545.45, Y:-228.44, Z:13.10 [[ 1.55376322e-01 -9.87846154e-01 -4.26328864e-03 5.45448407e+02] [ 9.87545309e-01 1.55434227e-01 -2.43816426e-02 -2.28439469e+02] [ 2.47479728e-02 -4.21860749e-04 9.99693633e-01 1.31005353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.142755096 meters 0.021940127198530186 Centerline is valid? [True, True] Translation: X:545.46, Y:-228.38, Z:13.10 [[ 1.53245150e-01 -9.88179457e-01 -4.15760519e-03 5.45461378e+02] [ 9.87892200e-01 1.53300862e-01 -2.38295399e-02 -2.28384350e+02] [ 2.41852263e-02 -4.55504324e-04 9.99707391e-01 1.31001604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2027550959999 meters 0.02292234204234481 Centerline is valid? [True, True] Translation: X:545.47, Y:-228.33, Z:13.10 [[ 1.50923061e-01 -9.88537189e-01 -4.05643428e-03 5.45471313e+02] [ 9.88262748e-01 1.50976761e-01 -2.32971739e-02 -2.28327939e+02] [ 2.36425501e-02 -4.92742092e-04 9.99720354e-01 1.31006903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.262755096 meters 0.022318433151973367 Centerline is valid? [True, True] Translation: X:545.48, Y:-228.27, Z:13.10 [[ 1.49727906e-01 -9.88719698e-01 -3.86159330e-03 5.45478895e+02] [ 9.88470069e-01 1.49776894e-01 -2.22217329e-02 -2.28272481e+02] [ 2.25494425e-02 -4.89855856e-04 9.99745609e-01 1.31029268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3227550959999 meters 0.021014396662070174 Centerline is valid? [True, True] Translation: X:545.49, Y:-228.22, Z:13.11 [[ 1.49682111e-01 -9.88728117e-01 -3.46054854e-03 5.45486127e+02] [ 9.88526797e-01 1.49721481e-01 -1.99561869e-02 -2.28215346e+02] [ 2.02493616e-02 -4.33760776e-04 9.99794867e-01 1.31069887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.382755096 meters 0.020974936060449003 Centerline is valid? [True, True] Translation: X:545.49, Y:-228.16, Z:13.11 [[ 1.52419653e-01 -9.88310101e-01 -3.37536825e-03 5.45493163e+02] [ 9.88117661e-01 1.52456593e-01 -1.95057674e-02 -2.28158940e+02] [ 1.97923441e-02 -3.62198668e-04 9.99804047e-01 1.31075776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4427550959999 meters 0.019251020675708608 Centerline is valid? [True, True] Translation: X:545.50, Y:-228.10, Z:13.11 [[ 1.56273047e-01 -9.87708484e-01 -3.26897473e-03 5.45496741e+02] [ 9.87527108e-01 1.56307000e-01 -1.89296901e-02 -2.28101828e+02] [ 1.92079792e-02 -2.70000815e-04 9.99815473e-01 1.31078510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.502755096 meters 0.01849077673269457 Centerline is valid? [True, True] Translation: X:545.50, Y:-228.05, Z:13.11 [[ 1.59410315e-01 -9.87206828e-01 -3.32107239e-03 5.45504272e+02] [ 9.87018712e-01 1.59444774e-01 -1.92724049e-02 -2.28045364e+02] [ 1.95553774e-02 -2.05740446e-04 9.99808754e-01 1.31080541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5627550959999 meters 0.01832871116453701 Centerline is valid? [True, True] Translation: X:545.51, Y:-227.99, Z:13.11 [[ 1.60259546e-01 -9.87069513e-01 -3.26424805e-03 5.45512797e+02] [ 9.86887001e-01 1.60292686e-01 -1.89816385e-02 -2.27988849e+02] [ 1.92594318e-02 -1.79455206e-04 9.99814504e-01 1.31092254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.622755096 meters 0.018570384090640792 Centerline is valid? [True, True] Translation: X:545.52, Y:-227.93, Z:13.11 [[ 1.59822536e-01 -9.87140740e-01 -3.14904330e-03 5.45523442e+02] [ 9.86970188e-01 1.59853461e-01 -1.83499137e-02 -2.27933108e+02] [ 1.86173329e-02 -1.75282107e-04 9.99826667e-01 1.31102998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6827550959999 meters 0.01901368341811165 Centerline is valid? [True, True] Translation: X:545.54, Y:-227.88, Z:13.11 [[ 1.57813040e-01 -9.87464514e-01 -2.97947906e-03 5.45535292e+02] [ 9.87311246e-01 1.57841042e-01 -1.73985514e-02 -2.27876844e+02] [ 1.76507362e-02 -1.95954887e-04 9.99844194e-01 1.31116514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.742755096 meters 0.02009709010738692 Centerline is valid? [True, True] Translation: X:545.55, Y:-227.82, Z:13.11 [[ 1.53810839e-01 -9.88095942e-01 -2.93871857e-03 5.45549363e+02] [ 9.87946321e-01 1.53838693e-01 -1.71966342e-02 -2.27821373e+02] [ 1.74440131e-02 -2.58267466e-04 9.99847808e-01 1.31126872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8027550959999 meters 0.021290419017210228 Centerline is valid? [True, True] Translation: X:545.56, Y:-227.77, Z:13.11 [[ 1.49807654e-01 -9.88710541e-01 -3.02222377e-03 5.45562701e+02] [ 9.88551715e-01 1.49837767e-01 -1.77242678e-02 -2.27765197e+02] [ 1.79770137e-02 -3.32393512e-04 9.99838345e-01 1.31129033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8627550959999 meters 0.022857008245268293 Centerline is valid? [True, True] Translation: X:545.58, Y:-227.71, Z:13.11 [[ 1.46020987e-01 -9.89276394e-01 -3.17625739e-03 5.45577791e+02] [ 9.89100305e-01 1.46054937e-01 -1.86693045e-02 -2.27709841e+02] [ 1.89330103e-02 -4.15526884e-04 9.99820668e-01 1.31130155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.922755096 meters 0.023596989746910744 Centerline is valid? [True, True] Translation: X:545.59, Y:-227.65, Z:13.11 [[ 1.42575358e-01 -9.89778279e-01 -3.35054968e-03 5.45590126e+02] [ 9.89581582e-01 1.42613840e-01 -1.97379024e-02 -2.27654226e+02] [ 2.00139818e-02 -5.01503759e-04 9.99799574e-01 1.31130957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9827550959999 meters 0.023939593030775214 Centerline is valid? [True, True] Translation: X:545.60, Y:-227.60, Z:13.11 [[ 1.40077303e-01 -9.90134934e-01 -3.34097538e-03 5.45600872e+02] [ 9.89938572e-01 1.40116084e-01 -1.97257756e-02 -2.27596698e+02] [ 1.99993039e-02 -5.44226946e-04 9.99799846e-01 1.31143939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.042755096 meters 0.024985532896304685 Centerline is valid? [True, True] Translation: X:545.61, Y:-227.54, Z:13.12 [[ 1.38267311e-01 -9.90389781e-01 -3.19889730e-03 5.45610805e+02] [ 9.90209143e-01 1.38303212e-01 -1.89228478e-02 -2.27539159e+02] [ 1.91834129e-02 -5.51166080e-04 9.99815829e-01 1.31159207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1027550959999 meters 0.025215342111268503 Centerline is valid? [True, True] Translation: X:545.62, Y:-227.48, Z:13.12 [[ 1.37762705e-01 -9.90460407e-01 -3.10161189e-03 5.45620294e+02] [ 9.90289953e-01 1.37796562e-01 -1.83824958e-02 -2.27483066e+02] [ 1.86345258e-02 -5.39072734e-04 9.99826217e-01 1.31181418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.162755096 meters 0.025274983963840245 Centerline is valid? [True, True] Translation: X:545.63, Y:-227.43, Z:13.12 [[ 1.38397750e-01 -9.90372159e-01 -3.00816965e-03 5.45628931e+02] [ 9.90211115e-01 1.38429513e-01 -1.78666453e-02 -2.27426092e+02] [ 1.81110476e-02 -5.06019514e-04 9.99835853e-01 1.31200492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2227550959999 meters 0.024168290621016185 Centerline is valid? [True, True] Translation: X:545.63, Y:-227.37, Z:13.12 [[ 1.41826816e-01 -9.89887140e-01 -2.93344387e-03 5.45631982e+02] [ 9.89733243e-01 1.41856506e-01 -1.74596565e-02 -2.27368522e+02] [ 1.76992175e-02 -4.27079436e-04 9.99843265e-01 1.31214187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.282755096 meters 0.022759133588952474 Centerline is valid? [True, True] Translation: X:545.63, Y:-227.31, Z:13.12 [[ 1.45733854e-01 -9.89319520e-01 -2.92080479e-03 5.45634568e+02] [ 9.89166179e-01 1.45762700e-01 -1.74214034e-02 -2.27310988e+02] [ 1.76610788e-02 -3.50273053e-04 9.99843970e-01 1.31224730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3427550959999 meters 0.021707355804862244 Centerline is valid? [True, True] Translation: X:545.64, Y:-227.25, Z:13.12 [[ 1.47493640e-01 -9.89058773e-01 -2.89302535e-03 5.45639984e+02] [ 9.88907648e-01 1.47521683e-01 -1.72921033e-02 -2.27253676e+02] [ 1.75296905e-02 -3.10459635e-04 9.99846295e-01 1.31235339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.402755096 meters 0.021303450386597714 Centerline is valid? [True, True] Translation: X:545.65, Y:-227.20, Z:13.12 [[ 1.49747102e-01 -9.88720109e-01 -2.88983231e-03 5.45646349e+02] [ 9.88568587e-01 1.49774750e-01 -1.73110965e-02 -2.27198036e+02] [ 1.75486531e-02 -2.64510909e-04 9.99845976e-01 1.31242982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4627550959999 meters 0.020786494767440798 Centerline is valid? [True, True] Translation: X:545.65, Y:-227.14, Z:13.13 [[ 1.50864631e-01 -9.88550880e-01 -2.64970741e-03 5.45652648e+02] [ 9.88422931e-01 1.50887739e-01 -1.59059458e-02 -2.27141068e+02] [ 1.61236451e-02 -2.19386922e-04 9.99869982e-01 1.31269810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.522755096 meters 0.020790635318030905 Centerline is valid? [True, True] Translation: X:545.66, Y:-227.09, Z:13.13 [[ 1.51133492e-01 -9.88509649e-01 -2.70939496e-03 5.45661210e+02] [ 9.88375264e-01 1.51157624e-01 -1.63005939e-02 -2.27085555e+02] [ 1.65228401e-02 -2.14333278e-04 9.99863466e-01 1.31282961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5827550959999 meters 0.021086299483089918 Centerline is valid? [True, True] Translation: X:545.67, Y:-227.03, Z:13.13 [[ 1.50155535e-01 -9.88658237e-01 -2.86459552e-03 5.45671731e+02] [ 9.88507273e-01 1.50182670e-01 -1.72782167e-02 -2.27030961e+02] [ 1.75124639e-02 -2.37253634e-04 9.99846617e-01 1.31284729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.642755096 meters 0.021685622968472724 Centerline is valid? [True, True] Translation: X:545.69, Y:-226.97, Z:13.13 [[ 1.47385450e-01 -9.89074241e-01 -3.11032501e-03 5.45685764e+02] [ 9.88895612e-01 1.47417950e-01 -1.87993592e-02 -2.26974959e+02] [ 1.90524797e-02 -3.05034731e-04 9.99818439e-01 1.31293088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7027550959999 meters 0.02274152889220477 Centerline is valid? [True, True] Translation: X:545.70, Y:-226.92, Z:13.13 [[ 1.43570576e-01 -9.89634388e-01 -3.35669564e-03 5.45699157e+02] [ 9.89425514e-01 1.43609249e-01 -2.03355924e-02 -2.26919145e+02] [ 2.06068541e-02 -4.01607590e-04 9.99787576e-01 1.31297028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.762755096 meters 0.02360769622945359 Centerline is valid? [True, True] Translation: X:545.71, Y:-226.86, Z:13.13 [[ 1.41080338e-01 -9.89992043e-01 -3.47741684e-03 5.45711778e+02] [ 9.89766955e-01 1.41122428e-01 -2.11147916e-02 -2.26863646e+02] [ 2.13942172e-02 -4.62950348e-04 9.99771010e-01 1.31306282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8227550959999 meters 0.023761683878550623 Centerline is valid? [True, True] Translation: X:545.72, Y:-226.81, Z:13.13 [[ 1.38187051e-01 -9.90399339e-01 -3.67252624e-03 5.45723594e+02] [ 9.90147239e-01 1.38234759e-01 -2.23516577e-02 -2.26806807e+02] [ 2.26447378e-02 -5.47632060e-04 9.99743425e-01 1.31318495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.882755096 meters 0.02577423997156489 Centerline is valid? [True, True] Translation: X:545.74, Y:-226.75, Z:13.13 [[ 1.36514227e-01 -9.90630935e-01 -3.77045226e-03 5.45736956e+02] [ 9.90364143e-01 1.36564991e-01 -2.29971367e-02 -2.26752276e+02] [ 2.32965868e-02 -5.94684381e-04 9.99728421e-01 1.31320889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9427550959999 meters 0.026676897253962686 Centerline is valid? [True, True] Translation: X:545.75, Y:-226.70, Z:13.13 [[ 1.35674257e-01 -9.90745389e-01 -4.00879167e-03 5.45747212e+02] [ 9.90442458e-01 1.35731933e-01 -2.45067406e-02 -2.26697462e+02] [ 2.48240612e-02 -6.45543657e-04 9.99691627e-01 1.31326795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.002755096 meters 0.024954105092348876 Centerline is valid? [True, True] Translation: X:545.75, Y:-226.64, Z:13.14 [[ 1.35359210e-01 -9.90788239e-01 -4.06825079e-03 5.45753428e+02] [ 9.90475066e-01 1.35418740e-01 -2.49180431e-02 -2.26639985e+02] [ 2.52394215e-02 -6.56614341e-04 9.99681219e-01 1.31356917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0627550959999 meters 0.023875666023321897 Centerline is valid? [True, True] Translation: X:545.76, Y:-226.58, Z:13.14 [[ 1.36895520e-01 -9.90577038e-01 -4.09245504e-03 5.45758498e+02] [ 9.90258599e-01 1.36955304e-01 -2.51227179e-02 -2.26583038e+02] [ 2.54464709e-02 -6.13401270e-04 9.99675998e-01 1.31382536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.122755096 meters 0.02204573474941041 Centerline is valid? [True, True] Translation: X:545.76, Y:-226.52, Z:13.14 [[ 1.40579818e-01 -9.90062125e-01 -3.78201611e-03 5.45760860e+02] [ 9.89788857e-01 1.40629888e-01 -2.32648386e-02 -2.26524204e+02] [ 2.35655000e-02 -4.72830633e-04 9.99722183e-01 1.31416586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1827550959999 meters 0.022118667053682955 Centerline is valid? [True, True] Translation: X:545.77, Y:-226.47, Z:13.14 [[ 1.43602421e-01 -9.89628449e-01 -3.72517583e-03 5.45768166e+02] [ 9.89362143e-01 1.43650204e-01 -2.29601732e-02 -2.26467057e+02] [ 2.32571629e-02 -3.88411500e-04 9.99729440e-01 1.31428993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.242755096 meters 0.02016532006775324 Centerline is valid? [True, True] Translation: X:545.77, Y:-226.41, Z:13.14 [[ 1.47575573e-01 -9.89043690e-01 -3.74564985e-03 5.45769328e+02] [ 9.88773124e-01 1.47622817e-01 -2.31346924e-02 -2.26408949e+02] [ 2.34341650e-02 -2.89482400e-04 9.99725340e-01 1.31438592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3027550959999 meters 0.01938431857016095 Centerline is valid? [True, True] Translation: X:545.77, Y:-226.35, Z:13.15 [[ 1.49367494e-01 -9.88774545e-01 -3.77495318e-03 5.45774091e+02] [ 9.88498392e-01 1.49414994e-01 -2.33685404e-02 -2.26351474e+02] [ 2.36702525e-02 -2.41034821e-04 9.99719791e-01 1.31451793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3627550959999 meters 0.01984388547032931 Centerline is valid? [True, True] Translation: X:545.78, Y:-226.30, Z:13.14 [[ 1.48522812e-01 -9.88901431e-01 -3.86448836e-03 5.45781250e+02] [ 9.88610681e-01 1.48572854e-01 -2.39797365e-02 -2.26295986e+02] [ 2.42877538e-02 -2.58936568e-04 9.99704975e-01 1.31443928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.422755096 meters 0.01973992315732625 Centerline is valid? [True, True] Translation: X:545.79, Y:-226.24, Z:13.15 [[ 1.46653632e-01 -9.89179978e-01 -3.96025986e-03 5.45788476e+02] [ 9.88873256e-01 1.46706779e-01 -2.46334049e-02 -2.26239546e+02] [ 2.49478679e-02 -3.03616773e-04 9.99688707e-01 1.31458140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4827550959999 meters 0.02054651498295107 Centerline is valid? [True, True] Translation: X:545.80, Y:-226.18, Z:13.15 [[ 1.42709038e-01 -9.89756826e-01 -3.94418707e-03 5.45798762e+02] [ 9.89451400e-01 1.42762990e-01 -2.45897669e-02 -2.26182824e+02] [ 2.49009735e-02 -3.93399442e-04 9.99689845e-01 1.31466240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.542755096 meters 0.023029371307056942 Centerline is valid? [True, True] Translation: X:545.81, Y:-226.13, Z:13.15 [[ 1.37074871e-01 -9.90552889e-01 -3.93111963e-03 5.45811513e+02] [ 9.90248382e-01 1.37130222e-01 -2.45651109e-02 -2.26128035e+02] [ 2.48721169e-02 -5.25525427e-04 9.99690503e-01 1.31471459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6027550959999 meters 0.023741470169427705 Centerline is valid? [True, True] Translation: X:545.82, Y:-226.07, Z:13.15 [[ 1.32749042e-01 -9.91141966e-01 -3.91092321e-03 5.45820351e+02] [ 9.90839377e-01 1.32805177e-01 -2.44972182e-02 -2.26071914e+02] [ 2.47996118e-02 -6.23114485e-04 9.99692248e-01 1.31478078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.662755096 meters 0.02497489825640436 Centerline is valid? [True, True] Translation: X:545.83, Y:-226.01, Z:13.15 [[ 1.27651413e-01 -9.91811749e-01 -3.81719201e-03 5.45830524e+02] [ 9.91522451e-01 1.27706411e-01 -2.39646130e-02 -2.26014750e+02] [ 2.42558646e-02 -7.25714871e-04 9.99705520e-01 1.31486463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7227550959999 meters 0.02718754968405284 Centerline is valid? [True, True] Translation: X:545.84, Y:-225.96, Z:13.15 [[ 1.23099590e-01 -9.92387316e-01 -3.72917367e-03 5.45841318e+02] [ 9.92110275e-01 1.23153388e-01 -2.34615663e-02 -2.25958203e+02] [ 2.37422211e-02 -8.11642323e-04 9.99717784e-01 1.31494598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.782755096 meters 0.02753686824886039 Centerline is valid? [True, True] Translation: X:545.85, Y:-225.90, Z:13.15 [[ 1.21710674e-01 -9.92558390e-01 -3.78881333e-03 5.45848649e+02] [ 9.92271129e-01 1.21766655e-01 -2.38932872e-02 -2.25901787e+02] [ 2.41768338e-02 -8.51462001e-04 9.99707335e-01 1.31485532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8427550959999 meters 0.0279300952602473 Centerline is valid? [True, True] Translation: X:545.86, Y:-225.85, Z:13.15 [[ 1.22945509e-01 -9.92406377e-01 -3.73952712e-03 5.45855018e+02] [ 9.92125217e-01 1.22999737e-01 -2.36351097e-02 -2.25845579e+02] [ 2.39155944e-02 -8.04248572e-04 9.99713658e-01 1.31479375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.902755096 meters 0.02606381028627333 Centerline is valid? [True, True] Translation: X:545.86, Y:-225.79, Z:13.15 [[ 1.23822699e-01 -9.92297428e-01 -3.70864260e-03 5.45860812e+02] [ 9.92019820e-01 1.23875825e-01 -2.34831119e-02 -2.25788009e+02] [ 2.37616427e-02 -7.71304662e-04 9.99717355e-01 1.31492328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9627550959999 meters 0.02544685578330879 Centerline is valid? [True, True] Translation: X:545.87, Y:-225.73, Z:13.15 [[ 1.26892249e-01 -9.91909691e-01 -3.67731099e-03 5.45867812e+02] [ 9.91635428e-01 1.26943670e-01 -2.33341367e-02 -2.25731562e+02] [ 2.36121677e-02 -6.85630771e-04 9.99720959e-01 1.31505846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.022755096 meters 0.023690798224209896 Centerline is valid? [True, True] Translation: X:545.87, Y:-225.67, Z:13.15 [[ 1.29900787e-01 -9.91521331e-01 -3.35207479e-03 5.45871738e+02] [ 9.91292337e-01 1.29942849e-01 -2.13156824e-02 -2.25674459e+02] [ 2.15705319e-02 -5.53962127e-04 9.99767176e-01 1.31523993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0827550959999 meters 0.02149641216398774 Centerline is valid? [True, True] Translation: X:545.88, Y:-225.62, Z:13.16 [[ 1.32657693e-01 -9.91157334e-01 -3.01261875e-03 5.45876765e+02] [ 9.90971520e-01 1.32691171e-01 -1.91963591e-02 -2.25616798e+02] [ 1.94263601e-02 -4.38874656e-04 9.99811194e-01 1.31550155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.142755096 meters 0.021097568274025615 Centerline is valid? [True, True] Translation: X:545.89, Y:-225.56, Z:13.16 [[ 1.33708180e-01 -9.91016519e-01 -2.89514885e-03 5.45885127e+02] [ 9.90844177e-01 1.33738931e-01 -1.84855500e-02 -2.25560534e+02] [ 1.87066795e-02 -3.96972127e-04 9.99824936e-01 1.31562786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2027550959999 meters 0.020434863644665298 Centerline is valid? [True, True] Translation: X:545.89, Y:-225.50, Z:13.16 [[ 1.35131178e-01 -9.90824195e-01 -2.64188884e-03 5.45891450e+02] [ 9.90680036e-01 1.35156591e-01 -1.69045272e-02 -2.25503016e+02] [ 1.71064832e-02 -3.32937864e-04 9.99853618e-01 1.31565698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.262755096 meters 0.020041023227500784 Centerline is valid? [True, True] Translation: X:545.90, Y:-225.45, Z:13.16 [[ 1.35653156e-01 -9.90753121e-01 -2.54468672e-03 5.45900201e+02] [ 9.90618793e-01 1.35676673e-01 -1.63170579e-02 -2.25446780e+02] [ 1.65114307e-02 -3.07354086e-04 9.99863630e-01 1.31565185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3227550959999 meters 0.020128602960781335 Centerline is valid? [True, True] Translation: X:545.91, Y:-225.39, Z:13.16 [[ 1.35059497e-01 -9.90834359e-01 -2.49102952e-03 5.45909523e+02] [ 9.90705057e-01 1.35082121e-01 -1.60096738e-02 -2.25389999e+02] [ 1.61994284e-02 -3.05617058e-04 9.99868734e-01 1.31565701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.382755096 meters 0.020590812816591076 Centerline is valid? [True, True] Translation: X:545.92, Y:-225.33, Z:13.16 [[ 1.33138640e-01 -9.91094435e-01 -2.43399253e-03 5.45919009e+02] [ 9.90970462e-01 1.33160491e-01 -1.56788913e-02 -2.25333847e+02] [ 1.58633735e-02 -3.24548439e-04 9.99874116e-01 1.31556387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4427550959999 meters 0.02245335592754771 Centerline is valid? [True, True] Translation: X:545.93, Y:-225.28, Z:13.16 [[ 1.30533039e-01 -9.91441794e-01 -2.07261147e-03 5.45932754e+02] [ 9.91351602e-01 1.30549127e-01 -1.33763460e-02 -2.25278705e+02] [ 1.35324461e-02 -3.08631611e-04 9.99908385e-01 1.31577527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.502755096 meters 0.02283367292679807 Centerline is valid? [True, True] Translation: X:545.94, Y:-225.22, Z:13.16 [[ 1.27967152e-01 -9.91776731e-01 -1.82344150e-03 5.45943081e+02] [ 9.91706659e-01 1.27979793e-01 -1.17930068e-02 -2.25222376e+02] [ 1.19293933e-02 -2.99201592e-04 9.99928797e-01 1.31583201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5627550959999 meters 0.02384015456892893 Centerline is valid? [True, True] Translation: X:545.95, Y:-225.17, Z:13.16 [[ 1.26770563e-01 -9.91930731e-01 -1.62775693e-03 5.45954739e+02] [ 9.91874651e-01 1.26780711e-01 -1.05512315e-02 -2.25167240e+02] [ 1.06724589e-02 -2.76945277e-04 9.99943009e-01 1.31594570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.622755096 meters 0.023795695447067087 Centerline is valid? [True, True] Translation: X:545.96, Y:-225.11, Z:13.16 [[ 1.26942620e-01 -9.91908864e-01 -1.54199130e-03 5.45963490e+02] [ 9.91858424e-01 1.26951720e-01 -1.00064019e-02 -2.25111605e+02] [ 1.01211972e-02 -2.59198194e-04 9.99948746e-01 1.31598334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6827550959999 meters 0.022179702168571968 Centerline is valid? [True, True] Translation: X:545.97, Y:-225.06, Z:13.16 [[ 1.30931207e-01 -9.91390374e-01 -1.46509167e-03 5.45969444e+02] [ 9.91344576e-01 1.30939244e-01 -9.53132618e-03 -2.25055156e+02] [ 9.64110302e-03 -2.04462643e-04 9.99953503e-01 1.31602342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.742755096 meters 0.019893792382713237 Centerline is valid? [True, True] Translation: X:545.97, Y:-225.00, Z:13.16 [[ 1.36193213e-01 -9.90681202e-01 -1.47139644e-03 5.45973783e+02] [ 9.90634773e-01 1.36201077e-01 -9.59238044e-03 -2.24998942e+02] [ 9.70339677e-03 -1.51199366e-04 9.99952910e-01 1.31599026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8027550959999 meters 0.01831004350162656 Centerline is valid? [True, True] Translation: X:545.98, Y:-224.94, Z:13.16 [[ 1.39090362e-01 -9.90278555e-01 -1.50151601e-03 5.45979784e+02] [ 9.90229926e-01 1.39098413e-01 -9.81449758e-03 -2.24941727e+02] [ 9.92794498e-03 -1.21744067e-04 9.99950709e-01 1.31598977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8627550959999 meters 0.017217928935493603 Centerline is valid? [True, True] Translation: X:545.99, Y:-224.89, Z:13.16 [[ 1.43146668e-01 -9.89700256e-01 -1.56020842e-03 5.45987810e+02] [ 9.89647421e-01 1.43155148e-01 -1.02267186e-02 -2.24885933e+02] [ 1.03447379e-02 -8.01355498e-05 9.99946489e-01 1.31595573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.922755096 meters 0.017483228090176082 Centerline is valid? [True, True] Translation: X:546.00, Y:-224.83, Z:13.16 [[ 1.43160193e-01 -9.89698470e-01 -1.44831208e-03 5.45998797e+02] [ 9.89652861e-01 1.43167500e-01 -9.50166599e-03 -2.24831802e+02] [ 9.61113551e-03 -7.30658580e-05 9.99953809e-01 1.31617398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9827550959999 meters 0.0171935212415018 Centerline is valid? [True, True] Translation: X:546.01, Y:-224.78, Z:13.16 [[ 1.41223959e-01 -9.89976788e-01 -1.32390373e-03 5.46010908e+02] [ 9.89938515e-01 1.41230141e-01 -8.70535747e-03 -2.24775638e+02] [ 8.80507693e-03 -8.11782468e-05 9.99961231e-01 1.31614555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.042755096 meters 0.01798546504908584 Centerline is valid? [True, True] Translation: X:546.03, Y:-224.72, Z:13.16 [[ 1.38329216e-01 -9.90385320e-01 -1.39529497e-03 5.46025082e+02] [ 9.90342599e-01 1.38336210e-01 -9.19947075e-03 -2.24719755e+02] [ 9.30404059e-03 -1.09264471e-04 9.99956711e-01 1.31619153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1027550959999 meters 0.018282799364214033 Centerline is valid? [True, True] Translation: X:546.04, Y:-224.66, Z:13.16 [[ 1.36957457e-01 -9.90575906e-01 -1.42477000e-03 5.46036135e+02] [ 9.90531147e-01 1.36964814e-01 -9.41739675e-03 -2.24663055e+02] [ 9.52378967e-03 -1.21496348e-04 9.99954640e-01 1.31618886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.162755096 meters 0.019080623595944226 Centerline is valid? [True, True] Translation: X:546.05, Y:-224.61, Z:13.16 [[ 1.34334806e-01 -9.90934798e-01 -1.54451282e-03 5.46049858e+02] [ 9.90881932e-01 1.34343595e-01 -1.02369327e-02 -2.24607491e+02] [ 1.03516282e-02 -1.55253484e-04 9.99946408e-01 1.31617089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2227550959999 meters 0.02075967209947471 Centerline is valid? [True, True] Translation: X:546.06, Y:-224.55, Z:13.16 [[ 1.31437777e-01 -9.91323043e-01 -1.65379703e-03 5.46062799e+02] [ 9.91262141e-01 1.31448036e-01 -1.09901076e-02 -2.24551651e+02] [ 1.11121352e-02 -1.94831077e-04 9.99938239e-01 1.31607445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.282755096 meters 0.021300481554695244 Centerline is valid? [True, True] Translation: X:546.08, Y:-224.50, Z:13.16 [[ 1.28830620e-01 -9.91665065e-01 -1.75202055e-03 5.46075147e+02] [ 9.91596385e-01 1.28842321e-01 -1.16732414e-02 -2.24495346e+02] [ 1.18016801e-02 -2.33426317e-04 9.99930331e-01 1.31614040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3427550959999 meters 0.02208514415737512 Centerline is valid? [True, True] Translation: X:546.09, Y:-224.44, Z:13.16 [[ 1.27207972e-01 -9.91874380e-01 -1.82927602e-03 5.46086414e+02] [ 9.91799106e-01 1.27220859e-01 -1.22224073e-02 -2.24439675e+02] [ 1.23558147e-02 -2.59486684e-04 9.99923630e-01 1.31627218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.402755096 meters 0.022231007223001517 Centerline is valid? [True, True] Translation: X:546.09, Y:-224.38, Z:13.16 [[ 1.27696923e-01 -9.91810977e-01 -2.11697116e-03 5.46094908e+02] [ 9.91709733e-01 1.27714142e-01 -1.41740119e-02 -2.24383627e+02] [ 1.43283077e-02 -2.89443195e-04 9.99897303e-01 1.31624878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4627550959999 meters 0.0223432104992133 Centerline is valid? [True, True] Translation: X:546.10, Y:-224.33, Z:13.16 [[ 1.31102519e-01 -9.91366282e-01 -2.24141700e-03 5.46101112e+02] [ 9.91252062e-01 1.31121443e-01 -1.50505083e-02 -2.24326196e+02] [ 1.52144643e-02 -2.48649659e-04 9.99884222e-01 1.31628072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.522755096 meters 0.019926297663903303 Centerline is valid? [True, True] Translation: X:546.11, Y:-224.27, Z:13.17 [[ 1.35455150e-01 -9.90780803e-01 -2.30278339e-03 5.46105102e+02] [ 9.90659603e-01 1.35474600e-01 -1.54978612e-02 -2.24268681e+02] [ 1.56669520e-02 -1.82009374e-04 9.99877249e-01 1.31663196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5827550959999 meters 0.01937645164860052 Centerline is valid? [True, True] Translation: X:546.11, Y:-224.21, Z:13.17 [[ 1.38698340e-01 -9.90331723e-01 -2.41863425e-03 5.46110847e+02] [ 9.90197266e-01 1.38719364e-01 -1.63190545e-02 -2.24211376e+02] [ 1.64967887e-02 -1.31499253e-04 9.99863910e-01 1.31675373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.642755096 meters 0.019060033080412063 Centerline is valid? [True, True] Translation: X:546.11, Y:-224.16, Z:13.17 [[ 1.43185575e-01 -9.89692408e-01 -2.61313363e-03 5.46114510e+02] [ 9.89534525e-01 1.43209407e-01 -1.76773993e-02 -2.24156146e+02] [ 1.78694132e-02 -5.46373531e-05 9.99840328e-01 1.31679762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7027550959999 meters 0.019173119827498607 Centerline is valid? [True, True] Translation: X:546.12, Y:-224.10, Z:13.17 [[ 1.46450207e-01 -9.89214243e-01 -2.74199731e-03 5.46118285e+02] [ 9.89039312e-01 1.46475873e-01 -1.86026317e-02 -2.24099292e+02] [ 1.88036247e-02 1.24161304e-05 9.99823196e-01 1.31686263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.762755096 meters 0.01960061815546087 Centerline is valid? [True, True] Translation: X:546.12, Y:-224.04, Z:13.17 [[ 1.48100553e-01 -9.88967910e-01 -2.94957115e-03 5.46123762e+02] [ 9.88764336e-01 1.48129912e-01 -2.00653392e-02 -2.24042698e+02] [ 2.02808962e-02 5.52570756e-05 9.99794320e-01 1.31698848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8227550959999 meters 0.019703933031675887 Centerline is valid? [True, True] Translation: X:546.13, Y:-223.99, Z:13.17 [[ 1.47734406e-01 -9.89022585e-01 -2.97858766e-03 5.46130712e+02] [ 9.88813945e-01 1.47764419e-01 -2.03140266e-02 -2.23987496e+02] [ 2.05311603e-02 5.58116255e-05 9.99789212e-01 1.31702928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.882755096 meters 0.01960939668740229 Centerline is valid? [True, True] Translation: X:546.14, Y:-223.93, Z:13.17 [[ 1.45579907e-01 -9.89341461e-01 -3.15651408e-03 5.46138877e+02] [ 9.89105867e-01 1.45614121e-01 -2.15896378e-02 -2.23930629e+02] [ 2.18191569e-02 2.08908664e-05 9.99761934e-01 1.31713473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9427550959999 meters 0.019875606548135173 Centerline is valid? [True, True] Translation: X:546.15, Y:-223.87, Z:13.17 [[ 1.40283022e-01 -9.90105845e-01 -3.33004181e-03 5.46149835e+02] [ 9.89842474e-01 1.40322510e-01 -2.28357127e-02 -2.23873950e+02] [ 2.30770525e-02 -9.27540257e-05 9.99733685e-01 1.31727820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.002755096 meters 0.020451910450297792 Centerline is valid? [True, True] Translation: X:546.16, Y:-223.82, Z:13.17 [[ 1.35589582e-01 -9.90759453e-01 -3.34242050e-03 5.46161102e+02] [ 9.90492982e-01 1.35630632e-01 -2.29779273e-02 -2.23817295e+02] [ 2.32189333e-02 -1.95076486e-04 9.99730385e-01 1.31737825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0627550959999 meters 0.02236431511413907 Centerline is valid? [True, True] Translation: X:546.17, Y:-223.76, Z:13.17 [[ 1.28457464e-01 -9.91708938e-01 -3.47300394e-03 5.46173640e+02] [ 9.91420089e-01 1.28503876e-01 -2.39366063e-02 -2.23762730e+02] [ 2.41844409e-02 -3.68370138e-04 9.99707446e-01 1.31748913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.122755096 meters 0.023987280614517922 Centerline is valid? [True, True] Translation: X:546.18, Y:-223.71, Z:13.18 [[ 1.21088854e-01 -9.92634489e-01 -3.77637718e-03 5.46183973e+02] [ 9.92291681e-01 1.21146300e-01 -2.60920230e-02 -2.23706718e+02] [ 2.63573360e-02 -5.87814494e-04 9.99652412e-01 1.31763040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1827550959999 meters 0.026890244619667106 Centerline is valid? [True, True] Translation: X:546.19, Y:-223.65, Z:13.18 [[ 1.14852786e-01 -9.93374637e-01 -3.95837333e-03 5.46194402e+02] [ 9.92996833e-01 1.14918310e-01 -2.74056811e-02 -2.23652114e+02] [ 2.76789981e-02 -7.83033351e-04 9.99616556e-01 1.31765449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.242755096 meters 0.029060036881579918 Centerline is valid? [True, True] Translation: X:546.21, Y:-223.60, Z:13.18 [[ 1.11402639e-01 -9.93767159e-01 -4.03560711e-03 5.46205143e+02] [ 9.93373070e-01 1.11472160e-01 -2.79982262e-02 -2.23597366e+02] [ 2.82735755e-02 -8.89787148e-04 9.99599827e-01 1.31771475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3027550959999 meters 0.030560711933052664 Centerline is valid? [True, True] Translation: X:546.21, Y:-223.54, Z:13.18 [[ 1.08241445e-01 -9.94116023e-01 -4.13803671e-03 5.46212517e+02] [ 9.93700069e-01 1.08315920e-01 -2.87721083e-02 -2.23540560e+02] [ 2.90510291e-02 -9.97632780e-04 9.99577432e-01 1.31775373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3627550959999 meters 0.031273309232264304 Centerline is valid? [True, True] Translation: X:546.22, Y:-223.49, Z:13.18 [[ 1.07895663e-01 -9.94154027e-01 -4.03687850e-03 5.46218479e+02] [ 9.93756197e-01 1.07966748e-01 -2.81389644e-02 -2.23485566e+02] [ 2.84103134e-02 -9.75600794e-04 9.99595869e-01 1.31797446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.422755096 meters 0.030986570282764414 Centerline is valid? [True, True] Translation: X:546.22, Y:-223.43, Z:13.18 [[ 1.09176730e-01 -9.94014665e-01 -3.91000475e-03 5.46224934e+02] [ 9.93639424e-01 1.09243001e-01 -2.73251165e-02 -2.23429724e+02] [ 2.75887072e-02 -9.01867997e-04 9.99618952e-01 1.31828259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4827550959999 meters 0.026600525710190052 Centerline is valid? [True, True] Translation: X:546.22, Y:-223.37, Z:13.18 [[ 1.12328594e-01 -9.93662722e-01 -4.08428482e-03 5.46222738e+02] [ 9.93250957e-01 1.12399665e-01 -2.86155740e-02 -2.23371711e+02] [ 2.88933015e-02 -8.42372614e-04 9.99582146e-01 1.31844348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.542755096 meters 0.027962553269723543 Centerline is valid? [True, True] Translation: X:546.23, Y:-223.32, Z:13.18 [[ 1.15565405e-01 -9.93291632e-01 -4.04599225e-03 5.46230856e+02] [ 9.92885274e-01 1.15633887e-01 -2.84189464e-02 -2.23315983e+02] [ 2.86961555e-02 -7.32959062e-04 9.99587912e-01 1.31833535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6027550959999 meters 0.023281828303307908 Centerline is valid? [True, True] Translation: X:546.23, Y:-223.26, Z:13.19 [[ 1.18688067e-01 -9.92923152e-01 -4.09351772e-03 5.46228421e+02] [ 9.92504796e-01 1.18756906e-01 -2.88275480e-02 -2.23258024e+02] [ 2.91096734e-02 -6.41350026e-04 9.99576018e-01 1.31867320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.662755096 meters 0.022747314091150737 Centerline is valid? [True, True] Translation: X:546.23, Y:-223.20, Z:13.19 [[ 1.19607152e-01 -9.92813117e-01 -4.03048299e-03 5.46234492e+02] [ 9.92405407e-01 1.19673556e-01 -2.84560847e-02 -2.23200995e+02] [ 2.87339163e-02 -5.96321880e-04 9.99586918e-01 1.31881096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7227550959999 meters 0.023929174389556263 Centerline is valid? [True, True] Translation: X:546.24, Y:-223.15, Z:13.19 [[ 1.19880939e-01 -9.92780986e-01 -3.80463951e-03 5.46241908e+02] [ 9.92415756e-01 1.19940049e-01 -2.69323435e-02 -2.23146025e+02] [ 2.71942472e-02 -5.47109582e-04 9.99630018e-01 1.31875792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.782755096 meters 0.02299811940980282 Centerline is valid? [True, True] Translation: X:546.25, Y:-223.09, Z:13.19 [[ 1.19232034e-01 -9.92859327e-01 -3.75211475e-03 5.46245933e+02] [ 9.92502093e-01 1.19289799e-01 -2.66371910e-02 -2.23089663e+02] [ 2.68945725e-02 -5.47975272e-04 9.99638125e-01 1.31885705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8427550959999 meters 0.02387134198577399 Centerline is valid? [True, True] Translation: X:546.25, Y:-223.03, Z:13.19 [[ 1.17286839e-01 -9.93091210e-01 -3.69395127e-03 5.46254187e+02] [ 9.92743223e-01 1.17343546e-01 -2.62941942e-02 -2.23033078e+02] [ 2.65459945e-02 -5.83182182e-04 9.99647423e-01 1.31881128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.902755096 meters 0.02511823738068567 Centerline is valid? [True, True] Translation: X:546.26, Y:-222.98, Z:13.19 [[ 1.15348747e-01 -9.93318605e-01 -3.57991205e-03 5.46263694e+02] [ 9.92990258e-01 1.15402683e-01 -2.55454203e-02 -2.22977359e+02] [ 2.57878727e-02 -6.08185582e-04 9.99667253e-01 1.31886856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9627550959999 meters 0.025276449454595257 Centerline is valid? [True, True] Translation: X:546.27, Y:-222.92, Z:13.19 [[ 1.12442944e-01 -9.93652387e-01 -3.39386774e-03 5.46271962e+02] [ 9.93356057e-01 1.12492320e-01 -2.42738756e-02 -2.22921291e+02] [ 2.45015784e-02 -6.41893044e-04 9.99699585e-01 1.31905769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.022755096 meters 0.026511270854595575 Centerline is valid? [True, True] Translation: X:546.28, Y:-222.87, Z:13.19 [[ 1.11759688e-01 -9.93730092e-01 -3.20568800e-03 5.46280961e+02] [ 9.93464612e-01 1.11803953e-01 -2.29769776e-02 -2.22866614e+02] [ 2.31913227e-02 -6.16837729e-04 9.99730855e-01 1.31910010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0827550959999 meters 0.02485668639480331 Centerline is valid? [True, True] Translation: X:546.28, Y:-222.81, Z:13.19 [[ 1.12184387e-01 -9.93682787e-01 -3.03019170e-03 5.46284533e+02] [ 9.93444238e-01 1.12223871e-01 -2.17795718e-02 -2.22809928e+02] [ 2.19820454e-02 -5.66998573e-04 9.99758205e-01 1.31925053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.142755096 meters 0.025188167007617786 Centerline is valid? [True, True] Translation: X:546.29, Y:-222.75, Z:13.19 [[ 1.12631341e-01 -9.93632837e-01 -2.82251621e-03 5.46291800e+02] [ 9.93424734e-01 1.12665534e-01 -2.03414497e-02 -2.22754475e+02] [ 2.05299327e-02 -5.12872645e-04 9.99789107e-01 1.31935371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2027550959999 meters 0.025107659520111097 Centerline is valid? [True, True] Translation: X:546.30, Y:-222.70, Z:13.19 [[ 1.13237876e-01 -9.93564275e-01 -2.68598731e-03 5.46299132e+02] [ 9.93374783e-01 1.13268751e-01 -1.94095265e-02 -2.22698571e+02] [ 1.95888505e-02 -4.70298514e-04 9.99808009e-01 1.31948520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.262755096 meters 0.024214645314914296 Centerline is valid? [True, True] Translation: X:546.30, Y:-222.64, Z:13.20 [[ 1.13421251e-01 -9.93543707e-01 -2.55401395e-03 5.46304016e+02] [ 9.93371463e-01 1.13449157e-01 -1.85047253e-02 -2.22642051e+02] [ 1.86750041e-02 -4.38255485e-04 9.99825511e-01 1.31960807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3227550959999 meters 0.023819879657370473 Centerline is valid? [True, True] Translation: X:546.31, Y:-222.59, Z:13.20 [[ 1.13219497e-01 -9.93567033e-01 -2.42808271e-03 5.46310475e+02] [ 9.93410509e-01 1.13244771e-01 -1.76403603e-02 -2.22585007e+02] [ 1.78018481e-02 -4.14850161e-04 9.99841448e-01 1.31969255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.382755096 meters 0.023945320902680107 Centerline is valid? [True, True] Translation: X:546.32, Y:-222.53, Z:13.20 [[ 1.12982336e-01 -9.93594320e-01 -2.30610370e-03 5.46317557e+02] [ 9.93452421e-01 1.13005184e-01 -1.67962777e-02 -2.22528067e+02] [ 1.69492878e-02 -3.93321616e-04 9.99856273e-01 1.31984218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4427550959999 meters 0.02396206552970502 Centerline is valid? [True, True] Translation: X:546.32, Y:-222.47, Z:13.20 [[ 1.13139986e-01 -9.93576694e-01 -2.16721496e-03 5.46323451e+02] [ 9.93450754e-01 1.13160159e-01 -1.58233268e-02 -2.22471670e+02] [ 1.59669311e-02 -3.62770371e-04 9.99872455e-01 1.31993202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.502755096 meters 0.023094453686994722 Centerline is valid? [True, True] Translation: X:546.33, Y:-222.41, Z:13.20 [[ 1.14825676e-01 -9.93383262e-01 -2.18137632e-03 5.46327293e+02] [ 9.93254881e-01 1.14845913e-01 -1.59736554e-02 -2.22414150e+02] [ 1.61184841e-02 -3.32476892e-04 9.99870034e-01 1.31987608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5627550959999 meters 0.02268523871972592 Centerline is valid? [True, True] Translation: X:546.33, Y:-222.36, Z:13.20 [[ 1.16356956e-01 -9.93204740e-01 -2.32468623e-03 5.46332498e+02] [ 9.93058067e-01 1.16379730e-01 -1.70714267e-02 -2.22356730e+02] [ 1.72259682e-02 -3.22169175e-04 9.99851570e-01 1.31988622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.622755096 meters 0.021993115826616855 Centerline is valid? [True, True] Translation: X:546.34, Y:-222.30, Z:13.20 [[ 1.17397604e-01 -9.93082372e-01 -2.28160724e-03 5.46335922e+02] [ 9.92940327e-01 1.17419407e-01 -1.67985137e-02 -2.22299470e+02] [ 1.69502128e-02 -2.93394579e-04 9.99856292e-01 1.31996145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6827550959999 meters 0.022368921972193572 Centerline is valid? [True, True] Translation: X:546.34, Y:-222.24, Z:13.20 [[ 1.17197167e-01 -9.93106006e-01 -2.29869041e-03 5.46343266e+02] [ 9.92961049e-01 1.17219341e-01 -1.69700030e-02 -2.22244725e+02] [ 1.71224628e-02 -2.93673764e-04 9.99853357e-01 1.32004201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.742755096 meters 0.021818358037241248 Centerline is valid? [True, True] Translation: X:546.35, Y:-222.19, Z:13.20 [[ 1.16746330e-01 -9.93159364e-01 -2.18439786e-03 5.46349427e+02] [ 9.93027698e-01 1.16766426e-01 -1.61738147e-02 -2.22187977e+02] [ 1.63182398e-02 -2.80934075e-04 9.99866809e-01 1.32009310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8027550959999 meters 0.02213806778339844 Centerline is valid? [True, True] Translation: X:546.36, Y:-222.13, Z:13.20 [[ 1.15077736e-01 -9.93354170e-01 -2.14633431e-03 5.46357260e+02] [ 9.93226413e-01 1.15097364e-01 -1.59338843e-02 -2.22131168e+02] [ 1.60750278e-02 -2.98160607e-04 9.99870744e-01 1.32026122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8627550959999 meters 0.022227579613168225 Centerline is valid? [True, True] Translation: X:546.36, Y:-222.08, Z:13.20 [[ 1.14476719e-01 -9.93423669e-01 -2.12019841e-03 5.46363288e+02] [ 9.93298361e-01 1.14495960e-01 -1.57810432e-02 -2.22075283e+02] [ 1.59200159e-02 -2.99427564e-04 9.99873224e-01 1.32027856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.922755096 meters 0.022205069526017182 Centerline is valid? [True, True] Translation: X:546.37, Y:-222.02, Z:13.20 [[ 1.13752118e-01 -9.93507068e-01 -2.04013055e-03 5.46370064e+02] [ 9.93390389e-01 1.13770030e-01 -1.52287511e-02 -2.22017996e+02] [ 1.53619775e-02 -2.94343392e-04 9.99881955e-01 1.32049915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9827550959999 meters 0.02245223222064049 Centerline is valid? [True, True] Translation: X:546.38, Y:-221.96, Z:13.21 [[ 1.13693394e-01 -9.93513629e-01 -2.11682429e-03 5.46376615e+02] [ 9.93387317e-01 1.13712699e-01 -1.58448912e-02 -2.21962549e+02] [ 1.59828252e-02 -3.01366955e-04 9.99872221e-01 1.32057805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.042755096 meters 0.021754254251894062 Centerline is valid? [True, True] Translation: X:546.38, Y:-221.91, Z:13.21 [[ 1.15139864e-01 -9.93346787e-01 -2.22978267e-03 5.46380115e+02] [ 9.93205685e-01 1.15161096e-01 -1.67448541e-02 -2.21906393e+02] [ 1.68902312e-02 -2.86632610e-04 9.99857309e-01 1.32054695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1027550959999 meters 0.021203679483974 Centerline is valid? [True, True] Translation: X:546.39, Y:-221.85, Z:13.21 [[ 1.17183056e-01 -9.93107801e-01 -2.24225115e-03 5.46385288e+02] [ 9.92964245e-01 1.17204245e-01 -1.68870963e-02 -2.21850756e+02] [ 1.70335084e-02 -2.47593674e-04 9.99854889e-01 1.32062912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.162755096 meters 0.020305355516043632 Centerline is valid? [True, True] Translation: X:546.39, Y:-221.79, Z:13.21 [[ 1.18335880e-01 -9.92970948e-01 -2.30578498e-03 5.46389545e+02] [ 9.92818265e-01 1.18358122e-01 -1.74140176e-02 -2.21794126e+02] [ 1.75645219e-02 -2.28522348e-04 9.99845706e-01 1.32062458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2227550959999 meters 0.020435548857014707 Centerline is valid? [True, True] Translation: X:546.40, Y:-221.74, Z:13.21 [[ 1.17631365e-01 -9.93054397e-01 -2.41399560e-03 5.46397671e+02] [ 9.92886014e-01 1.17655876e-01 -1.82882061e-02 -2.21738329e+02] [ 1.84452042e-02 -2.45555825e-04 9.99829843e-01 1.32058961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.282755096 meters 0.021366649653809335 Centerline is valid? [True, True] Translation: X:546.41, Y:-221.68, Z:13.21 [[ 1.14937758e-01 -9.93369823e-01 -2.38875722e-03 5.46408294e+02] [ 9.93204056e-01 1.14962222e-01 -1.81491513e-02 -2.21682740e+02] [ 1.83034360e-02 -2.86500589e-04 9.99832437e-01 1.32066202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3427550959999 meters 0.02129008291055941 Centerline is valid? [True, True] Translation: X:546.42, Y:-221.63, Z:13.21 [[ 1.13227620e-01 -9.93566204e-01 -2.38828703e-03 5.46417737e+02] [ 9.93399852e-01 1.13252370e-01 -1.81833438e-02 -2.21626640e+02] [ 1.83368350e-02 -3.13667256e-04 9.99831817e-01 1.32081411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.402755096 meters 0.021845916341079144 Centerline is valid? [True, True] Translation: X:546.43, Y:-221.57, Z:13.21 [[ 1.12576438e-01 -9.93640077e-01 -2.43775933e-03 5.46427496e+02] [ 9.93465804e-01 1.12602355e-01 -1.86119707e-02 -2.21571818e+02] [ 1.87680974e-02 -3.26561174e-04 9.99823810e-01 1.32082472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4627550959999 meters 0.021902411928452634 Centerline is valid? [True, True] Translation: X:546.44, Y:-221.52, Z:13.21 [[ 1.11643921e-01 -9.93745128e-01 -2.50112974e-03 5.46438540e+02] [ 9.93560531e-01 1.11671397e-01 -1.91564830e-02 -2.21516443e+02] [ 1.93159663e-02 -3.46318919e-04 9.99813369e-01 1.32087245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.522755096 meters 0.021598897194185885 Centerline is valid? [True, True] Translation: X:546.45, Y:-221.46, Z:13.21 [[ 1.11112694e-01 -9.93804351e-01 -2.62328421e-03 5.46449272e+02] [ 9.93600057e-01 1.11143050e-01 -2.01531367e-02 -2.21459982e+02] [ 2.03198347e-02 -3.67226026e-04 9.99793463e-01 1.32092842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5827550959999 meters 0.02165930437501373 Centerline is valid? [True, True] Translation: X:546.46, Y:-221.40, Z:13.21 [[ 1.10983455e-01 -9.93818749e-01 -2.63954465e-03 5.46461753e+02] [ 9.93610744e-01 1.11014236e-01 -2.03354149e-02 -2.21404726e+02] [ 2.05027437e-02 -3.65785310e-04 9.99789730e-01 1.32102448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.642755096 meters 0.02170116500250603 Centerline is valid? [True, True] Translation: X:546.47, Y:-221.35, Z:13.21 [[ 1.11247624e-01 -9.93789060e-01 -2.69629165e-03 5.46474349e+02] [ 9.93570647e-01 1.11279709e-01 -2.08373852e-02 -2.21350452e+02] [ 2.10080080e-02 -3.60846632e-04 9.99779242e-01 1.32114474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7027550959999 meters 0.021502547071099037 Centerline is valid? [True, True] Translation: X:546.49, Y:-221.29, Z:13.21 [[ 1.10333132e-01 -9.93891081e-01 -2.66806432e-03 5.46486285e+02] [ 9.93675930e-01 1.10364769e-01 -2.06824746e-02 -2.21293999e+02] [ 2.08505873e-02 -3.69229086e-04 9.99782535e-01 1.32131181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.762755096 meters 0.022741785274922266 Centerline is valid? [True, True] Translation: X:546.50, Y:-221.24, Z:13.21 [[ 1.09095110e-01 -9.94027726e-01 -2.67141183e-03 5.46499676e+02] [ 9.93810827e-01 1.09127118e-01 -2.07680622e-02 -2.21240246e+02] [ 2.09355531e-02 -3.89183979e-04 9.99780752e-01 1.32136414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8227550959999 meters 0.021975110598819833 Centerline is valid? [True, True] Translation: X:546.51, Y:-221.18, Z:13.21 [[ 1.08576052e-01 -9.94084037e-01 -2.85799696e-03 5.46511563e+02] [ 9.93834149e-01 1.08612848e-01 -2.22919911e-02 -2.21183613e+02] [ 2.24705277e-02 -4.19998603e-04 9.99747418e-01 1.32135979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.882755096 meters 0.021555408766347105 Centerline is valid? [True, True] Translation: X:546.52, Y:-221.13, Z:13.21 [[ 1.09005983e-01 -9.94036696e-01 -2.95664440e-03 5.46523489e+02] [ 9.93767686e-01 1.09045276e-01 -2.31282069e-02 -2.21127447e+02] [ 2.33126945e-02 -4.17104729e-04 9.99728135e-01 1.32142285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9427550959999 meters 0.02073894165845839 Centerline is valid? [True, True] Translation: X:546.53, Y:-221.07, Z:13.22 [[ 1.11421619e-01 -9.93768888e-01 -2.93604144e-03 5.46529526e+02] [ 9.93502006e-01 1.11459744e-01 -2.30323398e-02 -2.21070549e+02] [ 2.32160731e-02 -3.50662479e-04 9.99730409e-01 1.32157731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.002755096 meters 0.019627303579582565 Centerline is valid? [True, True] Translation: X:546.53, Y:-221.01, Z:13.22 [[ 1.16535618e-01 -9.93182115e-01 -2.95578893e-03 5.46532749e+02] [ 9.92909875e-01 1.16572880e-01 -2.32539023e-02 -2.21013844e+02] [ 2.34399247e-02 -2.24924140e-04 9.99725222e-01 1.32160201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0627550959999 meters 0.01924825275079563 Centerline is valid? [True, True] Translation: X:546.54, Y:-220.96, Z:13.22 [[ 1.19009784e-01 -9.92888433e-01 -3.03816124e-03 5.46538736e+02] [ 9.92599113e-01 1.19048446e-01 -2.39680710e-02 -2.20958910e+02] [ 2.41593089e-02 -1.63241188e-04 9.99708108e-01 1.32164115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.122755096 meters 0.019101656708619127 Centerline is valid? [True, True] Translation: X:546.55, Y:-220.90, Z:13.22 [[ 1.18604139e-01 -9.92937148e-01 -2.97951599e-03 5.46545670e+02] [ 9.92657481e-01 1.18641446e-01 -2.35655022e-02 -2.20903213e+02] [ 2.37525566e-02 -1.62672754e-04 9.99717855e-01 1.32187205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1827550959999 meters 0.019450852279276558 Centerline is valid? [True, True] Translation: X:546.55, Y:-220.85, Z:13.22 [[ 1.16909275e-01 -9.93138404e-01 -2.88635196e-03 5.46552490e+02] [ 9.92874440e-01 1.16944748e-01 -2.28969928e-02 -2.20847300e+02] [ 2.30774266e-02 -1.88914252e-04 9.99733663e-01 1.32196820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.242755096 meters 0.020118188318229105 Centerline is valid? [True, True] Translation: X:546.56, Y:-220.79, Z:13.22 [[ 1.13694487e-01 -9.93511675e-01 -2.84861194e-03 5.46561997e+02] [ 9.93253151e-01 1.13729887e-01 -2.26647544e-02 -2.20791323e+02] [ 2.28416704e-02 -2.52535155e-04 9.99739063e-01 1.32209467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3027550959999 meters 0.022088279691727667 Centerline is valid? [True, True] Translation: X:546.57, Y:-220.74, Z:13.22 [[ 1.07928607e-01 -9.94154579e-01 -2.84401275e-03 5.46574886e+02] [ 9.93895630e-01 1.07965412e-01 -2.26924415e-02 -2.20736552e+02] [ 2.28668497e-02 -3.77488230e-04 9.99738448e-01 1.32218449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3627550959999 meters 0.025676769095579477 Centerline is valid? [True, True] Translation: X:546.59, Y:-220.68, Z:13.22 [[ 1.00617363e-01 -9.94920832e-01 -2.94682414e-03 5.46589596e+02] [ 9.94641470e-01 1.00658958e-01 -2.35822102e-02 -2.20682460e+02] [ 2.37590564e-02 -5.58253688e-04 9.99717558e-01 1.32215771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.422755096 meters 0.028693884931296043 Centerline is valid? [True, True] Translation: X:546.60, Y:-220.63, Z:13.22 [[ 9.59077770e-02 -9.95385916e-01 -2.92853388e-03 5.46601557e+02] [ 9.95108619e-01 9.59502073e-02 -2.35030634e-02 -2.20628776e+02] [ 2.36756117e-02 -6.60082748e-04 9.99719476e-01 1.32224268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4827550959999 meters 0.029925853557073036 Centerline is valid? [True, True] Translation: X:546.61, Y:-220.57, Z:13.22 [[ 9.43699924e-02 -9.95532798e-01 -2.95848357e-03 5.46610226e+02] [ 9.95248414e-01 9.44137747e-02 -2.38040837e-02 -2.20572641e+02] [ 2.39770676e-02 -6.98034890e-04 9.99712265e-01 1.32234756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.542755096 meters 0.029584836775481918 Centerline is valid? [True, True] Translation: X:546.62, Y:-220.52, Z:13.22 [[ 9.54994143e-02 -9.95425225e-01 -2.91264587e-03 5.46616105e+02] [ 9.95148002e-01 9.55415804e-02 -2.35002202e-02 -2.20516976e+02] [ 2.36709908e-02 -6.54256452e-04 9.99719589e-01 1.32249121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6027550959999 meters 0.029053579987911006 Centerline is valid? [True, True] Translation: X:546.62, Y:-220.46, Z:13.23 [[ 9.62014065e-02 -9.95357964e-01 -2.79501219e-03 5.46621769e+02] [ 9.95101280e-01 9.62400925e-02 -2.26116808e-02 -2.20461208e+02] [ 2.27757088e-02 -6.06044715e-04 9.99740416e-01 1.32264829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.662755096 meters 0.02487295006054172 Centerline is valid? [True, True] Translation: X:546.62, Y:-220.40, Z:13.23 [[ 9.80397624e-02 -9.95178805e-01 -2.71132260e-03 5.46620211e+02] [ 9.94935886e-01 9.80757527e-02 -2.19938681e-02 -2.20403288e+02] [ 2.21537463e-02 -5.41318556e-04 9.99754429e-01 1.32289599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7227550959999 meters 0.02117572803959539 Centerline is valid? [True, True] Translation: X:546.62, Y:-220.35, Z:13.23 [[ 1.02429578e-01 -9.94736681e-01 -2.66774487e-03 5.46620876e+02] [ 9.94500029e-01 1.02463410e-01 -2.17012001e-02 -2.20345717e+02] [ 2.18603260e-02 -4.30227579e-04 9.99760942e-01 1.32321591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.782755096 meters 0.019627316671080093 Centerline is valid? [True, True] Translation: X:546.62, Y:-220.29, Z:13.23 [[ 1.07689020e-01 -9.94180780e-01 -2.76617212e-03 5.46624011e+02] [ 9.93924583e-01 1.07724070e-01 -2.25709437e-02 -2.20288408e+02] [ 2.27375817e-02 -3.18723662e-04 9.99741417e-01 1.32326613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8427550959999 meters 0.01857799900832089 Centerline is valid? [True, True] Translation: X:546.63, Y:-220.23, Z:13.23 [[ 1.12724597e-01 -9.93622240e-01 -2.83026884e-03 5.46626320e+02] [ 9.93352220e-01 1.12759944e-01 -2.31638282e-02 -2.20230747e+02] [ 2.33352358e-02 -2.00320633e-04 9.99727676e-01 1.32325276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.902755096 meters 0.018064974668307414 Centerline is valid? [True, True] Translation: X:546.63, Y:-220.17, Z:13.23 [[ 1.15387149e-01 -9.93316542e-01 -2.83779124e-03 5.46630829e+02] [ 9.93043373e-01 1.15421966e-01 -2.32944167e-02 -2.20173482e+02] [ 2.34662729e-02 -1.30173453e-04 9.99724621e-01 1.32337452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9627550959999 meters 0.018148316732799714 Centerline is valid? [True, True] Translation: X:546.64, Y:-220.12, Z:13.24 [[ 1.15268459e-01 -9.93330535e-01 -2.76237196e-03 5.46638600e+02] [ 9.93070162e-01 1.15301489e-01 -2.27424502e-02 -2.20116368e+02] [ 2.29092759e-02 -1.21741980e-04 9.99737541e-01 1.32355108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.022755096 meters 0.01838395320166618 Centerline is valid? [True, True] Translation: X:546.65, Y:-220.06, Z:13.24 [[ 1.13469782e-01 -9.93537567e-01 -2.77702642e-03 5.46647741e+02] [ 9.93272887e-01 1.13503651e-01 -2.29323737e-02 -2.20059713e+02] [ 2.30993774e-02 -1.56213616e-04 9.99733162e-01 1.32376614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0827550959999 meters 0.01896077040655561 Centerline is valid? [True, True] Translation: X:546.66, Y:-220.00, Z:13.24 [[ 1.11100031e-01 -9.93805179e-01 -2.83701776e-03 5.46657433e+02] [ 9.93527279e-01 1.11136054e-01 -2.35015592e-02 -2.20003711e+02] [ 2.36712662e-02 -2.07630577e-04 9.99719775e-01 1.32383546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.142755096 meters 0.019581080037123395 Centerline is valid? [True, True] Translation: X:546.67, Y:-219.95, Z:13.24 [[ 1.07959006e-01 -9.94151531e-01 -2.75417388e-03 5.46667047e+02] [ 9.93888122e-01 1.07993803e-01 -2.28853727e-02 -2.19947348e+02] [ 2.30489620e-02 -2.66658609e-04 9.99734302e-01 1.32395587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2027550959999 meters 0.020409601377925624 Centerline is valid? [True, True] Translation: X:546.68, Y:-219.89, Z:13.24 [[ 1.05210067e-01 -9.94446302e-01 -2.71913577e-03 5.46675897e+02] [ 9.94188122e-01 1.05244715e-01 -2.26611427e-02 -2.19891163e+02] [ 2.28214642e-02 -3.19152140e-04 9.99739506e-01 1.32409627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.262755096 meters 0.02090393564686755 Centerline is valid? [True, True] Translation: X:546.68, Y:-219.84, Z:13.24 [[ 1.04328919e-01 -9.94538742e-01 -2.85790633e-03 5.46682811e+02] [ 9.94251730e-01 1.04367473e-01 -2.38940989e-02 -2.19836449e+02] [ 2.40618795e-02 -3.48632805e-04 9.99710410e-01 1.32402666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3227550959999 meters 0.02088331251448652 Centerline is valid? [True, True] Translation: X:546.69, Y:-219.78, Z:13.24 [[ 1.04280097e-01 -9.94543428e-01 -3.00523140e-03 5.46688719e+02] [ 9.94223829e-01 1.04322776e-01 -2.52137997e-02 -2.19780393e+02] [ 2.53897329e-02 -3.58575184e-04 9.99677564e-01 1.32409206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.382755096 meters 0.020506795365085203 Centerline is valid? [True, True] Translation: X:546.69, Y:-219.72, Z:13.24 [[ 1.05121833e-01 -9.94454657e-01 -3.05533585e-03 5.46692566e+02] [ 9.94122057e-01 1.05165695e-01 -2.57198684e-02 -2.19724375e+02] [ 2.58985595e-02 -3.33657056e-04 9.99664520e-01 1.32426877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4427550959999 meters 0.020406360966539985 Centerline is valid? [True, True] Translation: X:546.70, Y:-219.67, Z:13.24 [[ 1.06020292e-01 -9.94359287e-01 -3.05046956e-03 5.46697187e+02] [ 9.94025463e-01 1.06063742e-01 -2.57655060e-02 -2.19669131e+02] [ 2.59437144e-02 -3.00577940e-04 9.99663360e-01 1.32443968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.502755096 meters 0.020199540156318318 Centerline is valid? [True, True] Translation: X:546.70, Y:-219.61, Z:13.25 [[ 1.06476642e-01 -9.94310580e-01 -3.03254658e-03 5.46702714e+02] [ 9.93978413e-01 1.06519455e-01 -2.57006049e-02 -2.19613282e+02] [ 2.58774086e-02 -2.77771740e-04 9.99665085e-01 1.32465163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5627550959999 meters 0.020140357411017242 Centerline is valid? [True, True] Translation: X:546.71, Y:-219.56, Z:13.25 [[ 1.07383210e-01 -9.94213289e-01 -2.96351932e-03 5.46705743e+02] [ 9.93893972e-01 1.07423827e-01 -2.51970993e-02 -2.19557775e+02] [ 2.53696436e-02 -2.39678590e-04 9.99678110e-01 1.32478432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.622755096 meters 0.019687156599054918 Centerline is valid? [True, True] Translation: X:546.71, Y:-219.50, Z:13.25 [[ 1.07531510e-01 -9.94197280e-01 -2.95672818e-03 5.46709334e+02] [ 9.93877262e-01 1.07571915e-01 -2.52244120e-02 -2.19501165e+02] [ 2.53961027e-02 -2.26205788e-04 9.99677441e-01 1.32509696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6827550959999 meters 0.019735024555158093 Centerline is valid? [True, True] Translation: X:546.71, Y:-219.44, Z:13.25 [[ 1.07796988e-01 -9.94168650e-01 -2.91628341e-03 5.46713629e+02] [ 9.93855263e-01 1.07836229e-01 -2.49612610e-02 -2.19443750e+02] [ 2.51301842e-02 -2.07614846e-04 9.99684166e-01 1.32523724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.742755096 meters 0.02006531756569975 Centerline is valid? [True, True] Translation: X:546.72, Y:-219.39, Z:13.25 [[ 1.07124791e-01 -9.94240876e-01 -3.05941598e-03 5.46718591e+02] [ 9.93893777e-01 1.07168230e-01 -2.62703311e-02 -2.19386730e+02] [ 2.64469092e-02 -2.26530775e-04 9.99650194e-01 1.32519439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8027550959999 meters 0.020430344585380945 Centerline is valid? [True, True] Translation: X:546.72, Y:-219.33, Z:13.25 [[ 1.05847798e-01 -9.94377513e-01 -3.09932708e-03 5.46724427e+02] [ 9.94019051e-01 1.05892858e-01 -2.66988587e-02 -2.19331043e+02] [ 2.68769413e-02 -2.54774756e-04 9.99638717e-01 1.32521499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8627550959999 meters 0.021293910143526728 Centerline is valid? [True, True] Translation: X:546.73, Y:-219.27, Z:13.26 [[ 1.01204124e-01 -9.94861664e-01 -2.82744056e-03 5.46732971e+02] [ 9.94561658e-01 1.01243044e-01 -2.44326728e-02 -2.19274217e+02] [ 2.45933882e-02 -3.39376734e-04 9.99697479e-01 1.32556839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.922755096 meters 0.022455375330249282 Centerline is valid? [True, True] Translation: X:546.74, Y:-219.22, Z:13.26 [[ 9.86003874e-02 -9.95123350e-01 -2.73523125e-03 5.46742344e+02] [ 9.94840943e-01 9.86375735e-02 -2.37092237e-02 -2.19218827e+02] [ 2.38633987e-02 -3.83381394e-04 9.99715155e-01 1.32575239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9827550959999 meters 0.022471560895516215 Centerline is valid? [True, True] Translation: X:546.75, Y:-219.16, Z:13.26 [[ 9.68383961e-02 -9.95296554e-01 -2.66341991e-03 5.46747061e+02] [ 9.95027138e-01 9.68741597e-02 -2.31601408e-02 -2.19161876e+02] [ 2.33092249e-02 -4.07384204e-04 9.99728220e-01 1.32590569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.042755096 meters 0.02235247111677075 Centerline is valid? [True, True] Translation: X:546.75, Y:-219.11, Z:13.26 [[ 9.77368030e-02 -9.95208636e-01 -2.69982543e-03 5.46752037e+02] [ 9.94929946e-01 9.77733308e-02 -2.35537527e-02 -2.19106109e+02] [ 2.37048691e-02 -3.84068674e-04 9.99718926e-01 1.32593050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1027550959999 meters 0.021630155170961875 Centerline is valid? [True, True] Translation: X:546.76, Y:-219.05, Z:13.26 [[ 9.90297800e-02 -9.95080853e-01 -2.68319267e-03 5.46755256e+02] [ 9.94803675e-01 9.90655289e-02 -2.34876314e-02 -2.19048925e+02] [ 2.36379042e-02 -3.43274961e-04 9.99720527e-01 1.32613152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.162755096 meters 0.02117175970877748 Centerline is valid? [True, True] Translation: X:546.76, Y:-218.99, Z:13.26 [[ 1.00099305e-01 -9.94974164e-01 -2.55770022e-03 5.46759096e+02] [ 9.94720691e-01 1.00131539e-01 -2.24593351e-02 -2.18992572e+02] [ 2.26025646e-02 -2.96033501e-04 9.99744486e-01 1.32642076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2227550959999 meters 0.021304304889866107 Centerline is valid? [True, True] Translation: X:546.77, Y:-218.94, Z:13.27 [[ 1.00592109e-01 -9.94924625e-01 -2.49381173e-03 5.46765283e+02] [ 9.94681970e-01 1.00622654e-01 -2.19740683e-02 -2.18937372e+02] [ 2.21134756e-02 -2.70131700e-04 9.99755431e-01 1.32656286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.282755096 meters 0.020336913683816325 Centerline is valid? [True, True] Translation: X:546.77, Y:-218.88, Z:13.27 [[ 1.03649180e-01 -9.94610754e-01 -2.50904173e-03 5.46765492e+02] [ 9.94363284e-01 1.03679360e-01 -2.21867215e-02 -2.18880067e+02] [ 2.23272876e-02 -1.95263487e-04 9.99750696e-01 1.32666954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3427550959999 meters 0.020139961775949178 Centerline is valid? [True, True] Translation: X:546.77, Y:-218.82, Z:13.27 [[ 1.05527610e-01 -9.94413102e-01 -2.55056163e-03 5.46768988e+02] [ 9.94155603e-01 1.05558325e-01 -2.26291218e-02 -2.18823412e+02] [ 2.27719282e-02 -1.47657996e-04 9.99740675e-01 1.32662747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.402755096 meters 0.02002712456682372 Centerline is valid? [True, True] Translation: X:546.77, Y:-218.77, Z:13.27 [[ 1.06507544e-01 -9.94308496e-01 -2.59948771e-03 5.46774195e+02] [ 9.94039067e-01 1.06539195e-01 -2.31459259e-02 -2.18767699e+02] [ 2.32911381e-02 -1.18776621e-04 9.99728718e-01 1.32671373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4627550959999 meters 0.020148110438838726 Centerline is valid? [True, True] Translation: X:546.78, Y:-218.71, Z:13.27 [[ 1.06241360e-01 -9.94336929e-01 -2.61626011e-03 5.46779369e+02] [ 9.94062101e-01 1.06273504e-01 -2.33769572e-02 -2.18711667e+02] [ 2.35226109e-02 -1.17125302e-04 9.99723298e-01 1.32680785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.522755096 meters 0.020254505414630513 Centerline is valid? [True, True] Translation: X:546.79, Y:-218.66, Z:13.27 [[ 1.05333601e-01 -9.94433622e-01 -2.56965795e-03 5.46785463e+02] [ 9.94166712e-01 1.05364863e-01 -2.30389830e-02 -2.18655554e+02] [ 2.31814910e-02 -1.27889342e-04 9.99731265e-01 1.32685359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5827550959999 meters 0.020775978668157277 Centerline is valid? [True, True] Translation: X:546.79, Y:-218.60, Z:13.27 [[ 1.01693585e-01 -9.94812412e-01 -2.58450985e-03 5.46794327e+02] [ 9.94540681e-01 1.01726213e-01 -2.32510325e-02 -2.18599448e+02] [ 2.33933281e-02 -2.05919348e-04 9.99726317e-01 1.32701763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.642755096 meters 0.021410723740301826 Centerline is valid? [True, True] Translation: X:546.80, Y:-218.54, Z:13.27 [[ 9.82133989e-02 -9.95162018e-01 -2.58577937e-03 5.46802680e+02] [ 9.94888377e-01 9.82470320e-02 -2.33374619e-02 -2.18543853e+02] [ 2.34786008e-02 -2.80510380e-04 9.99724300e-01 1.32717701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7027550959999 meters 0.021484019989124574 Centerline is valid? [True, True] Translation: X:546.81, Y:-218.49, Z:13.27 [[ 9.51595426e-02 -9.95458430e-01 -2.67886089e-03 5.46807542e+02] [ 9.95162903e-01 9.51965701e-02 -2.42571466e-02 -2.18486434e+02] [ 2.44019994e-02 -3.57604005e-04 9.99702163e-01 1.32736118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.762755096 meters 0.02224245702936244 Centerline is valid? [True, True] Translation: X:546.81, Y:-218.43, Z:13.28 [[ 9.21295413e-02 -9.95743152e-01 -2.77901067e-03 5.46814397e+02] [ 9.95423093e-01 9.21703940e-02 -2.52484449e-02 -2.18429522e+02] [ 2.53971086e-02 -4.40163750e-04 9.99677345e-01 1.32750554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8227550959999 meters 0.02252723511590381 Centerline is valid? [True, True] Translation: X:546.82, Y:-218.37, Z:13.28 [[ 9.07136592e-02 -9.95872993e-01 -2.83077883e-03 5.46820118e+02] [ 9.95538733e-01 9.07565614e-02 -2.58046199e-02 -2.18372533e+02] [ 2.59550358e-02 -4.77318473e-04 9.99662997e-01 1.32762455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.882755096 meters 0.02267500987593457 Centerline is valid? [True, True] Translation: X:546.82, Y:-218.32, Z:13.28 [[ 9.07919032e-02 -9.95865592e-01 -2.92443763e-03 5.46823257e+02] [ 9.95506294e-01 9.08377091e-02 -2.67531305e-02 -2.18317414e+02] [ 2.69081714e-02 -4.82328427e-04 9.99637793e-01 1.32770731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9427550959999 meters 0.02240167815014765 Centerline is valid? [True, True] Translation: X:546.83, Y:-218.26, Z:13.28 [[ 9.17661075e-02 -9.95776222e-01 -2.94896989e-03 5.46826785e+02] [ 9.95408075e-01 9.18123735e-02 -2.70786354e-02 -2.18261092e+02] [ 2.72350132e-02 -4.50527481e-04 9.99628957e-01 1.32777317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.002755096 meters 0.021337865098597378 Centerline is valid? [True, True] Translation: X:546.83, Y:-218.20, Z:13.28 [[ 9.38380238e-02 -9.95583232e-01 -2.90737026e-03 5.46827846e+02] [ 9.95222808e-01 9.38822849e-02 -2.67895448e-02 -2.18203563e+02] [ 2.69441721e-02 -3.79603253e-04 9.99636868e-01 1.32801915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0627550959999 meters 0.02099799131862877 Centerline is valid? [True, True] Translation: X:546.83, Y:-218.15, Z:13.28 [[ 9.48916406e-02 -9.95483421e-01 -2.88694408e-03 5.46831332e+02] [ 9.95125606e-01 9.49349367e-02 -2.66905519e-02 -2.18146051e+02] [ 2.68440738e-02 -3.40161716e-04 9.99639575e-01 1.32816504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.122755096 meters 0.021334990627512228 Centerline is valid? [True, True] Translation: X:546.84, Y:-218.09, Z:13.28 [[ 9.38732793e-02 -9.95580024e-01 -2.86757646e-03 5.46837075e+02] [ 9.95224628e-01 9.39163901e-02 -2.66017258e-02 -2.18089970e+02] [ 2.67534592e-02 -3.56691486e-04 9.99641999e-01 1.32834190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1827550959999 meters 0.022246124453437554 Centerline is valid? [True, True] Translation: X:546.85, Y:-218.03, Z:13.28 [[ 9.07158674e-02 -9.95872842e-01 -2.81302307e-03 5.46845083e+02] [ 9.95528649e-01 9.07584759e-02 -2.61841241e-02 -2.18032802e+02] [ 2.63313638e-02 -4.25129530e-04 9.99653179e-01 1.32848110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.242755096 meters 0.023562159188339333 Centerline is valid? [True, True] Translation: X:546.85, Y:-217.98, Z:13.29 [[ 8.70386415e-02 -9.96201099e-01 -2.76507687e-03 5.46853664e+02] [ 9.95866490e-01 8.70810809e-02 -2.58228577e-02 -2.17976921e+02] [ 2.59655451e-02 -5.06060943e-04 9.99662710e-01 1.32865210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3027550959999 meters 0.02379355352487456 Centerline is valid? [True, True] Translation: X:546.86, Y:-217.92, Z:13.29 [[ 8.48068235e-02 -9.96393359e-01 -2.84194542e-03 5.46859461e+02] [ 9.96037524e-01 8.48524999e-02 -2.66327587e-02 -2.17919577e+02] [ 2.67778500e-02 -5.72044619e-04 9.99641245e-01 1.32880721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3627550959999 meters 0.02535051487398425 Centerline is valid? [True, True] Translation: X:546.87, Y:-217.86, Z:13.29 [[ 8.32269816e-02 -9.96526434e-01 -2.88727012e-03 5.46867236e+02] [ 9.96156691e-01 8.32747664e-02 -2.71507046e-02 -2.17863599e+02] [ 2.72968315e-02 -6.16502261e-04 9.99627182e-01 1.32882061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.422755096 meters 0.02424003004359677 Centerline is valid? [True, True] Translation: X:546.87, Y:-217.81, Z:13.29 [[ 8.25517395e-02 -9.96582312e-01 -2.98430193e-03 5.46869745e+02] [ 9.96184524e-01 8.26031220e-02 -2.81623528e-02 -2.17806412e+02] [ 2.83126153e-02 -6.48064184e-04 9.99598907e-01 1.32900778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4827550959999 meters 0.023819918511833318 Centerline is valid? [True, True] Translation: X:546.87, Y:-217.75, Z:13.29 [[ 8.25540927e-02 -9.96582055e-01 -3.00495048e-03 5.46874516e+02] [ 9.96175950e-01 8.26062511e-02 -2.84549476e-02 -2.17749613e+02] [ 2.86059179e-02 -6.44387017e-04 9.99590559e-01 1.32918759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.542755096 meters 0.02366428430436601 Centerline is valid? [True, True] Translation: X:546.88, Y:-217.69, Z:13.29 [[ 8.24526739e-02 -9.96590717e-01 -2.91534500e-03 5.46879811e+02] [ 9.96205863e-01 8.25018660e-02 -2.77005440e-02 -2.17692354e+02] [ 2.78466264e-02 -6.20299862e-04 9.99612015e-01 1.32940661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6027550959999 meters 0.02368200979804251 Centerline is valid? [True, True] Translation: X:546.89, Y:-217.64, Z:13.30 [[ 8.28431889e-02 -9.96558361e-01 -2.90492523e-03 5.46885710e+02] [ 9.96173580e-01 8.28919379e-02 -2.76970147e-02 -2.17635066e+02] [ 2.78424865e-02 -5.99300745e-04 9.99612143e-01 1.32960108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.662755096 meters 0.023170552842868116 Centerline is valid? [True, True] Translation: X:546.89, Y:-217.58, Z:13.30 [[ 8.41133141e-02 -9.96452178e-01 -2.82987947e-03 5.46890729e+02] [ 9.96084432e-01 8.41591627e-02 -2.70747069e-02 -2.17578359e+02] [ 2.72168109e-02 -5.41455564e-04 9.99629407e-01 1.32979490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7227550959999 meters 0.021909689096139516 Centerline is valid? [True, True] Translation: X:546.89, Y:-217.52, Z:13.30 [[ 8.78236434e-02 -9.96131998e-01 -2.83743553e-03 5.46894048e+02] [ 9.95759459e-01 8.78684023e-02 -2.72441430e-02 -2.17521124e+02] [ 2.73880835e-02 -4.32723369e-04 9.99624782e-01 1.32998901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.782755096 meters 0.021813925844601803 Centerline is valid? [True, True] Translation: X:546.89, Y:-217.46, Z:13.30 [[ 9.31647110e-02 -9.95646908e-01 -2.75156578e-03 5.46894374e+02] [ 9.95293941e-01 9.32049476e-02 -2.65105529e-02 -2.17464771e+02] [ 2.66516095e-02 -2.68768749e-04 9.99644747e-01 1.32988820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8427550959999 meters 0.01945361556875278 Centerline is valid? [True, True] Translation: X:546.90, Y:-217.41, Z:13.30 [[ 9.80858205e-02 -9.95174067e-01 -2.78339488e-03 5.46895928e+02] [ 9.94810103e-01 9.81252199e-02 -2.69128085e-02 -2.17407032e+02] [ 2.70560503e-02 -1.29184447e-04 9.99633910e-01 1.33010520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.902755096 meters 0.019157694640971456 Centerline is valid? [True, True] Translation: X:546.90, Y:-217.35, Z:13.30 [[ 9.91024721e-02 -9.95073498e-01 -2.72644719e-03 5.46901723e+02] [ 9.94721848e-01 9.91399278e-02 -2.64522205e-02 -2.17350455e+02] [ 2.65922034e-02 -9.05761466e-05 9.99646361e-01 1.33027163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9627550959999 meters 0.019059415713868894 Centerline is valid? [True, True] Translation: X:546.91, Y:-217.30, Z:13.30 [[ 9.87505184e-02 -9.95108944e-01 -2.55447504e-03 5.46909232e+02] [ 9.94798081e-01 9.87835157e-02 -2.48715613e-02 -2.17295839e+02] [ 2.50022531e-02 -8.51072985e-05 9.99687391e-01 1.33046664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.022755096 meters 0.019024178584208344 Centerline is valid? [True, True] Translation: X:546.92, Y:-217.24, Z:13.31 [[ 9.72077569e-02 -9.95261142e-01 -2.43124961e-03 5.46917906e+02] [ 9.94977391e-01 9.72380950e-02 -2.37643355e-02 -2.17240764e+02] [ 2.38881297e-02 -1.08960643e-04 9.99714632e-01 1.33062156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0827550959999 meters 0.019063027822614077 Centerline is valid? [True, True] Translation: X:546.93, Y:-217.18, Z:13.31 [[ 9.54292198e-02 -9.95433036e-01 -2.51709206e-03 5.46928904e+02] [ 9.95126533e-01 9.54622959e-02 -2.47008591e-02 -2.17184704e+02] [ 2.48283386e-02 -1.47641383e-04 9.99691718e-01 1.33067884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.142755096 meters 0.01910822261917395 Centerline is valid? [True, True] Translation: X:546.94, Y:-217.13, Z:13.31 [[ 9.42151017e-02 -9.95548541e-01 -2.57221290e-03 5.46939140e+02] [ 9.95226198e-01 9.42500486e-02 -2.53326691e-02 -2.17127749e+02] [ 2.54623329e-02 -1.73213671e-04 9.99675767e-01 1.33072697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2027550959999 meters 0.019280222193375267 Centerline is valid? [True, True] Translation: X:546.95, Y:-217.07, Z:13.31 [[ 9.32486705e-02 -9.95639374e-01 -2.63092086e-03 5.46948779e+02] [ 9.95299602e-01 9.32855775e-02 -2.60096623e-02 -2.17072598e+02] [ 2.61416709e-02 -1.93188054e-04 9.99658229e-01 1.33070037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.262755096 meters 0.01963553811556091 Centerline is valid? [True, True] Translation: X:546.96, Y:-217.02, Z:13.31 [[ 9.17512577e-02 -9.95778247e-01 -2.71852116e-03 5.46961983e+02] [ 9.95412593e-01 9.17912340e-02 -2.69840528e-02 -2.17017675e+02] [ 2.71196692e-02 -2.30229415e-04 9.99632168e-01 1.33079511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3227550959999 meters 0.019622300460740608 Centerline is valid? [True, True] Translation: X:546.97, Y:-216.96, Z:13.31 [[ 8.91787640e-02 -9.96012079e-01 -2.66191231e-03 5.46974871e+02] [ 9.95659073e-01 8.92180260e-02 -2.65170691e-02 -2.16961357e+02] [ 2.66488117e-02 -2.85597695e-04 9.99644817e-01 1.33114971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.382755096 meters 0.019893693931416965 Centerline is valid? [True, True] Translation: X:546.99, Y:-216.91, Z:13.31 [[ 8.73460379e-02 -9.96175045e-01 -2.43913102e-03 5.46988011e+02] [ 9.95876620e-01 8.73795751e-02 -2.43837643e-02 -2.16905768e+02] [ 2.45036277e-02 -2.99248355e-04 9.99699696e-01 1.33145629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4427550959999 meters 0.019952146143283125 Centerline is valid? [True, True] Translation: X:547.00, Y:-216.85, Z:13.32 [[ 8.67839564e-02 -9.96224240e-01 -2.41025633e-03 5.46995694e+02] [ 9.95930538e-01 8.68168980e-02 -2.41906790e-02 -2.16849981e+02] [ 2.43085918e-02 -3.01085049e-04 9.99704457e-01 1.33158476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.502755096 meters 0.01973863552568316 Centerline is valid? [True, True] Translation: X:547.01, Y:-216.79, Z:13.32 [[ 8.67950592e-02 -9.96223437e-01 -2.34105301e-03 5.47006653e+02] [ 9.95944188e-01 8.68261598e-02 -2.35879747e-02 -2.16794124e+02] [ 2.37021579e-02 -2.84238478e-04 9.99719024e-01 1.33177885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5627550959999 meters 0.01903852415034618 Centerline is valid? [True, True] Translation: X:547.02, Y:-216.74, Z:13.32 [[ 8.89717303e-02 -9.96031391e-01 -2.34506969e-03 5.47016005e+02] [ 9.95748898e-01 8.90023468e-02 -2.37216059e-02 -2.16737881e+02] [ 2.38361809e-02 -2.24548232e-04 9.99715853e-01 1.33191211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.622755096 meters 0.01838555317490896 Centerline is valid? [True, True] Translation: X:547.02, Y:-216.68, Z:13.32 [[ 9.24428331e-02 -9.95715087e-01 -2.40590816e-03 5.47023850e+02] [ 9.95415369e-01 9.24740349e-02 -2.44293905e-02 -2.16681215e+02] [ 2.45471968e-02 -1.36555890e-04 9.99698663e-01 1.33190143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6827550959999 meters 0.018753946773160265 Centerline is valid? [True, True] Translation: X:547.03, Y:-216.63, Z:13.32 [[ 9.64520078e-02 -9.95334687e-01 -2.42301093e-03 5.47028429e+02] [ 9.95028229e-01 9.64824334e-02 -2.46974327e-02 -2.16625379e+02] [ 2.48159895e-02 -2.88473057e-05 9.99692036e-01 1.33180337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.742755096 meters 0.018164081385646375 Centerline is valid? [True, True] Translation: X:547.03, Y:-216.57, Z:13.32 [[ 1.00804884e-01 -9.94903436e-01 -2.35129263e-03 5.47031768e+02] [ 9.94612454e-01 1.00832265e-01 -2.40607726e-02 -2.16570296e+02] [ 2.41752315e-02 8.68184570e-05 9.99707733e-01 1.33196919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8027550959999 meters 0.01830018093496735 Centerline is valid? [True, True] Translation: X:547.04, Y:-216.51, Z:13.32 [[ 1.01211559e-01 -9.94862358e-01 -2.26026181e-03 5.47038547e+02] [ 9.94591265e-01 1.01236742e-01 -2.32236539e-02 -2.16513934e+02] [ 2.33331606e-02 1.02465572e-04 9.99727740e-01 1.33210597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8627550959999 meters 0.01808616811257615 Centerline is valid? [True, True] Translation: X:547.05, Y:-216.46, Z:13.32 [[ 9.92182156e-02 -9.95063356e-01 -2.15943894e-03 5.47045037e+02] [ 9.94814005e-01 9.92416931e-02 -2.22751288e-02 -2.16458879e+02] [ 2.23794708e-02 6.18584305e-05 9.99749546e-01 1.33227173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.922755096 meters 0.018075013649446595 Centerline is valid? [True, True] Translation: X:547.05, Y:-216.40, Z:13.32 [[ 9.75125613e-02 -9.95231944e-01 -2.16308218e-03 5.47050740e+02] [ 9.94979713e-01 9.75365443e-02 -2.24052173e-02 -2.16402465e+02] [ 2.25093675e-02 3.25672327e-05 9.99746632e-01 1.33233423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9827550959999 meters 0.017906113609945384 Centerline is valid? [True, True] Translation: X:547.06, Y:-216.35, Z:13.32 [[ 9.52974809e-02 -9.95446422e-01 -2.19355086e-03 5.47056334e+02] [ 9.95184980e-01 9.53227226e-02 -2.28130369e-02 -2.16346002e+02] [ 2.29182512e-02 -8.96392236e-06 9.99737342e-01 1.33237507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.042755096 meters 0.017817448363128607 Centerline is valid? [True, True] Translation: X:547.06, Y:-216.29, Z:13.32 [[ 9.38539743e-02 -9.95583271e-01 -2.32001488e-03 5.47058579e+02] [ 9.95288311e-01 9.38826382e-02 -2.42327773e-02 -2.16289137e+02] [ 2.43435568e-02 -3.47412265e-05 9.99703651e-01 1.33228112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1027550959999 meters 0.018138304124189777 Centerline is valid? [True, True] Translation: X:547.06, Y:-216.23, Z:13.32 [[ 9.05681948e-02 -9.95887479e-01 -2.35171274e-03 5.47062983e+02] [ 9.95581936e-01 9.05986588e-02 -2.46676319e-02 -2.16234060e+02] [ 2.47792477e-02 -1.07219834e-04 9.99692942e-01 1.33221750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.162755096 meters 0.01867060423258208 Centerline is valid? [True, True] Translation: X:547.07, Y:-216.18, Z:13.32 [[ 8.77091872e-02 -9.96143458e-01 -2.30429009e-03 5.47069035e+02] [ 9.95847740e-01 8.77392942e-02 -2.42712830e-02 -2.16177443e+02] [ 2.43798566e-02 -1.65907568e-04 9.99702753e-01 1.33233332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2227550959999 meters 0.019941469259667218 Centerline is valid? [True, True] Translation: X:547.08, Y:-216.12, Z:13.32 [[ 8.25679693e-02 -9.96583219e-01 -2.10195265e-03 5.47077521e+02] [ 9.96335423e-01 8.25943130e-02 -2.22239812e-02 -2.16121555e+02] [ 2.23216561e-02 -2.59260882e-04 9.99750807e-01 1.33249963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.282755096 meters 0.021243188082091632 Centerline is valid? [True, True] Translation: X:547.09, Y:-216.07, Z:13.33 [[ 7.75299471e-02 -9.96988158e-01 -1.92873807e-03 5.47085892e+02] [ 9.96778144e-01 7.75532071e-02 -2.04653793e-02 -2.16065010e+02] [ 2.05533207e-02 -3.35844179e-04 9.99788702e-01 1.33273895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3427550959999 meters 0.022356608538365134 Centerline is valid? [True, True] Translation: X:547.09, Y:-216.01, Z:13.33 [[ 7.46864623e-02 -9.97205334e-01 -1.85831039e-03 5.47093691e+02] [ 9.97009046e-01 7.47086372e-02 -1.97884003e-02 -2.16008511e+02] [ 1.98719302e-02 -3.74826655e-04 9.99802463e-01 1.33282293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.402755096 meters 0.022393049850756665 Centerline is valid? [True, True] Translation: X:547.10, Y:-215.95, Z:13.33 [[ 7.50598909e-02 -9.97177237e-01 -1.88979716e-03 5.47098842e+02] [ 9.96972694e-01 7.50827758e-02 -2.01996204e-02 -2.15952881e+02] [ 2.02844929e-02 -3.67894864e-04 9.99794181e-01 1.33279682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4627550959999 meters 0.020597969434646708 Centerline is valid? [True, True] Translation: X:547.10, Y:-215.89, Z:13.33 [[ 7.65126412e-02 -9.97066814e-01 -1.89299126e-03 5.47099902e+02] [ 9.96859907e-01 7.65353314e-02 -2.03142305e-02 -2.15894949e+02] [ 2.03995258e-02 -3.32751666e-04 9.99791853e-01 1.33288357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.522755096 meters 0.02027594069728468 Centerline is valid? [True, True] Translation: X:547.10, Y:-215.84, Z:13.33 [[ 7.88732613e-02 -9.96882829e-01 -1.90634712e-03 5.47104552e+02] [ 9.96671726e-01 7.88957926e-02 -2.05164352e-02 -2.15839342e+02] [ 2.06028847e-02 -2.81804122e-04 9.99787698e-01 1.33292181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5827550959999 meters 0.019514617621185934 Centerline is valid? [True, True] Translation: X:547.11, Y:-215.78, Z:13.33 [[ 8.01402197e-02 -9.96781636e-01 -1.97873603e-03 5.47108384e+02] [ 9.96552465e-01 8.01642261e-02 -2.13747678e-02 -2.15782526e+02] [ 2.14645999e-02 -2.58935678e-04 9.99769575e-01 1.33298530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.642755096 meters 0.019105091441862405 Centerline is valid? [True, True] Translation: X:547.11, Y:-215.73, Z:13.33 [[ 8.11639449e-02 -9.96698805e-01 -1.97628712e-03 5.47112487e+02] [ 9.96468215e-01 8.11876785e-02 -2.14396311e-02 -2.15725691e+02] [ 2.15293048e-02 -2.29182260e-04 9.99768191e-01 1.33311905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7027550959999 meters 0.018739181886699027 Centerline is valid? [True, True] Translation: X:547.12, Y:-215.67, Z:13.33 [[ 8.25972337e-02 -9.96581264e-01 -1.86561853e-03 5.47115750e+02] [ 9.96374187e-01 8.26181024e-02 -2.03157346e-02 -2.15668145e+02] [ 2.04004143e-02 -1.80830675e-04 9.99791874e-01 1.33335728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.762755096 meters 0.018449693444754913 Centerline is valid? [True, True] Translation: X:547.12, Y:-215.61, Z:13.34 [[ 8.41286098e-02 -9.96453280e-01 -1.79958687e-03 5.47118052e+02] [ 9.96259063e-01 8.41477422e-02 -1.96732507e-02 -2.15611735e+02] [ 1.97549064e-02 -1.37771499e-04 9.99804843e-01 1.33360289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8227550959999 meters 0.01803773555191641 Centerline is valid? [True, True] Translation: X:547.12, Y:-215.56, Z:13.34 [[ 8.69912537e-02 -9.96207358e-01 -1.84986234e-03 5.47119644e+02] [ 9.96000229e-01 8.70108874e-02 -2.03137750e-02 -2.15555057e+02] [ 2.03976903e-02 -7.53425650e-05 9.99791943e-01 1.33362037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.882755096 meters 0.01793332612380474 Centerline is valid? [True, True] Translation: X:547.12, Y:-215.50, Z:13.34 [[ 8.87026003e-02 -9.96056349e-01 -1.89689600e-03 5.47122507e+02] [ 9.95836581e-01 8.87228743e-02 -2.09226068e-02 -2.15497806e+02] [ 2.10083935e-02 -3.31087980e-05 9.99779299e-01 1.33357514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9427550959999 meters 0.017936570695024377 Centerline is valid? [True, True] Translation: X:547.12, Y:-215.44, Z:13.33 [[ 9.07890493e-02 -9.95868216e-01 -1.96090505e-03 5.47123890e+02] [ 9.95631354e-01 9.08102210e-02 -2.17189191e-02 -2.15440337e+02] [ 2.18072515e-02 1.95014663e-05 9.99762193e-01 1.33348048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.002755096 meters 0.01812339632748221 Centerline is valid? [True, True] Translation: X:547.13, Y:-215.38, Z:13.34 [[ 9.13087079e-02 -9.95820709e-01 -1.95847449e-03 5.47127640e+02] [ 9.95582491e-01 9.13297008e-02 -2.17805017e-02 -2.15383356e+02] [ 2.18683415e-02 3.89265565e-05 9.99760858e-01 1.33357291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0627550959999 meters 0.018260386295085505 Centerline is valid? [True, True] Translation: X:547.13, Y:-215.33, Z:13.34 [[ 9.03584719e-02 -9.95907461e-01 -1.91719841e-03 5.47133553e+02] [ 9.95677360e-01 9.03788053e-02 -2.14071456e-02 -2.15326266e+02] [ 2.14928101e-02 2.54059094e-05 9.99769003e-01 1.33371288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.122755096 meters 0.01834294219181123 Centerline is valid? [True, True] Translation: X:547.14, Y:-215.27, Z:13.34 [[ 8.85425755e-02 -9.96070648e-01 -1.86471542e-03 5.47139358e+02] [ 9.95851206e-01 8.85622087e-02 -2.09071869e-02 -2.15270930e+02] [ 2.09901785e-02 -5.80293135e-06 9.99779682e-01 1.33380829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1827550959999 meters 0.018725844504072525 Centerline is valid? [True, True] Translation: X:547.15, Y:-215.21, Z:13.34 [[ 8.37006396e-02 -9.96489278e-01 -1.82244364e-03 5.47146904e+02] [ 9.96277858e-01 8.37204207e-02 -2.05261182e-02 -2.15213597e+02] [ 2.06066325e-02 -9.76110177e-05 9.99787656e-01 1.33380453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.242755096 meters 0.019976727627306623 Centerline is valid? [True, True] Translation: X:547.16, Y:-215.16, Z:13.34 [[ 7.90894563e-02 -9.96865953e-01 -1.76893782e-03 5.47155506e+02] [ 9.96665277e-01 7.91090289e-02 -2.00021795e-02 -2.15158348e+02] [ 2.00794307e-02 -1.81077405e-04 9.99798372e-01 1.33382948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3027550959999 meters 0.019732982875369662 Centerline is valid? [True, True] Translation: X:547.16, Y:-215.10, Z:13.34 [[ 7.66501450e-02 -9.97056533e-01 -1.73956598e-03 5.47162101e+02] [ 9.96861071e-01 7.66695641e-02 -1.97429286e-02 -2.15102014e+02] [ 1.98181877e-02 -2.20807263e-04 9.99803576e-01 1.33409020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3627550959999 meters 0.022106695164234833 Centerline is valid? [True, True] Translation: X:547.17, Y:-215.05, Z:13.34 [[ 6.91247327e-02 -9.97606479e-01 -1.75621570e-03 5.47173068e+02] [ 9.97406081e-01 6.91460527e-02 -1.99983333e-02 -2.15046315e+02] [ 2.00719022e-02 -3.69280780e-04 9.99798471e-01 1.33406284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.422755096 meters 0.023547800041951342 Centerline is valid? [True, True] Translation: X:547.18, Y:-214.99, Z:13.34 [[ 6.21741996e-02 -9.98063924e-01 -1.66526869e-03 5.47179612e+02] [ 9.97882433e-01 6.21946598e-02 -1.90387680e-02 -2.14989261e+02] [ 1.91054783e-02 -4.78022214e-04 9.99817359e-01 1.33419461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4827550959999 meters 0.02482121639948229 Centerline is valid? [True, True] Translation: X:547.18, Y:-214.93, Z:13.34 [[ 5.84331365e-02 -9.98290323e-01 -1.41386448e-03 5.47181604e+02] [ 9.98158661e-01 5.84484013e-02 -1.62194688e-02 -2.14931182e+02] [ 1.62743768e-02 -4.63506639e-04 9.99867456e-01 1.33440309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.542755096 meters 0.026730325137167697 Centerline is valid? [True, True] Translation: X:547.19, Y:-214.88, Z:13.35 [[ 5.56886405e-02 -9.98447347e-01 -1.29218211e-03 5.47187207e+02] [ 9.98336679e-01 5.57017160e-02 -1.48725918e-02 -2.14875049e+02] [ 1.49214766e-02 -4.61798377e-04 9.99888562e-01 1.33461220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6027550959999 meters 0.02754895869860081 Centerline is valid? [True, True] Translation: X:547.19, Y:-214.82, Z:13.35 [[ 5.35099640e-02 -9.98566791e-01 -1.02368304e-03 5.47190290e+02] [ 9.98496904e-01 5.35183366e-02 -1.18203097e-02 -2.14817929e+02] [ 1.18581546e-02 -3.89640000e-04 9.99929614e-01 1.33478481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.662755096 meters 0.026703308356109904 Centerline is valid? [True, True] Translation: X:547.19, Y:-214.76, Z:13.35 [[ 5.35293904e-02 -9.98565862e-01 -9.07612850e-04 5.47187247e+02] [ 9.98510561e-01 5.35359829e-02 -1.05146799e-02 -2.14759658e+02] [ 1.05481903e-02 -3.43416611e-04 9.99944307e-01 1.33458799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7227550959999 meters 0.026836863193804728 Centerline is valid? [True, True] Translation: X:547.19, Y:-214.70, Z:13.35 [[ 5.38932943e-02 -9.98546368e-01 -8.15234115e-04 5.47188990e+02] [ 9.98501468e-01 5.38986058e-02 -9.47415943e-03 -2.14703104e+02] [ 9.50432746e-03 -3.03418799e-04 9.99954787e-01 1.33461873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.782755096 meters 0.02652863328092025 Centerline is valid? [True, True] Translation: X:547.19, Y:-214.65, Z:13.35 [[ 5.51584420e-02 -9.98477400e-01 -6.54764707e-04 5.47190562e+02] [ 9.98448242e-01 5.51618375e-02 -7.63418305e-03 -2.14645759e+02] [ 7.65867727e-03 -2.32659027e-04 9.99970645e-01 1.33470317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8427550959999 meters 0.02641186776706232 Centerline is valid? [True, True] Translation: X:547.19, Y:-214.59, Z:13.35 [[ 5.63418939e-02 -9.98411416e-01 -4.84483717e-04 5.47192042e+02] [ 9.98395447e-01 5.63437341e-02 -5.64926503e-03 -2.14589021e+02] [ 5.66758832e-03 -1.65416047e-04 9.99983925e-01 1.33473567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.902755096 meters 0.026182647691964513 Centerline is valid? [True, True] Translation: X:547.19, Y:-214.53, Z:13.35 [[ 5.73781307e-02 -9.98352462e-01 -3.32877442e-04 5.47192966e+02] [ 9.98344946e-01 5.73789909e-02 -3.87555980e-03 -2.14532700e+02] [ 3.88827484e-03 -1.09954135e-04 9.99992435e-01 1.33482238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9627550959999 meters 0.02638187889609573 Centerline is valid? [True, True] Translation: X:547.20, Y:-214.48, Z:13.35 [[ 5.76319631e-02 -9.98337849e-01 -3.08555761e-04 5.47196867e+02] [ 9.98331360e-01 5.76327014e-02 -3.60095898e-03 -2.14477136e+02] [ 3.61275654e-03 -1.00510558e-04 9.99993469e-01 1.33494979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.022755096 meters 0.024839210561155404 Centerline is valid? [True, True] Translation: X:547.20, Y:-214.42, Z:13.35 [[ 5.74196256e-02 -9.98350126e-01 -1.12060627e-04 5.47198369e+02] [ 9.98349325e-01 5.74197216e-02 -1.26556713e-03 -2.14420276e+02] [ 1.26991359e-03 -3.92072610e-05 9.99999193e-01 1.33507349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0827550959999 meters 0.027772418803710234 Centerline is valid? [True, True] Translation: X:547.21, Y:-214.36, Z:13.35 [[ 5.60372291e-02 -9.98428680e-01 1.72764391e-05 5.47207229e+02] [ 9.98428645e-01 5.60372317e-02 2.64176775e-04 -2.14364807e+02] [-2.64729792e-04 2.44555728e-06 9.99999965e-01 1.33549803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.142755096 meters 0.025666441151975986 Centerline is valid? [True, True] Translation: X:547.21, Y:-214.31, Z:13.35 [[ 5.33986171e-02 -9.98573275e-01 -5.60043015e-05 5.47209082e+02] [ 9.98573094e-01 5.33986411e-02 -6.01262774e-04 -2.14307300e+02] [ 6.03395491e-04 -2.38177879e-05 9.99999818e-01 1.33510829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2027550959999 meters 0.027472155951744497 Centerline is valid? [True, True] Translation: X:547.22, Y:-214.25, Z:13.35 [[ 4.98676313e-02 -9.98755828e-01 -1.22772569e-04 5.47217578e+02] [ 9.98754832e-01 4.98677551e-02 -1.41124900e-03 -2.14251520e+02] [ 1.41561555e-03 -5.22440519e-05 9.99998997e-01 1.33513981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.262755096 meters 0.027792070305004545 Centerline is valid? [True, True] Translation: X:547.22, Y:-214.19, Z:13.35 [[ 4.71227659e-02 -9.98889096e-01 -1.38953204e-04 5.47222445e+02] [ 9.98887788e-01 4.71229293e-02 -1.61771082e-03 -2.14194279e+02] [ 1.62246158e-03 -6.25676504e-05 9.99998682e-01 1.33507596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3227550959999 meters 0.03043708308714112 Centerline is valid? [True, True] Translation: X:547.23, Y:-214.14, Z:13.35 [[ 4.38162435e-02 -9.99039573e-01 -2.61117776e-04 5.47232879e+02] [ 9.99034673e-01 4.38168471e-02 -3.13144484e-03 -2.14139165e+02] [ 3.13987867e-03 -1.23657563e-04 9.99995063e-01 1.33516951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.382755096 meters 0.030071277970105288 Centerline is valid? [True, True] Translation: X:547.24, Y:-214.08, Z:13.35 [[ 4.33250778e-02 -9.99060985e-01 -2.94811568e-04 5.47236216e+02] [ 9.99054721e-01 4.33258510e-02 -3.54044792e-03 -2.14082610e+02] [ 3.54989634e-03 -1.41142708e-04 9.99993689e-01 1.33520702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4427550959999 meters 0.029063475863260257 Centerline is valid? [True, True] Translation: X:547.24, Y:-214.03, Z:13.35 [[ 4.60157369e-02 -9.98940662e-01 -3.26259388e-04 5.47237316e+02] [ 9.98932851e-01 4.60166682e-02 -3.95295556e-03 -2.14025384e+02] [ 3.96378142e-03 -1.44013057e-04 9.99992134e-01 1.33530596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.502755096 meters 0.027008677237649978 Centerline is valid? [True, True] Translation: X:547.24, Y:-213.97, Z:13.35 [[ 4.77846251e-02 -9.98857618e-01 -2.96746368e-04 5.47238762e+02] [ 9.98851130e-01 4.77853849e-02 -3.60225683e-03 -2.13967908e+02] [ 3.61232182e-03 -1.24272953e-04 9.99993468e-01 1.33543740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5627550959999 meters 0.026552712990240354 Centerline is valid? [True, True] Translation: X:547.24, Y:-213.91, Z:13.36 [[ 4.87764099e-02 -9.98809671e-01 -3.22110505e-04 5.47242188e+02] [ 9.98801918e-01 4.87773012e-02 -3.93750451e-03 -2.13910211e+02] [ 3.94852926e-03 -1.29667256e-04 9.99992196e-01 1.33560890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.622755096 meters 0.025864537017511926 Centerline is valid? [True, True] Translation: X:547.24, Y:-213.85, Z:13.36 [[ 5.06751089e-02 -9.98715133e-01 -3.41452446e-04 5.47243263e+02] [ 9.98706325e-01 5.06760967e-02 -4.19646688e-03 -2.13852339e+02] [ 4.20837845e-03 -1.28354301e-04 9.99991137e-01 1.33570906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6827550959999 meters 0.0257525330186791 Centerline is valid? [True, True] Translation: X:547.25, Y:-213.80, Z:13.36 [[ 5.16359266e-02 -9.98665891e-01 -4.12093420e-04 5.47246737e+02] [ 9.98652886e-01 5.16373582e-02 -5.09868637e-03 -2.13795475e+02] [ 5.11316358e-03 -1.48262888e-04 9.99986917e-01 1.33577572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.742755096 meters 0.024969992458346954 Centerline is valid? [True, True] Translation: X:547.25, Y:-213.74, Z:13.36 [[ 5.15758162e-02 -9.98668919e-01 -5.70879738e-04 5.47248636e+02] [ 9.98643576e-01 5.15785760e-02 -7.11748443e-03 -2.13738814e+02] [ 7.13745564e-03 -2.03015315e-04 9.99974507e-01 1.33570136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8027550959999 meters 0.025695716310112006 Centerline is valid? [True, True] Translation: X:547.25, Y:-213.68, Z:13.36 [[ 5.07875626e-02 -9.98709246e-01 -6.81981687e-04 5.47250899e+02] [ 9.98672587e-01 5.07915440e-02 -8.56053788e-03 -2.13683553e+02] [ 8.58412724e-03 -2.46307562e-04 9.99963125e-01 1.33564645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8627550959999 meters 0.026288198256465587 Centerline is valid? [True, True] Translation: X:547.25, Y:-213.63, Z:13.36 [[ 4.92715336e-02 -9.98785130e-01 -7.62296464e-04 5.47254391e+02] [ 9.98738700e-01 4.92765966e-02 -9.63468672e-03 -2.13626425e+02] [ 9.66054520e-03 -2.86619188e-04 9.99953295e-01 1.33565685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.922755096 meters 0.028259571713656544 Centerline is valid? [True, True] Translation: X:547.26, Y:-213.57, Z:13.36 [[ 4.64844645e-02 -9.98918641e-01 -8.62614887e-04 5.47258785e+02] [ 9.98858495e-01 4.64911365e-02 -1.09672798e-02 -2.13570427e+02] [ 1.09955242e-02 -3.51822078e-04 9.99939486e-01 1.33569728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9827550959999 meters 0.03000837747315873 Centerline is valid? [True, True] Translation: X:547.26, Y:-213.51, Z:13.36 [[ 4.39355012e-02 -9.99033926e-01 -9.41114880e-04 5.47261176e+02] [ 9.98961859e-01 4.39436424e-02 -1.20067288e-02 -2.13513219e+02] [ 1.20364855e-02 -4.12616220e-04 9.99927474e-01 1.33570457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.042755096 meters 0.031349692478379605 Centerline is valid? [True, True] Translation: X:547.26, Y:-213.46, Z:13.36 [[ 4.23555649e-02 -9.99102146e-01 -9.52988337e-04 5.47263922e+02] [ 9.99027640e-01 4.23640519e-02 -1.22091162e-02 -2.13457213e+02] [ 1.22385267e-02 -4.34937673e-04 9.99925012e-01 1.33577463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1027550959999 meters 0.03310970837008576 Centerline is valid? [True, True] Translation: X:547.27, Y:-213.40, Z:13.36 [[ 3.97998215e-02 -9.99207118e-01 -1.05329444e-03 5.47266110e+02] [ 9.99115149e-01 3.98104590e-02 -1.35663378e-02 -2.13401067e+02] [ 1.35975134e-02 -5.12424614e-04 9.99907418e-01 1.33581669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.162755096 meters 0.0305551159388537 Centerline is valid? [True, True] Translation: X:547.26, Y:-213.34, Z:13.36 [[ 3.87211615e-02 -9.99249515e-01 -1.03894739e-03 5.47261058e+02] [ 9.99159211e-01 3.87316399e-02 -1.34436342e-02 -2.13342896e+02] [ 1.34737850e-02 -5.17520726e-04 9.99909091e-01 1.33586947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2227550959999 meters 0.029961654860393434 Centerline is valid? [True, True] Translation: X:547.26, Y:-213.29, Z:13.36 [[ 3.81978472e-02 -9.99269670e-01 -1.02573563e-03 5.47261654e+02] [ 9.99180897e-01 3.82081362e-02 -1.33293875e-02 -2.13286708e+02] [ 1.33588441e-02 -5.15741546e-04 9.99910634e-01 1.33597249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.282755096 meters 0.029643447880051323 Centerline is valid? [True, True] Translation: X:547.26, Y:-213.23, Z:13.36 [[ 3.92486859e-02 -9.99228925e-01 -1.04691239e-03 5.47259061e+02] [ 9.99135431e-01 3.92593445e-02 -1.36782276e-02 -2.13229391e+02] [ 1.37087817e-02 -5.09154803e-04 9.99905901e-01 1.33598338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3427550959999 meters 0.028567892303328582 Centerline is valid? [True, True] Translation: X:547.26, Y:-213.17, Z:13.36 [[ 3.99555652e-02 -9.99200828e-01 -1.12184566e-03 5.47258274e+02] [ 9.99092393e-01 3.99677670e-02 -1.47298555e-02 -2.13171962e+02] [ 1.47629215e-02 -5.32287764e-04 9.99890880e-01 1.33603504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.402755096 meters 0.029784589691286553 Centerline is valid? [True, True] Translation: X:547.26, Y:-213.12, Z:13.36 [[ 4.08585627e-02 -9.99164346e-01 -1.08979861e-03 5.47257807e+02] [ 9.99061087e-01 4.08700170e-02 -1.43731253e-02 -2.13115440e+02] [ 1.44056545e-02 -5.01510140e-04 9.99896107e-01 1.33611386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4627550959999 meters 0.028735110895763156 Centerline is valid? [True, True] Translation: X:547.26, Y:-213.06, Z:13.36 [[ 4.27502253e-02 -9.99085217e-01 -1.07131237e-03 5.47256188e+02] [ 9.98984447e-01 4.27611370e-02 -1.41971629e-02 -2.13059076e+02] [ 1.42299861e-02 -4.63292486e-04 9.99898641e-01 1.33631704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.522755096 meters 0.02750800476394427 Centerline is valid? [True, True] Translation: X:547.25, Y:-213.00, Z:13.36 [[ 4.65730537e-02 -9.98914271e-01 -1.10941211e-03 5.47252740e+02] [ 9.98805092e-01 4.65843721e-02 -1.47744218e-02 -2.13002816e+02] [ 1.48100621e-02 -4.19996527e-04 9.99890237e-01 1.33631234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5827550959999 meters 0.02416459773611453 Centerline is valid? [True, True] Translation: X:547.25, Y:-212.95, Z:13.36 [[ 4.94210193e-02 -9.98777347e-01 -1.17233262e-03 5.47246865e+02] [ 9.98654111e-01 4.94333429e-02 -1.56942763e-02 -2.12945016e+02] [ 1.57330400e-02 -3.95127659e-04 9.99876150e-01 1.33622937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.642755096 meters 0.024214065859272285 Centerline is valid? [True, True] Translation: X:547.25, Y:-212.89, Z:13.36 [[ 5.24601290e-02 -9.98622196e-01 -1.28245667e-03 5.47245196e+02] [ 9.98473140e-01 5.24744612e-02 -1.72574719e-02 -2.12888194e+02] [ 1.73009907e-02 -3.75169336e-04 9.99850256e-01 1.33616377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7027550959999 meters 0.022704229024047194 Centerline is valid? [True, True] Translation: X:547.24, Y:-212.83, Z:13.36 [[ 5.21080106e-02 -9.98640572e-01 -1.32769298e-03 5.47241179e+02] [ 9.98479174e-01 5.21234640e-02 -1.79578362e-02 -2.12831630e+02] [ 1.80026278e-02 -3.89926667e-04 9.99837864e-01 1.33613073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.762755096 meters 0.022878515087265714 Centerline is valid? [True, True] Translation: X:547.24, Y:-212.77, Z:13.36 [[ 4.94241844e-02 -9.98777058e-01 -1.28030032e-03 5.47242150e+02] [ 9.98625452e-01 4.94389953e-02 -1.74066690e-02 -2.12773771e+02] [ 1.74486784e-02 -4.18230064e-04 9.99847673e-01 1.33634288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8227550959999 meters 0.024498559551597174 Centerline is valid? [True, True] Translation: X:547.25, Y:-212.72, Z:13.36 [[ 4.59324207e-02 -9.98943716e-01 -1.29044141e-03 5.47245930e+02] [ 9.98788365e-01 4.59480434e-02 -1.76232386e-02 -2.12717559e+02] [ 1.76639167e-02 -4.79399860e-04 9.99843866e-01 1.33646436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.882755096 meters 0.02540134634170839 Centerline is valid? [True, True] Translation: X:547.25, Y:-212.66, Z:13.36 [[ 4.39626812e-02 -9.99032338e-01 -1.29267022e-03 5.47249408e+02] [ 9.98875264e-01 4.39787004e-02 -1.77223044e-02 -2.12660495e+02] [ 1.77620051e-02 -5.12096286e-04 9.99842112e-01 1.33648541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9427550959999 meters 0.025424492234872708 Centerline is valid? [True, True] Translation: X:547.25, Y:-212.60, Z:13.36 [[ 4.25967575e-02 -9.99091499e-01 -1.30116207e-03 5.47251204e+02] [ 9.98930794e-01 4.26132530e-02 -1.79270671e-02 -2.12603690e+02] [ 1.79662271e-02 -5.36135930e-04 9.99838451e-01 1.33649304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.002755096 meters 0.026917677630931763 Centerline is valid? [True, True] Translation: X:547.26, Y:-212.55, Z:13.36 [[ 4.38586158e-02 -9.99036871e-01 -1.32401004e-03 5.47255907e+02] [ 9.98868680e-01 4.38755358e-02 -1.83384223e-02 -2.12547891e+02] [ 1.83788517e-02 -5.18214340e-04 9.99830960e-01 1.33645671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0627550959999 meters 0.0240966673824374 Centerline is valid? [True, True] Translation: X:547.25, Y:-212.49, Z:13.36 [[ 4.73697678e-02 -9.98876501e-01 -1.35667066e-03 5.47253089e+02] [ 9.98698421e-01 4.73869470e-02 -1.88663928e-02 -2.12490271e+02] [ 1.89094850e-02 -4.61208196e-04 9.99821093e-01 1.33646669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.122755096 meters 0.023087576525009392 Centerline is valid? [True, True] Translation: X:547.26, Y:-212.43, Z:13.37 [[ 5.00104462e-02 -9.98747813e-01 -1.32732793e-03 5.47255209e+02] [ 9.98575676e-01 5.00264749e-02 -1.85464861e-02 -2.12432665e+02] [ 1.85896640e-02 -3.97919341e-04 9.99827118e-01 1.33658946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1827550959999 meters 0.022147833974356178 Centerline is valid? [True, True] Translation: X:547.26, Y:-212.38, Z:13.37 [[ 5.23591554e-02 -9.98627505e-01 -1.27517654e-03 5.47257784e+02] [ 9.98467181e-01 5.23736024e-02 -1.78967827e-02 -2.12375123e+02] [ 1.79390051e-02 -3.36161498e-04 9.99839027e-01 1.33679924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.242755096 meters 0.021935725117203587 Centerline is valid? [True, True] Translation: X:547.26, Y:-212.32, Z:13.37 [[ 5.36012899e-02 -9.98561562e-01 -1.30715686e-03 5.47261564e+02] [ 9.98391360e-01 5.36162907e-02 -1.84386932e-02 -2.12319478e+02] [ 1.84822552e-02 -3.16716372e-04 9.99829138e-01 1.33677694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3027550959999 meters 0.02055573182232228 Centerline is valid? [True, True] Translation: X:547.26, Y:-212.26, Z:13.37 [[ 5.41371442e-02 -9.98532690e-01 -1.27943211e-03 5.47263510e+02] [ 9.98367808e-01 5.41514577e-02 -1.81477251e-02 -2.12261905e+02] [ 1.81903799e-02 -2.94877817e-04 9.99834498e-01 1.33692972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3627550959999 meters 0.020962070754007838 Centerline is valid? [True, True] Translation: X:547.27, Y:-212.21, Z:13.37 [[ 5.34900922e-02 -9.98567539e-01 -1.29629179e-03 5.47268874e+02] [ 9.98396472e-01 5.35049255e-02 -1.84853384e-02 -2.12206329e+02] [ 1.85282169e-02 -3.05430687e-04 9.99828291e-01 1.33699633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.422755096 meters 0.0214757249321807 Centerline is valid? [True, True] Translation: X:547.28, Y:-212.15, Z:13.37 [[ 5.08884832e-02 -9.98703502e-01 -1.29524785e-03 5.47276232e+02] [ 9.98530863e-01 5.09037732e-02 -1.85720627e-02 -2.12149809e+02] [ 1.86139171e-02 -3.48240850e-04 9.99826685e-01 1.33707559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4827550959999 meters 0.02262768215941453 Centerline is valid? [True, True] Translation: X:547.28, Y:-212.09, Z:13.37 [[ 4.67872946e-02 -9.98904073e-01 -1.26567498e-03 5.47284666e+02] [ 9.98737597e-01 4.68026094e-02 -1.82408372e-02 -2.12093012e+02] [ 1.82800835e-02 -4.10637767e-04 9.99832821e-01 1.33709378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.542755096 meters 0.024211501474972957 Centerline is valid? [True, True] Translation: X:547.29, Y:-212.04, Z:13.37 [[ 4.25017900e-02 -9.99095567e-01 -1.28261169e-03 5.47293048e+02] [ 9.98922867e-01 4.25182987e-02 -1.85822376e-02 -2.12036683e+02] [ 1.86199657e-02 -4.91451782e-04 9.99826513e-01 1.33710713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6027550959999 meters 0.0244272289429404 Centerline is valid? [True, True] Translation: X:547.30, Y:-211.98, Z:13.37 [[ 4.05022064e-02 -9.99178655e-01 -1.25931475e-03 5.47299337e+02] [ 9.99010844e-01 4.05184925e-02 -1.83190063e-02 -2.11979084e+02] [ 1.83549856e-02 -5.16108917e-04 9.99831400e-01 1.33727968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.662755096 meters 0.025214872680075738 Centerline is valid? [True, True] Translation: X:547.31, Y:-211.92, Z:13.38 [[ 3.92438930e-02 -9.99228921e-01 -1.21706241e-03 5.47305897e+02] [ 9.99070741e-01 3.92593445e-02 -1.77864557e-02 -2.11922064e+02] [ 1.78205220e-02 -5.17921683e-04 9.99841068e-01 1.33751326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7227550959999 meters 0.023924654586435477 Centerline is valid? [True, True] Translation: X:547.31, Y:-211.87, Z:13.38 [[ 4.14860313e-02 -9.99138370e-01 -1.19423282e-03 5.47308860e+02] [ 9.98984443e-01 4.15006093e-02 -1.75436923e-02 -2.11865027e+02] [ 1.75781375e-02 -4.65201841e-04 9.99845384e-01 1.33768869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.782755096 meters 0.022419988670093854 Centerline is valid? [True, True] Translation: X:547.31, Y:-211.81, Z:13.38 [[ 4.37375683e-02 -9.99042367e-01 -1.17192198e-03 5.47310521e+02] [ 9.98892536e-01 4.37513103e-02 -1.73067587e-02 -2.11806719e+02] [ 1.73414583e-02 -4.13668583e-04 9.99849540e-01 1.33777303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8427550959999 meters 0.021530607642124295 Centerline is valid? [True, True] Translation: X:547.31, Y:-211.75, Z:13.38 [[ 4.81865613e-02 -9.98837611e-01 -1.21727459e-03 5.47313588e+02] [ 9.98674233e-01 4.82006994e-02 -1.80684416e-02 -2.11749476e+02] [ 1.81061125e-02 -3.45004703e-04 9.99836011e-01 1.33792584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.902755096 meters 0.020153194924070746 Centerline is valid? [True, True] Translation: X:547.32, Y:-211.69, Z:13.38 [[ 5.19861326e-02 -9.98647048e-01 -1.23144408e-03 5.47315674e+02] [ 9.98478102e-01 5.19999909e-02 -1.83706403e-02 -2.11692096e+02] [ 1.84098208e-02 -2.74551402e-04 9.99830487e-01 1.33805863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9627550959999 meters 0.01986044505843901 Centerline is valid? [True, True] Translation: X:547.32, Y:-211.64, Z:13.38 [[ 5.38358307e-02 -9.98549054e-01 -1.22085618e-03 5.47320286e+02] [ 9.98381166e-01 5.38491675e-02 -1.83116042e-02 -2.11635505e+02] [ 1.83507772e-02 -2.33059394e-04 9.99831583e-01 1.33828788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.022755096 meters 0.019465878565289925 Centerline is valid? [True, True] Translation: X:547.33, Y:-211.58, Z:13.39 [[ 5.47952939e-02 -9.98496801e-01 -1.27043835e-03 5.47325391e+02] [ 9.98312729e-01 5.48095873e-02 -1.91730338e-02 -2.11578912e+02] [ 1.92138451e-02 -2.17702757e-04 9.99815373e-01 1.33850936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0827550959999 meters 0.019432283802407472 Centerline is valid? [True, True] Translation: X:547.33, Y:-211.52, Z:13.39 [[ 5.47200587e-02 -9.98500932e-01 -1.26611305e-03 5.47330237e+02] [ 9.98316090e-01 5.47342914e-02 -1.92130773e-02 -2.11521385e+02] [ 1.92535754e-02 -2.12640314e-04 9.99814610e-01 1.33865384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.142755096 meters 0.019525627604225108 Centerline is valid? [True, True] Translation: X:547.34, Y:-211.47, Z:13.39 [[ 5.40636944e-02 -9.98536665e-01 -1.28311044e-03 5.47336853e+02] [ 9.98344674e-01 5.40784615e-02 -1.95814019e-02 -2.11465002e+02] [ 1.96221364e-02 -2.22343550e-04 9.99807443e-01 1.33878974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2027550959999 meters 0.01951624199492294 Centerline is valid? [True, True] Translation: X:547.35, Y:-211.41, Z:13.39 [[ 5.23849576e-02 -9.98625946e-01 -1.42692327e-03 5.47345742e+02] [ 9.98385452e-01 5.24036586e-02 -2.19167759e-02 -2.11407595e+02] [ 2.19614371e-02 -2.76510054e-04 9.99758780e-01 1.33888593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.262755096 meters 0.019943515728583352 Centerline is valid? [True, True] Translation: X:547.35, Y:-211.35, Z:13.39 [[ 5.12960474e-02 -9.98682346e-01 -1.51239380e-03 5.47353443e+02] [ 9.98409162e-01 5.13173912e-02 -2.33595733e-02 -2.11352116e+02] [ 2.34064056e-02 -3.11734048e-04 9.99725984e-01 1.33887962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3227550959999 meters 0.019840745114386066 Centerline is valid? [True, True] Translation: X:547.36, Y:-211.30, Z:13.39 [[ 5.14505111e-02 -9.98674256e-01 -1.60484597e-03 5.47360577e+02] [ 9.98362828e-01 5.14745457e-02 -2.49406137e-02 -2.11295063e+02] [ 2.49901575e-02 -3.19011240e-04 9.99687646e-01 1.33891472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.382755096 meters 0.01957717052877744 Centerline is valid? [True, True] Translation: X:547.37, Y:-211.24, Z:13.39 [[ 5.19945238e-02 -9.98646009e-01 -1.64887495e-03 5.47367170e+02] [ 9.98313396e-01 5.20197623e-02 -2.57741674e-02 -2.11238287e+02] [ 2.58250435e-02 -3.05978385e-04 9.99666431e-01 1.33902407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4427550959999 meters 0.019581225309868864 Centerline is valid? [True, True] Translation: X:547.37, Y:-211.18, Z:13.39 [[ 5.25181431e-02 -9.98618579e-01 -1.66668777e-03 5.47374157e+02] [ 9.98274749e-01 5.25437959e-02 -2.62044689e-02 -2.11181044e+02] [ 2.62558436e-02 -2.87602266e-04 9.99655215e-01 1.33919875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.502755096 meters 0.021673661817602406 Centerline is valid? [True, True] Translation: X:547.38, Y:-211.13, Z:13.39 [[ 5.25977644e-02 -9.98614274e-01 -1.73392535e-03 5.47383883e+02] [ 9.98237921e-01 5.26255439e-02 -2.74154283e-02 -2.11125630e+02] [ 2.74686868e-02 -2.88879794e-04 9.99622623e-01 1.33902692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5627550959999 meters 0.020611049115830078 Centerline is valid? [True, True] Translation: X:547.39, Y:-211.07, Z:13.40 [[ 5.12308422e-02 -9.98685365e-01 -1.71514105e-03 5.47392879e+02] [ 9.98313252e-01 5.12585730e-02 -2.72618705e-02 -2.11068867e+02] [ 2.73139468e-02 -3.15599452e-04 9.99626855e-01 1.33955319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.622755096 meters 0.020128278569775174 Centerline is valid? [True, True] Translation: X:547.40, Y:-211.01, Z:13.40 [[ 5.00590568e-02 -9.98744824e-01 -1.69358956e-03 5.47403004e+02] [ 9.98377862e-01 5.00865732e-02 -2.70735997e-02 -2.11011793e+02] [ 2.71244436e-02 -3.35563461e-04 9.99632008e-01 1.33989305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6827550959999 meters 0.02006364775955042 Centerline is valid? [True, True] Translation: X:547.41, Y:-210.95, Z:13.40 [[ 4.92979877e-02 -9.98782670e-01 -1.69870168e-03 5.47410234e+02] [ 9.98409221e-01 4.93260073e-02 -2.73125096e-02 -2.10954803e+02] [ 2.73630515e-02 -3.49547657e-04 9.99625500e-01 1.34002414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.742755096 meters 0.021163382022185345 Centerline is valid? [True, True] Translation: X:547.42, Y:-210.90, Z:13.40 [[ 4.81126146e-02 -9.98840352e-01 -1.76859150e-03 5.47419662e+02] [ 9.98430690e-01 4.81435346e-02 -2.86069470e-02 -2.10898163e+02] [ 2.86589192e-02 -3.89461020e-04 9.99589173e-01 1.33998104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8027550959999 meters 0.02066301589380575 Centerline is valid? [True, True] Translation: X:547.43, Y:-210.84, Z:13.40 [[ 4.56890509e-02 -9.98954174e-01 -1.75196012e-03 5.47429908e+02] [ 9.98547513e-01 4.57204425e-02 -2.85044852e-02 -2.10841286e+02] [ 2.85547749e-02 -4.47072549e-04 9.99592129e-01 1.34020781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8627550959999 meters 0.021097277102749754 Centerline is valid? [True, True] Translation: X:547.44, Y:-210.78, Z:13.40 [[ 4.45514275e-02 -9.99005559e-01 -1.75028252e-03 5.47439169e+02] [ 9.98594909e-01 4.45833010e-02 -2.86450284e-02 -2.10784217e+02] [ 2.86945759e-02 -4.71646307e-04 9.99588115e-01 1.34040288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.922755096 meters 0.021440895558020347 Centerline is valid? [True, True] Translation: X:547.45, Y:-210.73, Z:13.41 [[ 4.37341538e-02 -9.99041588e-01 -1.79699346e-03 5.47446257e+02] [ 9.98603329e-01 4.37681976e-02 -2.95928515e-02 -2.10728263e+02] [ 2.96431405e-02 -5.00265331e-04 9.99560420e-01 1.34052181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9827550959999 meters 0.021315254503116228 Centerline is valid? [True, True] Translation: X:547.45, Y:-210.67, Z:13.41 [[ 4.40368144e-02 -9.99028152e-01 -1.87340128e-03 5.47452997e+02] [ 9.98545407e-01 4.40737751e-02 -3.10575840e-02 -2.10672399e+02] [ 3.11099687e-02 -5.02999178e-04 9.99515841e-01 1.34065524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.042755096 meters 0.02072710420143038 Centerline is valid? [True, True] Translation: X:547.46, Y:-210.62, Z:13.41 [[ 4.76335616e-02 -9.98863064e-01 -1.90334624e-03 5.47455194e+02] [ 9.98358168e-01 4.76699985e-02 -3.17575121e-02 -2.10615873e+02] [ 3.18121383e-02 -3.87497860e-04 9.99493791e-01 1.34072218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1027550959999 meters 0.020299705103918916 Centerline is valid? [True, True] Translation: X:547.46, Y:-210.56, Z:13.41 [[ 5.03410713e-02 -9.98730263e-01 -1.90756618e-03 5.47455893e+02] [ 9.98216581e-01 5.03763549e-02 -3.20293684e-02 -2.10559649e+02] [ 3.20847958e-02 -2.91771471e-04 9.99485108e-01 1.34091252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.162755096 meters 0.020320056543897794 Centerline is valid? [True, True] Translation: X:547.46, Y:-210.50, Z:13.41 [[ 5.33420240e-02 -9.98574330e-01 -1.98382344e-03 5.47455229e+02] [ 9.98011093e-01 5.33785591e-02 -3.35348797e-02 -2.10503830e+02] [ 3.35929636e-02 -1.91059445e-04 9.99435579e-01 1.34097507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2227550959999 meters 0.020792775051172434 Centerline is valid? [True, True] Translation: X:547.46, Y:-210.45, Z:13.41 [[ 5.45680995e-02 -9.98507894e-01 -2.07573776e-03 5.47455918e+02] [ 9.97883286e-01 5.46073742e-02 -3.53126429e-02 -2.10446547e+02] [ 3.53733033e-02 -1.44400202e-04 9.99374158e-01 1.34102020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.282755096 meters 0.020877813357335448 Centerline is valid? [True, True] Translation: X:547.46, Y:-210.39, Z:13.41 [[ 5.52895916e-02 -9.98468140e-01 -2.10563090e-03 5.47455834e+02] [ 9.97817630e-01 5.53295656e-02 -3.60363273e-02 -2.10389657e+02] [ 3.60976284e-02 -1.08601811e-04 9.99348262e-01 1.34133374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3427550959999 meters 0.02138614285508195 Centerline is valid? [True, True] Translation: X:547.46, Y:-210.33, Z:13.41 [[ 5.40247787e-02 -9.98537408e-01 -2.08983480e-03 5.47458562e+02] [ 9.97888099e-01 5.40650020e-02 -3.60044195e-02 -2.10333812e+02] [ 3.60647467e-02 -1.40290483e-04 9.99349446e-01 1.34145227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.402755096 meters 0.02209728083590266 Centerline is valid? [True, True] Translation: X:547.46, Y:-210.28, Z:13.42 [[ 4.98103768e-02 -9.98756743e-01 -1.97353717e-03 5.47463361e+02] [ 9.98169938e-01 4.98487550e-02 -3.42326790e-02 -2.10277687e+02] [ 3.42884973e-02 -2.64782838e-04 9.99411942e-01 1.34176172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4627550959999 meters 0.023516784175715337 Centerline is valid? [True, True] Translation: X:547.47, Y:-210.22, Z:13.42 [[ 4.44170964e-02 -9.99011361e-01 -1.85007327e-03 5.47470083e+02] [ 9.98489207e-01 4.44536940e-02 -3.22981975e-02 -2.10222155e+02] [ 3.23485088e-02 -4.12686045e-04 9.99476565e-01 1.34200448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.522755096 meters 0.024362966315979773 Centerline is valid? [True, True] Translation: X:547.47, Y:-210.17, Z:13.42 [[ 3.96184089e-02 -9.99213410e-01 -1.71567969e-03 5.47474063e+02] [ 9.98758991e-01 3.96521360e-02 -3.01361100e-02 -2.10165052e+02] [ 3.01804356e-02 -5.19605790e-04 9.99544332e-01 1.34230021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5827550959999 meters 0.024986273528524332 Centerline is valid? [True, True] Translation: X:547.48, Y:-210.11, Z:13.42 [[ 3.74129924e-02 -9.99298547e-01 -1.63740099e-03 5.47477559e+02] [ 9.98879572e-01 3.74447250e-02 -2.89394865e-02 -2.10107701e+02] [ 2.89804989e-02 -5.52853610e-04 9.99579824e-01 1.34236198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.642755096 meters 0.025474242687950954 Centerline is valid? [True, True] Translation: X:547.48, Y:-210.05, Z:13.42 [[ 3.54737345e-02 -9.99369419e-01 -1.54236431e-03 5.47480958e+02] [ 9.98993138e-01 3.55027079e-02 -2.74274887e-02 -2.10050364e+02] [ 2.74649516e-02 -5.67855909e-04 9.99622606e-01 1.34248210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7027550959999 meters 0.026064247911143108 Centerline is valid? [True, True] Translation: X:547.49, Y:-209.99, Z:13.43 [[ 3.37005476e-02 -9.99430987e-01 -1.40541175e-03 5.47485512e+02] [ 9.99114721e-01 3.37252455e-02 -2.51471921e-02 -2.09993836e+02] [ 2.51802808e-02 -5.56693428e-04 9.99682771e-01 1.34262272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.762755096 meters 0.026069421109304044 Centerline is valid? [True, True] Translation: X:547.49, Y:-209.94, Z:13.43 [[ 3.29641082e-02 -9.99455664e-01 -1.32015144e-03 5.47489069e+02] [ 9.99172842e-01 3.29861920e-02 -2.37811605e-02 -2.09937324e+02] [ 2.38117623e-02 -5.35134720e-04 9.99716317e-01 1.34279468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8227550959999 meters 0.02629202742827081 Centerline is valid? [True, True] Translation: X:547.49, Y:-209.88, Z:13.43 [[ 3.18183942e-02 -9.99492941e-01 -1.20475951e-03 5.47492609e+02] [ 9.99254295e-01 3.18371296e-02 -2.18460629e-02 -2.09881249e+02] [ 2.18733418e-02 -5.08754472e-04 9.99760620e-01 1.34285159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.882755096 meters 0.02638565834773406 Centerline is valid? [True, True] Translation: X:547.50, Y:-209.82, Z:13.43 [[ 3.04100247e-02 -9.99536925e-01 -1.07951914e-03 5.47495722e+02] [ 9.99342868e-01 3.04253981e-02 -1.97009658e-02 -2.09824453e+02] [ 1.97246876e-02 -4.79702898e-04 9.99805334e-01 1.34291841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9427550959999 meters 0.027162852497171985 Centerline is valid? [True, True] Translation: X:547.50, Y:-209.77, Z:13.43 [[ 2.93368357e-02 -9.99569111e-01 -9.70752293e-04 5.47500367e+02] [ 9.99410325e-01 2.93494832e-02 -1.78216004e-02 -2.09769519e+02] [ 1.78424124e-02 -4.47350503e-04 9.99840711e-01 1.34310822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.002755096 meters 0.026976107098939703 Centerline is valid? [True, True] Translation: X:547.50, Y:-209.71, Z:13.43 [[ 2.82004458e-02 -9.99601919e-01 -8.59237697e-04 5.47502465e+02] [ 9.99475864e-01 2.82105394e-02 -1.58796097e-02 -2.09713235e+02] [ 1.58975279e-02 -4.10975267e-04 9.99873542e-01 1.34324006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0627550959999 meters 0.027212265500481777 Centerline is valid? [True, True] Translation: X:547.51, Y:-209.66, Z:13.43 [[ 2.79562201e-02 -9.99608838e-01 -7.87724905e-04 5.47505297e+02] [ 9.99501480e-01 2.79647661e-02 -1.46547919e-02 -2.09657347e+02] [ 1.46710881e-02 -3.77639619e-04 9.99892302e-01 1.34334455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.122755096 meters 0.026265129245534383 Centerline is valid? [True, True] Translation: X:547.51, Y:-209.60, Z:13.43 [[ 2.83980604e-02 -9.99596400e-01 -7.65920073e-04 5.47505806e+02] [ 9.99493435e-01 2.84061317e-02 -1.43515087e-02 -2.09600296e+02] [ 1.43674732e-02 -3.57977075e-04 9.99896718e-01 1.34337364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1827550959999 meters 0.02571524400958811 Centerline is valid? [True, True] Translation: X:547.51, Y:-209.54, Z:13.43 [[ 3.04677745e-02 -9.99535487e-01 -7.24273113e-04 5.47505780e+02] [ 9.99442218e-01 3.04748281e-02 -1.36578956e-02 -2.09543102e+02] [ 1.36736234e-02 -3.07743443e-04 9.99906464e-01 1.34339778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.242755096 meters 0.024909639416503676 Centerline is valid? [True, True] Translation: X:547.51, Y:-209.49, Z:13.43 [[ 3.27336675e-02 -9.99463909e-01 -6.33539418e-04 5.47505212e+02] [ 9.99391739e-01 3.27389187e-02 -1.20131702e-02 -2.09485967e+02] [ 1.20274714e-02 -2.39918941e-04 9.99927639e-01 1.34338525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3027550959999 meters 0.024876586628296463 Centerline is valid? [True, True] Translation: X:547.51, Y:-209.43, Z:13.43 [[ 3.22565633e-02 -9.99479454e-01 -5.78505090e-04 5.47507823e+02] [ 9.99418624e-01 3.22609839e-02 -1.10291880e-02 -2.09429978e+02] [ 1.10421099e-02 -2.22405061e-04 9.99939009e-01 1.34338237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3627550959999 meters 0.025495170696092594 Centerline is valid? [True, True] Translation: X:547.51, Y:-209.37, Z:13.44 [[ 3.05240238e-02 -9.99533909e-01 -4.98851819e-04 5.47512528e+02] [ 9.99488120e-01 3.05274015e-02 -9.56947958e-03 -2.09373461e+02] [ 9.58024798e-03 -2.06497444e-04 9.99954087e-01 1.34352294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.422755096 meters 0.026207441479700156 Centerline is valid? [True, True] Translation: X:547.52, Y:-209.32, Z:13.44 [[ 2.71398369e-02 -9.99631547e-01 -4.46870599e-04 5.47517072e+02] [ 9.99594365e-01 2.71426828e-02 -8.62434486e-03 -2.09316315e+02] [ 8.63329646e-03 -2.12626021e-04 9.99962710e-01 1.34357483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4827550959999 meters 0.02742855499314129 Centerline is valid? [True, True] Translation: X:547.52, Y:-209.26, Z:13.44 [[ 2.44228684e-02 -9.99701627e-01 -4.25580223e-04 5.47522945e+02] [ 9.99667508e-01 2.44255522e-02 -8.26232257e-03 -2.09260529e+02] [ 8.27025234e-03 -2.23649104e-04 9.99965776e-01 1.34374881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.542755096 meters 0.026315951849117114 Centerline is valid? [True, True] Translation: X:547.52, Y:-209.20, Z:13.44 [[ 2.46671997e-02 -9.99695631e-01 -4.17435494e-04 5.47523699e+02] [ 9.99662387e-01 2.46697849e-02 -8.15553751e-03 -2.09204369e+02] [ 8.16335327e-03 -2.16120290e-04 9.99966656e-01 1.34369505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6027550959999 meters 0.02555116839921907 Centerline is valid? [True, True] Translation: X:547.53, Y:-209.15, Z:13.44 [[ 2.47879312e-02 -9.99692635e-01 -4.41199298e-04 5.47525604e+02] [ 9.99654859e-01 2.47908313e-02 -8.69354139e-03 -2.09148312e+02] [ 8.70180700e-03 -2.25552116e-04 9.99962113e-01 1.34368700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.662755096 meters 0.02463616960651355 Centerline is valid? [True, True] Translation: X:547.53, Y:-209.09, Z:13.44 [[ 2.67051584e-02 -9.99643246e-01 -4.63958707e-04 5.47527889e+02] [ 9.99600664e-01 2.67083044e-02 -9.22924290e-03 -2.09090839e+02] [ 9.23834188e-03 -2.17305038e-04 9.99957302e-01 1.34378522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7227550959999 meters 0.02352129961405788 Centerline is valid? [True, True] Translation: X:547.53, Y:-209.03, Z:13.44 [[ 2.97221756e-02 -9.99558082e-01 -4.82417350e-04 5.47529110e+02] [ 9.99511306e-01 2.97254526e-02 -9.67190362e-03 -2.09033960e+02] [ 9.68196951e-03 -1.94711579e-04 9.99953110e-01 1.34384045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.782755096 meters 0.02269140872188638 Centerline is valid? [True, True] Translation: X:547.53, Y:-208.98, Z:13.44 [[ 3.16542912e-02 -9.99498741e-01 -5.22137237e-04 5.47530429e+02] [ 9.99443036e-01 3.16580404e-02 -1.05539843e-02 -2.08976936e+02] [ 1.05652238e-02 -1.87767533e-04 9.99944169e-01 1.34383274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8427550959999 meters 0.021370547364645488 Centerline is valid? [True, True] Translation: X:547.53, Y:-208.92, Z:13.44 [[ 3.43619266e-02 -9.99409304e-01 -5.48325729e-04 5.47531361e+02] [ 9.99346892e-01 3.43659093e-02 -1.11702469e-02 -2.08919147e+02] [ 1.11824924e-02 -1.64136409e-04 9.99937461e-01 1.34376555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.902755096 meters 0.020959365080630597 Centerline is valid? [True, True] Translation: X:547.53, Y:-208.86, Z:13.44 [[ 3.59065289e-02 -9.99354988e-01 -5.74360773e-04 5.47532974e+02] [ 9.99285541e-01 3.59108053e-02 -1.17822444e-02 -2.08862959e+02] [ 1.17952704e-02 -1.50890918e-04 9.99930422e-01 1.34372705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9627550959999 meters 0.02046541712194153 Centerline is valid? [True, True] Translation: X:547.54, Y:-208.81, Z:13.44 [[ 3.73106308e-02 -9.99303567e-01 -5.44971583e-04 5.47535892e+02] [ 9.99240088e-01 3.73144036e-02 -1.12642180e-02 -2.08806479e+02] [ 1.12767086e-02 -1.24282372e-04 9.99936408e-01 1.34384956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.022755096 meters 0.020421719665840603 Centerline is valid? [True, True] Translation: X:547.54, Y:-208.75, Z:13.44 [[ 3.78487135e-02 -9.99283352e-01 -5.06763540e-04 5.47540051e+02] [ 9.99227663e-01 3.78519545e-02 -1.05501814e-02 -2.08751269e+02] [ 1.05618026e-02 -1.07061357e-04 9.99944217e-01 1.34400171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0827550959999 meters 0.02045518045154808 Centerline is valid? [True, True] Translation: X:547.54, Y:-208.69, Z:13.44 [[ 3.75277375e-02 -9.99295464e-01 -4.95406079e-04 5.47543699e+02] [ 9.99241315e-01 3.75308615e-02 -1.04033545e-02 -2.08694968e+02] [ 1.04146180e-02 -1.04615864e-04 9.99945761e-01 1.34414481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.142755096 meters 0.020303290049904107 Centerline is valid? [True, True] Translation: X:547.55, Y:-208.64, Z:13.44 [[ 3.70620334e-02 -9.99312846e-01 -4.92404349e-04 5.47547364e+02] [ 9.99258489e-01 3.70651535e-02 -1.04233926e-02 -2.08639247e+02] [ 1.04344812e-02 -1.05727101e-04 9.99945554e-01 1.34428462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2027550959999 meters 0.020174558586853047 Centerline is valid? [True, True] Translation: X:547.55, Y:-208.58, Z:13.44 [[ 3.64711629e-02 -9.99334593e-01 -4.75821445e-04 5.47550008e+02] [ 9.99283007e-01 3.64741151e-02 -1.01543359e-02 -2.08582576e+02] [ 1.01649343e-02 -1.05139847e-04 9.99948330e-01 1.34442209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.262755096 meters 0.020207032164110378 Centerline is valid? [True, True] Translation: X:547.55, Y:-208.53, Z:13.45 [[ 3.56283392e-02 -9.99364980e-01 -5.07595981e-04 5.47553197e+02] [ 9.99305137e-01 3.56317609e-02 -1.09371484e-02 -2.08525930e+02] [ 1.09482896e-02 -1.17570839e-04 9.99940059e-01 1.34452460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3227550959999 meters 0.020392573634856307 Centerline is valid? [True, True] Translation: X:547.56, Y:-208.47, Z:13.45 [[ 3.41050220e-02 -9.99418072e-01 -6.03878471e-04 5.47557574e+02] [ 9.99331517e-01 3.41100163e-02 -1.31539176e-02 -2.08469256e+02] [ 1.31668612e-02 -1.54860141e-04 9.99913301e-01 1.34450365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.382755096 meters 0.02083446394147694 Centerline is valid? [True, True] Translation: X:547.56, Y:-208.41, Z:13.44 [[ 3.24558310e-02 -9.99472931e-01 -6.92859533e-04 5.47560725e+02] [ 9.99356606e-01 3.24626250e-02 -1.52496714e-02 -2.08414383e+02] [ 1.52641258e-02 -1.97472995e-04 9.99883477e-01 1.34438665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4427550959999 meters 0.020898248164452318 Centerline is valid? [True, True] Translation: X:547.56, Y:-208.36, Z:13.44 [[ 3.10568048e-02 -9.99517330e-01 -7.63166183e-04 5.47562952e+02] [ 9.99373907e-01 3.10652777e-02 -1.69334484e-02 -2.08358341e+02] [ 1.69489831e-02 -2.36789569e-04 9.99856328e-01 1.34441524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.502755096 meters 0.02109000227239516 Centerline is valid? [True, True] Translation: X:547.57, Y:-208.30, Z:13.44 [[ 3.05594035e-02 -9.99532621e-01 -8.14145606e-04 5.47565779e+02] [ 9.99366336e-01 3.05691711e-02 -1.82332622e-02 -2.08302347e+02] [ 1.82496281e-02 -2.56432095e-04 9.99833429e-01 1.34449562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5627550959999 meters 0.022783810988555284 Centerline is valid? [True, True] Translation: X:547.57, Y:-208.25, Z:13.44 [[ 3.05443692e-02 -9.99533022e-01 -8.83422226e-04 5.47566201e+02] [ 9.99333522e-01 3.05559240e-02 -1.99711627e-02 -2.08246162e+02] [ 1.99888304e-02 -2.72826876e-04 9.99800166e-01 1.34443427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.622755096 meters 0.02033510518678612 Centerline is valid? [True, True] Translation: X:547.57, Y:-208.19, Z:13.45 [[ 3.17362117e-02 -9.99495879e-01 -8.94954818e-04 5.47566283e+02] [ 9.99287351e-01 3.17478722e-02 -2.04172150e-02 -2.08189746e+02] [ 2.04353352e-02 -2.46351971e-04 9.99791146e-01 1.34472912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6827550959999 meters 0.020286015829001875 Centerline is valid? [True, True] Translation: X:547.57, Y:-208.13, Z:13.45 [[ 3.21044080e-02 -9.99484136e-01 -8.76962142e-04 5.47567553e+02] [ 9.99280285e-01 3.21155722e-02 -2.01866627e-02 -2.08133368e+02] [ 2.02044133e-02 -2.28250122e-04 9.99795844e-01 1.34488633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.742755096 meters 0.02030385498509134 Centerline is valid? [True, True] Translation: X:547.57, Y:-208.08, Z:13.45 [[ 3.20842432e-02 -9.99484802e-01 -8.56130527e-04 5.47568304e+02] [ 9.99287023e-01 3.20949262e-02 -1.98837105e-02 -2.08076938e+02] [ 1.99009439e-02 -2.17566321e-04 9.99801933e-01 1.34501822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8027550959999 meters 0.02057080407227719 Centerline is valid? [True, True] Translation: X:547.57, Y:-208.02, Z:13.45 [[ 3.09615215e-02 -9.99520210e-01 -8.56449038e-04 5.47570868e+02] [ 9.99318648e-01 3.09724780e-02 -2.00734871e-02 -2.08021503e+02] [ 2.00903824e-02 -2.34359793e-04 9.99798140e-01 1.34514751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8627550959999 meters 0.021119508832069766 Centerline is valid? [True, True] Translation: X:547.57, Y:-207.96, Z:13.45 [[ 2.88678486e-02 -9.99582889e-01 -8.33916409e-04 5.47574924e+02] [ 9.99388320e-01 2.88786839e-02 -1.97232555e-02 -2.07963928e+02] [ 1.97391111e-02 -2.64038366e-04 9.99805130e-01 1.34529537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.922755096 meters 0.021610991180378906 Centerline is valid? [True, True] Translation: X:547.58, Y:-207.91, Z:13.45 [[ 2.74597656e-02 -9.99622560e-01 -8.36519709e-04 5.47578089e+02] [ 9.99423567e-01 2.74709916e-02 -1.99469127e-02 -2.07907868e+02] [ 1.99623640e-02 -2.88299962e-04 9.99800691e-01 1.34537185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9827550959999 meters 0.02184554164132543 Centerline is valid? [True, True] Translation: X:547.58, Y:-207.85, Z:13.45 [[ 2.40670474e-02 -9.99709998e-01 -8.34414584e-04 5.47580560e+02] [ 9.99508508e-01 2.40789512e-02 -2.00735188e-02 -2.07850429e+02] [ 2.00877893e-02 -3.50894147e-04 9.99798158e-01 1.34544505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.042755096 meters 0.022730052417558613 Centerline is valid? [True, True] Translation: X:547.59, Y:-207.79, Z:13.46 [[ 2.22936922e-02 -9.99751104e-01 -8.48995513e-04 5.47585478e+02] [ 9.99538842e-01 2.23064560e-02 -2.06040008e-02 -2.07794370e+02] [ 2.06178107e-02 -3.89264739e-04 9.99787355e-01 1.34555659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1027550959999 meters 0.022318820391046826 Centerline is valid? [True, True] Translation: X:547.59, Y:-207.74, Z:13.46 [[ 2.20684275e-02 -9.99756078e-01 -8.76894855e-04 5.47586824e+02] [ 9.99525359e-01 2.20821758e-02 -2.14810395e-02 -2.07737704e+02] [ 2.14951636e-02 -4.02425882e-04 9.99768871e-01 1.34567226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.162755096 meters 0.021184991276010232 Centerline is valid? [True, True] Translation: X:547.59, Y:-207.68, Z:13.46 [[ 2.56462297e-02 -9.99670657e-01 -9.21270208e-04 5.47585031e+02] [ 9.99410888e-01 2.56605687e-02 -2.27906380e-02 -2.07679907e+02] [ 2.28067724e-02 -3.36233538e-04 9.99739835e-01 1.34569245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2227550959999 meters 0.019956908204615834 Centerline is valid? [True, True] Translation: X:547.58, Y:-207.62, Z:13.46 [[ 3.08648523e-02 -9.99523092e-01 -9.73955366e-04 5.47582034e+02] [ 9.99227464e-01 3.08794108e-02 -2.43092182e-02 -2.07622772e+02] [ 2.43277002e-02 -2.22902519e-04 9.99704013e-01 1.34570955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.282755096 meters 0.01941584422844261 Centerline is valid? [True, True] Translation: X:547.58, Y:-207.57, Z:13.46 [[ 3.45585606e-02 -9.99402153e-01 -1.02134402e-03 5.47580437e+02] [ 9.99070748e-01 3.45734015e-02 -2.57355861e-02 -2.07566130e+02] [ 2.57555115e-02 -1.31010122e-04 9.99668263e-01 1.34575136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3427550959999 meters 0.019220483863779947 Centerline is valid? [True, True] Translation: X:547.58, Y:-207.51, Z:13.46 [[ 3.91787242e-02 -9.99231673e-01 -1.04443530e-03 5.47578183e+02] [ 9.98877930e-01 3.91926431e-02 -2.65860540e-02 -2.07509539e+02] [ 2.66065614e-02 -1.65569372e-06 9.99645983e-01 1.34582913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.402755096 meters 0.01913363398674498 Centerline is valid? [True, True] Translation: X:547.58, Y:-207.45, Z:13.46 [[ 4.03586626e-02 -9.99184678e-01 -1.07630769e-03 5.47579993e+02] [ 9.98801179e-01 4.03729899e-02 -2.76807823e-02 -2.07453521e+02] [ 2.77016673e-02 4.21419641e-05 9.99616234e-01 1.34593110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4627550959999 meters 0.018955683403821942 Centerline is valid? [True, True] Translation: X:547.58, Y:-207.40, Z:13.46 [[ 3.85629369e-02 -9.99255577e-01 -1.09170988e-03 5.47584254e+02] [ 9.98852861e-01 3.85783867e-02 -2.83666972e-02 -2.07396874e+02] [ 2.83876967e-02 3.44561550e-06 9.99596988e-01 1.34606292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.522755096 meters 0.01890044539016254 Centerline is valid? [True, True] Translation: X:547.59, Y:-207.34, Z:13.46 [[ 3.45096935e-02 -9.99403792e-01 -1.06818625e-03 5.47590745e+02] [ 9.99010362e-01 3.45260781e-02 -2.80401020e-02 -2.07340655e+02] [ 2.80602646e-02 -9.94738070e-05 9.99606228e-01 1.34619732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5827550959999 meters 0.019153280062712344 Centerline is valid? [True, True] Translation: X:547.60, Y:-207.28, Z:13.46 [[ 2.95430827e-02 -9.99562975e-01 -1.03214846e-03 5.47597209e+02] [ 9.99188396e-01 2.95602668e-02 -2.73631174e-02 -2.07283267e+02] [ 2.73816696e-02 -2.22919924e-04 9.99625027e-01 1.34641759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.642755096 meters 0.019952326244647878 Centerline is valid? [True, True] Translation: X:547.60, Y:-207.23, Z:13.47 [[ 2.55109698e-02 -9.99674057e-01 -9.84595531e-04 5.47601159e+02] [ 9.99326812e-01 2.55280593e-02 -2.63484543e-02 -2.07226428e+02] [ 2.63650010e-02 -3.11758092e-04 9.99652334e-01 1.34650198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7027550959999 meters 0.02007235942320299 Centerline is valid? [True, True] Translation: X:547.60, Y:-207.17, Z:13.47 [[ 2.46187980e-02 -9.99696464e-01 -9.45751055e-04 5.47602660e+02] [ 9.99369765e-01 2.46349311e-02 -2.55576565e-02 -2.07170090e+02] [ 2.55731974e-02 -3.15956227e-04 9.99672902e-01 1.34665968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.762755096 meters 0.020981420318547 Centerline is valid? [True, True] Translation: X:547.60, Y:-207.11, Z:13.47 [[ 2.67622576e-02 -9.99641442e-01 -8.77097648e-04 5.47601718e+02] [ 9.99354742e-01 2.67755882e-02 -2.39409387e-02 -2.07112839e+02] [ 2.39558393e-02 -2.35818123e-04 9.99712990e-01 1.34662932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8227550959999 meters 0.018906419258969066 Centerline is valid? [True, True] Translation: X:547.60, Y:-207.06, Z:13.47 [[ 3.14149643e-02 -9.99506090e-01 -8.21951751e-04 5.47596607e+02] [ 9.99249426e-01 3.14255236e-02 -2.26499804e-02 -2.07055943e+02] [ 2.26646236e-02 -1.09786490e-04 9.99743118e-01 1.34679267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.882755096 meters 0.018847082376118145 Centerline is valid? [True, True] Translation: X:547.59, Y:-207.00, Z:13.47 [[ 3.66525372e-02 -9.99327762e-01 -7.84961074e-04 5.47593267e+02] [ 9.99088845e-01 3.66609379e-02 -2.18507364e-02 -2.06999581e+02] [ 2.18648249e-02 1.66390773e-05 9.99760936e-01 1.34695017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9427550959999 meters 0.018968804820236492 Centerline is valid? [True, True] Translation: X:547.59, Y:-206.94, Z:13.47 [[ 3.88708578e-02 -9.99243948e-01 -7.68008117e-04 5.47593659e+02] [ 9.99010173e-01 3.88783759e-02 -2.16135700e-02 -2.06943121e+02] [ 2.16270879e-02 7.28900826e-05 9.99766105e-01 1.34711913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.002755096 meters 0.01935621879277184 Centerline is valid? [True, True] Translation: X:547.59, Y:-206.89, Z:13.47 [[ 4.20552530e-02 -9.99115023e-01 -7.25832674e-04 5.47593066e+02] [ 9.98901624e-01 4.20612717e-02 -2.06493542e-02 -2.06886517e+02] [ 2.06616094e-02 1.43378377e-04 9.99786516e-01 1.34730715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0627550959999 meters 0.019801444141153486 Centerline is valid? [True, True] Translation: X:547.59, Y:-206.83, Z:13.47 [[ 4.40206753e-02 -9.99030379e-01 -6.94389884e-04 5.47594767e+02] [ 9.98830764e-01 4.40257607e-02 -1.99709206e-02 -2.06829760e+02] [ 1.99821274e-02 1.85555432e-04 9.99800320e-01 1.34739776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.122755096 meters 0.01965391808037918 Centerline is valid? [True, True] Translation: X:547.60, Y:-206.77, Z:13.47 [[ 4.31262570e-02 -9.99069386e-01 -6.98703004e-04 5.47599423e+02] [ 9.98862829e-01 4.31315483e-02 -2.03154854e-02 -2.06773192e+02] [ 2.03267157e-02 1.78222385e-04 9.99793375e-01 1.34742203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1827550959999 meters 0.019040209079561003 Centerline is valid? [True, True] Translation: X:547.60, Y:-206.72, Z:13.48 [[ 4.08980905e-02 -9.99163092e-01 -6.78947366e-04 5.47604977e+02] [ 9.98963683e-01 4.09034924e-02 -1.99615692e-02 -2.06716694e+02] [ 1.99726345e-02 1.38146300e-04 9.99800518e-01 1.34757881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.242755096 meters 0.018589908516161806 Centerline is valid? [True, True] Translation: X:547.61, Y:-206.66, Z:13.48 [[ 3.71375029e-02 -9.99309953e-01 -6.51676839e-04 5.47611674e+02] [ 9.99122051e-01 3.71431569e-02 -1.93781585e-02 -2.06659335e+02] [ 1.93889919e-02 6.85517161e-05 9.99812013e-01 1.34777293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3027550959999 meters 0.01847653923482301 Centerline is valid? [True, True] Translation: X:547.61, Y:-206.60, Z:13.48 [[ 3.38702771e-02 -9.99426069e-01 -5.80581633e-04 5.47614353e+02] [ 9.99273995e-01 3.38752511e-02 -1.74341444e-02 -2.06604014e+02] [ 1.74438058e-02 1.03391743e-05 9.99847845e-01 1.34804134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3627550959999 meters 0.018399841306221958 Centerline is valid? [True, True] Translation: X:547.62, Y:-206.55, Z:13.48 [[ 2.98463713e-02 -9.99554341e-01 -5.59467875e-04 5.47618474e+02] [ 9.99409638e-01 2.98515699e-02 -1.70076396e-02 -2.06548247e+02] [ 1.70167610e-02 -5.15212610e-05 9.99855203e-01 1.34824183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.422755096 meters 0.018965725064896438 Centerline is valid? [True, True] Translation: X:547.62, Y:-206.49, Z:13.48 [[ 2.46159315e-02 -9.99696849e-01 -5.15296532e-04 5.47621991e+02] [ 9.99571416e-01 2.46210058e-02 -1.58363663e-02 -2.06490929e+02] [ 1.58442527e-02 -1.25248775e-04 9.99874464e-01 1.34847917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4827550959999 meters 0.019988879849364198 Centerline is valid? [True, True] Translation: X:547.63, Y:-206.43, Z:13.49 [[ 1.99036436e-02 -9.99801786e-01 -4.83411995e-04 5.47625575e+02] [ 9.99689023e-01 1.99086594e-02 -1.50167374e-02 -2.06434839e+02] [ 1.50233849e-02 -1.84373877e-04 9.99887126e-01 1.34868633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.542755096 meters 0.020778090603357755 Centerline is valid? [True, True] Translation: X:547.63, Y:-206.38, Z:13.49 [[ 1.64182051e-02 -9.99865084e-01 -5.07188033e-04 5.47625787e+02] [ 9.99738779e-01 1.64241935e-02 -1.58940379e-02 -2.06377974e+02] [ 1.59002237e-02 -2.46103971e-04 9.99873553e-01 1.34864940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6027550959999 meters 0.022923225239099596 Centerline is valid? [True, True] Translation: X:547.63, Y:-206.32, Z:13.49 [[ 1.44497909e-02 -9.99895457e-01 -5.27178091e-04 5.47630082e+02] [ 9.99755611e-01 1.44565879e-02 -1.67249876e-02 -2.06322016e+02] [ 1.67308603e-02 -2.85376681e-04 9.99859989e-01 1.34870809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.662755096 meters 0.021269553769058504 Centerline is valid? [True, True] Translation: X:547.63, Y:-206.26, Z:13.49 [[ 1.25461737e-02 -9.99921164e-01 -5.09624507e-04 5.47625048e+02] [ 9.99787494e-01 1.25528307e-02 -1.63521600e-02 -2.06264693e+02] [ 1.63572681e-02 -3.04359168e-04 9.99866165e-01 1.34892359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7227550959999 meters 0.02153470082085657 Centerline is valid? [True, True] Translation: X:547.62, Y:-206.21, Z:13.49 [[ 1.17990473e-02 -9.99930281e-01 -4.65212185e-04 5.47623367e+02] [ 9.99816546e-01 1.18047230e-02 -1.50838566e-02 -2.06208195e+02] [ 1.50882966e-02 -2.87151702e-04 9.99886124e-01 1.34916875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.782755096 meters 0.021799106214595992 Centerline is valid? [True, True] Translation: X:547.62, Y:-206.15, Z:13.49 [[ 1.06648996e-02 -9.99943041e-01 -4.17863622e-04 5.47621325e+02] [ 9.99849159e-01 1.06696253e-02 -1.37047088e-02 -2.06151192e+02] [ 1.37083866e-02 -2.71641248e-04 9.99905999e-01 1.34927432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8427550959999 meters 0.02190411638412747 Centerline is valid? [True, True] Translation: X:547.62, Y:-206.09, Z:13.49 [[ 9.77094036e-03 -9.99952178e-01 -4.11749404e-04 5.47622220e+02] [ 9.99858629e-01 9.77565949e-03 -1.36805939e-02 -2.06094562e+02] [ 1.36839647e-02 -2.78018928e-04 9.99906332e-01 1.34941868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.902755096 meters 0.023522936250391837 Centerline is valid? [True, True] Translation: X:547.62, Y:-206.04, Z:13.50 [[ 5.88106722e-03 -9.99982625e-01 -4.02280627e-04 5.47623843e+02] [ 9.99890942e-01 5.88597688e-03 -1.35447186e-02 -2.06038347e+02] [ 1.35468511e-02 -3.22579355e-04 9.99908185e-01 1.34956134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9627550959999 meters 0.024129977407408163 Centerline is valid? [True, True] Translation: X:547.62, Y:-205.98, Z:13.50 [[ 2.02917021e-03 -9.99997856e-01 -4.14058661e-04 5.47623658e+02] [ 9.99898138e-01 2.03481731e-03 -1.41270708e-02 -2.05981278e+02] [ 1.41278830e-02 -3.85350253e-04 9.99900122e-01 1.34954622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.022755096 meters 0.026601680613481306 Centerline is valid? [True, True] Translation: X:547.63, Y:-205.92, Z:13.50 [[-3.60613402e-03 -9.99993395e-01 -4.52565665e-04 5.47625975e+02] [ 9.99870985e-01 -3.59860787e-03 -1.56544821e-02 -2.05924043e+02] [ 1.56527501e-02 -5.08959438e-04 9.99877359e-01 1.34950755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0827550959999 meters 0.027899083580420668 Centerline is valid? [True, True] Translation: X:547.63, Y:-205.87, Z:13.49 [[-6.93581661e-03 -9.99975831e-01 -4.80957268e-04 5.47625891e+02] [ 9.99833911e-01 -6.92672437e-03 -1.68573784e-02 -2.05867008e+02] [ 1.68536395e-02 -5.97797071e-04 9.99857789e-01 1.34946638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.142755096 meters 0.029402210623047473 Centerline is valid? [True, True] Translation: X:547.62, Y:-205.81, Z:13.49 [[-9.13215378e-03 -9.99958170e-01 -5.11807308e-04 5.47624843e+02] [ 9.99793139e-01 -9.12134204e-03 -1.81791035e-02 -2.05809320e+02] [ 1.81736747e-02 -6.77715803e-04 9.99834615e-01 1.34925309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2027550959999 meters 0.030308726098482872 Centerline is valid? [True, True] Translation: X:547.62, Y:-205.75, Z:13.49 [[-9.69900451e-03 -9.99952820e-01 -5.35477418e-04 5.47624705e+02] [ 9.99767333e-01 -9.68688471e-03 -1.92728758e-02 -2.05753369e+02] [ 1.92667794e-02 -7.22280539e-04 9.99814117e-01 1.34904485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.262755096 meters 0.026894028461056017 Centerline is valid? [True, True] Translation: X:547.62, Y:-205.70, Z:13.49 [[-7.76879441e-03 -9.99969661e-01 -5.68383573e-04 5.47618003e+02] [ 9.99754233e-01 -7.75531593e-03 -2.07684606e-02 -2.05696048e+02] [ 2.07634225e-02 -7.29589783e-04 9.99784151e-01 1.34876447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3227550959999 meters 0.028371020961601944 Centerline is valid? [True, True] Translation: X:547.62, Y:-205.64, Z:13.48 [[-2.27119730e-03 -9.99997239e-01 -6.02700488e-04 5.47619000e+02] [ 9.99747948e-01 -2.25716849e-03 -2.23371051e-02 -2.05639837e+02] [ 2.23356831e-02 -6.53280549e-04 9.99750314e-01 1.34845200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.382755096 meters 0.022690534188841427 Centerline is valid? [True, True] Translation: X:547.61, Y:-205.58, Z:13.48 [[ 2.34141228e-03 -9.99997057e-01 -6.35374588e-04 5.47609314e+02] [ 9.99711870e-01 2.35592227e-03 -2.38877879e-02 -2.05581764e+02] [ 2.38892145e-02 -5.79260357e-04 9.99714444e-01 1.34839257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4427550959999 meters 0.020804218688054463 Centerline is valid? [True, True] Translation: X:547.61, Y:-205.52, Z:13.48 [[ 1.05537813e-02 -9.99944105e-01 -6.36840416e-04 5.47605509e+02] [ 9.99649693e-01 1.05661285e-02 -2.42661859e-02 -2.05524978e+02] [ 2.42715585e-02 -3.80517308e-04 9.99705330e-01 1.34818723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.502755096 meters 0.018243735844410972 Centerline is valid? [True, True] Translation: X:547.60, Y:-205.47, Z:13.48 [[ 1.76080021e-02 -9.99844790e-01 -5.95412091e-04 5.47601320e+02] [ 9.99580327e-01 1.76170388e-02 -2.29958622e-02 -2.05467685e+02] [ 2.30027824e-02 -1.90251024e-04 9.99735383e-01 1.34836056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5627550959999 meters 0.01744198183129316 Centerline is valid? [True, True] Translation: X:547.60, Y:-205.41, Z:13.49 [[ 2.23360491e-02 -9.99750375e-01 -5.36990292e-04 5.47601525e+02] [ 9.99529661e-01 2.23424011e-02 -2.10065434e-02 -2.05411721e+02] [ 2.10132973e-02 -6.75345405e-05 9.99779194e-01 1.34862802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.622755096 meters 0.017209199819228464 Centerline is valid? [True, True] Translation: X:547.60, Y:-205.36, Z:13.49 [[ 2.43148708e-02 -9.99704234e-01 -4.82105906e-04 5.47603448e+02] [ 9.99521521e-01 2.43196437e-02 -1.91124064e-02 -2.05355227e+02] [ 1.91184782e-02 -1.71595374e-05 9.99817225e-01 1.34890734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6827550959999 meters 0.017332117446232326 Centerline is valid? [True, True] Translation: X:547.61, Y:-205.30, Z:13.49 [[ 2.70308856e-02 -9.99634528e-01 -3.77460503e-04 5.47607981e+02] [ 9.99519775e-01 2.70335018e-02 -1.51462421e-02 -2.05298500e+02] [ 1.51509106e-02 3.21371008e-05 9.99885218e-01 1.34929573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.742755096 meters 0.017558353209453856 Centerline is valid? [True, True] Translation: X:547.62, Y:-205.24, Z:13.50 [[ 2.77577713e-02 -9.99614639e-01 -2.81615173e-04 5.47616120e+02] [ 9.99549589e-01 2.77591777e-02 -1.14037890e-02 -2.05241761e+02] [ 1.14072118e-02 3.50554366e-05 9.99934935e-01 1.34980718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8027550959999 meters 0.01741383736873893 Centerline is valid? [True, True] Translation: X:547.63, Y:-205.19, Z:13.50 [[ 2.31986010e-02 -9.99730848e-01 -2.36194101e-04 5.47627627e+02] [ 9.99684199e-01 2.31998002e-02 -9.65775352e-03 -2.05185447e+02] [ 9.66063378e-03 -1.20731406e-05 9.99953335e-01 1.35008762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8627550959999 meters 0.018034195379115766 Centerline is valid? [True, True] Translation: X:547.63, Y:-205.13, Z:13.50 [[ 1.65927415e-02 -9.99862315e-01 -1.77179199e-04 5.47633433e+02] [ 9.99835621e-01 1.65935933e-02 -7.30637861e-03 -2.05129342e+02] [ 7.30831268e-03 -5.59172226e-05 9.99973292e-01 1.35046234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.922755096 meters 0.0187135764904718 Centerline is valid? [True, True] Translation: X:547.64, Y:-205.07, Z:13.51 [[ 1.15729140e-02 -9.99933018e-01 -1.63505094e-04 5.47636189e+02] [ 9.99909645e-01 1.15737615e-02 -6.83739572e-03 -2.05072514e+02] [ 6.83883011e-03 -8.43617281e-05 9.99976611e-01 1.35054135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9827550959999 meters 0.020901255033916447 Centerline is valid? [True, True] Translation: X:547.64, Y:-205.02, Z:13.51 [[ 4.58007755e-03 -9.99989505e-01 -1.14006201e-04 5.47643529e+02] [ 9.99978213e-01 4.58056772e-03 -4.75303702e-03 -2.05016249e+02] [ 4.75350935e-03 -9.22344392e-05 9.99988698e-01 1.35092613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.042755096 meters 0.021898786239455223 Centerline is valid? [True, True] Translation: X:547.65, Y:-204.96, Z:13.51 [[ 5.89559427e-04 -9.99999826e-01 -2.76524381e-05 5.47649797e+02] [ 9.99999364e-01 5.89585747e-04 -9.61682566e-04 -2.04959385e+02] [ 9.61698702e-04 -2.70854515e-05 9.99999537e-01 1.35141252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1027550959999 meters 0.023448064556123197 Centerline is valid? [True, True] Translation: X:547.65, Y:-204.90, Z:13.52 [[-8.05274608e-04 -9.99999676e-01 1.46066991e-06 5.47654005e+02] [ 9.99999611e-01 -8.05274029e-04 3.60994897e-04 -2.04903524e+02] [-3.60993604e-04 1.75136937e-06 9.99999935e-01 1.35176363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.162755096 meters 0.02427376610329172 Centerline is valid? [True, True] Translation: X:547.66, Y:-204.85, Z:13.52 [[-3.56361302e-03 -9.99993650e-01 1.26357082e-05 5.47656491e+02] [ 9.99993277e-01 -3.56360077e-03 8.64364629e-04 -2.04846223e+02] [-8.64314111e-04 1.57158843e-05 9.99999626e-01 1.35176315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2227550959999 meters 0.026020743934885415 Centerline is valid? [True, True] Translation: X:547.66, Y:-204.79, Z:13.52 [[-6.41009992e-03 -9.99979455e-01 -2.34841493e-05 5.47658799e+02] [ 9.99979124e-01 -6.41007868e-03 -8.14200795e-04 -2.04790073e+02] [ 8.14033532e-04 -2.87027675e-05 9.99999668e-01 1.35168029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.282755096 meters 0.025575391161112345 Centerline is valid? [True, True] Translation: X:547.66, Y:-204.73, Z:13.51 [[-8.62812270e-03 -9.99962775e-01 -7.00113358e-05 5.47657677e+02] [ 9.99958154e-01 -8.62786990e-03 -3.04127750e-03 -2.04733338e+02] [ 3.04056023e-03 -9.62489216e-05 9.99995373e-01 1.35137459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3427550959999 meters 0.02730047876631371 Centerline is valid? [True, True] Translation: X:547.66, Y:-204.68, Z:13.51 [[-1.08109482e-02 -9.99941554e-01 -1.07413542e-04 5.47659874e+02] [ 9.99929048e-01 -1.08102755e-02 -5.00369585e-03 -2.04677095e+02] [ 5.00224223e-03 -1.61500617e-04 9.99987476e-01 1.35123694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.402755096 meters 0.028135911487652536 Centerline is valid? [True, True] Translation: X:547.66, Y:-204.62, Z:13.51 [[-1.26785662e-02 -9.99919609e-01 -1.73609951e-04 5.47658279e+02] [ 9.99885312e-01 -1.26766926e-02 -8.28636551e-03 -2.04620188e+02] [ 8.28349855e-03 -2.78649274e-04 9.99965652e-01 1.35076383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4627550959999 meters 0.029103444144375323 Centerline is valid? [True, True] Translation: X:547.66, Y:-204.56, Z:13.50 [[-1.53006818e-02 -9.99882896e-01 -2.90200329e-04 5.47657678e+02] [ 9.99780168e-01 -1.52949474e-02 -1.43415599e-02 -2.04562960e+02] [ 1.43354418e-02 -5.09572178e-04 9.99897112e-01 1.34995009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.522755096 meters 0.028202074320774637 Centerline is valid? [True, True] Translation: X:547.65, Y:-204.51, Z:13.50 [[-1.61268447e-02 -9.99869894e-01 -3.47490720e-04 5.47654373e+02] [ 9.99716356e-01 -1.61182750e-02 -1.75330529e-02 -2.04506337e+02] [ 1.75251707e-02 -6.30144977e-04 9.99846224e-01 1.34956954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5827550959999 meters 0.028123926118193202 Centerline is valid? [True, True] Translation: X:547.65, Y:-204.45, Z:13.49 [[-1.52537044e-02 -9.99883570e-01 -4.13284289e-04 5.47650131e+02] [ 9.99656176e-01 -1.52414165e-02 -2.13361106e-02 -2.04449264e+02] [ 2.13273274e-02 -7.38596915e-04 9.99772274e-01 1.34898208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.642755096 meters 0.025916861583334304 Centerline is valid? [True, True] Translation: X:547.64, Y:-204.39, Z:13.48 [[-1.19938905e-02 -9.99927940e-01 -5.11960234e-04 5.47640519e+02] [ 9.99563744e-01 -1.19756991e-02 -2.69982471e-02 -2.04391381e+02] [ 2.69901705e-02 -8.35550908e-04 9.99635350e-01 1.34823002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7027550959999 meters 0.025048127026467276 Centerline is valid? [True, True] Translation: X:547.63, Y:-204.34, Z:13.48 [[-9.65541879e-03 -9.99953204e-01 -6.02511734e-04 5.47634878e+02] [ 9.99426030e-01 -9.63075882e-03 -3.24785880e-02 -2.04335012e+02] [ 3.24712655e-02 -9.15760279e-04 9.99472250e-01 1.34763156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.762755096 meters 0.02607367558882603 Centerline is valid? [True, True] Translation: X:547.63, Y:-204.28, Z:13.47 [[-6.64142168e-03 -9.99977721e-01 -6.69735677e-04 5.47630794e+02] [ 9.99295060e-01 -6.61213719e-03 -3.69548661e-02 -2.04278937e+02] [ 3.69496144e-02 -9.14696402e-04 9.99316711e-01 1.34689030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8227550959999 meters 0.024979526541502265 Centerline is valid? [True, True] Translation: X:547.62, Y:-204.22, Z:13.46 [[-2.82322903e-03 -9.99995745e-01 -7.34308953e-04 5.47621209e+02] [ 9.99136151e-01 -2.79035554e-03 -4.14628162e-02 -2.04222595e+02] [ 4.14605908e-02 -8.50733647e-04 9.99139778e-01 1.34644575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.882755096 meters 0.02470972819966811 Centerline is valid? [True, True] Translation: X:547.61, Y:-204.17, Z:13.46 [[ 2.95351030e-03 -9.99995302e-01 -8.19706529e-04 5.47608041e+02] [ 9.98874858e-01 2.98899754e-03 -4.73295160e-02 -2.04165513e+02] [ 4.73317438e-02 -6.78996030e-04 9.98878994e-01 1.34577726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9427550959999 meters 0.021700309503088287 Centerline is valid? [True, True] Translation: X:547.60, Y:-204.11, Z:13.46 [[ 8.03328818e-03 -9.99967402e-01 -8.13484027e-04 5.47598611e+02] [ 9.98815857e-01 8.06306765e-03 -4.79778224e-02 -2.04108716e+02] [ 4.79828175e-02 -4.27101072e-04 9.98848070e-01 1.34578981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.002755096 meters 0.02129394191583349 Centerline is valid? [True, True] Translation: X:547.59, Y:-204.05, Z:13.46 [[ 1.13692423e-02 -9.99935054e-01 -7.93063606e-04 5.47590546e+02] [ 9.98792887e-01 1.13941510e-02 -4.77801522e-02 -2.04051422e+02] [ 4.77860853e-02 -2.48882161e-04 9.98857561e-01 1.34583838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0627550959999 meters 0.02037763650166459 Centerline is valid? [True, True] Translation: X:547.59, Y:-203.99, Z:13.46 [[ 1.30801121e-02 -9.99914162e-01 -7.61353192e-04 5.47586137e+02] [ 9.98815681e-01 1.31014205e-02 -4.68570964e-02 -2.03993795e+02] [ 4.68630490e-02 -1.47555434e-04 9.98901313e-01 1.34620840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.122755096 meters 0.020655778407010564 Centerline is valid? [True, True] Translation: X:547.58, Y:-203.94, Z:13.46 [[ 1.54988133e-02 -9.99879621e-01 -7.28648392e-04 5.47579009e+02] [ 9.98826225e-01 1.55159230e-02 -4.58849388e-02 -2.03936837e+02] [ 4.58907209e-02 -1.66310216e-05 9.98946466e-01 1.34632592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1827550959999 meters 0.01969732408056904 Centerline is valid? [True, True] Translation: X:547.57, Y:-203.88, Z:13.47 [[ 1.88279444e-02 -9.99822509e-01 -6.77073372e-04 5.47573445e+02] [ 9.98870144e-01 1.88395555e-02 -4.36291856e-02 -2.03880356e+02] [ 4.36341976e-02 1.45139502e-04 9.99047564e-01 1.34666615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.242755096 meters 0.018687080076715698 Centerline is valid? [True, True] Translation: X:547.57, Y:-203.82, Z:13.47 [[ 2.14995949e-02 -9.99768646e-01 -6.49220387e-04 5.47569162e+02] [ 9.98851234e-01 2.15076730e-02 -4.28209354e-02 -2.03822921e+02] [ 4.28249919e-02 2.72158183e-04 9.99082552e-01 1.34741286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3027550959999 meters 0.018596526910042675 Centerline is valid? [True, True] Translation: X:547.57, Y:-203.77, Z:13.48 [[ 2.28294074e-02 -9.99739193e-01 -6.02803189e-04 5.47568546e+02] [ 9.98910043e-01 2.28350199e-02 -4.07097963e-02 -2.03765435e+02] [ 4.07129439e-02 3.27234365e-04 9.99170831e-01 1.34793897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3627550959999 meters 0.01901475669557938 Centerline is valid? [True, True] Translation: X:547.57, Y:-203.71, Z:13.49 [[ 2.55059073e-02 -9.99674521e-01 -5.49218463e-04 5.47567160e+02] [ 9.98950543e-01 2.55083353e-02 -3.80412692e-02 -2.03709367e+02] [ 3.80428972e-02 4.21635005e-04 9.99276018e-01 1.34854789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.422755096 meters 0.020368429116214292 Centerline is valid? [True, True] Translation: X:547.56, Y:-203.65, Z:13.49 [[ 3.00490425e-02 -9.99548287e-01 -5.25753824e-04 5.47563078e+02] [ 9.98849393e-01 3.00476917e-02 -3.73768079e-02 -2.03652470e+02] [ 3.73757220e-02 5.97988398e-04 9.99301105e-01 1.34888986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4827550959999 meters 0.02155844423496113 Centerline is valid? [True, True] Translation: X:547.56, Y:-203.60, Z:13.49 [[ 3.33042431e-02 -9.99445139e-01 -4.92264454e-04 5.47560112e+02] [ 9.98801046e-01 3.33004536e-02 -3.58824549e-02 -2.03595159e+02] [ 3.58789377e-02 7.03363747e-04 9.99355896e-01 1.34929191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.542755096 meters 0.022416135004111677 Centerline is valid? [True, True] Translation: X:547.56, Y:-203.54, Z:13.50 [[ 3.45542074e-02 -9.99402718e-01 -4.61799304e-04 5.47559532e+02] [ 9.98804609e-01 3.45495058e-02 -3.45786640e-02 -2.03539059e+02] [ 3.45739658e-02 7.33591055e-04 9.99401872e-01 1.34965101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6027550959999 meters 0.02368089173649731 Centerline is valid? [True, True] Translation: X:547.56, Y:-203.48, Z:13.50 [[ 3.69554005e-02 -9.99316832e-01 -4.09504845e-04 5.47556839e+02] [ 9.98819623e-01 3.69499334e-02 -3.15287727e-02 -2.03482749e+02] [ 3.15223644e-02 7.56136948e-04 9.99502761e-01 1.35019400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.662755096 meters 0.025364963860917862 Centerline is valid? [True, True] Translation: X:547.56, Y:-203.43, Z:13.50 [[ 3.87723191e-02 -9.99247993e-01 -3.94708877e-04 5.47555764e+02] [ 9.98758538e-01 3.87656844e-02 -3.12826432e-02 -2.03426897e+02] [ 3.12744196e-02 8.18681766e-04 9.99510500e-01 1.35045357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7227550959999 meters 0.028339755217084133 Centerline is valid? [True, True] Translation: X:547.56, Y:-203.37, Z:13.50 [[ 3.85114355e-02 -9.99258074e-01 -4.14432256e-04 5.47556778e+02] [ 9.98686104e-01 3.85034169e-02 -3.38164551e-02 -2.03369483e+02] [ 3.38073228e-02 8.88432494e-04 9.99427974e-01 1.35032570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.782755096 meters 0.03465095791866354 Centerline is valid? [True, True] Translation: X:547.56, Y:-203.31, Z:13.50 [[ 3.53079207e-02 -9.99376384e-01 -4.40623120e-04 5.47562600e+02] [ 9.98689039e-01 3.52999805e-02 -3.70690677e-02 -2.03313052e+02] [ 3.70615048e-02 8.68786223e-04 9.99312609e-01 1.35032872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8427550959999 meters 0.035224699105904526 Centerline is valid? [True, True] Translation: X:547.57, Y:-203.26, Z:13.51 [[ 2.79000519e-02 -9.99610626e-01 -4.28611029e-04 5.47574946e+02] [ 9.98918496e-01 2.78966831e-02 -3.71969594e-02 -2.03256364e+02] [ 3.71944327e-02 6.09649612e-04 9.99307862e-01 1.35104712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.902755096 meters 0.03349364118903394 Centerline is valid? [True, True] Translation: X:547.59, Y:-203.20, Z:13.52 [[ 1.73531759e-02 -9.99849348e-01 -3.85797811e-04 5.47587585e+02] [ 9.99252712e-01 1.73561470e-02 -3.45366761e-02 -2.03200682e+02] [ 3.45381690e-02 2.13811507e-04 9.99403357e-01 1.35151831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9627550959999 meters 0.03243790591878248 Centerline is valid? [True, True] Translation: X:547.59, Y:-203.14, Z:13.52 [[ 1.05903582e-02 -9.99943856e-01 -3.59269744e-04 5.47594793e+02] [ 9.99391466e-01 1.05964481e-02 -3.32327196e-02 -2.03143701e+02] [ 3.32346608e-02 -7.10470971e-06 9.99447576e-01 1.35193503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.022755096 meters 0.03205372204917018 Centerline is valid? [True, True] Translation: X:547.60, Y:-203.09, Z:13.52 [[ 4.06946019e-03 -9.99991670e-01 -3.15330913e-04 5.47601668e+02] [ 9.99537740e-01 4.07711323e-03 -3.01277981e-02 -2.03086507e+02] [ 3.01288328e-02 -1.92581273e-04 9.99546005e-01 1.35229381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0827550959999 meters 0.03272159621844018 Centerline is valid? [True, True] Translation: X:547.61, Y:-203.03, Z:13.53 [[ 5.17132372e-04 -9.99999825e-01 -2.87083250e-04 5.47608140e+02] [ 9.99597085e-01 5.25071362e-04 -2.83794284e-02 -2.03029611e+02] [ 2.83795741e-02 -2.72291659e-04 9.99597182e-01 1.35261574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.142755096 meters 0.033425347702735246 Centerline is valid? [True, True] Translation: X:547.61, Y:-202.97, Z:13.53 [[-2.54157016e-04 -9.99999926e-01 -2.87901332e-04 5.47613982e+02] [ 9.99563192e-01 -2.45537746e-04 -2.95527332e-02 -2.02973352e+02] [ 2.95526603e-02 -2.95286609e-04 9.99563181e-01 1.35253753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2027550959999 meters 0.03311593568739439 Centerline is valid? [True, True] Translation: X:547.61, Y:-202.92, Z:13.53 [[ 7.26814588e-05 -9.99999959e-01 -2.76348000e-04 5.47613431e+02] [ 9.99564340e-01 8.08061534e-05 -2.95148017e-02 -2.02916502e+02] [ 2.95148229e-02 -2.74082428e-04 9.99564305e-01 1.35265288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.262755096 meters 0.03318508125122287 Centerline is valid? [True, True] Translation: X:547.61, Y:-202.86, Z:13.53 [[ 2.32585667e-03 -9.99997266e-01 -2.41875193e-04 5.47614411e+02] [ 9.99636945e-01 2.33151126e-03 -2.68429100e-02 -2.02859511e+02] [ 2.68434006e-02 -1.79354617e-04 9.99639635e-01 1.35298917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3227550959999 meters 0.0322946728326353 Centerline is valid? [True, True] Translation: X:547.62, Y:-202.80, Z:13.53 [[ 4.55174572e-03 -9.99989617e-01 -2.16003078e-04 5.47615001e+02] [ 9.99678739e-01 4.55571637e-03 -2.49332116e-02 -2.02803401e+02] [ 2.49339368e-02 -1.02444045e-04 9.99689096e-01 1.35327683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.382755096 meters 0.03150567880025829 Centerline is valid? [True, True] Translation: X:547.61, Y:-202.75, Z:13.53 [[ 6.55971710e-03 -9.99978467e-01 -1.90187849e-04 5.47612947e+02] [ 9.99715236e-01 6.56235393e-03 -2.29430474e-02 -2.02746704e+02] [ 2.29438014e-02 -3.96337894e-05 9.99736756e-01 1.35338234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4427550959999 meters 0.0315391629531501 Centerline is valid? [True, True] Translation: X:547.61, Y:-202.69, Z:13.53 [[ 7.72476408e-03 -9.99970148e-01 -1.74314039e-04 5.47613528e+02] [ 9.99726754e-01 7.72672962e-03 -2.20616032e-02 -2.02690436e+02] [ 2.20622915e-02 -3.84572842e-06 9.99756598e-01 1.35348416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.502755096 meters 0.031014838896495537 Centerline is valid? [True, True] Translation: X:547.61, Y:-202.63, Z:13.54 [[ 9.30788460e-03 -9.99956667e-01 -1.63225669e-04 5.47613712e+02] [ 9.99720505e-01 9.30923359e-03 -2.17313089e-02 -2.02634297e+02] [ 2.17318867e-02 3.90924677e-05 9.99763834e-01 1.35354359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5627550959999 meters 0.030460259350933508 Centerline is valid? [True, True] Translation: X:547.62, Y:-202.58, Z:13.54 [[ 9.71957548e-03 -9.99952752e-01 -1.56184536e-04 5.47615170e+02] [ 9.99712224e-01 9.72066302e-03 -2.19312273e-02 -2.02577336e+02] [ 2.19317093e-02 5.70226290e-05 9.99759470e-01 1.35366064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.622755096 meters 0.029680326806887064 Centerline is valid? [True, True] Translation: X:547.62, Y:-202.52, Z:13.54 [[ 9.18100495e-03 -9.99957843e-01 -1.43650513e-04 5.47616392e+02] [ 9.99731719e-01 9.18198361e-03 -2.12645549e-02 -2.02521632e+02] [ 2.12649775e-02 5.16180102e-05 9.99773873e-01 1.35376763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6827550959999 meters 0.029458360836104813 Centerline is valid? [True, True] Translation: X:547.62, Y:-202.47, Z:13.54 [[ 8.82341880e-03 -9.99961063e-01 -1.39467016e-04 5.47617068e+02] [ 9.99718463e-01 8.82435011e-03 -2.20255731e-02 -2.02465617e+02] [ 2.20259462e-02 5.49131046e-05 9.99757398e-01 1.35379611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.742755096 meters 0.028883093442838195 Centerline is valid? [True, True] Translation: X:547.62, Y:-202.41, Z:13.54 [[ 8.44620387e-03 -9.99964321e-01 -1.36526253e-04 5.47618913e+02] [ 9.99699126e-01 8.44710798e-03 -2.30283267e-02 -2.02409477e+02] [ 2.30286583e-02 5.80167659e-05 9.99734804e-01 1.35386637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8027550959999 meters 0.0281727761399262 Centerline is valid? [True, True] Translation: X:547.62, Y:-202.35, Z:13.54 [[ 7.21022754e-03 -9.99973998e-01 -1.24661687e-04 5.47621587e+02] [ 9.99720414e-01 7.21120639e-03 -2.25187041e-02 -2.02354272e+02] [ 2.25190176e-02 3.77381473e-05 9.99746414e-01 1.35398780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8627550959999 meters 0.027396055496997928 Centerline is valid? [True, True] Translation: X:547.62, Y:-202.30, Z:13.54 [[ 5.35714602e-03 -9.99985644e-01 -1.13612522e-04 5.47624999e+02] [ 9.99741119e-01 5.35834839e-03 -2.21129676e-02 -2.02297628e+02] [ 2.21132589e-02 4.87928622e-06 9.99755472e-01 1.35418259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.922755096 meters 0.02707550838615385 Centerline is valid? [True, True] Translation: X:547.63, Y:-202.24, Z:13.54 [[ 4.85052439e-03 -9.99988230e-01 -1.08582882e-04 5.47626600e+02] [ 9.99725734e-01 4.85173891e-03 -2.29110619e-02 -2.02241613e+02] [ 2.29113191e-02 2.57756328e-06 9.99737501e-01 1.35429453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9827550959999 meters 0.026545314814006207 Centerline is valid? [True, True] Translation: X:547.62, Y:-202.19, Z:13.54 [[ 6.67082782e-03 -9.99977744e-01 -1.07200578e-04 5.47624975e+02] [ 9.99669487e-01 6.67143304e-03 -2.48275679e-02 -2.02185987e+02] [ 2.48277305e-02 5.84552841e-05 9.99691743e-01 1.35419971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.042755096 meters 0.026019562347492916 Centerline is valid? [True, True] Translation: X:547.63, Y:-202.13, Z:13.54 [[ 7.20042480e-03 -9.99974071e-01 -1.03180557e-04 5.47626130e+02] [ 9.99624763e-01 7.20063658e-03 -2.64288529e-02 -2.02129402e+02] [ 2.64289106e-02 8.71571281e-05 9.99650692e-01 1.35414951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1027550959999 meters 0.025443059005166076 Centerline is valid? [True, True] Translation: X:547.63, Y:-202.07, Z:13.54 [[ 5.25086706e-03 -9.99986210e-01 -8.78497712e-05 5.47629545e+02] [ 9.99679155e-01 5.25143161e-03 -2.47792141e-02 -2.02073501e+02] [ 2.47793338e-02 4.22907740e-05 9.99692944e-01 1.35439991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.162755096 meters 0.024714861028414425 Centerline is valid? [True, True] Translation: X:547.63, Y:-202.02, Z:13.55 [[ 2.88599375e-03 -9.99995832e-01 -7.83976451e-05 5.47632214e+02] [ 9.99690955e-01 2.88704962e-03 -2.46912738e-02 -2.02017334e+02] [ 2.46913972e-02 -7.11455495e-06 9.99695121e-01 1.35464889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2227550959999 meters 0.024426397371551993 Centerline is valid? [True, True] Translation: X:547.63, Y:-201.96, Z:13.55 [[ 1.56090300e-03 -9.99998779e-01 -7.04321636e-05 5.47633645e+02] [ 9.99682508e-01 1.56218059e-03 -2.51484266e-02 -2.01960940e+02] [ 2.51485059e-02 -3.11555473e-05 9.99683726e-01 1.35473324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.282755096 meters 0.023995964109938945 Centerline is valid? [True, True] Translation: X:547.64, Y:-201.90, Z:13.55 [[-1.08442595e-04 -9.99999992e-01 -6.19822315e-05 5.47636023e+02] [ 9.99675344e-01 -1.06828126e-04 -2.54792996e-02 -2.01904644e+02] [ 2.54792928e-02 -6.47251500e-05 9.99675348e-01 1.35491467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3427550959999 meters 0.02391733599627172 Centerline is valid? [True, True] Translation: X:547.64, Y:-201.85, Z:13.55 [[-1.96324497e-03 -9.99998071e-01 -5.38939142e-05 5.47637385e+02] [ 9.99657774e-01 -1.96117099e-03 -2.60861799e-02 -2.01847500e+02] [ 2.60860239e-02 -1.05089032e-04 9.99659696e-01 1.35521426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.402755096 meters 0.025398335421292304 Centerline is valid? [True, True] Translation: X:547.64, Y:-201.79, Z:13.55 [[-3.61792785e-03 -9.99993454e-01 -4.40718259e-05 5.47639862e+02] [ 9.99655657e-01 -3.61556027e-03 -2.59902831e-02 -2.01791549e+02] [ 2.59899537e-02 -1.38087619e-04 9.99662195e-01 1.35528215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4627550959999 meters 0.023571049459818753 Centerline is valid? [True, True] Translation: X:547.64, Y:-201.74, Z:13.55 [[-6.76032174e-03 -9.99977148e-01 -3.33799994e-05 5.47642884e+02] [ 9.99651189e-01 -6.75726585e-03 -2.55311614e-02 -2.01735036e+02] [ 2.55303524e-02 -2.05967221e-04 9.99674026e-01 1.35549856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.522755096 meters 0.02335225691877559 Centerline is valid? [True, True] Translation: X:547.64, Y:-201.68, Z:13.55 [[-7.88883935e-03 -9.99968882e-01 -2.32394731e-05 5.47642214e+02] [ 9.99649392e-01 -7.88573143e-03 -2.52766225e-02 -2.01678121e+02] [ 2.52756527e-02 -2.22634539e-04 9.99680495e-01 1.35547690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5827550959999 meters 0.02250350684630709 Centerline is valid? [True, True] Translation: X:547.64, Y:-201.62, Z:13.56 [[-8.00366471e-03 -9.99967970e-01 -1.33324517e-05 5.47639871e+02] [ 9.99667685e-01 -8.00093452e-03 -2.45051989e-02 -2.01620416e+02] [ 2.45043073e-02 -2.09459417e-04 9.99699702e-01 1.35566305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.642755096 meters 0.022491269183103478 Centerline is valid? [True, True] Translation: X:547.64, Y:-201.56, Z:13.56 [[-7.96188296e-03 -9.99968304e-01 -4.24523338e-06 5.47638577e+02] [ 9.99688190e-01 -7.95955218e-03 -2.36678768e-02 -2.01563924e+02] [ 2.36670928e-02 -1.92684775e-04 9.99719877e-01 1.35565078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7027550959999 meters 0.022105966297316853 Centerline is valid? [True, True] Translation: X:547.64, Y:-201.51, Z:13.56 [[-9.28062518e-03 -9.99956934e-01 4.45066657e-06 5.47637252e+02] [ 9.99698082e-01 -9.27832404e-03 -2.27520679e-02 -2.01507143e+02] [ 2.27511294e-02 -2.06704092e-04 9.99741138e-01 1.35585794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.762755096 meters 0.02203754184911638 Centerline is valid? [True, True] Translation: X:547.64, Y:-201.45, Z:13.56 [[-1.05109433e-02 -9.99944758e-01 1.21490897e-05 5.47638653e+02] [ 9.99718793e-01 -1.05088264e-02 -2.12579056e-02 -2.01451262e+02] [ 2.12568590e-02 -2.11294968e-04 9.99774025e-01 1.35601841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8227550959999 meters 0.02129936800377049 Centerline is valid? [True, True] Translation: X:547.64, Y:-201.39, Z:13.56 [[-9.30111435e-03 -9.99956744e-01 1.94315746e-05 5.47635982e+02] [ 9.99752062e-01 -9.29960366e-03 -2.02319462e-02 -2.01394657e+02] [ 2.02312518e-02 -1.68752889e-04 9.99795313e-01 1.35620432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.882755096 meters 0.020809002991041332 Centerline is valid? [True, True] Translation: X:547.63, Y:-201.34, Z:13.56 [[-7.02794837e-03 -9.99975303e-01 2.46898719e-05 5.47632918e+02] [ 9.99801297e-01 -7.02718602e-03 -1.86543701e-02 -2.01338846e+02] [ 1.86540829e-02 -1.06416984e-04 9.99825992e-01 1.35637922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9427550959999 meters 0.020062596936313872 Centerline is valid? [True, True] Translation: X:547.63, Y:-201.28, Z:13.57 [[-2.16023185e-03 -9.99997666e-01 2.66170167e-05 5.47629168e+02] [ 9.99859107e-01 -2.16037561e-03 -1.66463107e-02 -2.01282918e+02] [ 1.66463294e-02 -9.34662413e-06 9.99861440e-01 1.35660100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.002755096 meters 0.020101121107454118 Centerline is valid? [True, True] Translation: X:547.63, Y:-201.23, Z:13.57 [[ 2.35260727e-03 -9.99997232e-01 3.12780650e-05 5.47625801e+02] [ 9.99870705e-01 2.35181205e-03 -1.59073296e-02 -2.01227024e+02] [ 1.59072120e-02 6.86977201e-05 9.99873470e-01 1.35671693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0627550959999 meters 0.01999982833355462 Centerline is valid? [True, True] Translation: X:547.62, Y:-201.17, Z:13.57 [[ 4.34438517e-03 -9.99990562e-01 3.70276394e-05 5.47623644e+02] [ 9.99867601e-01 4.34327031e-03 -1.56817568e-02 -2.01170237e+02] [ 1.56814479e-02 1.05150329e-04 9.99877033e-01 1.35672749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.122755096 meters 0.020149150730966046 Centerline is valid? [True, True] Translation: X:547.62, Y:-201.11, Z:13.57 [[ 5.50652960e-03 -9.99984838e-01 4.10679071e-05 5.47623730e+02] [ 9.99872522e-01 5.50529560e-03 -1.49876866e-02 -2.01114292e+02] [ 1.49872333e-02 1.23592812e-04 9.99887677e-01 1.35673156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1827550959999 meters 0.01972015312266234 Centerline is valid? [True, True] Translation: X:547.63, Y:-201.06, Z:13.57 [[ 5.82396380e-03 -9.99983039e-01 4.81719519e-05 5.47626070e+02] [ 9.99859050e-01 5.82248308e-03 -1.57473317e-02 -2.01057566e+02] [ 1.57467842e-02 1.39877052e-04 9.99876002e-01 1.35669548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.242755096 meters 0.01928439477573335 Centerline is valid? [True, True] Translation: X:547.63, Y:-201.00, Z:13.57 [[ 4.78319487e-03 -9.99988559e-01 5.46397935e-05 5.47628904e+02] [ 9.99863913e-01 4.78173595e-03 -1.57889187e-02 -2.01001198e+02] [ 1.57884768e-02 1.30153833e-04 9.99875346e-01 1.35663725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3027550959999 meters 0.019088397459571183 Centerline is valid? [True, True] Translation: X:547.63, Y:-200.94, Z:13.57 [[ 3.13557911e-03 -9.99995082e-01 6.45241190e-05 5.47632533e+02] [ 9.99856600e-01 3.13407107e-03 -1.66420075e-02 -2.00944354e+02] [ 1.66417234e-02 1.16697197e-04 9.99861510e-01 1.35665021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3627550959999 meters 0.018545519586167982 Centerline is valid? [True, True] Translation: X:547.64, Y:-200.89, Z:13.57 [[-1.95468006e-03 -9.99998087e-01 7.46326590e-05 5.47642439e+02] [ 9.99846356e-01 -1.95568355e-03 -1.74195377e-02 -2.00889025e+02] [ 1.74196503e-02 4.05715691e-05 9.99848266e-01 1.35666145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.422755096 meters 0.01820084894606581 Centerline is valid? [True, True] Translation: X:547.66, Y:-200.83, Z:13.57 [[-8.28263112e-03 -9.99965695e-01 8.30125411e-05 5.47655246e+02] [ 9.99809157e-01 -8.28280333e-03 -1.76930454e-02 -2.00832115e+02] [ 1.76931260e-02 -6.35482694e-05 9.99843462e-01 1.35682146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4827550959999 meters 0.018677142610003788 Centerline is valid? [True, True] Translation: X:547.67, Y:-200.78, Z:13.57 [[-1.41684407e-02 -9.99899618e-01 9.70251970e-05 5.47667661e+02] [ 9.99718739e-01 -1.41677232e-02 -1.90189062e-02 -2.00775924e+02] [ 1.90183717e-02 -1.72470338e-04 9.99819120e-01 1.35677588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.542755096 meters 0.01957412399570825 Centerline is valid? [True, True] Translation: X:547.67, Y:-200.72, Z:13.57 [[-1.64751718e-02 -9.99864269e-01 1.10145866e-04 5.47672221e+02] [ 9.99662090e-01 -1.64740555e-02 -2.01074831e-02 -2.00719217e+02] [ 2.01065685e-02 -2.21165592e-04 9.99797818e-01 1.35674647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6027550959999 meters 0.019215758891748605 Centerline is valid? [True, True] Translation: X:547.67, Y:-200.66, Z:13.57 [[-1.61421683e-02 -9.99869701e-01 1.10914334e-04 5.47672615e+02] [ 9.99687821e-01 -1.61413475e-02 -1.90713973e-02 -2.00662558e+02] [ 1.90707026e-02 -1.96973996e-04 9.99818118e-01 1.35693071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.662755096 meters 0.019403635933987827 Centerline is valid? [True, True] Translation: X:547.67, Y:-200.61, Z:13.57 [[-1.50188359e-02 -9.99887203e-01 1.28144391e-04 5.47673398e+02] [ 9.99674336e-01 -1.50182826e-02 -2.06318378e-02 -2.00607097e+02] [ 2.06314351e-02 -1.81763526e-04 9.99787133e-01 1.35696434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7227550959999 meters 0.019217780057048956 Centerline is valid? [True, True] Translation: X:547.68, Y:-200.55, Z:13.57 [[-1.59632769e-02 -9.99872569e-01 1.41797975e-04 5.47676102e+02] [ 9.99642151e-01 -1.59626423e-02 -2.14653996e-02 -2.00551186e+02] [ 2.14649277e-02 -2.00910884e-04 9.99769582e-01 1.35707432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.782755096 meters 0.019467541873685205 Centerline is valid? [True, True] Translation: X:547.67, Y:-200.50, Z:13.57 [[-1.56841332e-02 -9.99876986e-01 1.45706161e-04 5.47674646e+02] [ 9.99659752e-01 -1.56837628e-02 -2.08422542e-02 -2.00496389e+02] [ 2.08419755e-02 -1.81236106e-04 9.99782766e-01 1.35719050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8427550959999 meters 0.01893808271532662 Centerline is valid? [True, True] Translation: X:547.67, Y:-200.44, Z:13.58 [[-1.46443689e-02 -9.99892755e-01 1.46515423e-04 5.47672255e+02] [ 9.99695506e-01 -1.46443901e-02 -1.98604559e-02 -2.00442267e+02] [ 1.98604716e-02 -1.44373033e-04 9.99802751e-01 1.35750163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.902755096 meters 0.018908794142603352 Centerline is valid? [True, True] Translation: X:547.67, Y:-200.39, Z:13.58 [[-1.39038869e-02 -9.99903325e-01 1.48458884e-04 5.47673250e+02] [ 9.99720241e-01 -1.39041820e-02 -1.91340786e-02 -2.00386968e+02] [ 1.91342930e-02 -1.17620713e-04 9.99816916e-01 1.35790941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9627550959999 meters 0.018451537799854027 Centerline is valid? [True, True] Translation: X:547.67, Y:-200.33, Z:13.58 [[-1.27143225e-02 -9.99919156e-01 1.63682004e-04 5.47671688e+02] [ 9.99717380e-01 -1.27150450e-02 -2.00870272e-02 -2.00331440e+02] [ 2.00874845e-02 -9.17571990e-05 9.99798222e-01 1.35810211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.022755096 meters 0.018278571821377324 Centerline is valid? [True, True] Translation: X:547.67, Y:-200.28, Z:13.58 [[-1.11516280e-02 -9.99937799e-01 1.96171353e-04 5.47669031e+02] [ 9.99675029e-01 -1.11531945e-02 -2.29225201e-02 -2.00275584e+02] [ 2.29232822e-02 -5.95158141e-05 9.99737225e-01 1.35799679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0827550959999 meters 0.01887619923806671 Centerline is valid? [True, True] Translation: X:547.67, Y:-200.22, Z:13.58 [[-1.25523061e-02 -9.99921188e-01 2.39136834e-04 5.47669773e+02] [ 9.99564134e-01 -1.25542140e-02 -2.67195555e-02 -2.00219143e+02] [ 2.67204518e-02 -9.63594365e-05 9.99642940e-01 1.35769902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.142755096 meters 0.02109022877802371 Centerline is valid? [True, True] Translation: X:547.68, Y:-200.16, Z:13.58 [[-1.92647708e-02 -9.99814381e-01 2.67153596e-04 5.47677993e+02] [ 9.99402036e-01 -1.92644978e-02 -2.87132417e-02 -2.00163270e+02] [ 2.87130585e-02 -2.86160172e-04 9.99587654e-01 1.35780612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2027550959999 meters 0.025061211926454188 Centerline is valid? [True, True] Translation: X:547.69, Y:-200.11, Z:13.58 [[-2.65120889e-02 -9.99648453e-01 2.81441570e-04 5.47685511e+02] [ 9.99224538e-01 -2.65090427e-02 -2.91134446e-02 -2.00108237e+02] [ 2.91106706e-02 -4.90634910e-04 9.99576074e-01 1.35798347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.262755096 meters 0.03212549278843143 Centerline is valid? [True, True] Translation: X:547.69, Y:-200.05, Z:13.58 [[-3.61580137e-02 -9.99346041e-01 2.97639576e-04 5.47694177e+02] [ 9.98904433e-01 -3.61508861e-02 -2.97160978e-02 -2.00054152e+02] [ 2.97074246e-02 -7.77161580e-04 9.99558335e-01 1.35817412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3227550959999 meters 0.034525359211026875 Centerline is valid? [True, True] Translation: X:547.69, Y:-200.00, Z:13.59 [[-4.50395299e-02 -9.98985161e-01 2.98810387e-04 5.47692279e+02] [ 9.98567727e-01 -4.50293524e-02 -2.88938037e-02 -1.99998595e+02] [ 2.88779363e-02 -1.00298093e-03 9.99582442e-01 1.35869415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.382755096 meters 0.03159182191122142 Centerline is valid? [True, True] Translation: X:547.68, Y:-199.94, Z:13.59 [[-5.24640274e-02 -9.98622763e-01 3.20423301e-04 5.47682479e+02] [ 9.98172131e-01 -5.24499863e-02 -3.00232520e-02 -1.99941616e+02] [ 2.99987091e-02 -1.25530311e-03 9.99549149e-01 1.35927934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4427550959999 meters 0.03482810733157764 Centerline is valid? [True, True] Translation: X:547.68, Y:-199.88, Z:13.59 [[-5.71960616e-02 -9.98362902e-01 3.54502746e-04 5.47680010e+02] [ 9.97843208e-01 -5.71777375e-02 -3.22434417e-02 -1.99884317e+02] [ 3.22109257e-02 -1.49045972e-03 9.99479982e-01 1.35934598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.502755096 meters 0.034042372126711344 Centerline is valid? [True, True] Translation: X:547.67, Y:-199.83, Z:13.60 [[-5.86866485e-02 -9.98276383e-01 3.73710379e-04 5.47672873e+02] [ 9.97734341e-01 -5.86671103e-02 -3.29295363e-02 -1.99827345e+02] [ 3.28947030e-02 -1.55966045e-03 9.99457606e-01 1.35955643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5627550959999 meters 0.03170207663313191 Centerline is valid? [True, True] Translation: X:547.66, Y:-199.77, Z:13.60 [[-5.77752644e-02 -9.98329538e-01 3.90237771e-04 5.47660641e+02] [ 9.97772629e-01 -5.77560817e-02 -3.33768683e-02 -1.99769573e+02] [ 3.33436522e-02 -1.53898883e-03 9.99442761e-01 1.35992057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.622755096 meters 0.033572023563168504 Centerline is valid? [True, True] Translation: X:547.66, Y:-199.71, Z:13.60 [[-5.55002075e-02 -9.98458596e-01 3.99030047e-04 5.47656179e+02] [ 9.97909249e-01 -5.54829190e-02 -3.31477903e-02 -1.99713589e+02] [ 3.31188355e-02 -1.44151346e-03 9.99450381e-01 1.36000386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6827550959999 meters 0.03093777772396764 Centerline is valid? [True, True] Translation: X:547.64, Y:-199.66, Z:13.60 [[-5.15050924e-02 -9.98672654e-01 3.95447887e-04 5.47639887e+02] [ 9.98160473e-01 -5.14913505e-02 -3.20048567e-02 -1.99656647e+02] [ 3.19827373e-02 -1.25369265e-03 9.99487635e-01 1.36037450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.742755096 meters 0.029712270571468347 Centerline is valid? [True, True] Translation: X:547.63, Y:-199.60, Z:13.61 [[-4.94906395e-02 -9.98774520e-01 3.68434429e-04 5.47625931e+02] [ 9.98349548e-01 -4.94803356e-02 -2.91526291e-02 -1.99599252e+02] [ 2.91351334e-02 -1.07495591e-03 9.99574904e-01 1.36090886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8027550959999 meters 0.030554158828925263 Centerline is valid? [True, True] Translation: X:547.61, Y:-199.54, Z:13.61 [[-5.07207455e-02 -9.98712809e-01 3.61140801e-04 5.47613882e+02] [ 9.98325860e-01 -5.07111531e-02 -2.78182884e-02 -1.99543126e+02] [ 2.78007948e-02 -1.05042813e-03 9.99612931e-01 1.36110624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8627550959999 meters 0.03619154584936634 Centerline is valid? [True, True] Translation: X:547.61, Y:-199.49, Z:13.61 [[-5.29937427e-02 -9.98594779e-01 3.60672355e-04 5.47611569e+02] [ 9.98230870e-01 -5.29841746e-02 -2.69779076e-02 -1.99486585e+02] [ 2.69591076e-02 -1.06962602e-03 9.99635965e-01 1.36109476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.922755096 meters 0.03920027455792755 Centerline is valid? [True, True] Translation: X:547.60, Y:-199.43, Z:13.61 [[-5.60787674e-02 -9.98426285e-01 3.55400586e-04 5.47602899e+02] [ 9.98091921e-01 -5.60691925e-02 -2.58604385e-02 -1.99430979e+02] [ 2.58396686e-02 -1.09549906e-03 9.99665500e-01 1.36129980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9827550959999 meters 0.03690829570366788 Centerline is valid? [True, True] Translation: X:547.59, Y:-199.37, Z:13.62 [[-5.83692785e-02 -9.98294991e-01 3.72539387e-04 5.47586896e+02] [ 9.97946262e-01 -5.83587444e-02 -2.64105291e-02 -1.99373796e+02] [ 2.63872399e-02 -1.16978924e-03 9.99651112e-01 1.36160746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.042755096 meters 0.04200758136270182 Centerline is valid? [True, True] Translation: X:547.58, Y:-199.32, Z:13.62 [[-5.83238027e-02 -9.98297644e-01 3.84641438e-04 5.47576385e+02] [ 9.97944999e-01 -5.83134327e-02 -2.65579061e-02 -1.99318904e+02] [ 2.65351248e-02 -1.16510707e-03 9.99647203e-01 1.36156755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1027550959999 meters 0.03682340992203855 Centerline is valid? [True, True] Translation: X:547.56, Y:-199.26, Z:13.62 [[-5.73912485e-02 -9.98351687e-01 3.93026335e-04 5.47558449e+02] [ 9.98000701e-01 -5.73815020e-02 -2.64945926e-02 -1.99261515e+02] [ 2.64734736e-02 -1.12831719e-03 9.99648879e-01 1.36194468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.162755096 meters 0.03811613568442491 Centerline is valid? [True, True] Translation: X:547.54, Y:-199.21, Z:13.62 [[-5.43897945e-02 -9.98519702e-01 3.94441063e-04 5.47543671e+02] [ 9.98183933e-01 -5.43817412e-02 -2.59125762e-02 -1.99206632e+02] [ 2.58956683e-02 -1.01565496e-03 9.99664135e-01 1.36221278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2227550959999 meters 0.033455013602660906 Centerline is valid? [True, True] Translation: X:547.52, Y:-199.15, Z:13.63 [[-5.28832252e-02 -9.98600630e-01 3.82344302e-04 5.47517506e+02] [ 9.98301301e-01 -5.28767409e-02 -2.44655420e-02 -1.99149291e+02] [ 2.44515228e-02 -9.12121954e-04 9.99700601e-01 1.36261678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.282755096 meters 0.03029554625300757 Centerline is valid? [True, True] Translation: X:547.50, Y:-199.09, Z:13.63 [[-5.35746125e-02 -9.98563782e-01 3.65335104e-04 5.47496870e+02] [ 9.98302900e-01 -5.35689722e-02 -2.28404153e-02 -1.99092908e+02] [ 2.28271821e-02 -8.58951304e-04 9.99739057e-01 1.36301147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3427550959999 meters 0.03107354023468757 Centerline is valid? [True, True] Translation: X:547.48, Y:-199.04, Z:13.63 [[-5.36408560e-02 -9.98560219e-01 3.84308022e-04 5.47482880e+02] [ 9.98286554e-01 -5.36351582e-02 -2.33928817e-02 -1.99038259e+02] [ 2.33798135e-02 -8.71164667e-04 9.99726275e-01 1.36326752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.402755096 meters 0.03086930807995705 Centerline is valid? [True, True] Translation: X:547.47, Y:-198.98, Z:13.64 [[-5.35258498e-02 -9.98566394e-01 3.74557254e-04 5.47469865e+02] [ 9.98318213e-01 -5.35209026e-02 -2.22768785e-02 -1.98981983e+02] [ 2.22649889e-02 -8.18461525e-04 9.99751769e-01 1.36355267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4627550959999 meters 0.030325307613020793 Centerline is valid? [True, True] Translation: X:547.46, Y:-198.93, Z:13.64 [[-5.29346593e-02 -9.98597909e-01 3.70364915e-04 5.47457527e+02] [ 9.98365431e-01 -5.29303323e-02 -2.15603083e-02 -1.98925301e+02] [ 2.15496823e-02 -7.71528046e-04 9.99767481e-01 1.36379188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.522755096 meters 0.030077561069568562 Centerline is valid? [True, True] Translation: X:547.45, Y:-198.87, Z:13.64 [[-5.17859823e-02 -9.98658149e-01 3.36346116e-04 5.47445791e+02] [ 9.98473164e-01 -5.17828672e-02 -1.92321662e-02 -1.98868056e+02] [ 1.92237765e-02 -6.60124051e-04 9.99814988e-01 1.36393814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5465.00 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/24552 [00:00